Electric vehicle control method and apparatus, and program product, medium and electric vehicle

Abstract

Disclosed in the present application are an electric vehicle control method and apparatus, and a program product, a medium and an electric vehicle. The method comprises: in a parking condition of an electric vehicle, acquiring electric motor characteristic parameters of a drive electric motor in the electric vehicle; on the basis of the electric motor characteristic parameters, detecting whether rear wheels of the electric vehicle come into contact with a wheel stopper, which is mounted in a parking space, at the current moment; and if it is detected that the rear wheels of the electric vehicle have come into contact with the wheel stopper at the current moment, controlling the electric vehicle to execute a parking adjustment action, wherein the parking adjustment action is used for adjusting the electric vehicle to an appropriate area of the parking space.

Description

Electric vehicle control method, device, program product, medium and electric vehicle Cross-reference to related applications

[0001] The embodiments of the present application are based on and claim priority to Chinese Patent Application No. 202410870644.X, filed on July 1, 2024, the entire contents of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application belongs to the technical field of electric vehicle control, and particularly relates to an electric vehicle control method, device, program product, medium and electric vehicle. BACKGROUND

[0003] At present, it has become an inevitable trend to realize the intelligentization of electric vehicles in various application scenarios. For example, in a parking scenario, the parking is generally assisted by the limiting device of the parking space. If the rear wheel of the vehicle touches the limiting device, it means that the vehicle is basically parked in place. In the existing scheme, whether the rear wheel of the vehicle touches the limiting device is detected by detecting whether the speed of the vehicle suddenly changes or by detecting whether the wheel collides with the limiting device through a sensor. However, when the wheel touches the limiting device, the speed detection or collision detection scheme has a certain lag in the feedback of the detection result, which may cause the vehicle to impact the limiting device or even pass over the limiting device and cause a safety accident. Based on this, how to improve the safety of electric vehicle parking is a technical problem to be solved. SUMMARY

[0004] Embodiments of the present application provide an electric vehicle control method, device, computer program product, computer readable storage medium and electric vehicle, thereby at least to some extent, the safety of electric vehicle parking can be improved.

[0005] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0006] According to a first aspect of the embodiments of the present application, an electric vehicle control method is provided, the method comprising: in an electric vehicle parking condition, acquiring a motor characteristic parameter of a driving motor in the electric vehicle; based on the motor characteristic parameter, monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time; if it is monitored that the rear wheel of the electric vehicle touches the limiting device at the current time, controlling the electric vehicle to perform a parking adjustment action, the parking adjustment action being used to adjust the electric vehicle to a reasonable area of the parking space.

[0007] According to a second aspect of the embodiments of the present application, an electric vehicle control device is provided, the device comprising: an acquisition unit configured to acquire a motor characteristic parameter of a driving motor in an electric vehicle in a parking condition of the electric vehicle; a monitoring unit configured to monitor whether a rear wheel of the electric vehicle touches a limiting device installed in a parking space at a current time based on the motor characteristic parameter; and a control unit configured to control the electric vehicle to perform a parking adjustment action if it is monitored that the rear wheel of the electric vehicle touches the limiting device at the current time, the parking adjustment action being configured to adjust the electric vehicle to a reasonable area of the parking space.

[0008] According to a third aspect of the embodiments of the present application, a computer program product is provided, the computer program product comprising computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform operations performed by the method according to any one of the first aspect.

[0009] According to a fourth aspect of the embodiments of the present application, a computer readable storage medium is provided, the computer readable storage medium storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by a processor to implement operations performed by the method according to any one of the first aspect.

[0010] According to a fifth aspect of the embodiments of the present application, an electric vehicle is provided, the electric vehicle comprising one or more processors and one or more memories, the one or more memories storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by the one or more processors to implement operations performed by the method according to any one of the first aspect.

[0011] Based on the technical solutions proposed in the present application, in a parking condition of an electric vehicle, whether a rear wheel of the electric vehicle touches a limiting device installed in a parking space at a current time is monitored based on a motor characteristic parameter of a driving motor, and when it is monitored that the rear wheel of the electric vehicle touches the limiting device at the current time, the electric vehicle is controlled to perform a parking adjustment action to adjust the electric vehicle to a reasonable area of the parking space. In fact, the present application monitors whether the wheel touches the limiting device through the motor characteristic parameter, instead of monitoring whether the wheel touches the limiting device based on speed detection and collision detection in the prior art. As a result, due to the high reduction ratio of the driving motor, the motor characteristic parameter at the end of the driving motor can amplify the vehicle travel parameter by thousands or tens of thousands, and has high sensitivity. Thus, whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time can be more accurately, reliably and timely detected through the driving motor characteristic parameter, and the safety of parking of the electric vehicle can be improved.

[0012] It should be understood that the general description above and the detailed description below are only exemplary and explanatory, and are not restrictive of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and serve to explain the principles of the present application. It is readily apparent to one skilled in the art that the following description is merely exemplary and explanatory of the application and that various embodiments of the application can be made without departing from the spirit and scope of the application. In the drawings:

[0014] FIG. 1 shows a schematic diagram of a parking scenario of an electric vehicle to which embodiments of the present application can be applied;

[0015] FIG. 2 shows a flowchart of a control method of an electric vehicle according to an embodiment of the present application;

[0016] FIG. 3 shows an architecture diagram of a parking system of an electric vehicle to which embodiments of the present application can be applied;

[0017] FIG. 4 shows a functional curve diagram of a motor current to which embodiments of the present application can be applied;

[0018] FIG. 5 shows a block diagram of a control device of an electric vehicle according to an embodiment of the present application;

[0019] FIG. 6 shows a structural diagram of an electric vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort belong to the scope of protection of the present application.

[0021] In addition, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the present application. One skilled in the relevant art will recognize, however, that the technical solutions of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the present application.

[0022] The block diagrams shown in the drawings are merely functional entities, and do not necessarily correspond to physically independent entities. That is, the functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices. It should also be noted that, in the drawings, in order to ensure the simplicity of the drawings, some components in the drawings are omitted, which do not affect the explanation of the technical solutions of the present application.

[0023] The flowcharts shown in the drawings are merely exemplary illustrations, and do not necessarily include all contents and operations / steps, nor necessarily executed in the order described. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to the actual situation.

[0024] In the description of the present application, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0025] In order for those skilled in the art to better understand the present application, first, the application scenario involved in the present application will be briefly described in conjunction with FIG. 1.

[0026] Referring to FIG. 1, a schematic diagram of an electric vehicle parking scenario to which embodiments of the present application can be applied is shown.

[0027] As shown in FIG. 1, during the parking process of the electric vehicle 101 in the parking space 102, the parking can be assisted by the limiting device 103. If the rear wheel of the vehicle touches the limiting device 103, it means that the vehicle is basically parked in place. It can be seen that accurately and timely detecting that the wheel touches the limiting device is the key to realizing accurate parking and safe parking. In this case, the present application proposes an electric vehicle control scheme to improve the safety of electric vehicle parking.

[0028] Referring to FIG. 2, a flowchart of an electric vehicle control method in embodiments of the present application is shown, which can be executed by a device with computing processing function. Referring to FIG. 2, the electric vehicle control method at least includes steps 210 to 230, which are described in detail as follows:

[0029] In step 210, in the electric vehicle parking working condition, the motor characteristic parameters of the driving motor in the electric vehicle are acquired.

[0030] In the present application, the motor characteristic parameter can at least include the motor current value of the driving motor at each moment in the parking working condition of the electric vehicle.

[0031] In the present application, the parking system applying the electric vehicle control scheme of the present application will be briefly introduced based on Figure 3.

[0032] Referring to Figure 3, the parking system architecture diagram of the electric vehicle to which the embodiments of the present application can be applied is shown.

[0033] As shown in Figure 3, the parking system of the electric vehicle can include a driving motor 301, a power controller 302, a signal transmission network 303, an action execution unit 305, and a parking controller 304.

[0034] In the present application, the electric vehicle control method proposed can be executed in the parking controller 304. Specifically, the parking system or other controller (such as an intelligent driving domain controller or an intelligent cockpit controller) carrying the software algorithm of the parking system can be taken as the data processing core.

[0035] Specifically, the power controller 302 can be used to collect the motor speed and motor output torque of the driving motor 301 in the parking working condition of the electric vehicle, and calculate the motor current value based on the motor speed and the motor output torque, and transmit the motor current value to the signal transmission network 303.

[0036] In an embodiment of the present application, the power controller 302 can be a PDCU controller, and the signal transmission network 303 can be a CAN network.

[0037] In the present application, the power controller transmits the motor current value to the signal transmission network. Specifically, the power controller can convert the motor current value into a network signal, and transmit the motor current value to the signal transmission network in the form of a network signal.

[0038] In the present application, the motor characteristic parameter of the driving motor in the electric vehicle can be the motor current value of the driving motor in the electric vehicle acquired by the parking controller from the signal transmission network.

[0039] Continuing to refer to Figure 2, in step 220, based on the motor characteristic parameter, it is monitored whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current moment.

[0040] In the present application, based on the motor characteristic parameters, whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time can be monitored, which can be based on the motor current value of the driving motor at each time in the electric vehicle parking condition, to monitor whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time.

[0041] In order for those skilled in the art to better understand the present application, the theoretical basis for proposing the technical solutions of the present application will be briefly explained as follows:

[0042] Firstly, the relationship expression is established according to the characteristics of the driving motor, such as formula (1) to formula (4):

[0043]

[0044]

[0045]

[0046] Secondly, Laplace transform is performed on the above formula (1) to formula (4), to obtain the following formula (5) to formula (6):

[0047]

[0048]

[0049]

[0050] In addition, since the electric vehicle wheel is not rigidly connected with the gearbox, it has a unique high reduction ratio (i.e. the ratio between the number of revolutions of the driving motor and the number of revolutions of the wheel is high), in other words, if the vehicle moves a small distance, the driving motor still needs to rotate a large number of revolutions, which makes the high sensitivity characteristic of the vehicle travel to the driving motor end amplified by hundreds of thousands of times. Therefore, by monitoring the change of the motor current value, such as the motor current value, the rear wheel of the electric vehicle can be more accurately, reliably and timely detected whether it touches the limiting device installed in the parking space at the current time, thereby improving the safety of electric vehicle parking.

[0051] Specifically, in one embodiment of the present application, the monitoring of whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the motor characteristic parameters can be performed according to the following steps 221 to 222:

[0052] Step 221, constructing a first function curve based on the motor current value of the driving motor at each time in the parking working condition of the electric vehicle, the first function curve being used to represent the corresponding relationship between the motor current value and each time in the parking working condition of the electric vehicle.

[0053] Step 222, monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the first function curve.

[0054]

[0055] As shown in FIG. 4, a function curve diagram of the motor current to which the embodiment of the present application can be applied is shown. When the resistance of the electric vehicle increases, the motor current value will increase sharply, and when the resistance decreases, the motor current value will return to the original state.

[0056] In the present application, due to the high sensitivity characteristic that the vehicle travel is amplified by thousands of times at the end of the driving motor, as long as the rear wheel of the vehicle touches the limiting device, it will be very sensitive to reflect through the motor current value of the driving motor. Thus, based on the first function curve, it can be monitored whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time, thereby the safety of the electric vehicle parking can be improved.

[0057] Specifically, in the present embodiment, the monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the first function curve can be performed according to the following steps 2221 to 2222:

[0058] Step 2221, calculating the change rate of the motor current value in a first time interval based on the first function curve, wherein one interval endpoint of the first time interval is the current time, and the interval length of the first time interval is less than a preset interval length.

[0059] Step 2222, if the change rate is greater than a first change rate calibration value and less than a second change rate calibration value, it is determined that the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time.

[0060] In the present application, the change rate of the motor current value can be calculated according to the following formula (7):

[0061]

[0062]

[0063] In the present application, it is necessary to point out that the interval length of the first time interval is less than the preset interval length, mainly because the time when the rear wheel of the electric vehicle touches the limiting device is extremely short, and if the interval length of the first time interval is too long, the monitoring sensitivity may be reduced. Therefore, limiting the interval length of the first time interval to be less than the preset interval length can improve the monitoring sensitivity, and thus improve the accuracy of monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time.

[0064]

[0065] In another embodiment of the present application, monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the motor characteristic parameter can be performed according to the following steps 223 to 224:

[0066] Step 223, constructing a second function curve based on the current difference value between the motor current value of the driving motor at each time in the electric vehicle parking condition and the reference current value, the second function curve being used to represent the corresponding relationship between the current difference value and each time in the electric vehicle parking condition, and the reference current value being the motor current value of the driving motor at the initial parking time.

[0067] Step 224, monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the second function curve.

[0068]

[0069] In the present application, due to the high sensitivity characteristic of the vehicle journey to the driving motor end amplification of several hundred million times, as long as the rear wheel of the vehicle touches the limiting device, it will be very sensitive to reflect through the motor current value of the driving motor. Therefore, based on the second function curve, it can be monitored whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time, and thus the safety of the electric vehicle parking can be improved.

[0070] Specifically, in the present embodiment, monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the second function curve can be performed according to the following steps 2241 to 2242:

[0071] Step 2241, calculating the integral value of the second function curve in the second time interval based on the second function curve, wherein the interval endpoints of the second time interval are the initial parking time and the current time respectively.

[0072] Step 2242, if the integral value is greater than the integral calibration value, it is determined that the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time.

[0073] In the present application, the rate of change of the motor current value can be calculated according to the following formula (8):

[0074]

[0075]

[0076]

[0077] In the above several embodiments, if the rear wheel of the electric vehicle is monitored based on the first function curve alone to determine whether it touches the limiting device installed in the parking space at the current time, some small obstacles may cause the vehicle to misjudge that its rear wheel touches the limiting device, for example, if the rear wheel rolls over small obstacles such as beverage bottles and small stones, the first function curve will also increase sharply (i.e. the rate of change may be greater than the first rate of change calibration value), but in this case the integral value calculated by the second function curve will generally be smaller.

[0078] In addition, if the rear wheel of the electric vehicle is monitored based on the second function curve alone to determine whether it touches the limiting device installed in the parking space at the current time, some small slope ground may cause the vehicle to misjudge that its rear wheel touches the limiting device, for example, if the ground slope under the rear wheel increases continuously at a small amplitude, the integral value calculated by the second function curve will generally be larger, even greater than the integral calibration value. However, the first function curve in this case will not increase sharply although it increases continuously at a small amplitude.

[0079] Based on the above problems, in another embodiment of the present application, the monitoring of whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the motor characteristic parameter can be performed according to the following steps 225 to 227:

[0080] Step 225, based on the motor current value of the driving motor at each time in the parking condition of the electric vehicle, a first function curve is constructed, which is used to represent the corresponding relationship between the motor current value and each time in the parking condition of the electric vehicle.

[0081] Step 226, based on the current difference between the motor current value of the driving motor at each time in the parking working condition of the electric vehicle and the reference current value, a second function curve is constructed, the second function curve is used to represent the corresponding relationship between the current difference and each time in the parking working condition of the electric vehicle, and the reference current value is the motor current value of the driving motor at the initial parking time.

[0082] Step 227, based on the first function curve and the second function curve, whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time is monitored.

[0083] Further, in the embodiment, the monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the first function curve and the second function curve can be performed according to the following steps 2271 to 2273:

[0084] Step 2271, based on the first function curve, the change rate of the motor current value in the first time interval is calculated, wherein one interval endpoint of the first time interval is the current time, and the interval length of the first time interval is less than the preset interval length.

[0085] Step 2272, based on the second function curve, the integral value of the second function curve in the second time interval is calculated, wherein the interval endpoints of the second time interval are the initial parking time and the current time respectively.

[0086] Step 2273, if the change rate is greater than the first change rate calibration value and less than the second change rate calibration value, and the integral value is greater than the integral calibration value, it is determined that the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time.

[0087] In the present application, in the embodiment of monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the first function curve alone or the second function curve alone, some misjudgment conditions may occur, resulting in inaccurate parking of the vehicle. Therefore, in the present embodiment, whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time is monitored based on the first function curve and the second function curve simultaneously, that is, if the rate of change of the motor current value in the first time interval calculated based on the first function curve is greater than the first rate of change calibration value and less than the second rate of change calibration value, and the integral value of the second function curve in the second time interval calculated based on the second function curve is greater than the integral calibration value, it is determined that the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time. This embodiment can avoid the misjudgment of the rear wheel of the electric vehicle touching the limiting device at the current time, and can improve the accuracy and safety of the electric vehicle parking.

[0088] With reference to FIG. 2, in step 230, if it is monitored that the rear wheel of the electric vehicle touches the limiting device at the current time, the electric vehicle is controlled to perform a parking adjustment action, and the parking adjustment action is used to adjust the electric vehicle to a reasonable area of the parking space.

[0089] In the present application, the control of the electric vehicle to perform the parking adjustment action can be performed according to the following step 231:

[0090] Step 231, control the electric vehicle to drive a preset distance away from the limiting device.

[0091] Specifically, in the present application, when it is monitored that the rear wheel of the electric vehicle touches the limiting device at the current time, the final target position of the vehicle can be re-planned, such as a position 10 cm in front of the limiting device, as shown in FIG. 3. At this time, the action execution unit in the parking system can be controlled to control the electric vehicle to drive a preset distance away from the limiting device, so as to adjust the electric vehicle to a reasonable area of the parking space.

[0092] Based on the technical scheme provided in the present application, in the parking working condition of the electric vehicle, whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time is monitored based on the motor characteristic parameter, and when it is monitored that the rear wheel of the electric vehicle touches the limiting device at the current time, the electric vehicle is controlled to perform a parking adjustment action to adjust the electric vehicle to a reasonable area of the parking space. In fact, whether the wheel touches the limiting device is monitored by the motor characteristic parameter instead of the speed detection and collision detection in the prior art, so that the motor characteristic parameter at the end of the driving motor can amplify the vehicle travel parameter by thousands of times due to the high reduction ratio of the driving motor, and has high sensitivity. Therefore, whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time can be more accurately, reliably and timely detected by the motor characteristic parameter, and the safety of the electric vehicle parking can be improved.

[0093] The device embodiment of the present application is introduced below, which can be used to execute the electric vehicle control method in the above-mentioned embodiments of the present application. For details not disclosed in the device embodiment of the present application, please refer to the above-mentioned embodiments of the electric vehicle control method of the present application.

[0094] Referring to FIG. 5, a block diagram of the electric vehicle control device in the embodiment of the present application is shown.

[0095] As shown in FIG. 5, the electric vehicle control device 500 according to the embodiment of the present application comprises an acquisition unit 501, a monitoring unit 502 and a control unit 503.

[0096] The acquisition unit 501 is configured to acquire the motor characteristic parameter of the driving motor in the electric vehicle in the parking working condition of the electric vehicle; the monitoring unit 502 is configured to monitor whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the motor characteristic parameter; and the control unit 503 is configured to control the electric vehicle to perform a parking adjustment action if it is monitored that the rear wheel of the electric vehicle touches the limiting device at the current time, and the parking adjustment action is used to adjust the electric vehicle to a reasonable area of the parking space.

[0097] In some embodiments of the present application, based on the foregoing scheme, the motor characteristic parameter at least comprises the motor current value of the driving motor at each time in the parking working condition of the electric vehicle.

[0098] In some embodiments of the present application, based on the foregoing scheme, the electric vehicle comprises a driving motor, a power controller, a signal transmission network, an action execution unit, and a parking controller, the method is executed in the parking controller, the power controller is configured to collect the motor speed and the motor output torque of the driving motor in the electric vehicle parking working condition, calculate the motor current value based on the motor speed and the motor output torque, and transmit the motor current value to the signal transmission network; the acquisition unit 501 is configured to acquire the motor current value of the driving motor in the electric vehicle from the signal transmission network.

[0099] In some embodiments of the present application, based on the foregoing scheme, the power controller transmits the motor current value to the signal transmission network, comprising: the power controller converts the motor current value into a network signal, and transmits the motor current value to the signal transmission network in the form of a network signal.

[0100] In some embodiments of the present application, based on the foregoing scheme, the monitoring unit 502 is configured to construct a first function curve based on the motor current value of the driving motor at each time in the electric vehicle parking working condition, the first function curve is used to represent the corresponding relationship between the motor current value and each time in the electric vehicle parking working condition; based on the first function curve, it is monitored whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time.

[0101] In some embodiments of the present application, based on the foregoing scheme, the monitoring unit 502 is further configured to calculate the change rate of the motor current value within a first time interval based on the first function curve, wherein one interval endpoint of the first time interval is the current time, and the interval length of the first time interval is less than a preset interval length; if the change rate is greater than a first change rate calibration value and less than a second change rate calibration value, it is determined that the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time.

[0102] In some embodiments of the present application, based on the foregoing scheme, the monitoring unit 502 is further configured to construct a second function curve based on the current difference value between the motor current value of the driving motor at each time in the electric vehicle parking working condition and a reference current value, the second function curve is used to represent the corresponding relationship between the current difference value and each time in the electric vehicle parking working condition, and the reference current value is the motor current value of the driving motor at the initial parking time; based on the second function curve, it is monitored whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time.

[0103] In some embodiments of the present application, based on the foregoing scheme, the monitoring unit 502 is further configured to: based on the second function curve, calculate an integral value of the second function curve in a second time interval, wherein the interval endpoints of the second time interval are the parking initial time and the current time respectively; if the integral value is greater than an integral calibration value, it is determined that the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time.

[0104] In some embodiments of the present application, based on the foregoing scheme, the monitoring unit 502 is further configured to: based on the motor current value of the driving motor at each time in the electric vehicle parking working condition, construct a first function curve, the first function curve is used to characterize the corresponding relationship between the motor current value and each time in the electric vehicle parking working condition; based on the current difference value between the motor current value of the driving motor at each time in the electric vehicle parking working condition and the reference current value, construct a second function curve, the second function curve is used to characterize the corresponding relationship between the current difference value and each time in the electric vehicle parking working condition, the reference current value is the motor current value of the driving motor at the parking initial time; based on the first function curve and the second function curve, monitor whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time.

[0105] In some embodiments of the present application, based on the foregoing scheme, the monitoring unit 502 is further configured to: based on the first function curve, calculate the rate of change of the motor current value in a first time interval, wherein one interval endpoint of the first time interval is the current time, and the interval length of the first time interval is less than a preset interval length; based on the second function curve, calculate the integral value of the second function curve in a second time interval, wherein the interval endpoints of the second time interval are the parking initial time and the current time respectively; if the rate of change is greater than a first rate of change calibration value and less than a second rate of change calibration value, and the integral value is greater than an integral calibration value, it is determined that the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time.

[0106] In some embodiments of the present application, based on the foregoing scheme, the control unit 503 is configured to: control the electric vehicle to drive a preset distance away from the limiting device.

[0107] Based on the same inventive concept, the embodiments of the present application provide a computer program product, the computer program product comprises computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor, so that a computer device with the processor executes the operations performed by the electric vehicle control method as described above.

[0108] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing at least one computer program instruction, which is loaded and executed by a processor to implement the operations performed by the electric vehicle control method described above.

[0109] Based on the same inventive concept, this application also provides an electric vehicle. Referring to FIG6, a schematic diagram of the structure of the electric vehicle in this application embodiment is shown. The electric vehicle includes one or more memories 604, one or more processors 602, and at least one computer program (computer program instruction) stored on the memory 604 and executable on the processor 602. When the processor 602 executes the computer program, it implements the electric vehicle control method as described above.

[0110] In Figure 6, a bus architecture (represented by bus 600) is shown. Bus 600 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 602 and memory represented by memory 604. Bus 600 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 605 provides an interface between bus 600 and receiver 601 and transmitter 603. Receiver 601 and transmitter 603 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 602 is responsible for managing bus 600 and general processing, while memory 604 can be used to store data used by processor 602 during operation.

[0111] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0112] In several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between units or modules, which can be electrical or other forms.

[0113] The units described as separate components can or can not be physically separated, and the components of the control device can or can not be physical units, i.e. can be located in one place or can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0114] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions for making a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various computer program instruction storage media.

[0115] The above is only an embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of claims of the present application.

Claims

1. An electric vehicle control method, the method comprising: obtaining a motor characteristic parameter of a drive motor in an electric vehicle in a parking operation of the electric vehicle; monitoring whether a rear wheel of the electric vehicle touches a limiting device installed in a parking space at a current time based on the motor characteristic parameter; if it is monitored that the rear wheel of the electric vehicle touches the limiting device at the current time, controlling the electric vehicle to perform a parking adjustment action for adjusting the electric vehicle to a reasonable area of the parking space.

2. The method of claim 1, wherein, The motor characteristic parameter at least includes a motor current value of the drive motor at each time in the parking operation of the electric vehicle.

3. The method of claim 2, wherein, The electric vehicle comprises a drive motor, a power controller, a signal transmission network, an action execution unit, a parking controller, and the method is executed in the parking controller. The power controller is configured to collect a motor speed and a motor output torque of the drive motor in the parking operation of the electric vehicle, and calculate a motor current value based on the motor speed and the motor output torque, and transmit the motor current value to the signal transmission network. The obtaining of the motor characteristic parameter of the drive motor in the electric vehicle comprises: obtaining the motor current value of the drive motor in the electric vehicle from the signal transmission network.

4. The method of claim 3, wherein, The transmission of the motor current value to the signal transmission network by the power controller comprises: The power controller converts the motor current value into a network signal, and transmits the motor current value to the signal transmission network in the form of the network signal.

5. The method of claim 2, wherein, The monitoring of whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the motor characteristic parameter comprises: constructing a first function curve based on the motor current value of the drive motor at each time in the parking operation of the electric vehicle, the first function curve being configured to represent a corresponding relationship between the motor current value and each time in the parking operation of the electric vehicle; monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the first function curve.

6. The method of claim 5, wherein, The monitoring of whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the first function curve comprises: calculating a change rate of the motor current value in a first time interval based on the first function curve, wherein one interval endpoint of the first time interval is the current time, and an interval length of the first time interval is less than a preset interval length; if the change rate is greater than a first change rate calibration value and less than a second change rate calibration value, it is determined that the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time.

7. The method of claim 2, wherein, The monitoring of whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current time based on the motor characteristic parameter comprises: constructing a second function curve based on the current difference between the motor current value of the driving motor at each moment in the electric vehicle parking condition and a reference current value, the second function curve being used to represent the corresponding relationship between the current difference and each moment in the electric vehicle parking condition, the reference current value being the motor current value of the driving motor at the initial parking moment; monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current moment based on the second function curve.

8. The method of claim 5, wherein, The monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current moment based on the second function curve comprises: calculating an integral value of the second function curve within a second time interval based on the second function curve, wherein the interval endpoints of the second time interval are the initial parking moment and the current moment respectively; if the integral value is greater than an integral calibration value, it is determined that the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current moment.

9. The method of claim 2, wherein, The monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current moment based on the motor characteristic parameter comprises: constructing a first function curve based on the motor current value of the driving motor at each moment in the electric vehicle parking condition, the first function curve being used to represent the corresponding relationship between the motor current value and each moment in the electric vehicle parking condition; constructing a second function curve based on the current difference between the motor current value of the driving motor at each moment in the electric vehicle parking condition and a reference current value, the second function curve being used to represent the corresponding relationship between the current difference and each moment in the electric vehicle parking condition, the reference current value being the motor current value of the driving motor at the initial parking moment; monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current moment based on the first function curve and the second function curve.

10. The method of claim 9, wherein, The monitoring whether the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current moment based on the first function curve and the second function curve comprises: calculating a change rate of the motor current value within a first time interval based on the first function curve, wherein one interval endpoint of the first time interval is the current moment, and the interval length of the first time interval is less than a preset interval length; calculating an integral value of the second function curve within a second time interval based on the second function curve, wherein the interval endpoints of the second time interval are the initial parking moment and the current moment respectively; if the change rate is greater than a first change rate calibration value and less than a second change rate calibration value, and the integral value is greater than an integral calibration value, it is determined that the rear wheel of the electric vehicle touches the limiting device installed in the parking space at the current moment.

11. The method of claim 1, wherein, The controlling the electric vehicle to perform a parking adjustment action comprises: controlling the electric vehicle to travel a preset distance in a direction away from the limiting device.

12. An electric vehicle control device, the device comprising: An acquisition unit is configured to acquire a motor characteristic parameter of a driving motor in an electric vehicle parking condition. A monitoring unit is configured to monitor whether a rear wheel of the electric vehicle touches a limiting device installed in a parking space at a current time based on the motor characteristic parameter. A control unit is configured to control the electric vehicle to perform a parking adjustment action if it is monitored that the rear wheel of the electric vehicle touches the limiting device at the current time, the parking adjustment action being used to adjust the electric vehicle to a reasonable area of the parking space.

13. A computer program product, comprising computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the method of any one of claims 1 to 11.

14. A computer readable storage medium, having stored therein at least one program code, the at least one program code being loaded and executed by a processor to implement the method of any one of claims 1 to 11.

15. An electric vehicle, comprising one or more processors and one or more memories, the one or more memories having stored therein at least one program code, the at least one program code being loaded and executed by the one or more processors to implement the method of any one of claims 1 to 11.

Images