Electric vehicle driving control method and electronic equipment

Abstract

The invention discloses an electric vehicle driving control method and electronic equipment. The electric vehicle running control method comprises the steps that when the opening degree of an accelerator pedal is smaller than a preset opening degree threshold value, the current vehicle speed is obtained, and the theoretical creeping vehicle speed is determined; the current vehicle speed is compared with the theoretical creeping vehicle speed, when the theoretical creeping vehicle speed is larger than the current vehicle speed, the driving motor is controlled to output creeping torque, and the creeping torque is positive torque in the same direction as the driving torque. When the accelerator pedal is released, the current vehicle speed is compared with the theoretical creeping vehicle speed, when the theoretical creeping vehicle speed is larger than the current vehicle speed, the driving motor is controlled to output the creeping torque, and due to the fact that the creeping torque is the positive torque in the same direction as the driving torque, when the accelerator pedal is released and the current vehicle speed is small, the creeping torque is controlled to output the creeping torque. Through the creeping torque, slow advancing can be achieved, the same accelerator pedal control logic as an existing fuel vehicle is kept, the driving expectation of a driver is met, driving safety is guaranteed, and the driving experience of the driver is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle-related technologies, and in particular to an electric vehicle driving control method, electronic device, storage medium, and computer program product. Background Technology

[0002] Electric vehicles offer one-pedal functionality, allowing acceleration and deceleration via a accelerator pedal. When the driver presses the accelerator pedal, increasing its opening controls the drive motor to output torque, accelerating the vehicle. Figure 3 As shown in vehicle speed-torque curve 31, when the accelerator pedal is released and the accelerator pedal opening decreases, a negative torque opposite to the driving torque is provided, namely the recovery torque (also known as the deceleration torque), and the vehicle decelerates.

[0003] However, this existing one-pedal control method decelerates immediately after the accelerator pedal is released, which cannot achieve the slow forward movement that occurs when the accelerator pedal is released in a gasoline vehicle. This is inconsistent with the operation of the gasoline vehicle when the accelerator pedal is released, affecting the user experience. Summary of the Invention

[0004] Therefore, it is necessary to address the technical problem that the single-pedal control of electric vehicles in the prior art directly decelerates when the accelerator pedal is released, affecting the user experience, and to provide an electric vehicle driving control method, electronic device, storage medium, and computer program product.

[0005] This invention provides a method for controlling the driving of an electric vehicle, comprising: When the accelerator pedal opening is less than the preset opening threshold, the current vehicle speed is obtained and the theoretical creep speed is determined; The current vehicle speed is compared with the theoretical creep speed. When the theoretical creep speed is greater than the current vehicle speed, the drive motor is controlled to output creep torque, which is a positive torque in the same direction as the drive torque.

[0006] Furthermore, determining the theoretical creeping speed includes: Obtain the distance to the vehicle ahead, and determine the theoretical creeping speed based on the current vehicle speed and the distance to the vehicle ahead.

[0007] Furthermore, determining the theoretical creeping speed based on the current vehicle speed and the distance to the vehicle in front includes: When the adaptive energy recovery switch is enabled, the accelerator pedal opening is less than the preset opening threshold, and the vehicle is not parked or rolling backwards, the target creep speed is determined based on the current vehicle speed and the distance to the vehicle in front, and the theoretical creep speed is calculated as: current vehicle speed + (preset speed - target creep speed). Otherwise, the theoretical creep speed is determined to be the current vehicle speed.

[0008] Furthermore, the control of the drive motor to output creeping torque includes: The creep torque is determined based on the theoretical creep speed, and the creep torque is determined based on the creep torque. Control the output creeping torque of the drive motor.

[0009] Furthermore, it also includes: When the theoretical creep speed is less than or equal to the current speed, the drive motor is controlled to output recovery torque, which is a negative torque opposite to the drive torque.

[0010] Furthermore, the control of the drive motor to output regenerative torque includes: Based on the theoretical creep speed, determine the target deceleration, and then determine the recovery torque based on the target deceleration.

[0011] Furthermore, determining the target deceleration based on the theoretical creep speed and determining the recovery torque based on the target deceleration includes: The target deceleration is determined based on the theoretical creep speed, the distance to the vehicle in front, the vehicle's speed, and the relative speed with the vehicle in front. The recovery torque is determined based on the target deceleration.

[0012] This invention provides an electronic device, comprising: At least one processor; and, A memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors to enable at least one of the processors to perform the electric vehicle driving control method as described above.

[0013] The present invention provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all the steps of the electric vehicle driving control method described above.

[0014] The present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the electric vehicle driving control method as described above.

[0015] When the accelerator pedal is released, this invention compares the current vehicle speed with the theoretical creep speed. If the theoretical creep speed is greater than the current vehicle speed, it controls the drive motor to output creep torque. Since the creep torque is a positive torque in the same direction as the drive torque, this invention can achieve slow forward movement when the accelerator pedal is released and the current vehicle speed is low. This maintains the same accelerator pedal control logic as existing fuel vehicles, meets the driver's driving expectations, ensures driving safety, and improves the driver's driving experience. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the operation of an electric vehicle driving control method according to an embodiment of the present invention. Figure 2 This is a flowchart illustrating the driving control method for an electric vehicle according to another embodiment of the present invention. Figure 3 This is a schematic diagram of the vehicle speed and torque curves under existing single-pedal control technology. Figure 4 This is a schematic diagram of the vehicle speed and torque curve under single-pedal control in the preferred embodiment of the present invention; Figure 5 This is a schematic diagram of the hardware structure of an electronic device according to the present invention. Detailed Implementation

[0017] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0018] like Figure 1 The diagram shown is a flowchart of an electric vehicle driving control method according to an embodiment of the present invention, including: Step S101: When the accelerator pedal opening is less than the preset opening threshold, obtain the current vehicle speed and determine the theoretical creep speed; Step S102: Compare the current vehicle speed with the theoretical creep speed. When the theoretical creep speed is greater than the current vehicle speed, control the drive motor to output creep torque. The creep torque is a positive torque in the same direction as the drive torque.

[0019] Specifically, this invention can be applied to electronic devices that handle torque, such as vehicle controllers. For example, a vehicle's Electronic Control Unit (ECU).

[0020] When the driver releases the accelerator pedal (also known as the accelerator pedal), the accelerator pedal opening decreases. When the accelerator pedal opening decreases to less than a preset opening threshold, step S101 is triggered. When the accelerator pedal opening is less than the preset opening threshold, the current vehicle speed is obtained and the theoretical creep speed is determined.

[0021] In some embodiments, the step of acquiring the current vehicle speed and determining the theoretical creep speed when the accelerator pedal opening is less than a preset opening threshold includes: When the single-pedal function is activated and the accelerator pedal opening is less than the preset opening threshold, the current vehicle speed is obtained and the theoretical creep speed is determined.

[0022] When the one-pedal function is not activated, or in vehicles without a one-pedal function layout, if the driver releases the accelerator pedal and the vehicle speed is lower than the current crawl speed, no deceleration torque is provided; deceleration torque is only provided after the driver presses the brake pedal. However, when the one-pedal function is activated, the vehicle provides deceleration torque when the driver releases the accelerator pedal.

[0023] The theoretical creep speed in this invention differs from the creep speed proposed in existing technologies. Existing creep speeds are the speeds that a vehicle can maintain stably on a level road without any accelerator pedal pressed, after releasing both the accelerator and brake pedals (meaning the creeping force and overall vehicle resistance are balanced). Existing creep speeds are calibrated, fixed speeds. Generally, calibration is performed by starting from a standstill on a level surface with the accelerator and brake released; the final speed the vehicle maintains is the existing creep speed. Existing technologies apply creeping force when the vehicle speed is lower than the existing creep speed, even when releasing the accelerator and brake. In contrast, the theoretical creep speed of this invention is an ideal speed calculated based on the vehicle's current speed and the distance to the vehicle in front, used to control the vehicle's slow forward movement.

[0024] Then, step S102 is executed, comparing the current vehicle speed with the theoretical creep speed. If the theoretical creep speed is greater than the current vehicle speed, it indicates that the current vehicle speed is too low. At this time, creep torque is output, which is a positive torque in the same direction as the drive torque. Therefore, the vehicle will be controlled to move forward slowly, maintaining the same accelerator pedal control logic as existing fuel vehicles. The creep torque is the positive torque of the vehicle when the accelerator is released and the vehicle speed is below a certain threshold, designed to ensure precise vehicle control capabilities during parking, slow-moving traffic, and congestion.

[0025] When the accelerator pedal is released, this invention compares the current vehicle speed with the theoretical creep speed. If the theoretical creep speed is greater than the current vehicle speed, it controls the drive motor to output creep torque. Since the creep torque is a positive torque in the same direction as the drive torque, this invention can achieve slow forward movement when the accelerator pedal is released and the current vehicle speed is low. This maintains the same accelerator pedal control logic as existing fuel vehicles, meets the driver's driving expectations, ensures driving safety, and improves the driver's driving experience.

[0026] like Figure 2 The diagram shown is a flowchart of a method for controlling the driving of an electric vehicle according to another embodiment of the present invention, including: Step S201: When the accelerator pedal opening is less than the preset opening threshold, obtain the current vehicle speed and the distance to the vehicle in front, and determine the theoretical creep speed based on the current vehicle speed and the distance to the vehicle in front.

[0027] Step S202: Compare the current vehicle speed with the theoretical creeping speed.

[0028] Step S203: When the theoretical creep speed is greater than the current speed, control the drive motor to output creep torque, wherein the creep torque is a positive torque in the same direction as the drive torque.

[0029] Step S204: When the theoretical creep speed is less than or equal to the current speed, control the drive motor to output recovery torque, which is a negative torque opposite to the drive torque.

[0030] Specifically, when the driver releases the accelerator pedal until the accelerator pedal opening decreases to less than a preset opening threshold, step S201 is triggered. When the accelerator pedal opening is less than the preset opening threshold, the current vehicle speed and the distance to the vehicle in front are obtained, and the theoretical creep speed is determined based on the current vehicle speed and the distance to the vehicle in front.

[0031] In one embodiment, determining the theoretical creep speed based on the current vehicle speed and the distance to the vehicle in front includes: When the adaptive energy recovery switch is enabled, the accelerator pedal opening is less than the preset opening threshold, and the vehicle is not parked or rolling backwards, the target creep speed is determined based on the current vehicle speed and the distance to the vehicle in front, and the theoretical creep speed is calculated as: current vehicle speed + (preset speed - target creep speed). Otherwise, the theoretical creep speed is determined to be the current vehicle speed.

[0032] Specifically, a table is pre-defined to indicate the target creep speed corresponding to different time to collision (TTC) or time headway (THW).

[0033] Then, the parking and rollback conditions are identified, and it is determined whether the adaptive energy recovery switch is enabled. When the adaptive energy recovery switch is enabled, the accelerator pedal opening is less than a preset threshold, and the vehicle is not in a parking or rollback state, the collision time or headway is calculated based on the current vehicle speed and the distance to the vehicle in front. The target creep speed corresponding to the collision time or headway is determined by looking up a table, and the theoretical creep speed is calculated as: Current speed + (Preset speed - Target creep speed). Preferably, the preset speed is 7 km / h. If any of the above conditions are not met, the theoretical creep speed is output as: Current speed = Theoretical creep speed = Current speed.

[0034] In some embodiments, determining the target creep speed corresponding to the collision time or the headway by looking up a table includes: By consulting a table, determine the target creep speed corresponding to the collision time or the headway of the vehicle; After applying a slope constraint to the target creep speed obtained from the lookup table, the slope-constrained target creep speed is obtained. Here, the slope represents the increment of speed over time. The slope constraint means that the increment of the target creep speed over time must be less than a preset slope threshold.

[0035] Specifically, such as Figure 4 The diagram shown is a schematic diagram of vehicle speed and torque in the preferred embodiment of the present invention. As shown in the vehicle speed and torque curve 41, when the theoretical creep speed is greater than the current vehicle speed, it is in the first region 42 of the vehicle speed and torque curve 41, and the creep torque is output at this time.

[0036] In one embodiment, controlling the drive motor to output creeping torque includes: The creep torque is determined based on the theoretical creep speed, and the creep torque is determined based on the creep torque. Control the output creeping torque of the drive motor.

[0037] Specifically, in existing technologies, the calculation of creep torque is based on the vehicle's current speed, which is a linear change in the vehicle's speed. In congested traffic, when the speed of the vehicle in front is less than the creep speed limit, the driver needs to constantly apply the brake pedal to control their speed and maintain synchronization with the vehicle in front, resulting in continuous braking and energy loss. In this embodiment, however, the creep torque is calculated based on the theoretical creep speed. Since the theoretical creep speed is determined based on the current speed and the distance to the vehicle in front, the creep torque will also dynamically change based on the current speed and the distance to the vehicle in front, achieving the goal of slowly following the vehicle.

[0038] A table of creep torque corresponding to different vehicle speeds can be pre-calibrated. Then, after determining the theoretical creep speed, the creep torque corresponding to the theoretical creep speed can be determined by looking up the table, and the output of the drive motor can be controlled.

[0039] Furthermore, a table can be created to show the creep torque corresponding to different slopes and vehicle speeds. Then, after determining the theoretical creep speed and the actual slope, the creep torque corresponding to the actual slope and the theoretical creep speed can be determined by looking up the table, and the output of the drive motor can be controlled.

[0040] This embodiment determines the creep torque based on the theoretical creep speed, and then dynamically changes the creep torque based on the current vehicle speed and the distance to the vehicle in front to achieve slow following.

[0041] When the theoretical creep speed is greater than the current speed, step S204 is executed. When the theoretical creep speed is less than or equal to the current speed, the drive motor is controlled to output recovery torque, which is a negative torque opposite to the drive torque.

[0042] Specifically, such as Figure 4 As shown in vehicle speed-torque curve 41, when the theoretical creep speed is less than or equal to the current vehicle speed, the vehicle is in the second region 43 of the speed-torque curve 41, at which point the regenerative torque is output. The regenerative torque is opposite in direction to the driving torque, and is a negative torque. The regenerative torque is also known as the recovery torque.

[0043] This embodiment compares the theoretical creep speed with the current vehicle speed to determine two operating conditions. The first condition provides creep torque when the theoretical creep speed is greater than the current speed. The second condition provides recovery torque when the theoretical creep speed is less than or equal to the current speed. By combining these two conditions, the system can provide smooth deceleration and low-speed following when the driver releases the accelerator pedal and there is a vehicle ahead. This embodiment allows the driver to control vehicle acceleration, creep following, and braking by operating only the accelerator pedal, resulting in smooth acceleration and deceleration throughout the process and a more comfortable ride.

[0044] In one embodiment, controlling the drive motor to output regenerative torque includes: Based on the theoretical creep speed, determine the target deceleration, and then determine the recovery torque based on the target deceleration.

[0045] In one embodiment, determining the target deceleration based on the theoretical creep speed and determining the recovery torque based on the target deceleration includes: The target deceleration is determined based on the theoretical creep speed, the distance to the vehicle in front, the vehicle's speed, and the relative speed with the vehicle in front. The recovery torque is determined based on the target deceleration.

[0046] Specifically, the target deceleration corresponding to the theoretical creeping speed, the distance to the vehicle in front, the vehicle's speed, and the relative speed with the vehicle in front is pre-calibrated and made into a table.

[0047] Then, based on the theoretical creep speed, the distance to the vehicle in front, the vehicle's own speed, and the relative speed with the vehicle in front, the corresponding target deceleration (i.e., target deceleration G) is determined by comprehensively looking up a table. The target deceleration G is then converted into wheel-end torque based on the vehicle's overall resistance, vehicle mass, and relevant vehicle characteristic parameters, and used as the recovery torque.

[0048] The recovery torque is a negative torque that is opposite in direction to the driving torque.

[0049] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0050] like Figure 5 The diagram shown is a hardware structure schematic of an electronic device according to the present invention, comprising: At least one processor 501; and, A memory 502 is communicatively connected to at least one of the processors 501; wherein, The memory 502 stores instructions that can be executed by at least one of the processors to enable at least one of the processors to perform the electric vehicle driving control method as described above.

[0051] Figure 5 Take a processor 501 as an example.

[0052] The electronic device may also include an input device 503 and a display device 504.

[0053] The processor 501, memory 502, input device 503 and display device 504 can be connected by a bus or other means. The figure shows an example of connection by bus.

[0054] The memory 502, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the electric vehicle driving control method in the embodiments of this application, for example, Figure 1 , Figure 2 The method flow is shown. The processor 501 executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory 502, thereby realizing the electric vehicle driving control method in the above embodiments.

[0055] Memory 502 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the electric vehicle driving control method. Furthermore, memory 502 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 502 may optionally include memory remotely located relative to processor 501, and these remote memories may be connected via a network to the apparatus performing the electric vehicle driving control method. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0056] The input device 503 can receive user clicks and generate signal inputs related to user settings and function control of the electric vehicle driving control method. The display device 504 may include a display screen or other display equipment.

[0057] When one or more modules are stored in the memory 502, and are run by one or more processors 501, the electric vehicle driving control method in any of the above method embodiments is executed.

[0058] When the accelerator pedal is released, this invention compares the current vehicle speed with the theoretical creep speed. If the theoretical creep speed is greater than the current vehicle speed, it controls the drive motor to output creep torque. Since the creep torque is a positive torque in the same direction as the drive torque, this invention can achieve slow forward movement when the accelerator pedal is released and the current vehicle speed is low. This maintains the same accelerator pedal control logic as existing fuel vehicles, meets the driver's driving expectations, ensures driving safety, and improves the driver's driving experience.

[0059] One embodiment of the present invention provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all the steps of the electric vehicle driving control method described above.

[0060] In the context of this disclosure, a storage medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. The storage medium can be a machine-readable signal medium or a machine-readable storage medium. Optionally, the storage medium can be a non-transitory computer-readable storage medium, such as a ROM, random access memory (RAM), compact disc ROM (CD-ROM), magnetic tape, floppy disk, and optical data storage device.

[0061] One embodiment of the present invention provides a computer program product, including a computer program / instructions, which, when executed by a processor, implements the electric vehicle driving control method as described above.

[0062] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A method for controlling the driving of an electric vehicle, characterized in that, include: When the accelerator pedal opening is less than the preset opening threshold, the current vehicle speed is obtained and the theoretical creep speed is determined; The current vehicle speed is compared with the theoretical creep speed. When the theoretical creep speed is greater than the current vehicle speed, the drive motor is controlled to output creep torque, which is a positive torque in the same direction as the drive torque.

2. The electric vehicle driving control method according to claim 1, characterized in that, The determination of the theoretical creeping speed includes: Obtain the distance to the vehicle ahead, and determine the theoretical creeping speed based on the current vehicle speed and the distance to the vehicle ahead.

3. The electric vehicle driving control method according to claim 2, characterized in that, The process of determining the theoretical creeping speed based on the current vehicle speed and the distance to the vehicle in front includes: When the adaptive energy recovery switch is enabled, the accelerator pedal opening is less than the preset opening threshold, and the vehicle is not parked or rolling backwards, the target creep speed is determined based on the current vehicle speed and the distance to the vehicle in front, and the theoretical creep speed is calculated as: current vehicle speed + (preset speed - target creep speed). Otherwise, the theoretical creep speed is determined to be the current vehicle speed.

4. The electric vehicle driving control method according to claim 1, characterized in that, The control of the drive motor to output creeping torque includes: The creeping torque is determined based on the theoretical creeping speed. Control the output creeping torque of the drive motor.

5. The electric vehicle driving control method according to claim 1, characterized in that, Also includes: When the theoretical creep speed is less than or equal to the current speed, the drive motor is controlled to output recovery torque, which is a negative torque opposite to the drive torque.

6. The electric vehicle driving control method according to claim 5, characterized in that, The control of the drive motor to output regenerative torque includes: Based on the theoretical creep speed, determine the target deceleration, and then determine the recovery torque based on the target deceleration.

7. The electric vehicle driving control method according to claim 6, characterized in that, The process of determining the target deceleration based on the theoretical creep speed and determining the recovery torque based on the target deceleration includes: The target deceleration is determined based on the theoretical creep speed, the distance to the vehicle in front, the vehicle's own speed, and the relative speed with the vehicle in front. The recovery torque is determined based on the target deceleration.

8. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors to enable at least one of the processors to perform the electric vehicle driving control method as described in any one of claims 1 to 7.

9. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform all the steps of the electric vehicle driving control method as described in any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the electric vehicle driving control method as described in any one of claims 1 to 7.

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