Sliding torque control method, electronic equipment, storage medium and program product

Abstract

The invention provides a sliding torque control method, electronic equipment, a storage medium and a program product, and the method comprises the steps that when it is detected that a vehicle enters a sliding state, the speed working condition and the driving working condition of the vehicle are obtained, the speed working condition comprises a first speed working condition and a second speed working condition, the speed corresponding to the first speed working condition is smaller than that corresponding to the second speed working condition, and the driving working conditions comprise the uphill working condition, the downhill working condition and the level road working condition; corresponding sliding working conditions are matched according to the speed working conditions and the driving working conditions, the sliding working conditions comprise a first enhanced sliding working condition and a common sliding working condition, and the motor is allowed to output positive torque under the first enhanced sliding working condition; if the sliding working condition is the first enhanced sliding working condition, the sliding torque is determined according to the acceleration of the vehicle, and the sliding torque is used for indicating a motor controller to execute torque control; and controlling the vehicle to coast based on the coasting torque. The sliding distance of the vehicle in the sliding state can be increased, the driving experience is improved, and power consumption is reduced.

Description

Technical Field

[0001] This application relates to the field of new energy vehicle technology, and more specifically, to a coasting torque control method, electronic device, storage medium, and program product. Background Technology

[0002] Coasting energy recovery is a unique vehicle control method in electric vehicle torque control. Its purpose is to utilize coasting energy to convert mechanical energy into electrical energy for reuse, thereby increasing driving range. Electric vehicles often have multiple energy recovery levels, each accompanied by a different recovery torque intensity. Higher levels correspond to greater torque and greater deceleration, while lower levels correspond to less torque and less deceleration. Level switching is generally controlled by the driver.

[0003] In existing technology, when the vehicle enters coasting mode, the control objective is to decelerate and recover energy. The motor outputs negative torque, the vehicle loses speed, and the coasting distance is short. This does not match the driver's expectation of maintaining speed while coasting, resulting in a poor driving experience. Furthermore, it is uncertain whether sacrificing the distance the vehicle travels during coasting for energy recovery is beneficial to improving the overall driving range. Summary of the Invention

[0004] The purpose of this application is to provide a coasting torque control method, electronic device, storage medium, and program product to increase the coasting distance of a vehicle in a coasting state and reduce power consumption.

[0005] In a first aspect, this application provides a coasting torque control method, comprising: when a vehicle is detected to have entered a coasting state, acquiring the vehicle's speed condition and driving condition, wherein the speed condition includes a first speed condition and a second speed condition, and the speed corresponding to the first speed condition is less than the speed corresponding to the second speed condition, and the driving condition includes uphill condition, downhill condition, and flat road condition; matching a corresponding coasting condition according to the speed condition and the driving condition, wherein the coasting condition includes a first enhanced coasting condition and a normal coasting condition; if the coasting condition is the first enhanced coasting condition, determining a coasting torque based on the vehicle's acceleration, the coasting torque being used to instruct the motor controller to perform torque control, allowing the motor to output positive torque under the first enhanced coasting condition; and controlling the vehicle to coast based on the coasting torque.

[0006] The above solution can match the corresponding coasting conditions by comprehensively considering the vehicle's speed and driving conditions when the vehicle enters the coasting state, and allow the motor to output positive torque to control the vehicle's coasting movement under the first enhanced coasting condition, thereby effectively increasing the vehicle's coasting distance and improving the driving experience.

[0007] As an optional approach, matching the corresponding coasting condition based on the speed condition and the driving condition includes: if the speed condition is the second speed condition and the driving condition is the downhill condition or the flat road condition, then determining the coasting condition as the first enhanced coasting condition.

[0008] The above scheme clearly defines the first enhanced coasting condition when the vehicle is in the second speed condition and traveling downhill or on a flat road. It takes into account the safety of vehicle driving and allows the motor to output positive torque to maintain the vehicle speed under the premise of prioritizing driving safety.

[0009] As an alternative approach, determining the coasting torque based on the vehicle's acceleration includes: adjusting the coasting torque to make the acceleration zero.

[0010] In the above scheme, zero acceleration ensures that the vehicle maintains a constant speed during the first enhanced coasting condition, effectively avoiding speed loss or unexpected acceleration caused by non-zero acceleration, meeting the driver's expectation of maintaining a constant speed, thereby improving the vehicle's stability and driving comfort during coasting, while reducing energy loss caused by unnecessary acceleration and deceleration, and further optimizing energy recovery efficiency and overall vehicle energy consumption performance.

[0011] As an alternative approach, if the coasting torque is a positive torque, then the positive torque is not greater than a first threshold, which is equal to half of the vehicle's coasting resistance.

[0012] In the above scheme, by limiting the positive torque, it can be ensured that when outputting positive torque to maintain coasting, the vehicle will not experience problems such as unexpected acceleration or excessive coasting resistance due to excessive positive torque. This not only improves the stability and safety of coasting, but also helps to optimize the balance of energy recovery, reduce energy waste caused by unreasonable torque output, and thus further improve the vehicle's coasting performance and driving comfort.

[0013] As an optional approach, the coasting condition further includes a second enhanced coasting condition. Matching the corresponding coasting condition according to the speed condition and the driving condition includes: if the speed condition is the first speed condition and the driving condition is the downhill condition or the flat road condition, then the coasting condition is determined to be the second enhanced coasting condition. Accordingly, the method further includes: adjusting the coasting torque to make the acceleration of the vehicle zero, and the coasting torque is a negative torque.

[0014] In the above scheme, the second enhanced coasting condition is designed for low-speed downhill or flat road conditions in urban areas. By adjusting the negative torque and disallowing the output of positive torque, the vehicle acceleration is reduced to 0. Priority is given to the driving safety issues in urban areas with relatively congested traffic, and the unexpected acceleration during coasting in urban areas is further reduced.

[0015] As an optional approach, the normal coasting condition includes a first normal coasting condition and a second normal coasting condition. Matching the corresponding coasting condition according to the speed condition and the driving condition includes: if the speed condition is the second speed condition and the driving condition is the uphill condition, then the coasting condition is determined to be the first normal coasting condition, and the coasting torque is a first constant negative torque; if the speed condition is the first speed condition and the driving condition is the uphill condition, then the coasting condition is determined to be the second normal coasting condition, and the coasting torque is a second constant negative torque.

[0016] In the above scheme, the normal coasting condition is subdivided into the first normal coasting condition and the second normal coasting condition, and corresponding first constant negative torque and second constant negative torque are set for the first normal coasting condition and the second normal coasting condition, so that the vehicle can accurately match the required coasting torque under different conditions of high-speed uphill and low-speed uphill, meet the driver's deceleration needs, and realize energy recovery at the same time.

[0017] As an alternative approach, the method further includes: if the acceleration of the vehicle is detected to be greater than a second threshold, initiating torque correction to prevent unintended acceleration of the vehicle.

[0018] In the above scheme, torque correction is activated when the vehicle acceleration exceeds the second threshold to prevent unexpected acceleration, thereby reducing the driving risks that may be caused by unexpected vehicle acceleration, enhancing driving controllability and safety, ensuring that the acceleration during coasting is maintained within a reasonable range, optimizing the coasting experience and vehicle energy consumption performance, and further ensuring the smooth operation of the vehicle in coasting mode.

[0019] Secondly, this application provides an electronic device, including: a processor, a memory, and a bus, wherein the processor and the memory communicate with each other through the bus; the memory stores program instructions that can be executed by the processor, and the processor can execute the method steps of the first aspect by calling the program instructions.

[0020] Thirdly, this application provides a computer-readable storage medium, comprising: the computer-readable storage medium storing computer instructions, the computer instructions causing the computer to perform the method steps of the first aspect.

[0021] Fourthly, this application provides a computer program product, including computer program instructions, which are read and executed by a processor to perform the method steps of the first aspect.

[0022] Fifthly, this application provides a coasting torque control device, comprising: an acquisition module, configured to acquire the vehicle's speed condition and driving condition when the vehicle enters a coasting state, wherein the speed condition includes a first speed condition and a second speed condition, and the speed corresponding to the first speed condition is less than the speed corresponding to the second speed condition, and the driving condition includes uphill condition, downhill condition, and flat road condition; a matching module, configured to match a corresponding coasting condition according to the speed condition and the driving condition, wherein the coasting condition includes a first enhanced coasting condition and a normal coasting condition, and the motor is allowed to output positive torque under the first enhanced coasting condition; a torque determination module, configured to determine the coasting torque based on the vehicle's acceleration if the coasting condition is the first enhanced coasting condition, the coasting torque being used to instruct the motor controller to perform torque control; and a control module, configured to control the vehicle's coasting movement based on the coasting torque.

[0023] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing embodiments of this application. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A schematic flowchart illustrating a coasting torque control method provided in an embodiment of this application; Figure 2 A schematic diagram of the processing logic of a coasting torque control method provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a coasting torque control device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the electronic device structure provided in an embodiment of this application. Detailed Implementation

[0026] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0027] It should be noted that all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0028] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0029] Figure 1 A flowchart illustrating a coasting torque control method provided in this application embodiment includes the following steps: Step S10: When the vehicle is detected to have entered a coasting state, the vehicle's speed condition and driving condition are obtained. The speed condition includes a first speed condition and a second speed condition, and the speed corresponding to the first speed condition is less than the speed corresponding to the second speed condition. The driving condition includes uphill condition, downhill condition and flat road condition.

[0030] The executing entity in this application embodiment can be the core electronic control unit (VCU) in the vehicle that realizes the overall vehicle control decision. The VCU can detect the vehicle's driving parameters by collecting signals such as the accelerator pedal, gear position, and brake pedal, including the accelerator pedal position, current gear (P / R / N / D / B, etc.), vehicle speed, motor speed, and vehicle acceleration. By monitoring the vehicle's driving parameters, the VCU determines the vehicle's driving status and the driver's intention, and then sends the vehicle's operating status control command to the power system and power battery system, thereby controlling the vehicle's torque.

[0031] Torque, also known as torque, refers to the force applied to an object that causes it to rotate. In new energy vehicles (such as electric vehicles), torque refers to the torque generated by the drive motor, which drives the wheels to rotate, thereby propelling the vehicle forward. Torque is an important parameter for measuring the acceleration performance and hill-climbing ability of new energy vehicles. The coasting torque in the embodiments of this application can be understood as the torque recovered by the drive motor when the vehicle coasts.

[0032] Coasting can be understood as the vehicle's driving state after the driver releases the accelerator. Continuous monitoring of vehicle speed changes indicates a coasting state when a slow decreasing trend in speed is detected, and neither the accelerator nor brake pedals are activated. After confirming entry into coasting, the vehicle speed condition is acquired. This speed condition characterizes the vehicle speed at the start of coasting, which is the speed when the driver fully releases the accelerator. One acquisition method involves using a VCU to monitor the wheel speeds of each wheel in real time, obtaining real-time wheel speed data and converting it into vehicle speed. The speed condition is then compared to a speed threshold. Speed ​​conditions less than or equal to the threshold are classified as the first speed condition, and those greater than the threshold are classified as the second speed condition. Those skilled in the art can adjust the speed threshold; this application does not specifically limit this adjustment. For example, a speed threshold of 40 km / h can be set. The speed is determined to be the second speed condition, 0km / h < The speed is ≤40km / h, which is considered the first speed condition. Since the speed of the first speed condition is lower than that of the second speed condition, the first speed condition can be simply understood as a low-speed condition, while the second speed condition can be understood as a high-speed condition.

[0033] The vehicle's driving conditions include uphill, downhill, and flat road conditions. Vehicle acceleration sensors collect the vehicle's longitudinal (i.e., travel direction) acceleration. When the vehicle is traveling at a constant speed on a flat road, the longitudinal acceleration is essentially zero. If the vehicle is traveling uphill, the component of gravity along the slope will decelerate the vehicle. If the accelerator is kept constant, the acceleration sensor will detect a negative longitudinal acceleration, and the steeper the slope, the larger the absolute value of this negative acceleration. Conversely, when going downhill, the component of gravity along the slope will accelerate the vehicle, and the acceleration sensor will detect a positive longitudinal acceleration; the steeper the slope, the larger the positive acceleration. By monitoring changes in longitudinal acceleration or slope sensor data in real time, it is possible to determine whether the driving condition is uphill, downhill, or flat road. As one implementation method, the longitudinal acceleration is compared with an acceleration threshold to classify the driving condition. Those skilled in the art can adjust the acceleration threshold; this application does not specifically limit this adjustment. For example, the acceleration threshold can be set to -0.1. When longitudinal acceleration A -0.1 When the condition is determined to be downhill or flat road, and the longitudinal acceleration A -0.1 The vehicle is identified as being on an uphill slope. Alternatively, slope sensor data can be compared with a preset slope threshold. If the slope sensor data falls within the threshold, the vehicle is determined to be on a flat road. If the slope sensor data exceeds the threshold, the vehicle is determined to be either on an uphill or downhill slope.

[0034] Step S20: Match the corresponding coasting condition according to the speed condition and driving condition. The coasting condition includes a first enhanced coasting condition and a normal coasting condition. Under the first enhanced coasting condition, the motor is allowed to output positive torque.

[0035] Based on the combination of speed and driving conditions, a coasting condition is matched using specific rules. For example, a driving condition on a flat road and a speed condition at the second speed can be matched as a first enhanced coasting condition, as can a driving condition on a downhill slope and a speed condition at the second speed. Those skilled in the art can adjust these rules based on experience and actual needs. Under the first enhanced coasting condition, the motor is allowed to output positive torque to maintain the vehicle speed, enhance the vehicle's coasting ability, and maintain a certain speed with relatively low energy consumption.

[0036] Step S30: If the coasting condition is the first enhanced coasting condition, the coasting torque is determined based on the vehicle's acceleration. The coasting torque is used to instruct the motor controller to perform torque control.

[0037] When the first enhanced coasting condition is matched, the coasting torque is adjusted with acceleration as the control target. The principle for determining the coasting torque is that it will not automatically accelerate due to excessive positive torque, nor will it continuously decelerate and shorten the coasting distance as in existing technologies.

[0038] Step S40: Control the vehicle's coasting motion based on coasting torque.

[0039] The VCU sends the calculated coasting torque T to the motor controller, which then controls the motor's operating mode based on the T value. When T > 0, the motor operates in electric mode and outputs positive torque; When T < 0, the motor operates in generator mode to recover energy; When T=0, the motor is in a free-rotating state.

[0040] Under the first enhanced coasting condition, positive torque is allowed to maintain the coasting speed, resulting in less speed loss and reducing the energy consumption of "deceleration-re-acceleration" in existing technologies. For example, when a vehicle decelerates from 60 km / h to 40 km / h and then accelerates back to 60 km / h, the motor efficiency and battery charging efficiency increase the overall energy consumption of the vehicle. As the aforementioned analysis shows, this application can significantly reduce this energy consumption and extend the coasting time. Unlike existing technologies where energy recovery aimed at deceleration leads to a shortened coasting distance, allowing positive torque output can extend the coasting distance under the same conditions. The driver does not need to frequently press the accelerator pedal to maintain speed, significantly improving the driving experience. Furthermore, existing technologies mainly reduce energy consumption through one-pedal mode or strong recovery. These two modes change the driver's driving habits, making the driver accustomed to only pressing the accelerator pedal, increasing the risk of the driver accidentally pressing the accelerator pedal in extreme situations. This application, however, does not require the driver to adapt to strong energy recovery mode or one-pedal driving mode, retaining the coasting habits of traditional fuel vehicles and reducing the risk of accidentally pressing the accelerator pedal in extreme situations. In summary, this application improves vehicle gliding ability and enhances the driving experience compared to existing technologies.

[0041] The above solution can match the corresponding coasting conditions by comprehensively considering the vehicle's speed and driving conditions when the vehicle enters the coasting state. Under the first enhanced coasting condition, the motor is allowed to output positive torque to control the vehicle's coasting, thereby effectively increasing the vehicle's coasting distance, improving the driving experience, avoiding increased energy consumption during subsequent acceleration due to excessive vehicle deceleration, and thus reducing the overall vehicle energy consumption. This achieves a balance between coasting distance and energy recovery, improving the coasting performance and driving comfort of electric vehicles.

[0042] In some embodiments, step S20, matching the corresponding coasting condition based on the speed condition and driving condition, includes: If the speed condition is the second speed condition and the driving condition is the downhill condition or the flat road condition, then the coasting condition is determined to be the first enhanced coasting condition.

[0043] This embodiment proposes two types of first enhanced coasting conditions: high-speed downhill and high-speed flat road.

[0044] The speed threshold for speed conditions and the acceleration threshold for driving conditions can be dynamically calibrated based on factors such as vehicle type, battery state of charge (SOC), and road conditions. For example, for heavy-duty electric vehicles, the speed threshold can be appropriately lowered to accommodate lower-speed coasting requirements.

[0045] The above scheme clearly defines the first enhanced coasting condition when the vehicle is in the second speed condition and traveling downhill or on a flat road. It takes into account the safety of vehicle driving and allows the motor to output positive torque to maintain the vehicle speed under the premise of prioritizing driving safety.

[0046] In some embodiments, determining the coasting torque based on the vehicle's acceleration in step S30 includes: Adjust the coasting torque to make the acceleration zero.

[0047] This embodiment uses a vehicle acceleration A=0 as the control target. By adjusting the motor output torque T, positive torque is allowed to counteract external forces such as road resistance, air resistance, and gradient resistance, allowing the vehicle to maintain a constant speed coasting. The control logic for adjusting the coasting torque is a closed-loop regulation of acceleration, calculating the speed deviation in real time. ,when When the torque is greater than 0, it indicates that the vehicle has an acceleration tendency, and the coasting torque needs to be controlled to be negative. The motor then operates in generator mode to recover energy. When the value is less than 0, it indicates that the vehicle is decelerating and the coasting torque needs to be controlled to be positive. The motor will then operate in electric mode to maintain the vehicle speed.

[0048] In the above scheme, zero acceleration ensures that the vehicle maintains a constant speed during the first enhanced coasting condition, effectively avoiding speed loss or unexpected acceleration caused by non-zero acceleration, meeting the driver's expectation of maintaining a constant speed, thereby improving the vehicle's stability and driving comfort during coasting, while reducing energy loss caused by unnecessary acceleration and deceleration.

[0049] In some embodiments, if the coasting torque is a positive torque, then the positive torque is not greater than a first threshold, which is equal to half of the vehicle's coasting resistance.

[0050] If the calculated coasting torque T is a positive torque, then its maximum value is limited to not exceeding the first threshold. This ensures that the vehicle does not automatically accelerate due to excessive positive torque. ( The total vehicle coasting resistance (which can be obtained through test calibration or real-time calculation) includes rolling resistance, air resistance, and gradient resistance. For example, when the total vehicle coasting resistance is 200N... At m, the maximum positive torque is limited to 100N. m, if the VCU calculation requires an output positive torque of 101.5N. m, since 101.5 > 100, the actual output is limited to 100N. m, to ensure the vehicle does not accelerate.

[0051] It is understandable that those skilled in the art can adjust the coefficient before the vehicle's coasting resistance to calculate the first threshold based on the actual situation, for example... , However, this application does not specifically limit this.

[0052] In the above scheme, by limiting the positive torque, it can be ensured that when outputting positive torque to maintain coasting, the vehicle will not experience problems such as unexpected acceleration or excessive coasting resistance due to excessive positive torque. This not only improves the stability and safety of coasting, but also helps to optimize the balance of energy recovery, reduce energy waste caused by unreasonable torque output, and thus further improve the vehicle's coasting performance and driving comfort.

[0053] In some embodiments, the coasting condition further includes a second enhanced coasting condition, which characterizes that, compared with existing coasting methods, the coasting method provided in this application embodiment can increase the vehicle's coasting distance and has higher safety. Step S20, matching the corresponding coasting condition based on the speed condition and driving condition, includes: If the speed condition is the first speed condition and the driving condition is the downhill condition or the flat road condition, then the coasting condition is determined to be the second enhanced coasting condition. Accordingly, the method also includes: Adjust the coasting torque to make the vehicle's acceleration zero; the coasting torque is not allowed to output positive torque.

[0054] Compared to the first enhanced coasting condition, the second enhanced coasting condition focuses more on safety. Although both aim to control acceleration A=0, the second enhanced coasting condition does not allow positive torque output to ensure the safety of the vehicle at low speeds and appropriately increases the coasting distance.

[0055] It should be noted that the application scenario for low-speed situations can be urban roads, where traffic congestion is common and accidents are frequent. Therefore, to improve driving safety, a second enhanced coasting scenario strategy can be adopted. Identifying urban roads can be achieved through any of the following methods and combinations thereof: obtaining the vehicle's current location coordinates through the in-vehicle navigation system and matching them with high-precision map data (such as OpenStreetMap or a car manufacturer's proprietary map); or identifying road features, including speed limit signs (e.g., speed limit ≤ 60 km / h), number of lanes (usually ≤ 3 lanes), intersection density (≥ 2 traffic lights per kilometer); or using sensor-assisted verification, including cameras recognizing road markings and traffic signs, and millimeter-wave radar detecting the distance to the vehicle ahead (following distance on urban roads is usually ≤ 50m). It should also be noted that low-speed scenarios are applicable to congested sections of highways and ramp sections.

[0056] In the above scheme, the second enhanced coasting condition is designed for low-speed downhill or flat road conditions. By controlling the vehicle to not output positive torque, the vehicle acceleration is reduced to 0. Priority is given to the driving safety issues in urban roads where traffic is relatively congested, and the unexpected acceleration during coasting in urban roads is further reduced.

[0057] In some embodiments, the normal taxiing condition includes a first normal taxiing condition and a second normal taxiing condition. Step S20, matching the corresponding taxiing condition based on the speed condition and driving condition, includes: If the speed condition is the second speed condition and the driving condition is the uphill condition, then the coasting condition is determined to be the first normal coasting condition and the coasting torque is the first constant negative torque.

[0058] If the speed condition is the first speed condition and the driving condition is the uphill condition, then the coasting condition is determined to be the second normal coasting condition, and the coasting torque is the second constant negative torque.

[0059] When a vehicle is going uphill at high speed, it requires significant power to overcome gravity and the anticipated deceleration. In this situation, setting a large constant negative torque (first constant negative torque) ensures that the vehicle can effectively recover energy during coasting, while preventing excessive speed and loss of control. A large negative torque helps the vehicle maintain stable deceleration when going uphill, reducing the need for the driver to frequently apply the brakes, thus improving driving comfort and safety. Furthermore, when going uphill at high speed, the vehicle has significant kinetic energy; a large negative torque can more efficiently convert this kinetic energy into electrical energy, recovering it into the battery and improving energy utilization efficiency.

[0060] In contrast, under low-speed uphill conditions, the vehicle's speed is lower and its kinetic energy is relatively smaller. Using the same large negative torque as on a high-speed uphill climb could cause the vehicle to decelerate too quickly, resulting in noticeable jerkiness or even stalling, affecting the driving experience and the vehicle's climbing performance. Therefore, setting a smaller constant negative torque (second constant negative torque) can ensure a certain level of energy recovery efficiency while preventing excessive deceleration, ensuring the vehicle can climb smoothly. A smaller negative torque can better balance energy recovery and vehicle performance, avoiding the impact of excessive energy recovery on normal vehicle operation.

[0061] In the above scheme, the normal coasting condition is subdivided into the first normal coasting condition and the second normal coasting condition, and corresponding first constant negative torque and second constant negative torque are set for the first normal coasting condition and the second normal coasting condition, so that the vehicle can accurately match the required coasting torque under different conditions of high-speed uphill and low-speed uphill, meet the driver's deceleration needs, and realize energy recovery at the same time.

[0062] In some embodiments, the method further includes: If the vehicle's acceleration is detected to be greater than the second threshold, torque correction is activated to prevent the vehicle from accelerating unintended.

[0063] This embodiment includes a coasting mode safety detection system. If the vehicle's acceleration exceeds a second threshold, torque correction is activated. Depending on the coasting condition, the system adjusts the coasting torque accordingly. For example, in the first enhanced coasting condition, if positive torque is normally allowed to maintain constant vehicle speed, the output amplitude of positive torque may be reduced, or even negative torque may be output if necessary to reduce vehicle acceleration. In the normal coasting condition, if the current output is a constant negative torque, the value of the negative torque may be further increased to enhance the vehicle's deceleration effect. In practical applications, a pre-defined correspondence between the torque correction method and the vehicle's coasting conditions can be established, and the torque correction method can be determined based on the vehicle's coasting conditions.

[0064] As one implementation, the same second threshold can be used for all coasting conditions. Alternatively, considering that the vehicle's power demands and energy recovery targets differ under different coasting conditions, the second threshold may vary, and those skilled in the art can adjust it according to the actual situation. For example, the second threshold can be set slightly greater than 0 to ensure that small acceleration fluctuations during normal coasting do not trigger torque correction, while also promptly detecting significant unexpected acceleration.

[0065] In the above scheme, torque correction is activated when the vehicle acceleration exceeds the second threshold to prevent unexpected acceleration, thereby reducing the driving risks that may be caused by unexpected vehicle acceleration, enhancing driving controllability and safety, ensuring that the acceleration during coasting is maintained within a reasonable range, optimizing the coasting experience and vehicle energy consumption performance, and further ensuring the smooth operation of the vehicle in coasting mode.

[0066] Reference Figure 2 , Figure 2 This is a schematic diagram of the processing logic of a coasting torque control method provided in an embodiment of this application. First, it detects that the vehicle has entered a coasting state, and then sets the coasting start speed. With speed threshold Perform a size comparison: like The second speed condition represents the vehicle's speed operating condition. After executing the actions in the next rectangular block diagram, the vehicle's longitudinal acceleration or slope sensor is used to determine whether the vehicle's driving condition is a downhill condition or a flat road condition. Then, the vehicle's initial acceleration is... With acceleration threshold Perform a size comparison, if Therefore, the vehicle's coasting condition is determined to be the first enhanced coasting condition, and the coasting torque control strategy at this time is to use acceleration... To control the target, the output coasting torque T must be ≤ 0.5 × total vehicle coasting resistance; if The vehicle's driving condition is characterized as an uphill condition. Based on this, the vehicle's coasting condition is determined to be the first normal coasting condition. Therefore, the coasting torque control strategy at this time is to output the first constant negative torque.

[0067] like The vehicle's speed condition is designated as the first speed condition. After executing the actions in the next rectangular block diagram, the vehicle's longitudinal acceleration or slope sensor is used to determine whether the driving condition is downhill or flat. The initial acceleration of the vehicle is then... With acceleration threshold Perform a size comparison, if Therefore, the vehicle's coasting condition is determined to be the second enhanced coasting condition, and the coasting torque control strategy at this time is to use acceleration... To control the target output coasting torque T, T ≤ 0; if The vehicle's driving condition is characterized as an uphill condition. Based on this, the vehicle's coasting condition is determined to be the second normal coasting condition. Therefore, the coasting torque control strategy at this time is to output the second constant negative torque.

[0068] In addition, torque correction monitoring is implemented throughout the entire coasting process; if vehicle acceleration is detected... Reaching or exceeding the second threshold Then, torque correction will be initiated.

[0069] This application provides a computer program product, including computer program instructions, which are read and executed by a processor to perform the methods provided in the above-described method embodiments.

[0070] This application provides a computer-readable storage medium, comprising: a computer-readable storage medium storing computer instructions, the computer instructions causing a computer to execute the methods provided in the above-described method embodiments.

[0071] Reference Figure 3 , Figure 3 A schematic diagram of a coasting torque control device provided in this application embodiment includes: The acquisition module 310 is used to acquire the vehicle's speed condition and driving condition when the vehicle enters the coasting state. The speed condition includes a first speed condition and a second speed condition, and the speed corresponding to the first speed condition is less than the speed corresponding to the second speed condition. The driving condition includes uphill condition, downhill condition and flat road condition.

[0072] Matching module 320 is used to match the corresponding coasting condition according to the speed condition and driving condition. The coasting condition includes a first enhanced coasting condition and a normal coasting condition. Under the first enhanced coasting condition, the motor is allowed to output positive torque.

[0073] The torque determination module 330 is used to determine the coasting torque based on the vehicle's acceleration if the coasting condition is the first enhanced coasting condition. The coasting torque is used to instruct the motor controller to perform torque control.

[0074] Control module 340 is used to control the vehicle's coasting motion based on coasting torque.

[0075] It should be understood that this device corresponds to the above-described coasting torque control method embodiment and is capable of performing the various steps involved in the above method embodiment. The specific functions of this device can be found in the description above, and detailed descriptions are omitted here to avoid repetition. The device includes at least one software functional module that can be stored in memory or embedded in the device's operating system (OS) in the form of software or firmware.

[0076] In some embodiments, the matching module 320 is further configured to: if the speed condition is a second speed condition and the driving condition is a downhill condition or a flat road condition, then determine the coasting condition as a first enhanced coasting condition.

[0077] In some embodiments, the torque determination module 330 is further configured to: adjust the coasting torque to make the acceleration zero.

[0078] In some embodiments, the coasting condition further includes a second enhanced coasting condition, and the matching module 320 is further configured to: if the speed condition is a first speed condition and the driving condition is a downhill condition or a flat road condition, then determine the coasting condition as the second enhanced coasting condition; correspondingly, the torque determination module 330 is further configured to: adjust the coasting torque so that the vehicle's acceleration is 0 and the coasting torque is a negative torque.

[0079] In some embodiments, the normal coasting condition includes a first normal coasting condition and a second normal coasting condition. The matching module 320 is further configured to: if the speed condition is the second speed condition and the driving condition is an uphill condition, then determine the coasting condition as the first normal coasting condition and the coasting torque as the first constant negative torque; if the speed condition is the first speed condition and the driving condition is an uphill condition, then determine the coasting condition as the second normal coasting condition and the coasting torque as the second constant negative torque.

[0080] In some embodiments, the device further includes a torque correction module for initiating torque correction to prevent unintended acceleration of the vehicle if the detected vehicle acceleration is greater than a second threshold.

[0081] Figure 4 This is a schematic diagram of the electronic device structure provided in the embodiments of this application, such as... Figure 4As shown, the electronic device includes: a processor 401, a memory 402, and a bus 404; wherein, the processor 401 and the memory 402 communicate with each other through the bus 404; the memory 402 stores program instructions that can be executed by the processor 401, and the processor 401 can execute the methods provided in the above-described method embodiments by calling the program instructions.

[0082] Processor 401 includes one or more (only one is shown in the figure), which can be an integrated circuit chip with signal processing capabilities. The processor 401 can be a general-purpose processor, including a Central Processing Unit (CPU), a Microcontroller Unit (MCU), a Network Processor (NP), or other conventional processors; it can also be a special-purpose processor, including a Neural-network Processing Unit (NPU), a Graphics Processing Unit (GPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. Furthermore, when there are multiple processors 401, some can be general-purpose processors and others can be special-purpose processors.

[0083] Memory 402 includes one or more (only one is shown in the figure), which may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. Processor 401 and other possible components may access memory 402 to read and / or write data therein.

[0084] Specifically, one or more computer program instructions may be stored in the memory 402, and the processor 401 may read and run these computer program instructions to implement the weak password scanning behavior identification method provided in the embodiments of this application.

[0085] Bus 404 includes one or more devices (only one is shown in the figure) that can be used to communicate directly or indirectly with other devices for data exchange. Bus 404 may include devices for wired and wireless communication, such as fiber optic cables, Serial Peripheral Interface (SPI) modules, and Inter-Integrated Circuit (I2C) buses, or devices for wireless communication, such as Bluetooth modules, Wi-Fi modules, and mobile communication modules (e.g., 4G modules).

[0086] Understandable. Figure 4 The structure shown is for illustrative purposes only; the electronic device may also include structures that are more complex than those shown. Figure 4 The more or fewer components shown, or having the same Figure 4 The different structures shown. Figure 4 The components shown can be implemented using hardware, software, or a combination thereof. Electronic devices may be physical devices, such as switches, routers, servers, and PCs, or virtual devices, such as virtual machines and virtualization containers. Furthermore, electronic devices are not limited to single devices; they can be combinations of multiple devices or integrated environments consisting of a large number of devices.

[0087] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and there may be other division methods in actual implementation. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interface; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0088] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0089] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0090] The above are merely embodiments of this application and are not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A coasting torque control method characterized by, The method comprises: when it is detected that the vehicle enters a coasting state, acquiring a speed condition and a driving condition of the vehicle, wherein the speed condition comprises a first speed condition and a second speed condition, and the first speed condition corresponds to a smaller speed than the second speed condition, and the driving condition comprises an uphill condition, a downhill condition and a flat road condition; matching a corresponding coasting condition according to the speed condition and the driving condition, wherein the coasting condition comprises a first enhanced coasting condition and a normal coasting condition; if the coasting condition is the first enhanced coasting condition, determining a coasting torque according to an acceleration of the vehicle, wherein the coasting torque is used to instruct a motor controller to perform torque control, and the motor is allowed to output a positive torque in the first enhanced coasting condition; controlling the vehicle to coast based on the coasting torque.

2. The method of claim 1, wherein, The matching of the corresponding coasting condition according to the speed condition and the driving condition comprises: if the speed condition is the second speed condition and the driving condition is the downhill condition or the flat road condition, determining that the coasting condition is the first enhanced coasting condition.

3. The method of claim 1, wherein, The determination of the coasting torque according to the acceleration of the vehicle comprises: adjusting the coasting torque to make the acceleration 0.

4. The method of claim 3, wherein, if the coasting torque is a positive torque, the positive torque is not greater than a first threshold value, and the first threshold value is equal to half of a whole vehicle coasting resistance.

5. The method of claim 1, wherein, The coasting condition further comprises a second enhanced coasting condition, and the matching of the corresponding coasting condition according to the speed condition and the driving condition comprises: if the speed condition is the first speed condition and the driving condition is the downhill condition or the flat road condition, determining that the coasting condition is the second enhanced coasting condition. Correspondingly, the method further comprises: adjusting the coasting torque to make the acceleration of the vehicle 0, and the coasting torque is a negative torque.

6. The method of claim 1, wherein, The normal coasting condition comprises a first normal coasting condition and a second normal coasting condition, and the matching of the corresponding coasting condition according to the speed condition and the driving condition comprises: if the speed condition is the second speed condition and the driving condition is the uphill condition, determining that the coasting condition is the first normal coasting condition, and the coasting torque is a first constant negative torque; if the speed condition is the first speed condition and the driving condition is the uphill condition, determining that the coasting condition is the second normal coasting condition, and the coasting torque is a second constant negative torque.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: if it is detected that the acceleration of the vehicle is greater than a second threshold value, starting torque correction to prevent unintended acceleration of the vehicle.

8. An electronic device, comprising: The device comprises: a processor, a memory and a bus, wherein the processor and the memory complete mutual communication through the bus; the memory stores program instructions executable by the processor, and the processor calling the program instructions can execute the method in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions make the computer execute the method in any one of claims 1-7. ​ 10. A computer program product, characterised in that, comprising computer program instructions, which, when read and executed by a processor, perform the method of any one of claims 1-7.

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