Electric vehicle ramp control method and electronic equipment

Abstract

The invention discloses an electric vehicle ramp control method and electronic equipment. The electric vehicle ramp control method comprises the steps that when the vehicle conducts auxiliary braking, whether the advancing condition is met or not is recognized based on the vehicle speed, the accelerator opening degree and the driving torque, and auxiliary braking torque is output when the vehicle is on a ramp; when it is recognized that the current sampling time meets the forward condition, the driving torque is output, and the auxiliary braking torque is controlled to be reduced. When the vehicle is subjected to auxiliary braking, whether the advancing condition is met or not is recognized based on the vehicle speed, the accelerator opening degree and the driving torque, the driving intention is accurately judged by introducing multiple factors, when it is recognized that the advancing condition is met at the current sampling moment, the driving torque can be output, and the auxiliary braking torque is controlled to be reduced, so that unexpected acceleration is avoided; the vehicle advancing requirement is met.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to an electric vehicle ramp control method, an electronic device, a storage medium, and a computer program product. Background Art

[0002] After a vehicle parks on a ramp, in the prior art, the Vehicle Dynamics Control (VDC) brakes the wheels to provide an auxiliary braking torque to assist in holding the vehicle on the slope. After the vehicle holds the slope, the following situations generally exist: active backward slip, passive backward slip, active slope holding, and active forward movement. Active backward slip, active slope holding, and active forward movement are all the subjective intentions of the driver. The vehicle needs to recognize the driver's intention and then perform corresponding operations. Passive backward slip is caused by insufficient braking force, resulting in the vehicle slipping backward.

[0003] Among them, for active forward movement, when it is recognized that the driver has the intention of driving forward, the vehicle is controlled to disengage from the parked state, the output of the auxiliary braking torque is stopped, and a driving torque is output to the vehicle to drive the vehicle forward.

[0004] However, the prior art mainly considers the throttle pedal factor to recognize the driving forward intention, and there are the following problems:

[0005] First, due to objective factors of the driver, the control of the throttle pedal is unstable, but there is actually no intention of accelerating, resulting in unstable vehicle slope holding control; second, the driver operates incorrectly and accidentally steps on the throttle pedal, resulting in unexpected acceleration; third, the driver slowly steps on the throttle pedal, but the vehicle actually does not meet the driving acceleration intention, etc.

[0006] Therefore, simply recognizing the driving forward intention based on the throttle pedal in the prior art is prone to misjudgment. Summary of the Invention

[0007] Based on this, in view of the technical problem that simply recognizing the driving forward intention based on the throttle pedal in the prior art is prone to misjudgment after the vehicle is assisted in holding the slope, it is necessary to provide an electric vehicle ramp control method, an electronic device, a storage medium, and a computer program product.

[0008] The present invention provides an electric vehicle ramp control method, including:

[0009] When the vehicle performs auxiliary braking, it is determined whether the forward condition is met based on the vehicle speed, throttle opening, and driving torque, and the auxiliary braking outputs an auxiliary braking torque when the vehicle is on a slope;

[0010] When it is recognized that the forward condition is met at the current sampling moment, a driving torque is output, and the auxiliary braking torque is controlled to decrease.

[0011] Further, identifying whether the forward condition is satisfied based on the vehicle speed, throttle opening, and driving torque specifically includes:

[0012] At each sampling moment, based on the vehicle speed, throttle opening, throttle opening change amount, throttle opening change rate, and driving torque change amount, identify whether the current sampling moment satisfies the forward condition.

[0013] Furthermore, the identifying whether the current sampling moment satisfies the forward condition based on the vehicle speed, throttle opening, throttle opening change amount, throttle opening change rate, and driving torque change amount includes:

[0014] Judge whether the current sampling moment satisfies the first forward judgment condition according to the vehicle speed;

[0015] Judge whether the current sampling moment satisfies the second forward judgment condition according to the throttle opening;

[0016] Judge whether the current sampling moment satisfies the third forward judgment condition according to the throttle opening change amount;

[0017] Judge whether the current sampling moment satisfies the fourth forward judgment condition according to the throttle opening change rate;

[0018] Judge whether the current sampling moment satisfies the fifth forward judgment condition according to the driving torque change amount;

[0019] Judge whether the current sampling moment satisfies the sixth forward judgment condition according to the ratio of the driving torque change amount to the throttle opening change rate;

[0020] At the current sampling moment, when the first forward judgment condition, the second forward judgment condition, the third forward judgment condition, the fourth forward judgment condition, the fifth forward judgment condition, and the sixth forward judgment condition are all satisfied, identify that the current sampling moment satisfies the forward condition; otherwise, identify that the current sampling moment does not satisfy the forward condition.

[0021] Still further:

[0022] The judging whether the current sampling moment satisfies the first forward judgment condition according to the vehicle speed includes: if the vehicle speed at the current sampling moment is within the vehicle speed range, judge that the current sampling moment satisfies the first forward judgment condition; otherwise, judge that the current sampling moment does not satisfy the first forward judgment condition.

[0023] Determining whether the current sampling moment meets the second forward determination condition according to the throttle opening includes: if the throttle opening at the current sampling moment is greater than the second throttle opening threshold, it is determined that the current sampling moment meets the second forward determination condition; if the throttle opening at the current sampling moment is less than the first throttle opening threshold, it is determined that the current sampling moment does not meet the second forward determination condition; if the throttle opening at the current sampling moment is greater than or equal to the first throttle opening threshold and less than or equal to the second throttle opening threshold, the determination of the second forward determination condition at the previous sampling moment is maintained, and the first throttle opening threshold is less than the second throttle opening threshold.

[0024] Determining whether the current sampling moment meets the third forward determination condition according to the throttle opening change amount includes: if the throttle opening change amount at the current sampling moment is greater than the second throttle opening change amount threshold, it is determined that the current sampling moment meets the third forward determination condition; if the throttle opening change amount at the current sampling moment is less than the first throttle opening change amount threshold, it is determined that the current sampling moment does not meet the third forward determination condition; if the throttle opening change amount at the current sampling moment is greater than or equal to the first throttle opening change amount threshold and less than or equal to the second throttle opening change amount threshold, the determination of the third forward determination condition at the previous sampling moment is maintained, the first throttle opening change amount threshold is less than the second throttle opening change amount threshold, and the throttle opening change amount at the current sampling moment is the difference between the throttle opening at the current sampling moment and the throttle opening at the previous sampling moment.

[0025] Determining whether the current sampling moment meets the fourth forward determination condition according to the throttle opening change rate includes: if the throttle opening change rate at the current sampling moment is less than the throttle opening change rate threshold, it is determined that the current sampling moment meets the fourth forward determination condition; otherwise, it is determined that the current sampling moment does not meet the fourth forward determination condition, and the throttle opening change rate at the current sampling moment is the throttle opening change amount at the current sampling moment divided by the time interval between two adjacent sampling moments.

[0026] Determining whether the current sampling moment meets the fifth forward determination condition according to the driving torque change amount includes: if the driving torque change amount at the current sampling moment is greater than the driving torque change amount threshold, it is determined that the current sampling moment meets the fifth forward determination condition; otherwise, it is determined that the current sampling moment does not meet the fifth forward determination condition, and the driving torque change amount at the current sampling moment is the difference between the driving torque at the current sampling moment and the driving torque at the previous sampling moment.

[0027] Judging whether the current sampling moment meets the sixth forward judgment condition according to the ratio of the driving torque change amount to the throttle opening change rate includes: if the ratio of the driving torque change amount to the throttle opening change rate at the current sampling moment is within the ratio range, it is judged that the current sampling moment meets the sixth forward judgment condition; otherwise, it is judged that the current sampling moment does not meet the sixth forward judgment condition.

[0028] Further, the output of the driving torque includes:

[0029] Obtain the required torque, perform secondary filtering on the required torque to obtain the output torque, and output the output torque as the driving torque.

[0030] Even further, the performing secondary filtering on the required torque to obtain the driving torque includes:

[0031] Calculate the output torque at each sampling moment as:

[0032] y"(n) = k1·x(n) + k2·x(n - 1) + k3·x(n - 2) + k4·y(n - 1) + k5·y(n - 2), where:

[0033] y"(n) is the output torque at the nth sampling moment, x(n) is the required torque at the nth sampling moment, x(n - 1) is the required torque at the (n - 1)th sampling moment, x(n - 2) is the required torque at the (n - 2)th sampling moment, y(n - 1) is the output torque at the (n - 1)th sampling moment, y(n - 2) is the output torque at the (n - 2)th sampling moment, k1 is the first weight, k2 is the second weight, k3 is the third weight, k4 is the fourth weight, and k5 is the fifth weight.

[0034] Further, the controlling to reduce the auxiliary braking torque includes: gradually reducing the auxiliary braking torque with a fixed slope.

[0035] The present invention provides an electronic device, including:

[0036] At least one processor; and,

[0037] A memory communicatively connected to at least one of the processors; wherein,

[0038] The memory stores instructions executable by at least one of the processors, and the instructions are executed by at least one of the processors so that at least one of the processors can execute the electric vehicle ramp control method as described above.

[0039] The present invention provides a storage medium, and the storage medium stores computer instructions, which are used to execute all steps of the electric vehicle ramp control method as described above when the computer executes the computer instructions.

[0040] The present invention provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the electric vehicle ramp control method as described above.

[0041] When the vehicle performs auxiliary braking, the present invention identifies whether the forward condition is satisfied based on the vehicle speed, throttle opening, and driving torque. By introducing multiple factors, the driving intention is accurately judged. When it is identified that the forward condition is satisfied at the current sampling moment, the driving torque can be output, and the auxiliary braking torque can be controlled to decrease, thereby avoiding unexpected acceleration and meeting the vehicle's forward demand. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a flowchart of the working process of an electric vehicle ramp control method according to an embodiment of the present invention;

[0043] Figure 2 is a flowchart of the working process of an electric vehicle ramp control method according to another embodiment of the present invention;

[0044] Figure 3 is a schematic diagram of the vehicle staying on a slope;

[0045] Figure 4 is a schematic diagram of an electric vehicle ramp control method according to the best embodiment of the present invention;

[0046] Figure 5 is a schematic diagram for comparing the first-order filtering curve and the second-order filtering curve;

[0047] Figure 6 is a schematic diagram of the hardware structure of an electronic device according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] The following further describes the specific embodiments of the present invention with reference to the accompanying drawings. The same components are denoted by the same reference numerals. It should be noted that the terms "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the terms "inner" and "outer" respectively refer to the directions towards or away from the geometric center of a specific component.

[0049] As Figure 1 shown is a flowchart of the working process of an electric vehicle ramp control method according to an embodiment of the present invention, including:

[0050] Step S101, when the vehicle performs auxiliary braking, identify whether the forward condition is satisfied based on the vehicle speed, throttle opening, and driving torque, and the auxiliary braking outputs an auxiliary braking torque when the vehicle is on a slope;

[0051] Step S102, when it is identified that the forward condition is satisfied at the current sampling moment, output the driving torque and control to reduce the auxiliary braking torque.

[0052] Specifically, the present invention can be applied to an electronic device with processing capabilities, such as a controller of a vehicle. For example, an Electronic Control Unit (ECU) of a vehicle.

[0053] As Figure 3 shown, when the vehicle 1 is on the slope 2, it will slide backward under the action of gravity mg. The auxiliary braking provides braking force for the vehicle based on, for example, the intervention of the auxiliary braking torque in the roll-back assist function and the hill-hold assist function. In addition, the driver may step on the accelerator pedal to control the driving motor to output driving torque to generate driving force. The braking force is combined with the driving force to generate the total driving force F drive, or the total driving force F drive is generated solely by the braking force, so that the vehicle stops stably on the slope. When the vehicle moves forward, the auxiliary braking torque is withdrawn.

[0054] The braking torque of the vehicle generally includes the braking torque of the user's active braking and the auxiliary braking torque provided by the vehicle's auxiliary braking system.

[0055] Preferably, the auxiliary braking brakes the wheels at least by a Vehicle Dynamics Control (VDC) system to assist in holding the vehicle on the slope by providing braking force. The auxiliary braking torque is the torque provided by the mechanical braking.

[0056] In some embodiments, the auxiliary braking is achieved by the cooperation of the driving torque provided by the driving motor and the auxiliary braking torque provided by the VDC to hold the vehicle on the slope.

[0057] In some embodiments, the auxiliary braking is achieved only by the cooperation of the auxiliary braking torque provided by the VDC to hold the vehicle on the slope.

[0058] When the vehicle performs auxiliary braking, step S101 is executed to identify whether the forward condition is satisfied based on the vehicle speed, throttle opening, and driving torque.

[0059] The present invention is preferably used for electric vehicles. Among them, the throttle opening is the amplitude of the accelerator pedal depression. In gasoline vehicles and electric vehicles (i.e., new energy vehicles), it is collectively referred to as the throttle opening.

[0060] Compared with the prior art that only relies on the throttle opening to judge the forward intention, this embodiment identifies whether the forward condition is satisfied based on multiple factors such as vehicle speed, throttle opening, and driving torque. When the forward condition is satisfied, it is recognized that the driver has a forward intention.

[0061] Among them, parameters such as the throttle opening change amount and throttle opening change rate can be determined according to the throttle opening, and then whether the forward condition is satisfied is determined based on parameters such as the throttle opening, throttle opening change amount, and / or throttle opening change rate.

[0062] Parameters such as the driving torque change amount can be determined based on the driving torque, and then it is determined whether the forward condition is satisfied based on parameters such as the driving torque change amount.

[0063] When it is recognized that the forward condition is satisfied at the current sampling moment, step S102 is executed, the driving torque is output, and the auxiliary braking torque is controlled to decrease.

[0064] Specifically, the required torque is determined according to the throttle opening using the prior art, and then the driving torque output by the driving motor is determined and controlled according to the required torque. While outputting the driving torque, the auxiliary braking torque is controlled to gradually decrease.

[0065] When the vehicle performs auxiliary braking, the present invention recognizes whether the forward condition is satisfied based on the vehicle speed, throttle opening, and driving torque, accurately judges the driving intention by introducing multiple factors, and when it is recognized that the forward condition is satisfied at the current sampling moment, the driving torque can be output, and the auxiliary braking torque is controlled to decrease, thereby avoiding unexpected acceleration and meeting the vehicle's forward demand.

[0066] Such as Figure 2 shown is a flowchart of a working process of an electric vehicle ramp control method in another embodiment of the present invention, including:

[0067] Step S201, when the vehicle performs auxiliary braking, at each sampling moment, according to the vehicle speed, throttle opening, throttle opening change amount, throttle opening change rate, and driving torque change amount, it is recognized whether the current sampling moment satisfies the forward condition.

[0068] Step S202, when it is recognized that the current sampling moment satisfies the forward condition, the required torque is obtained, the required torque is secondarily filtered to obtain the output torque, the output torque is used as the driving torque output, and the auxiliary braking torque is gradually decreased at a fixed slope.

[0069] Specifically, when the vehicle performs auxiliary braking, step S201 is executed. When the vehicle performs auxiliary braking, at each sampling moment, according to the vehicle speed, throttle opening, throttle opening change amount, throttle opening change rate, and driving torque change amount, it is recognized whether the current sampling moment satisfies the forward condition.

[0070] Specifically, every certain period of time is a sampling moment. At each sampling moment, step S202 is executed. By introducing multiple factors such as the throttle opening change amount and change rate, it is accurately judged whether the forward condition is satisfied, so as to judge whether there is a driving forward intention.

[0071] In one embodiment, the recognizing whether the current sampling moment satisfies the forward condition according to the vehicle speed, throttle opening, throttle opening change amount, throttle opening change rate, and driving torque change amount includes:

[0072] Determine whether the current sampling moment meets the first forward judgment condition according to the vehicle speed;

[0073] Determine whether the current sampling moment meets the second forward judgment condition according to the throttle opening;

[0074] Determine whether the current sampling moment meets the third forward judgment condition according to the change amount of the throttle opening;

[0075] Determine whether the current sampling moment meets the fourth forward judgment condition according to the change rate of the throttle opening;

[0076] Determine whether the current sampling moment meets the fifth forward judgment condition according to the change amount of the driving torque;

[0077] Determine whether the current sampling moment meets the sixth forward judgment condition according to the ratio of the change amount of the driving torque to the change rate of the throttle opening;

[0078] At the current sampling moment, when the first forward judgment condition, the second forward judgment condition, the third forward judgment condition, the fourth forward judgment condition, the fifth forward judgment condition, and the sixth forward judgment condition are all met, it is recognized that the current sampling moment meets the forward condition, otherwise it is recognized that the current sampling moment does not meet the forward condition.

[0079] As Figure 4 shown is a schematic diagram of the principle of the electric vehicle ramp control method according to the best embodiment of the present invention. Among them, when the vehicle speed, the throttle opening, the change amount of the throttle opening, the change rate of the throttle opening, the change amount of the driving torque, and the ratio of the change amount of the driving torque to the change rate of the throttle opening all meet the requirements, it is recognized that the current sampling moment meets the forward condition, otherwise it is recognized that the current sampling moment does not meet the forward condition.

[0080] In this embodiment, by introducing multiple factors and judging the conditions for each factor separately, it is recognized as a forward intention only when all conditions are met, avoiding misjudgment.

[0081] In one of the embodiments:

[0082] The step of determining whether the current sampling moment meets the first forward judgment condition according to the vehicle speed includes: if the vehicle speed at the current sampling moment is within the vehicle speed range, it is determined that the current sampling moment meets the first forward judgment condition, otherwise it is determined that the current sampling moment does not meet the first forward judgment condition;

[0083] Judging whether the current sampling moment meets the second forward judgment condition according to the throttle opening includes: if the throttle opening at the current sampling moment is greater than the second throttle opening threshold, it is judged that the current sampling moment meets the second forward judgment condition; if the throttle opening at the current sampling moment is less than the first throttle opening threshold, it is judged that the current sampling moment does not meet the second forward judgment condition; if the throttle opening at the current sampling moment is greater than or equal to the first throttle opening threshold and less than or equal to the second throttle opening threshold, the judgment on the second forward judgment condition at the previous sampling moment is maintained, and the first throttle opening threshold is less than the second throttle opening threshold.

[0084] Judging whether the current sampling moment meets the third forward judgment condition according to the throttle opening change amount includes: if the throttle opening change amount at the current sampling moment is greater than the second throttle opening change amount threshold, it is judged that the current sampling moment meets the third forward judgment condition; if the throttle opening change amount at the current sampling moment is less than the first throttle opening change amount threshold, it is judged that the current sampling moment does not meet the third forward judgment condition; if the throttle opening change amount at the current sampling moment is greater than or equal to the first throttle opening change amount threshold and less than or equal to the second throttle opening change amount threshold, the judgment on the third forward judgment condition at the previous sampling moment is maintained, the first throttle opening change amount threshold is less than the second throttle opening change amount threshold, and the throttle opening change amount at the current sampling moment is the difference between the throttle opening at the current sampling moment and the throttle opening at the previous sampling moment.

[0085] Judging whether the current sampling moment meets the fourth forward judgment condition according to the throttle opening change rate includes: if the throttle opening change rate at the current sampling moment is less than the throttle opening change rate threshold, it is judged that the current sampling moment meets the fourth forward judgment condition; otherwise, it is judged that the current sampling moment does not meet the fourth forward judgment condition, and the throttle opening change rate at the current sampling moment is the throttle opening change amount at the current sampling moment divided by the time interval between two adjacent sampling moments.

[0086] Judging whether the current sampling moment meets the fifth forward judgment condition according to the driving torque change amount includes: if the driving torque change amount at the current sampling moment is greater than the driving torque change amount threshold, it is judged that the current sampling moment meets the fifth forward judgment condition; otherwise, it is judged that the current sampling moment does not meet the fifth forward judgment condition, and the driving torque change amount at the current sampling moment is the difference between the driving torque at the current sampling moment and the driving torque at the previous sampling moment.

[0087] Determining whether the current sampling moment meets the sixth forward determination condition according to the ratio of the driving torque change amount to the throttle opening change rate includes: if the ratio of the driving torque change amount to the throttle opening change rate at the current sampling moment is within the ratio range, it is determined that the current sampling moment meets the sixth forward determination condition; otherwise, it is determined that the current sampling moment does not meet the sixth forward determination condition.

[0088] Specifically, non-forward intentions in cases such as throttle pedal fluctuations and accidental throttle stepping are excluded, and forward intentions under gentle throttle stepping and torque fluctuations are considered.

[0089] Include the following conditions

[0090] 1. Whether the vehicle speed meets the first forward determination condition: In this embodiment, the considered scenario is the driving intention of the vehicle after parking on a slope. Considering the vehicle speed calculation error and fluctuations, it is stipulated that the vehicle speed within the vehicle speed range [V1, V2] triggers the determination that the current sampling moment meets the first forward determination condition; otherwise, it is determined that the current sampling moment does not meet the first forward determination condition, where V1 is a negative number less than 0, V2 is a positive number greater than 0, and the absolute values of V1 and V2 are relatively small. Preferably, V1 is -1.5 Km / h and V2 is 1.5 Km / h.

[0091] 2. Whether the throttle opening APO meets the second forward determination condition: Considering the situation of the vehicle actively rolling backward on a slope, generally, when the throttle opening is less than the first throttle opening threshold value A1, it is considered an active rolling backward intention (or no forward intention), and it is determined that the current sampling moment does not meet the second forward determination condition. When the throttle opening is greater than the second throttle opening threshold value B1, it is considered that there is a forward intention, and it is determined that the current sampling moment meets the second forward determination condition. When the throttle opening is at the intermediate value between [A1, B1], the determination of the previous sampling moment is maintained.

[0092] As an example,

[0093] Suppose the second throttle opening threshold is 0.3 and the first throttle opening threshold is 0.25.

[0094] When the throttle opening is greater than 0.3, the second forward determination condition is met at this time. If the throttle opening changes from 0.3 to 0.29 due to unstable foot control, it is still considered that the second forward determination condition is met; if the throttle opening continues to decrease to 0.24, it is considered that the customer actively wants to release the throttle, and the second forward determination condition is not met.

[0095] When the throttle opening is less than 0.25, the second forward determination condition is not met. Because of unstable foot control, if the throttle opening changes from 0.25 to 0.27, it is still considered that the second forward determination condition is not met; if the throttle opening continues to increase to 0.31, it is considered that the customer meets the second forward determination condition.

[0096] By setting the second throttle opening threshold and the first throttle opening threshold, it is possible to avoid fluctuations in the judgment conditions caused by unstable throttle control by the user.

[0097] 3. Whether the throttle opening change amount △APO meets the third forward judgment condition: When the vehicle is on a slope, there is also a change amount in the throttle opening (fluctuations caused by unstable pedal control). Generally, it is considered that the throttle opening change amount is less than the first throttle opening change amount threshold value A2, which is considered to be the allowable fluctuation range, and it is judged that the current sampling moment does not meet the third forward judgment condition. When the throttle opening change amount is greater than the second throttle opening change amount threshold value B2, it is considered that the forward condition is met, and it is judged that the current sampling moment meets the third forward judgment condition. When the throttle opening change amount is at the intermediate value of [A2, B2], the judgment of the previous moment is maintained.

[0098] Similar to the judgment of the throttle opening, by setting the second throttle opening change amount threshold and the first throttle opening change amount threshold, it is possible to avoid fluctuations in the judgment conditions caused by unstable throttle control by the user.

[0099] 4. Whether the throttle opening change rate △APO / △t meets the fourth forward judgment condition: When the driver steps on the throttle pedal deeply (even full throttle) in a very short time, it is determined to be a misstep, and it is judged that the current sampling moment does not meet the fourth forward judgment condition. It is stipulated that when the throttle opening change rate is less than the value A3, the forward is triggered, and it is judged that the current sampling moment meets the fourth forward judgment condition.

[0100] 5. Driving torque change amount △F 驱动 Whether it meets the fifth forward judgment condition: When the driving torque change amount is greater than the value A4, the forward is triggered, and it is judged that the current sampling moment meets the fifth forward judgment condition; otherwise, it is judged that the current sampling moment does not meet the fifth forward judgment condition.

[0101] Among them, the driving torque change amount is calculated based on the driving torque before filtering.

[0102] 6. Whether the driving torque change amount / throttle opening change rate △F 驱动 / △APO / △t meets the sixth forward judgment condition: When this ratio is small, that is, the throttle opening changes greatly in unit time, but the torque change is small, which does not meet the forward condition, and it is judged that the current sampling moment does not meet the sixth forward judgment condition. When this ratio is large, a slight throttle opening change in unit time will generate a large torque change, lacking safety consideration, and it is judged that the current sampling moment does not meet the sixth forward judgment condition. It is stipulated that this ratio triggers only within the range of [A5, B5], and it is judged that the current sampling moment meets the sixth forward judgment condition.

[0103] This embodiment provides multiple forward judgment conditions to exclude non-forward intentions in cases such as fluctuations in the accelerator pedal and accidental stepping on the accelerator, and to consider forward intentions under gentle stepping on the accelerator and torque fluctuations.

[0104] When it is recognized that the forward condition is not met at the current sampling moment, step S201 is repeatedly executed until it is recognized that the forward condition is met at the current sampling moment, and then step S202 is executed. When it is recognized that the forward condition is met at the current sampling moment, the required torque is obtained, the required torque is secondarily filtered to obtain the output torque, the output torque is used as the driving torque output, and the auxiliary braking torque is gradually reduced at a fixed slope.

[0105] Specifically, this embodiment processes and outputs the output torque using a second-order filtering algorithm to avoid a sense of insecurity caused by too rapid torque changes.

[0106] For the withdrawal of the auxiliary braking torque, it is gradually withdrawn at a fixed slope. That is, when it is recognized that the forward condition is met at the current sampling moment, the auxiliary braking torque gradually decreases at a fixed slope until it reaches 0. Among them, the slope is calibrated according to the actual vehicle to meet the driving performance requirements. At the same time, the required torque is determined according to the existing technology based on the throttle opening, and then the required torque is secondarily filtered to obtain the driving torque, and the driving motor is controlled to output the driving torque.

[0107] This embodiment introduces multiple factors such as the change amount and change rate of the throttle opening to accurately judge the forward driving intention. At the same time, the output torque is processed and output using a second-order filtering algorithm, and the auxiliary braking torque is withdrawn at a fixed slope to avoid a sense of insecurity caused by too rapid torque changes.

[0108] In one embodiment, the secondarily filtering the required torque to obtain the driving torque includes:

[0109] Calculating the output torque at each sampling moment as:

[0110] y"(n) = k1·x(n) + k2·x(n - 1) + k3·x(n - 2) + k4·y(n - 1) + k5·y(n - 2), where:

[0111] y"(n) is the output torque at the nth sampling moment, x(n) is the required torque at the nth sampling moment, x(n - 1) is the required torque at the (n - 1)th sampling moment, x(n - 2) is the required torque at the (n - 2)th sampling moment, y(n - 1) is the output torque at the (n - 1)th sampling moment, y(n - 2) is the output torque at the (n - 2)th sampling moment, k1 is the first weight, k2 is the second weight, k3 is the third weight, k4 is the fourth weight, and k5 is the fifth weight.

[0112] Specifically, when it is determined that the vehicle meets the forward condition, the driving torque needs to be output at this time to satisfy the vehicle's accelerated forward movement.

[0113] In order to avoid torque mutation in the prior art, first-order filtering is considered to smooth the output torque.

[0114] However, as Figure 5 shown, by comparing the first-order filtering curve 51 and the second-order filtering curve 52, it can be seen that the second-order filtering curve 52 outputs torque slowly in the initial stage, ensuring driving safety. Among them, Figure 5 the abscissa is time and the ordinate is torque in

[0115] Therefore, after identifying that the current sampling moment meets the forward condition, at each sampling moment with a preset time interval, the required torque at the current sampling moment is obtained, and then according to the second-order filtering formula, the output torque at the current sampling moment is calculated, and the output torque is used as the driving torque output.

[0116] Among them, the second-order filtering formula is:

[0117] y"(n) = k1·x(n) + k2·x(n - 1) + k3·x(n - 2) + k4·y(n - 1) + k5·y(n - 2), where:

[0118] y"(n) is the output torque at the nth sampling moment, x(n) is the required torque at the nth sampling moment, x(n - 1) is the required torque at the (n - 1)th sampling moment, x(n - 2) is the required torque at the (n - 2)th sampling moment, y(n - 1) is the output torque at the (n - 1)th sampling moment, y(n - 2) is the output torque at the (n - 2)th sampling moment, k1 is the first weight, k2 is the second weight, k3 is the third weight, k4 is the fourth weight, and k5 is the fifth weight.

[0119] When the current sampling moment is the nth moment, the required torque x(n) at the nth sampling moment (i.e., the current sampling moment), the required torque x(n - 1) at the (n - 1)th sampling moment (i.e., the previous sampling moment), the required torque x(n - 2) at the (n - 2)th sampling moment (i.e., the sampling moment before the previous one), the output torque y(n - 1) at the (n - 1)th sampling moment (i.e., the previous sampling moment), and the output torque y(n - 2) at the (n - 2)th sampling moment (i.e., the sampling moment before the previous one) are respectively obtained, and then substituted into the second-order filtering formula to obtain the output torque at the current sampling moment.

[0120] The second-order filtering in this embodiment performs weighted calculation on the required torques and actual output torques at multiple previous moments to obtain the output torque at the current sampling moment.

[0121] This embodiment adopts second-order filtering. Compared with first-order filtering, the torque output of second-order filtering is slow first and then fast. The slow output can avoid the sudden feeling caused by too fast torque change in the initial stage of vehicle forward movement, and at the same time further prevent the unexpected acceleration caused by accidentally stepping on the accelerator, ensuring driving safety.

[0122] As shown Figure 4 in the schematic diagram of a method for controlling an electric vehicle on a ramp according to the best embodiment of the present invention, which includes:

[0123] Step S401, monitor the vehicle speed, throttle opening, throttle opening change amount, throttle opening change rate, drive torque change amount, drive torque change amount / throttle opening change rate. When the vehicle speed, throttle opening, throttle opening change amount, throttle opening change rate, drive torque change amount, and drive torque change amount / throttle opening change rate all meet the requirements, trigger step S402;

[0124] Step S402, calculate and output the drive torque of the current demand torque at the current sampling moment through a second-order filtering algorithm, and calculate the auxiliary braking torque to be reduced to through a fixed slope for the current auxiliary braking torque;

[0125] Specifically, after identifying that the forward condition is met at the current sampling moment, at each sampling moment with a preset time interval, obtain the demand torque at the current sampling moment, and then calculate the output torque at the current sampling moment according to the second-order filtering formula, and use the output torque as the drive torque. At the same time, at the same sampling moment, update the auxiliary braking torque according to a fixed slope as: the auxiliary braking torque at the current sampling moment - slope × sampling moment interval, where the slope is a fixed positive value.

[0126] Then, step S403, output the drive torque and the updated auxiliary braking torque.

[0127] Specifically, after calculating the drive torque and the updated auxiliary braking torque at the current sampling moment, control the drive motor to output the drive torque respectively, and control the VDC to reduce the auxiliary braking torque to the updated auxiliary braking torque.

[0128] The present invention passes through.

[0129] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0130] As shown Figure 6 in the schematic diagram of the hardware structure of an electronic device according to the present invention, which includes:

[0131] At least one processor 601; and,

[0132] A memory 602 communicatively connected to at least one of the processors 601; wherein,

[0133] The memory 602 stores instructions executable by at least one of the processors. The instructions are executed by at least one of the processors to enable at least one of the processors to execute the electric vehicle ramp control method as described above.

[0134] Figure 6 Take one processor 601 as an example.

[0135] The electronic device may further include: an input device 603 and a display device 604.

[0136] The processor 601, the memory 602, the input device 603, and the display device 604 may be connected through a bus or other means. In the figure, connection through a bus is taken as an example.

[0137] As a non-volatile computer-readable storage medium, the memory 602 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the electric vehicle ramp control method in the embodiments of the present application. For example, Figure 1 、 Figure 2 The method flow shown. The processor 601 executes various functional applications and data processing by running the non-volatile software programs, instructions, and modules stored in the memory 602, that is, implements the electric vehicle ramp control method in the above embodiments.

[0138] The memory 602 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the electric vehicle ramp control method, etc. In addition, the memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 602 may optionally include a memory remotely set relative to the processor 601, and these remote memories can be connected to the device executing the electric vehicle ramp control method through a network. Examples of the above networks include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0139] The input device 603 can receive user clicks and generate signal inputs related to user settings and function controls of the electric vehicle ramp control method. The display device 604 may include a display screen and other display devices.

[0140] When the one or more modules are stored in the memory 602 and run by the one or more processors 601, they execute the electric vehicle ramp control method in any of the above method embodiments.

[0141] When the vehicle performs auxiliary braking, the present invention identifies whether the forward condition is met based on the vehicle speed, throttle opening, and driving torque, accurately judges the driving intention by introducing multiple factors. When it is identified that the forward condition is met at the current sampling moment, the driving torque can be output, and the auxiliary braking torque can be controlled to decrease, thereby avoiding unexpected acceleration and meeting the vehicle's forward demand.

[0142] An embodiment of the present invention provides a storage medium that stores computer instructions. When a computer executes the computer instructions, it is used to execute all steps of the electric vehicle ramp control method as described above.

[0143] In the context of the present disclosure, the storage medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The storage medium can be a machine-readable signal medium or a machine-readable storage medium. Optionally, the storage medium can be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium can be ROM, Random Access Memory (RAM), Compact Disc ROM (CD-ROM), magnetic tape, floppy disk, and optical data storage devices, etc.

[0144] An embodiment of the present invention provides a computer program product, including a computer program / instructions. When the computer program / instructions are executed by a processor, the electric vehicle ramp control method as described above is implemented.

[0145] The above-described embodiments merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the present invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A method for controlling a slope of an electric vehicle, characterized in that: include: When the vehicle performs auxiliary braking, it is identified whether the forward condition is met based on the vehicle speed, throttle opening and driving torque, and the auxiliary braking outputs auxiliary braking torque when the vehicle is on a slope; When it is identified that the current sampling moment satisfies the forward movement condition, the driving torque is output and the auxiliary braking torque is controlled to be reduced.

2. The electric vehicle hill control method according to claim 1, characterized in that: The identification of whether the forward movement condition is met based on the vehicle speed, the throttle opening and the driving torque specifically includes: At each sampling moment, whether the forward movement condition is met at the current sampling moment is identified based on the vehicle speed, throttle opening, throttle opening change, throttle opening change rate, and driving torque change.

3. The electric vehicle hill control method according to claim 2, characterized in that: The step of identifying whether the current sampling moment satisfies the forward movement condition according to the vehicle speed, the throttle opening, the throttle opening change, the throttle opening change rate, and the driving torque change includes: Determine whether the current sampling moment satisfies the first forward determination condition according to the vehicle speed; Judging whether the current sampling moment satisfies the second forward judgment condition according to the throttle opening; Judging whether the current sampling moment satisfies the third forward judgment condition according to the throttle opening change; Judging whether the current sampling moment satisfies the fourth forward judgment condition according to the throttle opening change rate; Judging whether the current sampling moment satisfies the fifth forward judgment condition according to the driving torque change; Judging whether the current sampling moment satisfies the sixth forward judgment condition according to the ratio of the driving torque change amount to the throttle opening change rate; At the current sampling moment, when the first advance judgment condition, the second advance judgment condition, the third advance judgment condition, the fourth advance judgment condition, the fifth advance judgment condition, and the sixth advance judgment condition are all met, it is identified that the current sampling moment meets the advance condition; otherwise, it is identified that the current sampling moment does not meet the advance condition.

4. The electric vehicle slope control method according to claim 3, characterized in that: The step of judging whether the current sampling moment satisfies the first advance judgment condition according to the vehicle speed includes: if the vehicle speed at the current sampling moment is within the vehicle speed range, judging that the current sampling moment satisfies the first advance judgment condition; otherwise, judging that the current sampling moment does not satisfy the first advance judgment condition; The determining whether the current sampling moment satisfies the second advance determination condition according to the throttle opening includes: if the throttle opening at the current sampling moment is greater than the second throttle opening threshold, determining that the current sampling moment satisfies the second advance determination condition; if the throttle opening at the current sampling moment is less than the first throttle opening threshold, determining that the current sampling moment does not satisfy the second advance determination condition; if the throttle opening at the current sampling moment is greater than or equal to the first throttle opening threshold and less than or equal to the second throttle opening threshold, maintaining the determination of the second advance determination condition at the previous sampling moment, and the first throttle opening threshold is less than the second throttle opening threshold; The determining whether the current sampling moment satisfies the third forward determination condition according to the throttle opening change amount includes: if the throttle opening change amount at the current sampling moment is greater than the second throttle opening change amount threshold, determining that the current sampling moment satisfies the third forward determination condition; if the throttle opening change amount at the current sampling moment is less than the first throttle opening change amount threshold, determining that the current sampling moment does not satisfy the third forward determination condition; if the throttle opening change amount at the current sampling moment is greater than or equal to the first throttle opening change amount threshold and less than or equal to the second throttle opening change amount threshold, maintaining the determination of the third forward determination condition at the previous sampling moment, the first throttle opening change amount threshold is less than the second throttle opening change amount threshold, and the throttle opening change amount at the current sampling moment is the difference between the throttle opening at the current sampling moment and the throttle opening at the previous sampling moment; The step of judging whether the current sampling moment satisfies the fourth forward judgment condition according to the throttle opening change rate includes: if the throttle opening change rate at the current sampling moment is less than the throttle opening change rate threshold, judging that the current sampling moment satisfies the fourth forward judgment condition; otherwise, judging that the current sampling moment does not satisfy the fourth forward judgment condition, and the throttle opening change rate at the current sampling moment is the throttle opening change amount at the current sampling moment divided by the time interval between two adjacent sampling moments; The step of judging whether the current sampling moment satisfies the fifth advance judgment condition according to the driving torque variation comprises: if the driving torque variation at the current sampling moment is greater than the driving torque variation threshold, judging that the current sampling moment satisfies the fifth advance judgment condition; otherwise, judging that the current sampling moment does not satisfy the fifth advance judgment condition, and the driving torque variation at the current sampling moment is the difference between the driving torque at the current sampling moment and the driving torque at the previous sampling moment; The method of judging whether the current sampling moment satisfies the sixth forward judgment condition based on the ratio of the driving torque change amount to the throttle opening change rate includes: if the ratio of the driving torque change amount to the throttle opening change rate at the current sampling moment is within the ratio range, judging that the current sampling moment satisfies the sixth forward judgment condition; otherwise, judging that the current sampling moment does not satisfy the sixth forward judgment condition.

5. The electric vehicle hill control method according to claim 1, characterized in that: The output driving torque includes: The required torque is obtained, and the required torque is filtered twice to obtain the output torque, and the output torque is output as the driving torque.

6. The electric vehicle hill control method according to claim 5, characterized in that: The performing secondary filtering on the required torque to obtain the driving torque includes: The output torque at each sampling moment is calculated as: y"(n)=k1·x(n)+k2·x(n-1)+k3·x(n-2)+k4·y(n-1)+k5·y(n-2), where: y"(n) is the output torque at sampling time n, x(n) is the required torque at sampling time n, x(n-1) is the required torque at sampling time n-1, x(n-2) is the required torque at sampling time n-2, y(n-1) is the output torque at sampling time n-1, y(n-2) is the output torque at sampling time n-2, k1 is the first weight, k2 is the second weight, k3 is the third weight, k4 is the fourth weight, and k5 is the fifth weight.

7. The electric vehicle hill control method according to claim 1, characterized in that: The controlling to reduce the auxiliary braking torque includes: gradually reducing the auxiliary braking torque with a fixed slope.

8. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors to enable at least one of the processors to execute the electric vehicle hill control method according to any one of claims 1 to 7.

9. A storage medium, characterized in that: The storage medium stores computer instructions, and when a computer executes the computer instructions, it is used to execute all steps of the electric vehicle hill control method according to any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the electric vehicle hill control method according to any one of claims 1 to 7 is implemented.

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