Control method for inhibiting drifting of electric vehicle, vehicle controller and electric vehicle

Abstract

The invention provides a control method for inhibiting drifting of an electric vehicle, a vehicle controller and the electric vehicle, and is applied to the technical field of electric vehicles. The control method is used for controlling a driving system of the electric vehicle to restrain drifting of the electric vehicle after drifting of the electric vehicle occurs, and comprises the steps that in the left turning process of the electric vehicle, the driving system of the electric vehicle is controlled to restrain drifting of the electric vehicle at the first moment when a steering wheel starts to turn left; controlling the torque output to the left wheel of the electric vehicle by the driving system to be smaller than the torque output to the right wheel of the electric vehicle; after the first moment, when the electric vehicle drifts, the torque output by the driving system to the left rear wheel of the electric vehicle is controlled to be larger than the torque output by the driving system to the right rear wheel of the electric vehicle. Therefore, the drifting of the electric vehicle is inhibited, and the stability of the electric vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric vehicles, and in particular to a control method for suppressing spinout of an electric vehicle, a vehicle controller and an electric vehicle. BACKGROUND

[0002] During the driving process of the electric vehicle turning, for example, in the over-turning scene such as U-turn, the vehicle is prone to spinout. At this time, the driver needs to frequently correct the steering wheel to make the electric vehicle get out of the spinout scene, however, this operation requires the driver to have skilled driving experience, otherwise, the situation of not timely counter-steering and over-correcting the steering wheel may occur, which not only makes it difficult for the vehicle to get out of the spinout scene, but also causes the electric vehicle to lose stability. SUMMARY

[0003] The embodiments of the present application provide a control method for suppressing spinout of an electric vehicle, a vehicle controller and an electric vehicle. The driving system of the electric vehicle is controlled after the electric vehicle spins out, so as to suppress the spinout of the electric vehicle and improve the stability of the electric vehicle.

[0004] In a first aspect, the embodiments of the present application provide a control method for suppressing spinout of an electric vehicle. The control method is used to control the driving system of the electric vehicle to suppress the spinout of the electric vehicle after the electric vehicle spins out. The control method comprises:

[0005] During the process of the electric vehicle turning left, at a first moment when the steering wheel starts to turn left, the control method controls the driving system to output a smaller torque to the left wheels of the electric vehicle than to the right wheels of the electric vehicle; and after the first moment, when the electric vehicle spins out, the control method controls the driving system to output a larger torque to the left rear wheels of the electric vehicle than to the right rear wheels of the electric vehicle.

[0006] In the embodiments, during the process of the electric vehicle turning left, by controlling the driving system to output a smaller torque to the left wheels than to the right wheels, a yaw moment in the same direction as the turning angle of the steering wheel is generated by the torque difference between the left and right wheels, which assists the electric vehicle to turn left. After the electric vehicle spins out, by controlling the driving system to output a larger torque to the left rear wheels than to the right rear wheels, a yaw moment in the opposite direction of the turning angle of the steering wheel is generated by the torque difference between the two rear wheels, which can offset the increased yaw moment of the vehicle due to spinout (the direction of the yaw moment is the same as the turning angle of the steering wheel), automatically suppresses the spinout of the electric vehicle, improves the stability of the electric vehicle, and assists the electric vehicle to normally turn left.

[0007] In an embodiment of the first aspect, the control method specifically comprises: after the electric vehicle spins out, the control method controls the driving system to increase the torque output to the left rear wheels or to decrease the torque output to the right rear wheels.

[0008] In the embodiment, after the electric vehicle spins out, the control method specifically controls the driving system to increase the torque output to the left rear wheel and / or reduce the torque output to the right rear wheel, so that the torque output to the left rear wheel is greater than the torque output to the right rear wheel, and the yaw moment generated by the torque difference between the two rear wheels in the direction opposite to the steering wheel angle can be increased, so that the yaw moment in the direction opposite to the steering wheel angle can offset the increased yaw moment of the vehicle due to the spin out, inhibit the spin out of the electric vehicle, and maintain the normal left turn of the electric vehicle.

[0009] In an embodiment of the first aspect, the control method specifically includes: after the electric vehicle spins out, controlling the torque difference between the torque output to the left rear wheel and the torque output to the right rear wheel to be less than or equal to a torque difference threshold.

[0010] In the embodiment, after the electric vehicle spins out, the control method controls the torque difference between the torque output to the left rear wheel and the torque output to the right rear wheel to be less than or equal to a torque difference threshold, so as to limit the upper limit of the yaw moment generated by the torque difference between the two rear wheels, so as to avoid the tire friction circle limit of the wheel grip being broken due to the yaw moment in the direction opposite to the steering wheel angle being too large, so as to avoid the loss of stability of the electric vehicle, and ensure the safety of driving.

[0011] In an embodiment of the first aspect, the control method specifically includes: after the electric vehicle spins out, when the yaw rate is a first value, controlling the torque difference threshold to be a first torque difference threshold; when the yaw rate is a second value greater than the first value, controlling the torque difference threshold to be a second torque difference threshold less than or equal to the first torque difference threshold.

[0012] The torque difference threshold refers to the torque difference threshold between the torque output to the left rear wheel and the torque output to the right rear wheel. In the embodiment, after the electric vehicle spins out, the control method controls the torque difference threshold in the case of a larger yaw rate to be less than or equal to the torque difference threshold in the case of a smaller yaw rate, so as to limit the torque difference threshold according to the size of the yaw rate, thereby limiting the upper limit of the yaw moment generated by the torque difference between the two rear wheels according to the size of the yaw rate, ensuring that the tire friction circle limit of the wheel grip is within the tire friction circle limit, avoiding the loss of stability of the electric vehicle, and ensuring the safety of driving.

[0013] In an embodiment of the first aspect, the control method specifically comprises: after the electric vehicle spins, when the yaw rate is less than or equal to a first yaw rate threshold, the control torque difference threshold does not change with the increase of the yaw rate; when the yaw rate is greater than the first yaw rate threshold and less than a second yaw rate threshold, the control torque difference threshold decreases with the increase of the yaw rate; when the yaw rate is greater than or equal to the second yaw rate threshold and less than or equal to a third yaw rate threshold, the control torque difference threshold does not change with the increase of the yaw rate; when the yaw rate is greater than the third yaw rate threshold, the control torque difference threshold decreases with the increase of the yaw rate.

[0014] The torque difference threshold mentioned above refers to a torque difference threshold between the torque output to the left rear wheel and the torque output to the right rear wheel. In this embodiment, after the electric vehicle spins, the yaw rate is divided into multiple yaw rate intervals by setting the first yaw rate threshold, the second yaw rate threshold and the third yaw rate threshold, and multiple control intervals of the torque difference threshold are divided according to the multiple yaw rate intervals, and the corresponding control mode of the torque difference threshold is adopted in different yaw rate intervals, so that the upper limit of the yaw moment generated by the torque difference in different yaw rate intervals is limited in the corresponding way. In this way, the torque difference threshold is accurately determined according to the yaw rate, so as to accurately limit the upper limit of the yaw moment generated by the torque difference between the two rear wheels, avoid the loss of stability of the electric vehicle, and ensure the safety of driving. For example, when the yaw rate is less than or equal to the first yaw rate threshold, the control torque difference threshold does not change with the increase of the yaw rate, so as to realize that the upper limit of the yaw moment generated by the torque difference does not change with the increase of the yaw rate; when the yaw rate is greater than the first yaw rate threshold and less than the second yaw rate threshold, the control torque difference threshold decreases with the increase of the yaw rate, so as to realize that the upper limit of the yaw moment generated by the torque difference does not decrease with the increase of the yaw rate; when the yaw rate is greater than or equal to the second yaw rate threshold and less than or equal to the third yaw rate threshold, the control torque difference threshold does not change with the increase of the yaw rate, so as to realize that the upper limit of the yaw moment generated by the torque difference does not change with the increase of the yaw rate; when the yaw rate is greater than the third yaw rate threshold, the control torque difference threshold decreases with the increase of the yaw rate, so as to realize that the upper limit of the yaw moment generated by the torque difference does not decrease with the increase of the yaw rate. In the region where the yaw rate has a significant influence on the torque difference threshold, the control torque difference threshold decreases with the increase of the yaw rate, which improves the accuracy of the torque difference threshold. In the region where the yaw rate has no significant influence on the torque difference threshold, the control torque difference threshold does not change with the increase of the yaw rate, which reduces the control complexity of the torque difference threshold.

[0015] In an embodiment of the first aspect, the control method specifically comprises: after the electric vehicle spins out, controlling the torque difference threshold to be non-zero.

[0016] In this embodiment, after the electric vehicle spins out, by controlling the torque difference threshold to be non-zero, it is ensured that the torque difference between the two rear wheels has a certain operable interval, so that a certain yaw moment can be generated to inhibit the electric vehicle from spinning out.

[0017] In an embodiment of the first aspect, the control method specifically comprises: after the electric vehicle spins out, when the yaw angular velocity of the electric vehicle is less than or equal to a preset yaw angular velocity, the torque difference between the torque output by the drive system to the left rear wheel and the torque output by the drive system to the right rear wheel is controlled to increase with the increase of the yaw angular velocity; when the yaw angular velocity of the electric vehicle is greater than the preset yaw angular velocity, the torque difference between the torque output by the drive system to the left rear wheel and the torque output by the drive system to the right rear wheel is not controlled to change with the increase of the yaw angular velocity.

[0018] In this embodiment, after the electric vehicle spins out, by detecting that the yaw angular velocity of the electric vehicle is less than or equal to a preset yaw angular velocity, it is detected that the torque difference for spin-out inhibition at this yaw angular velocity is within the limit of the wheel grip; and by detecting that the yaw angular velocity of the electric vehicle is greater than the preset yaw angular velocity, it is detected that the torque difference for spin-out inhibition at this yaw angular velocity will break through the limit of the wheel grip. In the case where the yaw angular velocity of the electric vehicle is less than or equal to the preset yaw angular velocity, by controlling the torque difference between the torque output by the drive system to the left rear wheel and the torque output by the drive system to the right rear wheel to increase with the increase of the yaw angular velocity, the torque difference between the two rear wheels is flexibly determined according to the yaw angular velocity, and the yaw moment generated by the torque difference is sufficient to inhibit the electric vehicle from spinning out, so that the electric vehicle can be inhibited from spinning out at different yaw angular velocities. In the case where the yaw angular velocity of the electric vehicle is greater than the preset yaw angular velocity, by controlling the torque difference between the torque output by the drive system to the left rear wheel and the torque output by the drive system to the right rear wheel not to change with the increase of the yaw angular velocity, it is ensured that the torque difference between the two rear wheels does not break through the limit of the wheel grip, so that the torque difference between the two rear wheels can inhibit the electric vehicle from spinning out while avoiding the loss of stability of the electric vehicle.

[0019] In an embodiment of the first aspect, the control method specifically comprises: at the first time point, when the opening degree of the accelerator pedal of the electric vehicle is a first accelerator pedal opening degree, controlling the torque sum output by the drive system to the electric vehicle to be a first torque sum; after the spin of the electric vehicle occurs, when the opening degree of the accelerator pedal of the electric vehicle is the first accelerator pedal opening degree, controlling the torque sum output by the drive system to the electric vehicle to be reduced to less than the first torque sum.

[0020] In this embodiment, during the left turn of the electric vehicle, when the opening degree of the accelerator pedal of the electric vehicle is a first accelerator pedal opening degree, the acceleration of the electric vehicle is controlled according to the opening degree of the accelerator pedal by controlling the torque sum output by the drive system to the electric vehicle to be a first torque sum, which is the torque sum indicated by the first accelerator pedal opening degree. After the spin of the electric vehicle occurs, the large vehicle acceleration can cause the grip of the wheels to break through the friction circle limit. By controlling the torque sum output by the drive system to the electric vehicle to be reduced to less than the first torque sum, the drive system is actively controlled to reduce the torque, the acceleration of the electric vehicle after the spin is limited, which is conducive to successfully suppressing the spin of the vehicle, ensuring the stability of the electric vehicle, and ensuring the safety of driving.

[0021] In an embodiment of the first aspect, the control method specifically comprises: after the spin of the electric vehicle occurs, the greater the first accelerator pedal opening degree, the greater the reduction amount of the torque sum output by the drive system to the electric vehicle.

[0022] In this embodiment, after the spin of the electric vehicle occurs, the greater the first accelerator pedal opening degree, the more likely the electric vehicle loses stability. In this case, the greater the reduction amount of the torque sum output by the drive system to the electric vehicle, the greater the force of actively controlling the drive system to reduce the torque, and the greater the force of limiting the acceleration of the electric vehicle after the spin. The size of the reduction amount of the torque sum is flexibly determined according to the size of the first accelerator pedal opening degree, so as to accurately control the force of the drive system to reduce the torque under different first accelerator pedal opening degrees, ensure the stability of the electric vehicle, and ensure the safety of driving.

[0023] In an embodiment of the first aspect, the control method specifically comprises: after the spin of the electric vehicle occurs, controlling the torque sum of the electric vehicle to be less than the torque sum indicated by the opening degree of the accelerator pedal.

[0024] In this embodiment, after the spin of the electric vehicle occurs, the large vehicle acceleration can cause the grip of the wheels to break through the friction circle limit. By controlling the torque sum of the electric vehicle to be less than the torque sum indicated by the opening degree of the accelerator pedal, the acceleration of the electric vehicle after the spin is limited, which is conducive to successfully suppressing the spin of the vehicle, ensuring the stability of the electric vehicle, and ensuring the safety of driving.

[0025] In an embodiment of the first aspect, the control method specifically comprises: after the electric vehicle spins out, the greater the opening degree of the accelerator pedal, the greater the difference between the torque of the electric vehicle and the torque indicated by the opening degree of the accelerator pedal.

[0026] In this embodiment, after the electric vehicle spins out, the greater the opening degree of the accelerator pedal, the greater the acceleration of the electric vehicle, and the more likely the electric vehicle loses stability. By controlling the greater the difference between the torque of the electric vehicle and the torque indicated by the opening degree of the accelerator pedal, the greater the limiting force of the torque of the electric vehicle in the case of a larger opening degree of the accelerator pedal, and the smaller the limiting force of the torque of the electric vehicle in the case of a smaller opening degree of the accelerator pedal, thereby limiting the acceleration of the electric vehicle after spinning out, which is conducive to successfully suppressing the vehicle from spinning out, ensuring the stability of the electric vehicle, and ensuring driving safety.

[0027] In an embodiment of the first aspect, the control method specifically comprises: after the electric vehicle spins out, the opening degree of the accelerator pedal is a first accelerator pedal opening degree, the torque difference between the torque output by the drive system to the left rear wheel or the right rear wheel and the torque indicated by the first accelerator pedal opening degree is a first torque difference; the opening degree of the accelerator pedal is a second accelerator pedal opening degree greater than the first accelerator pedal opening degree, and the torque difference between the torque output by the drive system to the left rear wheel or the right rear wheel and the torque indicated by the second accelerator pedal opening degree is a second torque difference greater than or equal to the first torque difference.

[0028] In this embodiment, after the electric vehicle spins out, by limiting the torque output by the drive system to the left rear wheel and the right rear wheel according to the opening degree of the accelerator pedal, in the case of a larger opening degree of the accelerator pedal, the torque difference between the torque output by the drive system to the left rear wheel or the right rear wheel and the torque indicated by the opening degree of the accelerator pedal is greater, and in the case of a smaller opening degree of the accelerator pedal, the torque difference between the torque output by the drive system to the left rear wheel or the right rear wheel and the torque indicated by the opening degree of the accelerator pedal is smaller, by limiting the torque output by the drive system to the left rear wheel and the right rear wheel, the torque of the electric vehicle is limited to be less than the torque indicated by the opening degree of the accelerator pedal, thereby limiting the acceleration of the electric vehicle after spinning out, which is conducive to successfully suppressing the vehicle from spinning out, ensuring the stability of the electric vehicle, and ensuring driving safety.

[0029] In an embodiment of the first aspect, the control method specifically comprises: after the electric vehicle spins out, the torque difference between the torque output by the drive system to the left rear wheel and the torque indicated by the opening degree of the accelerator pedal is less than the torque difference between the torque output to the right rear wheel and the torque indicated by the opening degree of the accelerator pedal.

[0030] In the embodiment, after the electric vehicle spins out, the torque difference between the torque output by the drive system to the left rear wheel and the torque indicated by the opening degree of the accelerator pedal is less than the torque difference between the torque output to the right rear wheel and the torque indicated by the opening degree of the accelerator pedal, so that the torque output to the left rear wheel is greater than the torque output to the right rear wheel while the torque output by the drive system to the left and right rear wheels is limited, and the yaw moment generated by the torque difference between the two rear wheels restrains the spin out.

[0031] In an embodiment of the first aspect, the control method specifically comprises: after the electric vehicle spins out, the greater the steering wheel turning angle to the left, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel.

[0032] In the embodiment, the greater the steering wheel turning angle to the left, the more serious the spin out of the electric vehicle after the electric vehicle spins out. In this case, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel, the greater the yaw moment in the opposite direction of the steering wheel turning angle direction generated by the torque difference between the two rear wheels to restrain the intensified spin out. In this way, the torque difference between the two rear wheels is flexibly determined according to the steering wheel turning angle to the left, so that the spin out of the electric vehicle can be restrained in the case of various steering wheel turning angle to the left.

[0033] In an embodiment of the first aspect, the control method specifically comprises: after the electric vehicle spins out, the greater the steering wheel angular velocity to the left, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel.

[0034] In the embodiment, the greater the steering wheel angular velocity to the left, the more serious the spin out of the electric vehicle after the electric vehicle spins out. In this case, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel, the greater the yaw moment in the opposite direction of the steering wheel turning angle direction generated by the torque difference between the two rear wheels to restrain the intensified spin out. In this way, the torque difference between the two rear wheels is flexibly determined according to the steering wheel angular velocity to the left, so that the spin out of the electric vehicle can be restrained in the case of various steering wheel angular velocity to the left.

[0035] In an embodiment of the first aspect, the control method specifically comprises: after the electric vehicle spins out, the greater the vehicle speed of the electric vehicle, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel.

[0036] In the embodiment, after the electric vehicle spins out, the greater the speed of the electric vehicle, the more serious the spin-out of the electric vehicle. In this case, the greater the torque difference between the torque output by the driving system to the left rear wheel and the torque output by the driving system to the right rear wheel, the greater the yaw moment opposite to the direction of the steering wheel angle generated by increasing the torque difference between the two rear wheels to suppress the intensified spin-out. In this way, the torque difference between the two rear wheels is flexibly determined according to the vehicle speed, so that the spin-out of the electric vehicle can be suppressed at various vehicle speeds.

[0037] In an embodiment of the first aspect, the control method further comprises: during normal driving of the electric vehicle, when the steering wheel turns left by an angle greater than a preset angle, the driving system is controlled to output a torque to the left rear wheel smaller than a torque output to the right rear wheel; when the steering wheel turns right by an angle greater than the preset angle, the driving system is controlled to output a torque to the left rear wheel greater than a torque output to the right rear wheel; and when the steering wheel turns by an angle less than or equal to the preset angle, the driving system is controlled to output a torque to the left rear wheel equal to a torque output to the right rear wheel.

[0038] In the embodiment, during normal driving of the electric vehicle after the electric vehicle escapes from the spin-out scenario, the driving system is controlled to output torques to the two rear wheels according to the direction and angle of the steering wheel rotation, so as to control the electric vehicle to normally turn left, to normally turn right, or to normally drive straight. For example, when the steering wheel turns left by an angle greater than a preset angle, the driving system is controlled to output a torque to the left rear wheel smaller than a torque output to the right rear wheel, so as to assist the electric vehicle to turn left, thereby enabling the electric vehicle to normally turn left. For another example, when the steering wheel turns right by an angle greater than the preset angle, the driving system is controlled to output a torque to the left rear wheel greater than a torque output to the right rear wheel, so as to assist the electric vehicle to turn right, thereby enabling the electric vehicle to normally turn right; and when the steering wheel turns by an angle less than or equal to the preset angle, the driving system is controlled to output a torque to the left rear wheel equal to a torque output to the right rear wheel, so as to assist the electric vehicle to normally drive straight.

[0039] In the second aspect, an embodiment of the present application provides a vehicle controller, which is used to control the torque output of a driving system, and specifically configured to: during left turning of an electric vehicle, at a first time when a steering wheel starts to turn left, control the driving system to output a torque to a left wheel of the electric vehicle smaller than a torque output to a right wheel of the electric vehicle; and after the first time, when the electric vehicle spins out, control the driving system to output a torque to a left rear wheel of the electric vehicle greater than a torque output to a right rear wheel of the electric vehicle.

[0040] In the embodiment, during the left turning of the electric vehicle, the vehicle controller controls the driving system to output a smaller torque to the left wheels than to the right wheels, and a yaw moment in the same direction as the steering wheel is generated by the torque difference between the left and right wheels, which assists the electric vehicle to turn left. After the spin of the electric vehicle, the vehicle controller controls the driving system to output a larger torque to the left rear wheels than to the right rear wheels, and a yaw moment in the opposite direction of the steering wheel is generated by the torque difference between the two rear wheels, which can offset the yaw moment of the vehicle due to the spin (the yaw moment is in the same direction as the steering wheel), automatically suppress the spin of the electric vehicle, improve the stability of the electric vehicle, and assist the electric vehicle to normally turn left.

[0041] In an embodiment of the second aspect, the vehicle controller is a motor controller, and at a first time when the steering wheel starts to turn left, the motor controller controls the driving motors to output a smaller torque to the left wheels of the electric vehicle than to the right wheels of the electric vehicle; after the first time, the electric vehicle spins, and the motor controller controls the driving motors to output a larger torque to the left rear wheels of the electric vehicle than to the right rear wheels of the electric vehicle.

[0042] In the embodiment, the spin of the electric vehicle can be recognized by the motor controller. After the spin of the electric vehicle, the driving system is directly controlled to output a larger torque to the left rear wheels of the electric vehicle than to the right rear wheels of the electric vehicle, instead of adjusting the torque output of the driving system in response to receiving a torque signal sent by another controller to the motor controller, so that the control link of the electric vehicle is shortened.

[0043] In an embodiment of the second aspect, the vehicle controller is a vehicle controller, and the vehicle controller outputs a torque signal to each motor controller, and each motor controller controls the corresponding driving motor to output a torque to the corresponding wheel, wherein at a first time when the steering wheel starts to turn left, the driving system is controlled to output a smaller torque to the left wheels of the electric vehicle than to the right wheels of the electric vehicle; after the first time, the electric vehicle spins, and the driving system is controlled to output a larger torque to the left rear wheels of the electric vehicle than to the right rear wheels of the electric vehicle.

[0044] In the embodiment, the vehicle controller can also issue a torque signal to the motor controller after the spin of the electric vehicle to control the driving system to output a smaller torque to the left wheels of the electric vehicle than to the right wheels of the electric vehicle, and the control of the vehicle controller and the control of the motor controller achieve redundant backup.

[0045] In a third aspect, the embodiments of the present application provide an electric vehicle, the electric vehicle comprising a drive system and wheels, the drive system comprising a vehicle controller, the vehicle controller being configured to control torque output of the drive system to the wheels.

[0046] The vehicle controller is specifically configured to: during a left turn of the electric vehicle, at a first time point when a steering wheel starts to turn left, control the drive system to output a torque to a left wheel of the electric vehicle that is less than a torque output to a right wheel of the electric vehicle; after the first time point, when the electric vehicle spins, control the drive system to output a torque to a left rear wheel of the electric vehicle that is greater than a torque output to a right rear wheel of the electric vehicle.

[0047] In addition to the technical effects of the solutions provided in the second aspect and the third aspect, reference can be made to the corresponding descriptions of the first aspect, and details are not repeated. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 A schematic diagram of an electric vehicle provided by the embodiments of the present application is shown;

[0049] Figure 2 A schematic diagram of an electric vehicle architecture provided by the embodiments of the present application is shown;

[0050] Figure 3 A driving scene schematic diagram of an electric vehicle provided by the embodiments of the present application is shown;

[0051] Figure 4 A timing relationship diagram of torque output by a drive system provided by the embodiments of the present application is shown;

[0052] Figure 5 A schematic diagram of the relationship between a torque difference threshold and a yaw rate provided by the embodiments of the present application is shown;

[0053] Figure 6 A schematic diagram of the relationship between a correction factor and an opening degree of an accelerator pedal provided by the embodiments of the present application is shown;

[0054] Figure 7 A schematic diagram of a motor controller provided by the embodiments of the present application is shown;

[0055] Figure 8 A schematic diagram of a vehicle controller provided by the embodiments of the present application is shown. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0057] The prefix words such as "first", "second" in the embodiments of the present application are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as "first" in the embodiments of the present application does not constitute a limitation on the described objects, and the description of the described objects should be referred to the description in the context of claims or embodiments, and should not constitute redundant limitation because of the use of such prefix words.

[0058] In the driving process of the electric vehicle turning, for example, in the over-turning scene such as U-turn, the vehicle is prone to spin. After the electric vehicle spins, the driver needs to frequently correct the steering wheel to make the electric vehicle get out of the spin scene, and even needs to operate the pedal, however, the foregoing operations all need the driver to have skilled driving experience, otherwise, the situations such as not timely counter-steering, over-correcting the steering wheel, pedal operation failure, etc. will occur, which not only makes it difficult for the vehicle to get out of the spin scene, but also causes the electric vehicle to lose stability.

[0059] In view of this, the embodiments of the present application provide a control method for inhibiting the electric vehicle from spinning, a vehicle controller and an electric vehicle. In the process of the electric vehicle turning left, at a first moment when the steering wheel starts to turn left, the control system controls the driving system to output a torque to the left wheel of the electric vehicle smaller than the torque output to the right wheel of the electric vehicle; and after the first moment, the electric vehicle spins, the control system controls the driving system to output a torque to the left rear wheel of the electric vehicle greater than the torque output to the right rear wheel of the electric vehicle. In this way, after detecting that the electric vehicle spins, the electric vehicle is automatically inhibited from spinning, the stability of the electric vehicle is improved, and the electric vehicle is maintained to normally turn left.

[0060] Referring to Figure 1 , Figure 1 A schematic view of an electric vehicle is shown. As Figure 1 shown, the electric vehicle 100 includes a driving system 110, a power battery 120 connected with the driving system 110, and a vehicle controller 130. The driving system 110 is used to drive the electric vehicle 100. The power battery 120 is used to provide power to the driving system 110. The driving system 110 is used to receive power from the power battery 120 and provide power for the electric vehicle 100. The driving system 110 can also be referred to as a power assembly.

[0061] Based on their position within the electric vehicle 100, the wheels can be categorized as follows: left front wheel (FL), right front wheel (FR), left rear wheel (BL), and right rear wheel (BR). In terms of axle arrangement, the left and right front wheels are coaxial and connected via the front axle. The left and right rear wheels are coaxial and connected via the rear axle. In terms of position, the left and left rear wheels are on the same side (left side), and the right front and right rear wheels are on the same side (right side). In other words, in the electric vehicle 100, the left and right front wheels are coaxial, as are the left and right rear wheels; the left and left rear wheels are on the same side, as are the right and right rear wheels.

[0062] The electric vehicle 100 in this application embodiment can be any of the different types of automobiles such as cars, trucks, and passenger buses, or it can be a tricycle, two-wheeled vehicle, train, or other transportation device that carries people or goods, or other types of vehicles powered by power batteries.

[0063] This application does not limit the specific type of powertrain in its embodiments; these are merely examples and not limitations. The aforementioned powertrain can be a centralized powertrain, a hub motor powertrain, or a wheel-side motor powertrain. Specifically, the hub motor powertrain directly mounts the motor and reducer within the wheel rim, eliminating transmission components such as half-shafts, universal joints, differentials, and gearboxes; the wheel-side motor powertrain mounts the motor on the subframe.

[0064] See Figure 2 , Figure 2 A schematic diagram of an electric vehicle architecture is shown.

[0065] See Figure 2 (a) Electric vehicle 100 is a three-wheel drive vehicle, and the drive system 110 includes drive motors 111 for the two front wheels and motor controllers 121 for the drive motors 111, drive motor 112 for the left rear wheel and motor controllers 122 for the drive motor 112, and drive motor 113 for the right rear wheel and motor controllers 123 for the drive motor 113.

[0066] In one embodiment, the drive system of the three-wheel drive vehicle may further include drive motors for two rear wheels and motor controllers for the drive motors, a drive motor for the left front wheel and a motor controller for the drive motor, and a drive motor for the right front wheel and a motor controller for the drive motor.

[0067] When the electric vehicle 100 is in a driving state, each drive motor in the drive system 110 provides driving force to the electric vehicle 100. Specifically, when the electric vehicle 100 is in a driving state, the vehicle controller 130 calculates the torque demand of the electric vehicle and outputs torque signals to the motor controllers of each drive motor. Each motor controller receives torque signals from the power battery 120 (e.g., ...). Figure 1The motor controller controls the corresponding drive motor to output electric energy and control the torque indicated by the corresponding drive motor output torque signal.

[0068] The drive motors in the electric vehicle 100 with the energy recovery function can also be used to provide braking force for the electric vehicle 100. Specifically, when the electric vehicle 100 is in a braking state, the vehicle controller 130 receives a braking signal and sends an energy recovery instruction to each motor controller, each motor controller controls the corresponding drive motor to operate in a power generation state in response to the energy recovery instruction, each drive motor converts the kinetic energy of the wheels of the electric vehicle into electric energy and outputs a reverse torque to the wheels of the electric vehicle 100 to provide braking force for the electric vehicle 100, the direction of the reverse torque is opposite to the direction of the wheel rotation.

[0069] The drive system 110 and the vehicle controller 130 are connected by communication, and the specific communication connection mode is not limited in the embodiments of the present application. For example, the motor controllers in the drive system 110 and the vehicle controller 130 can communicate through a private CAN network, and the motor controllers in the drive system 110 and the vehicle controller 130 can communicate through a public CAN network.

[0070] Referring to Figure 2 In (b), the electric vehicle 100 is a four-wheel drive type, and the drive system 110 includes a drive motor 114 and a motor controller 124 of the drive motor 114 for the left front wheel, a drive motor 115 and a motor controller 125 of the drive motor 115 for the right front wheel, a drive motor 112 and a motor controller 122 of the drive motor 112 for the left rear wheel, and a drive motor 113 and a motor controller 123 of the drive motor 113 for the right rear wheel.

[0071] The architecture of the embodiments of the present application is described above, and the control method for suppressing the electric vehicle from fishtailing provided by the present application is described below in combination with specific embodiments.

[0072] The control method for suppressing the electric vehicle from fishtailing provided by the embodiments of the present application is used to control the drive system of the electric vehicle after the electric vehicle fishtails to suppress the electric vehicle from fishtailing.

[0073] The control method for suppressing the electric vehicle from fishtailing provided by the embodiments of the present application is described in detail below with the electric vehicle turning left as an example, and the control method includes the following steps.

[0074] During the process of the electric vehicle turning left, at the first time t1 when the steering wheel starts to turn left, the torque output by the drive system to the left wheels of the electric vehicle is less than the torque output to the right wheels of the electric vehicle.

[0075] In the process of the electric vehicle turning left, the driving system is controlled to output a smaller torque to the left wheels than to the right wheels, and a yaw moment is generated between the left and right wheels to assist the electric vehicle in turning left.

[0076] After the first time t1, when the electric vehicle spins out, the driving system is controlled to output a larger torque to the left rear wheels than to the right rear wheels of the electric vehicle.

[0077] In an embodiment, whether the electric vehicle spins out can be identified by the vehicle speed, the yaw rate, the steering wheel angle, the steering wheel angular velocity, and the lateral acceleration of the electric vehicle.

[0078] Specifically, in an embodiment, in response to the vehicle speed being greater than a preset speed, the yaw rate being greater than a yaw rate threshold, the steering wheel angle being greater than a preset steering wheel angle, the steering wheel angular velocity being greater than a preset steering wheel angular velocity, and the lateral acceleration being greater than a preset lateral acceleration, it is determined that the electric vehicle spins out.

[0079] After the electric vehicle spins out, the driving system is controlled to output a larger torque to the left rear wheels than to the right rear wheels, and a yaw moment opposite to the direction of the steering wheel angle is generated between the two rear wheels to offset the increased yaw moment of the vehicle due to spinning out, inhibit the electric vehicle from spinning out, and maintain the electric vehicle in normal left turn.

[0080] For ease of understanding, refer to Figure 3 and Figure 4 , Figure 3 a driving scene of an electric vehicle is shown, Figure 4 a timing diagram of the torque output by a driving system is shown.

[0081] As shown in Figure 4 , in the process of the electric vehicle turning left, at the first time t1, the electric vehicle is in a normal turning state, as shown in position 1 in Figure 3 , the driving system outputs a smaller torque to the left rear wheels than to the right rear wheels.

[0082] After the first time, the electric vehicle spins out, as shown in position 2 in Figure 3 , the driving system is controlled to output a larger torque to the left rear wheels than to the right rear wheels.

[0083] In the embodiment, during the process that the electric vehicle turns left, the torque outputted to the left wheels by the driving system is controlled to be less than the torque outputted to the right wheels, a yaw moment in the same direction as the steering wheel is generated by the torque difference between the left wheels and the right wheels, and the electric vehicle is assisted to turn left. After the electric vehicle spins out, the torque outputted to the left rear wheels by the driving system is controlled to be greater than the torque outputted to the right rear wheels, a yaw moment in the opposite direction of the steering wheel is generated by the torque difference between the two rear wheels, the yaw moment generated by the spin-out of the electric vehicle is offset, the spin-out of the electric vehicle is automatically inhibited, the stability of the electric vehicle is improved, and the electric vehicle is assisted to normally turn left.

[0084] In the embodiment, the specific control of the electric vehicle after the electric vehicle spins out during the process that the electric vehicle turns right can refer to the control of the electric vehicle after the electric vehicle spins out during the process that the electric vehicle turns left, which is not described herein again.

[0085] The following continues to be described in detail the more specific control of the driving system after the electric vehicle spins out during the process that the electric vehicle turns left.

[0086] In an embodiment, the control method specifically comprises: after the electric vehicle spins out, the driving system is controlled to increase the torque outputted to the left rear wheels or to reduce the torque outputted to the right rear wheels.

[0087] In the embodiment, after the electric vehicle spins out, the torque outputted to the left rear wheels by the driving system is specifically controlled to be increased, and / or the torque outputted to the right rear wheels by the driving system is specifically controlled to be reduced, so that the torque outputted to the left rear wheels by the driving system is greater than the torque outputted to the right rear wheels, and the yaw moment in the opposite direction of the steering wheel generated by the torque difference between the two rear wheels can be increased, thereby the yaw moment in the opposite direction of the steering wheel can offset the yaw moment generated by the spin-out of the electric vehicle, the spin-out of the electric vehicle is inhibited, and the electric vehicle is maintained to normally turn left.

[0088] In an embodiment, the control method specifically comprises: after the electric vehicle spins out, the torque difference between the torque outputted to the left rear wheels by the driving system and the torque outputted to the right rear wheels is less than or equal to a torque difference threshold.

[0089] According to the tire friction circle theory, the limit of the grip of the wheels is limited, and the limit of the yaw moment that can be generated is limited. If the yaw moment generated by the torque difference between the two rear wheels is too large, the stability of the electric vehicle will be lost.

[0090] In this case, by controlling the torque difference between the torque output by the drive system to the left rear wheel and the torque output by the drive system to the right rear wheel to be less than or equal to a torque difference threshold, the upper limit of the yaw moment generated by the torque difference between the two rear wheels is limited to avoid the loss of stability of the electric vehicle.

[0091] In an embodiment, the greater the vertical load of the electric vehicle, the greater the control torque difference threshold. In another embodiment, the greater the adhesion coefficient of the road surface on which the electric vehicle is located, the greater the control torque difference threshold. In this way, the torque difference threshold is optimized, the upper limit of the yaw moment that can be generated by the torque difference between the two rear wheels is optimized, and the accuracy of the control is improved.

[0092] In this embodiment, after the electric vehicle spins out, by controlling the torque difference between the torque output by the drive system to the left rear wheel and the torque output by the drive system to the right rear wheel to be less than or equal to a torque difference threshold, the upper limit of the yaw moment generated by the torque difference between the two rear wheels is limited to avoid the loss of stability of the electric vehicle due to the excessive yaw moment opposite to the direction of the steering wheel angle, which causes the tire friction circle limit of the wheel to be broken, thereby causing the electric vehicle to lose stability and ensuring driving safety.

[0093] In an embodiment, the control method specifically comprises: after the electric vehicle spins out, when the yaw angular velocity is a first value, the control torque difference threshold is a first torque difference threshold; when the yaw angular velocity is a second value greater than the first value, the control torque difference threshold is a second torque difference threshold less than or equal to the first torque difference threshold.

[0094] After the electric vehicle spins out, the tire friction circle limit of the rear wheel is broken, and the change in the yaw angular velocity causes the vertical load of each wheel to change, and the tire friction circle of the rear wheel changes.

[0095] Specifically, after the electric vehicle spins out, the greater the yaw angular velocity, the more significantly the tire friction circle of the rear wheel is reduced.

[0096] In this case, the torque difference threshold between the two rear wheels is adjusted according to the yaw angular velocity, the accuracy of the control is improved, the tire friction circle limit of the wheel is avoided to be broken, and the stability of the electric vehicle is ensured.

[0097] In this embodiment, after the electric vehicle spins out, by controlling the torque difference threshold in the case of a larger yaw angular velocity to be less than or equal to the torque difference threshold in the case of a smaller yaw angular velocity, the torque difference threshold is limited according to the size of the yaw angular velocity, thereby limiting the upper limit of the yaw moment generated by the torque difference between the two rear wheels according to the size of the yaw angular velocity, ensuring that the tire friction circle limit of the wheel is within the tire friction circle limit, avoiding the loss of stability of the electric vehicle, and ensuring driving safety.

[0098] In one embodiment, the control method specifically includes: after the electric vehicle occurs spin, the yaw angular velocity is less than or equal to the first yaw angular velocity threshold value, the control torque difference threshold value does not change with the increase of the yaw angular velocity;The yaw angular velocity is greater than the first yaw angular velocity threshold value and less than the second yaw angular velocity threshold value, the control torque difference threshold value decreases with the increase of the yaw angular velocity;The yaw angular velocity is greater than or equal to the second yaw angular velocity threshold value and less than or equal to the third yaw angular velocity threshold value, the control torque difference threshold value does not change with the increase of the yaw angular velocity;The yaw angular velocity is greater than the third yaw angular velocity threshold value, the control torque difference threshold value decreases with the increase of the yaw angular velocity.

[0099] For ease of understanding, see Figure 5 , Figure 5 A schematic diagram showing the relationship between the torque difference threshold value and the yaw angular velocity is shown.

[0100] If the yaw angular velocity is greater than 0 and less than or equal to the first yaw angular velocity threshold value w1, the torque difference threshold value does not change with the increase of the yaw angular velocity;If the yaw angular velocity is greater than the first yaw angular velocity threshold value w1 and less than the second yaw angular velocity threshold value w2, the torque difference threshold value decreases with the increase of the yaw angular velocity;If the yaw angular velocity is greater than or equal to the second yaw angular velocity threshold value w2 and less than or equal to the third yaw angular velocity threshold value w3, the torque difference threshold value does not change with the increase of the yaw angular velocity;The yaw angular velocity is greater than the third yaw angular velocity threshold value w3, the torque difference threshold value decreases with the increase of the yaw angular velocity.

[0101] In the embodiment, after the electric vehicle spins out, the yaw rate is divided into multiple yaw rate intervals by setting the first yaw rate threshold, the second yaw rate threshold and the third yaw rate threshold, and the multiple control intervals of the torque difference threshold are divided according to the multiple yaw rate intervals, the corresponding control mode is adopted for the torque difference threshold in different yaw rate intervals, and the corresponding limiting mode is adopted for the upper limit of the yaw moment generated by the torque difference between the two rear wheels in different yaw rate intervals. Thus, the torque difference threshold is accurately determined according to the yaw rate, so as to accurately limit the upper limit of the yaw moment generated by the torque difference between the two rear wheels, avoid the loss of stability of the electric vehicle, and ensure the driving safety. For example, when the yaw rate is less than or equal to the first yaw rate threshold, the torque difference threshold does not change with the increase of the yaw rate, so as to realize that the upper limit of the yaw moment generated by the torque difference does not change with the increase of the yaw rate; when the yaw rate is greater than the first yaw rate threshold and less than the second yaw rate threshold, the torque difference threshold decreases with the increase of the yaw rate, so as to realize that the upper limit of the yaw moment generated by the torque difference does not decrease with the increase of the yaw rate; when the yaw rate is greater than or equal to the second yaw rate threshold and less than or equal to the third yaw rate threshold, the torque difference threshold does not change with the increase of the yaw rate, so as to realize that the upper limit of the yaw moment generated by the torque difference does not change with the increase of the yaw rate; when the yaw rate is greater than the third yaw rate threshold, the torque difference threshold decreases with the increase of the yaw rate, so as to realize that the upper limit of the yaw moment generated by the torque difference does not decrease with the increase of the yaw rate. In the region where the yaw rate has a significant influence on the torque difference threshold, the torque difference threshold decreases with the increase of the yaw rate, the accuracy of the torque difference threshold is improved, in the region where the yaw rate has no significant influence on the torque difference threshold, the torque difference threshold does not change with the increase of the yaw rate, and the control complexity of the torque difference threshold is reduced.

[0102] In the embodiment, the fourth yaw rate threshold, the fifth yaw rate threshold and other thresholds can be set to limit the change interval of the torque difference threshold.

[0103] In one embodiment, the control method specifically comprises: after the electric vehicle spins out, the torque difference threshold is controlled to be not zero.

[0104] Continuing to refer to Figure 5 No matter how the yaw rate changes, the torque difference threshold is always greater than 0.

[0105] In the embodiment, after the electric vehicle spins out, by controlling the torque difference threshold value to be non-zero, it is ensured that the torque difference between the two rear wheels has a certain operable interval, so that a certain yaw moment can be generated to inhibit the electric vehicle from spinning out, thereby avoiding the situation that the user's driving experience is relied on to inhibit the spinning out due to the fact that the torque difference threshold value is zero and the torque difference between the left and right side wheels cannot be used to assist in inhibiting the spinning out.

[0106] In an embodiment, the control method specifically comprises: after the electric vehicle spins out, when the yaw angular velocity of the electric vehicle is less than or equal to a preset yaw angular velocity, the torque difference between the torque output by the driving system to the left rear wheel and the torque output by the driving system to the right rear wheel is controlled to increase with the increase of the yaw angular velocity; when the yaw angular velocity of the electric vehicle is greater than the preset yaw angular velocity, the torque difference between the torque output by the driving system to the left rear wheel and the torque output by the driving system to the right rear wheel is controlled not to change with the increase of the yaw angular velocity.

[0107] After the electric vehicle spins out, the greater the yaw angular velocity of the electric vehicle, the more serious the spinning out of the electric vehicle.

[0108] However, according to the tire friction circle theory, the grip limit of the wheel is limited, and the size of the torque difference between the two rear wheels that can be used to inhibit the electric vehicle from spinning out is limited. If the limit of the friction circle is exceeded, the electric vehicle will lose stability.

[0109] The preset yaw angular velocity refers to the maximum yaw angular velocity within the grip limit of the wheel for which the torque difference between the two rear wheels is used to inhibit the spinning out.

[0110] The yaw angular velocity of the electric vehicle less than or equal to the preset yaw angular velocity indicates that the torque difference for which the spinning out is inhibited at this yaw angular velocity is within the grip limit of the wheel; the yaw angular velocity of the electric vehicle greater than the preset yaw angular velocity indicates that the torque difference for which the spinning out is inhibited at this yaw angular velocity will exceed the grip limit of the wheel.

[0111] In the case where the yaw angular velocity of the electric vehicle is less than or equal to the preset yaw angular velocity, the torque difference between the torque output by the driving system to the left rear wheel and the torque output by the driving system to the right rear wheel is controlled to increase with the increase of the yaw angular velocity, so that the torque difference between the two rear wheels is flexibly determined according to the yaw angular velocity, and the yaw moment generated by the torque difference is sufficient to inhibit the electric vehicle from spinning out.

[0112] In the case where the yaw angular velocity of the electric vehicle is greater than the preset yaw angular velocity, the torque difference between the torque output by the driving system to the left rear wheel and the torque output by the driving system to the right rear wheel is controlled not to change with the increase of the yaw angular velocity, so as to ensure that the torque difference between the two rear wheels does not exceed the grip limit of the wheel.

[0113] After the current fishtailing suppression is completed, the fishtailing situation of the electric vehicle is improved, and the fishtailing suppression can be performed again and multiple times subsequently until the fishtailing of the electric vehicle is completely suppressed.

[0114] In an embodiment, the control method specifically comprises: in the case that the yaw rate of the electric vehicle is greater than a preset yaw rate, controlling the torque difference between the torque output by the driving system to the left rear wheel and the torque output to the right rear wheel to be a preset torque difference.

[0115] The preset torque difference can be a torque difference corresponding to the preset yaw rate, or the preset torque difference can be slightly less than the torque difference corresponding to the preset yaw rate.

[0116] Referring to Figure 5 , Figure 5 In the case that the yaw rate is in the intervals [0, w1], [w2, w3] and [w3, +∞], the preset yaw rates corresponding to the intervals are different, and the preset torque differences corresponding to the preset yaw rates are different.

[0117] In an embodiment, the control method further comprises: after the electric vehicle fishtails, calculating a target differential torque yaw moment M required for the two rear wheels to generate a torque difference for suppressing fishtailing according to the vehicle speed, the steering angle of the front wheel and the yaw rate of the electric vehicle. The calculation formula is specifically as follows:

[0118] M = Kp (γ ref - γ) + ∫KI (γ ref - γ) dt,

[0119]

[0120] Wherein, M refers to the differential torque yaw moment, Kp and KI refer to the proportional factor of proportional integral control, γ ref refers to the expected yaw rate, u refers to the vehicle speed, δ refers to the steering angle of the front wheel, γ refers to the actual yaw rate, L refers to the wheelbase, m refers to the vehicle weight, a refers to the distance from the front axle to the vehicle center of mass, b refers to the distance from the rear axle to the vehicle center of mass, C1 refers to the front axle cornering stiffness, and C2 refers to the rear axle cornering stiffness.

[0121] After the differential torque yaw moment M is obtained, the differential torque yaw moment M is limited according to the actual yaw rate and the w1, w2 and w3 mentioned in the foregoing embodiments, to obtain a target differential torque yaw moment M Z .

[0122] For the case that the yaw rate is less than the preset yaw rate, the target differential torque yaw moment M Zis the target difference yaw moment M, for the case that the yaw angular velocity is greater than or equal to the preset yaw angular velocity, the target difference yaw moment M Z is the limited difference yaw moment M.

[0123] Then, according to the target difference yaw moment M Z The drive motor output torques of the two rear wheels are controlled. The torques output by the drive motor of the left rear wheel and the drive motor of the right rear wheel can be calculated according to the following calculation formulae.

[0124]

[0125] wherein T rr is the torque output to the right rear wheel, T rl is the torque output to the left rear wheel, T tot,rear is the rear axle wheel end torque request, RdTire is the wheel radius, gearRatio is the reducer speed ratio, and tr is the rear axle track. Here, M Z is negative, T rr <T rl .

[0126] In the embodiment, after the electric vehicle spins out, by detecting that the yaw angular velocity of the electric vehicle is less than or equal to the preset yaw angular velocity, the torque difference for spin-out suppression at the yaw angular velocity is detected to be within the wheel grip limit; and by detecting that the yaw angular velocity of the electric vehicle is greater than the preset yaw angular velocity, the torque difference for spin-out suppression at the yaw angular velocity is detected to break through the wheel grip limit. In the case that the yaw angular velocity of the electric vehicle is less than or equal to the preset yaw angular velocity, by controlling the torque difference between the torque output to the left rear wheel and the torque output to the right rear wheel of the drive system to increase with the increase of the yaw angular velocity, the torque difference between the two rear wheels is flexibly determined according to the yaw angular velocity, and the yaw moment generated by the torque difference is sufficient to suppress the spin-out of the electric vehicle, so that the spin-out of the electric vehicle can be suppressed in different yaw angular velocities. In the case that the yaw angular velocity of the electric vehicle is greater than the preset yaw angular velocity, by controlling the torque difference between the torque output to the left rear wheel and the torque output to the right rear wheel of the drive system to not change with the increase of the yaw angular velocity, the torque difference between the two rear wheels is ensured not to break through the wheel grip limit, so that the torque difference between the two rear wheels suppresses the spin-out of the electric vehicle while avoiding the loss of stability of the electric vehicle.

[0127] In an embodiment, the control method specifically comprises: at the first time t1, when the opening degree of the accelerator pedal of the electric vehicle is a first accelerator pedal opening degree, controlling the torque sum output by the drive system to the electric vehicle to be a first torque sum; after the electric vehicle spins out, when the opening degree of the accelerator pedal of the electric vehicle is the first accelerator pedal opening degree, controlling the torque sum output by the drive system to the electric vehicle to be reduced to less than the first torque sum.

[0128] That is, after the electric vehicle spins out, the drive system is controlled to actively reduce the torque.

[0129] The first torque sum is a torque sum indicated by the first accelerator pedal opening degree.

[0130] In the embodiment, during the left turn of the electric vehicle, when the opening degree of the accelerator pedal of the electric vehicle is a first accelerator pedal opening degree, the acceleration of the electric vehicle is controlled according to the opening degree of the accelerator pedal by controlling the torque sum output by the drive system to the electric vehicle to be a first torque sum, which is a torque sum indicated by the first accelerator pedal opening degree. After the electric vehicle spins out, the large vehicle acceleration can cause the wheel grip to break through the friction circle limit. By controlling the torque sum output by the drive system to the electric vehicle to be reduced to less than the first torque sum, the drive system is actively controlled to reduce the torque, limit the acceleration of the electric vehicle after the electric vehicle spins out, and help to successfully suppress the spin-out of the vehicle, thereby ensuring the stability of the electric vehicle and the safety of driving.

[0131] In an embodiment, the control method specifically comprises: the greater the first accelerator pedal opening degree is after the electric vehicle spins out, the greater the reduction amount of the torque sum output by the drive system to the electric vehicle is.

[0132] The greater the first accelerator pedal opening degree is after the electric vehicle spins out, the greater the torque sum output to the electric vehicle is, the greater the acceleration of the electric vehicle is, and the more likely the electric vehicle is to lose stability.

[0133] In the embodiment, the greater the first accelerator pedal opening degree is after the electric vehicle spins out, the more likely the electric vehicle is to lose stability. In this case, the greater the reduction amount of the torque sum output by the drive system to the electric vehicle is, the greater the force of actively controlling the drive system to reduce the torque is, the greater the force of limiting the acceleration of the electric vehicle after the electric vehicle spins out is, and the size of the reduction amount of the torque sum is flexibly determined according to the size of the first accelerator pedal opening degree, thereby accurately controlling the force of reducing the torque of the drive system under different first accelerator pedal opening degrees, ensuring the stability of the electric vehicle and the safety of driving.

[0134] In one embodiment, if the first accelerator pedal opening degree is less than the preset accelerator pedal opening degree, the control method controls the torque output by the drive system to the electric vehicle to be equal to the first torque and after the spin of the electric vehicle.

[0135] That is, in the case where the acceleration of the electric vehicle is small, the control method controls the torque output by the drive system to the electric vehicle to be equal to the first torque and after the spin of the electric vehicle, thereby ensuring normal driving of the electric vehicle during the suppression of the spin of the electric vehicle.

[0136] In one embodiment, the control method specifically includes: controlling the torque of the electric vehicle to be less than the torque indicated by the opening degree of the accelerator pedal after the spin of the electric vehicle.

[0137] The torque indicated by the opening degree of the accelerator pedal refers to the sum of the torques indicated by the torque signals corresponding to the wheels of the drive system after the operation of the accelerator pedal.

[0138] In this embodiment, after the spin of the electric vehicle, the larger the acceleration of the vehicle, the more likely the grip of the wheels to break through the friction circle limit. By controlling the torque of the electric vehicle to be less than the torque indicated by the opening degree of the accelerator pedal, the acceleration of the electric vehicle after the spin is limited, which is conducive to successfully suppressing the spin of the vehicle, ensuring the stability of the electric vehicle, and ensuring the safety of driving.

[0139] In one embodiment, the control method specifically includes: the greater the opening degree of the accelerator pedal, the greater the difference between the torque of the electric vehicle and the torque indicated by the opening degree of the accelerator pedal after the spin of the electric vehicle.

[0140] The greater the opening degree of the accelerator pedal, the more likely the grip of the wheels to break through the tire friction circle, and the more likely the electric vehicle to lose stability.

[0141] In this embodiment, the greater the opening degree of the accelerator pedal, the more likely the electric vehicle to lose stability after the spin. By controlling the greater the difference between the torque of the electric vehicle and the torque indicated by the opening degree of the accelerator pedal, the greater the limiting force of the torque of the electric vehicle in the case where the opening degree of the accelerator pedal is large, and the smaller the limiting force of the torque of the electric vehicle in the case where the opening degree of the accelerator pedal is small, thereby limiting the acceleration of the electric vehicle after the spin, avoiding the loss of stability of the electric vehicle, and ensuring the safety of driving.

[0142] In an embodiment, the control method specifically comprises: after the electric vehicle spins out, the opening degree of the accelerator pedal is a first accelerator pedal opening degree, the torque difference between the torque output by the drive system to the left rear wheel or the right rear wheel and the torque indicated by the first accelerator pedal opening degree is a first torque difference; the opening degree of the accelerator pedal is a second accelerator pedal opening degree greater than the first accelerator pedal opening degree, the torque difference between the torque output by the drive system to the left rear wheel or the right rear wheel and the torque indicated by the second accelerator pedal opening degree is a second torque difference greater than or equal to the first torque difference.

[0143] The torque indicated by the opening degree of the accelerator pedal refers to the torque indicated by the torque signal of the drive motor that drives the left front wheel or the left rear wheel after the accelerator pedal is operated, which is usually 1 / 4 of the total wheel end torque request or 1 / 2 of the rear axle wheel end torque request.

[0144] The greater the opening degree of the accelerator pedal after the electric vehicle spins out, the greater the total wheel end torque request of the electric vehicle, the greater the acceleration of the electric vehicle, and the more likely the electric vehicle loses stability.

[0145] In this embodiment, after the electric vehicle spins out, by limiting the torque output by the drive system to the left rear wheel and the right rear wheel according to the opening degree of the accelerator pedal, in the case where the opening degree of the accelerator pedal is greater, the torque difference between the torque output by the drive system to the left rear wheel or the right rear wheel and the torque indicated by the opening degree of the accelerator pedal is greater, and in the case where the opening degree of the accelerator pedal is smaller, the torque difference between the torque output by the drive system to the left rear wheel or the right rear wheel and the torque indicated by the opening degree of the accelerator pedal is smaller, by limiting the torque output by the drive system to the left rear wheel and the right rear wheel, the torque of the electric vehicle is limited and is less than the torque indicated by the opening degree of the accelerator pedal, thereby limiting the acceleration of the electric vehicle after spinning out, which is conducive to successfully suppressing the vehicle from spinning out, ensuring the stability of the electric vehicle, and ensuring driving safety.

[0146] In an embodiment, the control method specifically comprises: after the electric vehicle spins out, the rear axle wheel end torque request is modified according to a modification factor to obtain a target rear axle wheel end torque request, wherein the modification factor is controlled to change with the opening degree of the accelerator pedal.

[0147] The calculation formula for modifying the rear axle wheel end torque request according to the modification factor is as follows:

[0148] T tot,rear,coorn target tot,rear = T tot,rear,coorn * p

[0149] T tot,rear,coorn target tot,rear is the rear axle wheel end torque request, and p is the modification factor.

[0150] Correspondingly,

[0151] In the embodiment, the rear axle wheel end torque request is corrected according to the correction factor, so as to limit the acceleration of the electric vehicle after the electric vehicle occurs spin, reduce the speed of the electric vehicle, and improve the stability of the electric vehicle.

[0152] In an embodiment, the control correction factor changes with the change of the opening degree of the accelerator pedal, specifically including: after the electric vehicle occurs spin, the opening degree of the accelerator pedal is less than or equal to a first opening degree threshold, the control correction factor does not change with the increase of the opening degree of the accelerator pedal; the opening degree of the accelerator pedal is greater than the first opening degree threshold and less than a second opening degree threshold of the accelerator pedal, the control correction factor decreases with the increase of the opening degree of the accelerator pedal; the opening degree of the accelerator pedal is greater than or equal to the second opening degree threshold and less than or equal to a third opening degree threshold, the control correction factor does not change with the increase of the opening degree of the accelerator pedal; the opening degree of the accelerator pedal is greater than the third opening degree threshold, the control correction factor decreases with the increase of the opening degree of the accelerator pedal.

[0153] For ease of understanding, see Figure 6 , Figure 6 A schematic diagram showing the relationship between the correction factor and the opening degree of the accelerator pedal is shown.

[0154] If the opening degree of the accelerator pedal is greater than 0 and less than or equal to a first opening degree threshold k1, the correction factor does not change with the increase of the opening degree of the accelerator pedal; if the opening degree of the accelerator pedal is greater than the first opening degree threshold k1 and less than a second opening degree threshold k2, the correction factor decreases with the increase of the opening degree of the accelerator pedal; if the opening degree of the accelerator pedal is greater than or equal to the second opening degree threshold k2 and less than or equal to a third opening degree threshold k3, the correction factor does not change with the increase of the opening degree of the accelerator pedal; the opening degree of the accelerator pedal is greater than the third opening degree threshold k3, the correction factor decreases with the increase of the opening degree of the accelerator pedal.

[0155] In the embodiment, after the electric vehicle spins out, the first opening threshold, the second opening threshold, the third opening threshold and the third opening threshold are set, the correction factor is divided into different control intervals according to the opening of the accelerator pedal, and the correction factor in different control intervals adopts the corresponding control mode. In this way, the correction factor is accurately determined according to the opening of the accelerator pedal, the torque of the electric vehicle is accurately limited, and the acceleration of the electric vehicle after spinning out is limited, so as to avoid the loss of stability of the electric vehicle and ensure the safety of driving. For example, the opening of the accelerator pedal is less than or equal to the first opening threshold, the correction factor is controlled not to change with the increase of the opening of the accelerator pedal; the opening of the accelerator pedal is greater than the first opening threshold and less than the second opening threshold, the correction factor is controlled to decrease with the increase of the opening of the accelerator pedal; the opening of the accelerator pedal is greater than or equal to the second opening threshold and less than or equal to the third opening threshold, the correction factor is controlled not to change with the increase of the opening of the accelerator pedal; the opening of the accelerator pedal is greater than the third opening threshold, the correction factor is controlled to decrease with the increase of the opening of the accelerator pedal.

[0156] In the embodiment of the present application, the fourth opening threshold, the fifth opening threshold and other thresholds can also be set to limit the variation interval of the correction factor.

[0157] In one embodiment, the control method specifically comprises: after the electric vehicle spins out, the torque difference between the torque output by the driving system to the left rear wheel and the torque indicated by the opening of the accelerator pedal is less than the torque difference between the torque output to the right rear wheel and the torque indicated by the opening of the accelerator pedal.

[0158] As described above, the torque output by the driving system to the left rear wheel is greater than the torque output to the right rear wheel.

[0159] In this case, by controlling the torque difference between the torque output by the driving system to the left rear wheel and the torque indicated by the opening of the accelerator pedal to be less than the torque difference between the torque output to the right rear wheel and the torque indicated by the opening of the accelerator pedal, the torque output by the driving system to the two rear wheels is limited, so as to limit the acceleration of the electric vehicle after spinning out while suppressing spinning out by the yaw moment generated by the torque difference between the two rear wheels.

[0160] In the embodiment, after the electric vehicle spins out, the torque difference between the torque output by the driving system to the left rear wheel and the torque indicated by the opening of the accelerator pedal is controlled to be less than the torque difference between the torque output to the right rear wheel and the torque indicated by the opening of the accelerator pedal, so that the torque output to the left rear wheel is greater than the torque output to the right rear wheel while limiting the torque output by the driving system to the left rear wheel and the right rear wheel, and the yaw moment generated by the torque difference between the two rear wheels suppresses spinning out.

[0161] In one embodiment, the control method specifically includes: the greater the steering wheel turning angle to the left after the electric vehicle spins out, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel.

[0162] The greater the steering wheel turning angle to the left after the electric vehicle spins out, the more serious the spin-out situation of the electric vehicle.

[0163] In this case, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel, the greater the yaw moment in the opposite direction of the steering wheel turning angle direction generated by the torque difference between the two rear wheels, so as to achieve the purpose of inhibiting the electric vehicle from spinning out.

[0164] In this embodiment, the greater the steering wheel turning angle to the left after the electric vehicle spins out, the more serious the spin-out situation of the electric vehicle. In this case, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel, the greater the yaw moment in the opposite direction of the steering wheel turning angle direction generated by the torque difference between the two rear wheels to inhibit the intensified spin-out. In this way, the torque difference between the two rear wheels is flexibly determined according to the steering wheel turning angle to the left, so as to achieve the purpose of inhibiting the electric vehicle from spinning out in the case of various steering wheel turning angle to the left.

[0165] In one embodiment, the control method specifically includes: the greater the steering wheel angular velocity to the left after the electric vehicle spins out, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel.

[0166] The greater the steering wheel angular velocity to the left after the electric vehicle spins out, the more serious the spin-out situation of the electric vehicle.

[0167] In this case, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel, the greater the yaw moment in the opposite direction of the steering wheel turning angle direction generated by the torque difference between the two rear wheels, so as to achieve the purpose of inhibiting the electric vehicle from spinning out.

[0168] In this embodiment, the greater the steering wheel angular velocity to the left after the electric vehicle spins out, the more serious the spin-out situation of the electric vehicle. In this case, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel, the greater the yaw moment in the opposite direction of the steering wheel turning angle direction generated by the torque difference between the two rear wheels to inhibit the intensified spin-out. In this way, the torque difference between the two rear wheels is flexibly determined according to the steering wheel angular velocity to the left, so as to achieve the purpose of inhibiting the electric vehicle from spinning out in the case of various steering wheel angular velocity to the left.

[0169] In one embodiment, the control method specifically includes: after the electric vehicle occurs spin, the greater the vehicle speed of the electric vehicle, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel.

[0170] After the electric vehicle occurs spin, the greater the vehicle speed of the electric vehicle, the more serious the spin of the electric vehicle.

[0171] In this case, by controlling the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel, the yaw moment opposite to the direction of the steering wheel angle is increased, which realizes the suppression of the spin of the electric vehicle.

[0172] In this embodiment, after the electric vehicle occurs spin, the greater the vehicle speed of the electric vehicle, the more serious the spin of the electric vehicle. In this case, by controlling the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel, the yaw moment opposite to the direction of the steering wheel angle is increased to suppress the spin. Thus, it is realized that the torque difference between the two rear wheels is flexibly determined according to the vehicle speed, so that the spin of the electric vehicle can be suppressed at various vehicle speeds.

[0173] In one embodiment, the control method further includes: during normal driving of the electric vehicle, the steering wheel turns left by an angle greater than a preset angle, the drive system outputs a torque to the left rear wheel smaller than the torque output to the right rear wheel; the steering wheel turns right by an angle greater than a preset angle, the drive system outputs a torque to the left rear wheel greater than the torque output to the right rear wheel; the steering wheel turns by an angle less than or equal to a preset angle, the drive system outputs a torque to the left rear wheel equal to the torque output to the right rear wheel.

[0174] In one embodiment, in response to any one of the vehicle speed of the electric vehicle being less than or equal to a preset speed, the yaw angular velocity being less than or equal to a preset yaw angular velocity, the steering wheel angle being less than or equal to a preset angle, the angular velocity of the steering wheel being less than or equal to a preset angular velocity, and the lateral acceleration being less than or equal to a preset acceleration, it is determined that the electric vehicle is out of the spin scenario and is in the process of normal driving.

[0175] In the embodiment, in the process of the electric vehicle leaving the spinout scene, normal driving, by controlling the torque output by the driving system to the two rear wheels according to the direction and angle of rotation of the steering wheel, the electric vehicle is controlled to normally turn left or normally turn right or normally straighten. For example, if the steering wheel turns left by an angle greater than a preset angle, the torque output by the driving system to the left rear wheel is less than that to the right rear wheel, which assists the electric vehicle to turn left, so that the electric vehicle normally turns left. For another example, if the steering wheel turns right by an angle greater than a preset angle, the torque output by the driving system to the left rear wheel is greater than that to the right rear wheel, which assists the electric vehicle to turn right, so that the electric vehicle normally turns right; if the angle of rotation of the steering wheel is less than or equal to a preset angle, the torque output by the driving system to the left rear wheel is equal to that to the right rear wheel, which assists the electric vehicle to normally straighten.

[0176] The embodiment of the present application provides a vehicle controller, which is used to execute the control method for inhibiting the electric vehicle from spinning out provided by the above-mentioned embodiments.

[0177] The vehicle controller is specifically used for: in the process of the electric vehicle turning left, at a first time when the steering wheel starts to turn left, controlling the torque output by the driving system to the left side wheels of the electric vehicle to be less than that to the right side wheels of the electric vehicle; after the first time, when the electric vehicle spins out, controlling the torque output by the driving system to the left rear wheels of the electric vehicle to be greater than that to the right rear wheels of the electric vehicle.

[0178] In the embodiment, in the process of the electric vehicle turning left, the vehicle controller controls the torque output by the driving system to the left side wheels to be less than that to the right side wheels, so that a yaw moment in the same direction as the direction of the angle of rotation of the steering wheel is generated between the left and right side wheels, which assists the electric vehicle to turn left. After the electric vehicle spins out, the vehicle controller controls the torque output by the driving system to the left rear wheels to be greater than that to the right rear wheels, so that a yaw moment in the opposite direction of the direction of the angle of rotation of the steering wheel is generated between the two rear wheels, which can offset the increased yaw moment of the vehicle due to the spinout (the direction of the yaw moment is the same as the direction of the angle of rotation of the steering wheel), automatically inhibits the electric vehicle from spinning out, improves the stability of the electric vehicle, and assists the electric vehicle to normally turn left.

[0179] In one embodiment, the vehicle controller is a motor controller, which controls the torque output by each driving motor to the left side wheels of the electric vehicle to be less than that to the right side wheels of the electric vehicle at a first time when the steering wheel starts to turn left in the process of the electric vehicle turning left; after the first time, when the electric vehicle spins out, the motor controller controls the torque output by each driving motor to the left rear wheels of the electric vehicle to be greater than that to the right rear wheels of the electric vehicle.

[0180] For ease of understanding, see Figure 7 , Figure 7 A schematic diagram of a motor controller is shown.

[0181] As shown in Figure 7 , the motor controller receives a steering wheel signal, an inertial measurement unit (IMU) signal, an accelerator pedal signal, and a vehicle speed signal, and determines whether the electric vehicle has occurred spinout according to the received signals, and actively controls the driving motor output torque after determining that the electric vehicle has occurred spinout.

[0182] The steering wheel signal includes the angle and direction of the steering wheel rotation and the steering wheel angular velocity, and the IMU signal includes the lateral acceleration and yaw angular velocity of the electric vehicle.

[0183] In this embodiment, the electric vehicle can be identified by the motor controller to have occurred spinout. After the electric vehicle has occurred spinout, the torque output by the driving system to the left rear wheel of the electric vehicle is greater than the torque output to the right rear wheel of the electric vehicle, rather than adjusting the torque output by the driving system in response to receiving a torque signal sent by other controllers to the motor controller, so that the control link of the electric vehicle is shortened.

[0184] In another embodiment, the vehicle controller is a vehicle controller, and the vehicle controller outputs a torque signal to each motor controller, and each motor controller controls the corresponding driving motor to output torque to the corresponding wheel, wherein at a first time when the steering wheel starts to turn to the left, the torque output by the driving system to the left wheel of the electric vehicle is less than the torque output to the right wheel of the electric vehicle; after the first time, when the electric vehicle occurs spinout, the torque output by the driving system to the left rear wheel of the electric vehicle is greater than the torque output to the right rear wheel of the electric vehicle.

[0185] For ease of understanding, see Figure 8 , Figure 8 A schematic diagram of a vehicle controller is shown.

[0186] As shown in Figure 8 , the vehicle controller receives a steering wheel signal, an inertial measurement unit (IMU) signal, an accelerator pedal signal, and a vehicle speed signal, and determines whether the electric vehicle has occurred spinout according to the received signals, and outputs a torque signal to the motor controller after determining that the electric vehicle has occurred spinout, and the motor controller controls each driving motor to output torque according to the torque indicated by the torque signal.

[0187] In the embodiment, the vehicle controller can also send a torque signal to the motor controller to control the drive system to output a torque to the left wheels of the electric vehicle that is less than a torque output to the right wheels of the electric vehicle after the electric vehicle spins out, and the control of the vehicle controller and the control of the motor controller achieve redundant backup.

[0188] It can be understood that all related contents involved in the above method embodiments can be cited into the embodiments of the controller, and details are not described herein again.

[0189] In another embodiment of the application, an electric vehicle is also provided, which includes a drive system and wheels, and the drive system includes a vehicle controller configured to control torque output of the drive system to the wheels.

[0190] The vehicle controller is specifically configured to: during a left turn of the electric vehicle, control the drive system to output a torque to the left wheels of the electric vehicle that is less than a torque output to the right wheels of the electric vehicle at a first time when the steering wheel starts to turn left; and after the first time, when the electric vehicle spins out, control the drive system to output a torque to the left rear wheels of the electric vehicle that is greater than a torque output to the right rear wheels of the electric vehicle.

[0191] It can be understood that all related contents involved in the above method embodiments and the vehicle controller embodiments can be cited into the embodiments of the electric vehicle, and details are not described herein again.

[0192] Finally, it should be noted that: the above, only for the specific implementation of the present application, but the protection scope of the present application is not limited to this, any change or replacement within the technical scope disclosed in the present application, should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method of suppressing spin-out of an electric vehicle, characterized by, The control method is used for controlling a drive system of an electric vehicle to suppress spin-out of the electric vehicle after the electric vehicle occurs spin-out, and the control method comprises: During a left turning process of the electric vehicle, at a first time when a steering wheel starts to turn left, a torque outputted by the drive system to a left wheel of the electric vehicle is less than a torque outputted by the drive system to a right wheel of the electric vehicle; After the first time, when the electric vehicle occurs spin-out, a torque outputted by the drive system to a left rear wheel of the electric vehicle is greater than a torque outputted by the drive system to a right rear wheel of the electric vehicle.

2. The control method according to claim 1, characterized by, The control method specifically comprises: After the electric vehicle occurs spin-out, a torque difference between the torque outputted by the drive system to the left rear wheel and the torque outputted by the drive system to the right rear wheel is less than or equal to a torque difference threshold.

3. The control method according to claim 1 or 2, characterized by, The control method specifically comprises: After the electric vehicle occurs spin-out, when a yaw angular velocity of the electric vehicle is less than a preset yaw angular velocity, the torque difference between the torque outputted by the drive system to the left rear wheel and the torque outputted by the drive system to the right rear wheel increases with an increase of the yaw angular velocity; When the yaw angular velocity of the electric vehicle is greater than or equal to the preset yaw angular velocity, the torque difference between the torque outputted by the drive system to the left rear wheel and the torque outputted by the drive system to the right rear wheel does not change with the increase of the yaw angular velocity.

4. The control method according to any one of claim 1, characterized by, The control method specifically comprises: After the electric vehicle occurs spin-out, the drive system increases the torque outputted to the left rear wheel or decreases the torque outputted to the right rear wheel.

5. The control method according to any one of claims 1 to 4, characterized by, The control method specifically comprises: At the first time, an opening degree of an accelerator pedal of the electric vehicle is a first accelerator pedal opening degree, and a torque outputted by the drive system to the electric vehicle is a first torque sum; After the electric vehicle occurs spin-out, the opening degree of the accelerator pedal of the electric vehicle is the first accelerator pedal opening degree, and the torque outputted by the drive system to the electric vehicle is decreased to be less than the first torque sum.

6. The control method according to claim 5, characterized by The control method specifically comprises: After the electric vehicle occurs spin-out, the greater the first accelerator pedal opening degree, the greater the decrease of the torque sum outputted by the drive system to the electric vehicle.

7. The control method according to any one of claims 1 to 4, characterized by, The control method specifically comprises: After the electric vehicle occurs spin-out, a torque sum of the electric vehicle is less than a torque sum indicated by an opening degree of an accelerator pedal of the electric vehicle.

8. The control method according to any one of claims 1 to 4, characterized by, The control method specifically comprises: After the electric vehicle occurs spin-out, a torque difference between the torque outputted by the drive system to the left rear wheel and a torque indicated by the opening degree of the accelerator pedal is less than a torque difference between the torque outputted by the drive system to the right rear wheel and the torque indicated by the opening degree of the accelerator pedal.

9. The control method according to any one of claims 1 to 4, characterized by, The control method specifically comprises: After the electric vehicle occurs spin-out, the greater a turning angle of the steering wheel to the left, the greater the torque difference between the torque outputted by the drive system to the left rear wheel and the torque outputted by the drive system to the right rear wheel.

10. The control method according to any one of claims 1 to 4, characterized by, The control method specifically comprises: The greater the angular velocity of the steering wheel to the left after the electric vehicle spins out, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel.

11. The control method according to any one of claims 1 to 4, characterized by, The control method specifically comprises: The greater the vehicle speed of the electric vehicle after the electric vehicle spins out, the greater the torque difference between the torque output by the drive system to the left rear wheel and the torque output to the right rear wheel.

12. A vehicle controller characterized by comprising: The vehicle controller is used to control the drive system of an electric vehicle, and the vehicle controller is used to: During the process of the electric vehicle turning left, at a first time when the steering wheel starts to turn left, the torque output by the drive system to the left wheels of the electric vehicle is less than the torque output to the right wheels of the electric vehicle. After the first time, when the electric vehicle spins out, the torque output by the drive system to the left rear wheels of the electric vehicle is greater than the torque output to the right rear wheels of the electric vehicle.

13. An electric vehicle characterized by comprising: The electric vehicle comprises a drive system and wheels, the drive system comprises a vehicle controller, the vehicle controller is used to control the torque output of the drive system to the wheels, and the vehicle controller is specifically used to: During the process of the electric vehicle turning left, at a first time when the steering wheel starts to turn left, the torque output by the drive system to the left wheels of the electric vehicle is less than the torque output to the right wheels of the electric vehicle. After the first time, when the electric vehicle spins out, the torque output by the drive system to the left rear wheels of the electric vehicle is greater than the torque output to the right rear wheels of the electric vehicle.

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