CN115056656B - Electric vehicle control method, device, electric vehicle and storage medium - Google Patents
Electric vehicle control method, device, electric vehicle and storage medium Download PDFInfo
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- CN115056656B CN115056656B CN202210928783.4A CN202210928783A CN115056656B CN 115056656 B CN115056656 B CN 115056656B CN 202210928783 A CN202210928783 A CN 202210928783A CN 115056656 B CN115056656 B CN 115056656B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a control method, a control device, an electric vehicle and a storage medium of the electric vehicle, wherein the method comprises the steps of determining driving force provided by each wheel of the electric vehicle according to position data of a common tire and an upgrade tire in the electric vehicle; the method comprises the steps of determining the providing torque of each driving mode of the electric vehicle according to the driving force provided by each wheel, obtaining the required torque of the electric vehicle, determining the target driving mode from the driving modes according to the required torque and the providing torque, and driving the electric vehicle according to the target driving mode. The technical scheme of the invention can automatically determine the target driving mode for driving the electric vehicle to run from each driving mode according to the provided torque of each driving mode and the required torque of the electric vehicle, solves the problem of poor stability of the electric vehicle caused by driving the electric vehicle according to the fixed driving mode in different driving modes, better ensures the driving safety of a driver and brings better driving experience to the driver.
Description
Technical Field
The present invention relates to a vehicle control technology, and more particularly, to a control method and apparatus for an electric vehicle, and a storage medium.
Background
Currently, in snowy weather, after a driver replaces a normal tire with a snowy tire, the driver selects a snowy mode to maintain the stability of the vehicle, wherein the snowy mode may include three driving modes, i.e., a front motor driving, a rear motor driving, and a dual motor combined driving.
Typically, the snow mode defaults to the front motor drive mode. For an electric vehicle having four-wheel drive capability, the position of the snow tire has an effect on the road adhesion coefficient of each wheel, which in turn affects the driving force of each wheel in different drive modes.
The snow mode adopts a front motor driving mode by default, and the influence of the position of the snow tire on the driving force of each wheel is ignored. For example, if the position of the snowfield tire is the rear wheel, the road surface adhesion coefficient of the rear wheel is larger than that of the ordinary tire of the front wheel, the driving force of the rear wheel is larger than that of the front wheel, the stability of the rear wheel of the electric vehicle is poor due to the snowfield mode, the driving safety of the driver cannot be better guaranteed, and bad driving experience is brought to the driver.
Disclosure of Invention
In order to solve the problems in the prior art, the invention discloses a control method and device of an electric vehicle, the electric vehicle and a storage medium, which can solve the problems that the stability of the electric vehicle is poor due to the fact that the electric vehicle is driven according to a fixed driving mode in different driving modes and the driving force of each wheel is influenced by the position data of an updated tire is not considered, the driving safety of a driver is better ensured, and better driving experience is brought to the driver.
In a first aspect, an embodiment of the present invention provides a control method of an electric vehicle including a normal tire and an upgraded tire, the method including:
Determining driving forces provided by respective wheels of the electric vehicle based on position data of the ordinary tire and the upgraded tire in the electric vehicle;
Determining a supply torque of each drive mode of the electric vehicle according to the driving force supplied by each wheel;
Acquiring a required torque of the electric vehicle;
And determining a target driving mode from the driving modes according to the required torque and the provided torque, and driving the electric vehicle according to the target driving mode.
In a second aspect, an embodiment of the present invention provides a control apparatus for an electric vehicle including a normal tire and an upgraded tire, the apparatus including:
A driving force determination module for determining driving forces provided by respective wheels of the electric vehicle based on position data of the ordinary tire and the upgraded tire in the electric vehicle;
A supply torque determination module for determining a supply torque of each drive mode of the electric vehicle based on the driving forces supplied by the respective wheels;
a required torque acquisition module for acquiring a required torque of the electric vehicle;
And the target driving mode determining module is used for determining a target driving mode from the driving modes according to the required torque and the provided torque and driving the electric vehicle according to the target driving mode.
In a third aspect, an embodiment of the present invention further provides an electric vehicle, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the control method of the electric vehicle according to any one of the embodiments of the present invention when executing the program.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements a control method of an electric vehicle according to any one of the embodiments of the present invention.
According to the embodiment of the invention, the electric vehicle comprises a common tire and an upgrade tire, driving force provided by each wheel of the electric vehicle can be determined according to position data of the common tire and the upgrade tire in the electric vehicle, providing torque of each driving mode of the electric vehicle is determined according to the driving force provided by each wheel, required torque of the electric vehicle is obtained, a target driving mode is determined from the driving modes according to the required torque and the providing torque, and the electric vehicle is driven according to the target driving mode. The driving force provided by each wheel can be determined according to the position data of different tires, the provided torque of each driving mode and the required torque of the electric vehicle are determined according to the driving force provided by each wheel, the target driving mode for driving the electric vehicle to run is determined from each driving mode, which is equivalent to fully considering the influence of the position data of the upgrading tire on the driving force of each wheel, the target driving mode for driving the electric vehicle to run is determined from each driving mode automatically according to the provided torque of each driving mode and the required torque of the electric vehicle, the target driving mode matched with the position data of the common tire and the upgrading tire is determined in real time according to the provided torque of each driving mode and the required torque of the electric vehicle, the problem that the electric vehicle is poor in stability due to the fact that the position data of the upgrading tire is not considered is solved, the driving safety of a driver is better ensured, and better driving experience is brought to the driver.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a control method of an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of various drive modes of an electric vehicle provided by an embodiment of the present invention;
Fig. 3 is another flow chart of a control method of an electric vehicle according to an embodiment of the present invention;
Fig. 4 is a schematic flow chart of determining a target driving mode from candidate driving modes in the control method of the electric vehicle according to the embodiment of the invention;
fig. 5 is a schematic structural view of a control device for an electric vehicle according to an embodiment of the present invention;
fig. 6 is a schematic structural view of an electric vehicle according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It is noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention and in the foregoing figures, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
Referring to the following description of the control method of the electric vehicle according to the embodiment of the present invention, fig. 1 is a schematic flow chart of the control method of the electric vehicle according to the embodiment of the present invention, where the method may be performed by the control device of the electric vehicle according to the embodiment of the present invention, and the device may be implemented in a software and/or hardware manner. In a specific embodiment, the device may be integrated in an electric vehicle. The following embodiment will be described taking the example of the integration of the device in an electric vehicle, referring to fig. 1, the method may specifically include the steps of:
step 101, determining driving force provided by each wheel of the electric vehicle according to the position data of the common tire and the upgrade tire in the electric vehicle.
The general tire may be understood as a tire installed when the vehicle leaves the factory, the upgrade tire may be understood as a tire having a friction force on the ground exceeding that of the general tire, for example, the upgrade tire may be a snow tire, the position data may be understood as position data of each wheel of the general tire and the upgrade tire in the electric vehicle, and the driving force provided by each wheel may be understood as a rim circumferential force generated by each wheel to the road surface.
Specifically, after the driver inputs the position data of the common tire and the upgrade tire in the display screen of the electric vehicle, the position data of the common tire and the upgrade tire input by the driver in the display screen of the electric vehicle is acquired, the road surface adhesion coefficient of each wheel of the electric vehicle is determined according to the position data of the common tire and the upgrade tire in the electric vehicle, and the driving force provided by each wheel of the electric vehicle is determined according to the road surface adhesion coefficient of each wheel and the vehicle load of the electric vehicle.
The road adhesion coefficient can be understood as the ratio of adhesion force to normal pressure of wheels (direction perpendicular to the road surface), the value of the road adhesion coefficient is mainly determined by the factors such as materials of the road, the condition of the road, tire structures, tread patterns, materials, the moving speed of an automobile and the like, the factors such as the road materials, the condition of the road and the moving speed of the automobile are generally the same when the driving vehicle runs on the road, the size of the road adhesion coefficient can be determined according to the tire structures, the tread patterns and the materials of the tires, the different tire structures, the tread patterns and the materials correspond to different tire types, the road adhesion coefficient corresponding to the different tires can be determined according to the position data corresponding to the tires under the condition that the road adhesion coefficient corresponding to each tire is determined in advance, and the vehicle load can be understood as acting force generated on the structure when the electric vehicle is stationary or moving on the structure (road, bridge, tunnel and the like).
Further, the road surface adhesion coefficient of each wheel can be obtained by acquiring the corresponding relation information of the position data query position data, the tire type and the road surface adhesion coefficient of each wheel corresponding to the common tire and the upgrade tire. The correspondence information of the position data of each wheel, the tire type, and the road surface adhesion coefficient may include the tire type and the road surface adhesion coefficient corresponding to the position data of each wheel.
For example, if the driver drives the electric vehicle to run on an icy or snowy road, the driver replaces the ordinary tire of the electric vehicle with a snowy tire, and after the driver replaces the ordinary tire of the rear wheel of the electric vehicle with a snowy tire, the driver inputs the position data of the ordinary tire as the front wheel in the display screen of the electric vehicle, and the position data of the upgrade tire in the electric vehicle as the rear wheel. After the driver inputs the position data of the common tire and the snowfield tire in the display screen of the electric vehicle, the position data of the common tire and the snowfield tire input by the driver is obtained, the road surface attachment coefficient A of the front wheel is obtained based on the position data (front wheel) of the common tire and the corresponding relation information of the tire type and the road surface attachment coefficient, the road surface attachment coefficient B of the rear wheel is obtained based on the position data (rear wheel) of the snowfield tire and the corresponding relation information of the tire type and the road surface attachment coefficient, and finally the driving force provided by each wheel of the electric vehicle is determined according to the road surface attachment coefficient and the vehicle load of each wheel.
Step 102, determining the providing torque of each driving mode of the electric vehicle according to the driving force provided by each wheel.
The torque can be understood as the output torque of the motor, which is one of basic parameters of the motor, and the larger the torque, the better the climbing capability, starting speed and accelerating performance of the electric vehicle. The supplied torque may be understood as the maximum torque that can be supplied by each driving mode. Fig. 2 is a schematic diagram of each driving mode of an electric vehicle according to an embodiment of the present invention, and as shown in fig. 2, the electric vehicle has three driving modes, i.e., a front motor driving mode, a rear motor driving mode, and a dual motor combined driving mode.
Specifically, the motors may include a front motor that may be used to provide torque to the front wheels to drive the front wheels, a driving mode in which the front wheels are driven by the front motor may be referred to as front motor driving, a rear motor that may be used to provide torque to the rear wheels to drive the rear wheels, a driving mode in which the rear wheels are driven by the rear motor may be referred to as rear motor driving, and a driving mode in which the front and rear motors simultaneously drive the corresponding wheels may be dual motor combined driving, so that the provided torque of the corresponding driving mode of the electric vehicle may be calculated according to the driving forces and wheel radii provided by the respective wheels.
The provision torque of the front motor drive mode may be calculated from the driving force of the front wheels and the wheel radius, the provision torque of the rear motor drive mode may be calculated from the driving force of the rear wheels and the wheel radius, and the provision torque of the dual motor combined drive mode may be calculated from the provision torque of the front motor drive mode and the provision torque of the rear motor drive mode, for example.
Step 103, obtaining a required torque of the electric vehicle.
The requested torque may be understood as the driver torque request, among other things.
Specifically, when the driver steps on the pedal, the pedal depth at which the driver steps on the pedal and the speed of the electric vehicle may be obtained, and the required torque of the electric vehicle may be obtained from the relation information of the pedal depth and the speed of the electric vehicle, which are searched for. The relation information of the pedal depth, the speed and the required torque can comprise the required torque corresponding to each pedal depth and speed.
And 104, determining a target driving mode from the driving modes according to the required torque and the provided torque, and driving the electric vehicle according to the target driving mode.
The target drive mode may be understood as a drive mode determined from among the respective drive modes according to the driver's demand. The driver demand may include two kinds, one is an energy-saving demand, i.e., an electric energy-saving demand for an electric vehicle, and one is a stability demand, i.e., a demand for maintaining the stability of the vehicle.
Specifically, whether the supply torque satisfies the driving condition may be determined by comparing the magnitude of the required torque and the supply torque, and if the supply torque satisfies the driving condition, the target driving mode may be determined from among the driving modes according to the driver's requirement.
Further, if the driver demand is an energy-saving demand, driving power required by each driving mode can be determined according to the required torque and the motor rotation speed, then a target driving mode is determined according to the driving power required by each driving mode, and if the driver demand is a stability demand, a driving mode in which an upgrade tire is started can be selected from each driving mode, so that the target driving mode is obtained.
For example, if the tire of the front wheel is an upgrade tire, the tire of the rear wheel is a normal tire, the required torque of the electric vehicle is F1, the provided torque of the front motor driving mode is F2, F1< F2, it may be determined that the provided torque of the front motor driving mode satisfies the driving condition, and at this time, if the driver demand is a stability demand, after the driver demand information is obtained, since the tire of the rear wheel is the normal tire, that is, the rear motor driving mode is not started up, the front motor driving mode with the upgrade tire enabled may be selected to be determined as the target driving mode.
According to the embodiment of the invention, driving force provided by each wheel of the electric vehicle is determined according to position data of a common tire and an upgrade tire in the electric vehicle, providing torque of each driving mode of the electric vehicle is determined according to the driving force provided by each wheel, required torque of the electric vehicle is obtained, a target driving mode is determined from each driving mode according to the required torque and the providing torque, and the electric vehicle is driven according to the target driving mode. The driving force provided by each wheel can be determined according to the position data of different tires, the provided torque of each driving mode and the required torque of the electric vehicle are determined according to the driving force provided by each wheel, the target driving mode for driving the electric vehicle to run is determined from each driving mode, which is equivalent to fully considering the influence of the position data of the upgrading tire on the driving force of each wheel, the target driving mode for driving the electric vehicle to run is determined from each driving mode automatically according to the provided torque of each driving mode and the required torque of the electric vehicle, the target driving mode matched with the position data of the common tire and the upgrading tire is determined in real time according to the provided torque of each driving mode and the required torque of the electric vehicle, the problem that the electric vehicle is poor in stability due to the fact that the position data of the upgrading tire is not considered is solved, the driving safety of a driver is better ensured, and better driving experience is brought to the driver.
The following further describes a control method of an electric vehicle according to an embodiment of the present invention, and fig. 3 is another schematic flow chart of the control method of the electric vehicle according to the embodiment of the present invention. As shown in fig. 3, the control method of the electric vehicle according to the embodiment of the invention specifically includes the following steps:
step 301, determining road adhesion coefficients of the wheels of the electric vehicle according to the position data of the common tire and the upgrade tire in the electric vehicle.
Step 302, a wheel radius of the electric vehicle and a vehicle load of the electric vehicle are obtained.
Step 303, calculating the driving force provided by each wheel of the electric vehicle according to the wheel radius, the road adhesion coefficient of each wheel and the vehicle load.
Specifically, the wheel radius, the road surface adhesion coefficient of each wheel, and the vehicle load may be substituted into a calculation formula of the driving force to calculate, thereby obtaining the driving force provided by each wheel of the electric vehicle.
The calculation formula of the driving force may be, for example, that the driving force=road adhesion coefficient is a wheel radius, and if the road adhesion coefficient of the front wheel is a and the wheel radius is R, the road adhesion coefficient a of the front wheel and the wheel radius R may be substituted into the calculation formula of the driving force to calculate, so as to obtain the driving force provided by the front wheel of the electric vehicle.
Step 304 determines the supply torque of each drive mode of the electric vehicle based on the drive force supplied from each wheel.
In step 305, a required torque of the electric vehicle is obtained.
Step 306, selecting a driving mode providing torque exceeding the required torque from the driving modes to obtain candidate driving modes.
Among other things, a candidate drive mode may be understood as a drive mode that provides torque in excess of the desired torque.
Specifically, whether the supplied torque exceeds the required torque may be determined by comparing the magnitudes of the supplied torque and the required torque, and if the supplied torque exceeds the required torque, the driving mode corresponding to the supplied torque exceeding the required torque may be determined as the candidate driving mode.
For example, if the required torque of the electric vehicle is F1, the supplied torque of the front motor drive mode is F2, F1< F2 can be determined by comparing the magnitudes of F1 and F2, the supplied torque exceeding the required torque can be determined, the drive mode (front motor drive) corresponding to the supplied torque exceeding the required torque can be determined as the candidate drive mode, if the supplied torque of the rear motor drive mode is F3, F1< F3 can be determined by comparing the magnitudes of F1 and F3, the supplied torque exceeding the required torque can be determined, and the drive mode (rear motor drive) corresponding to the supplied torque exceeding the required torque can be determined as the candidate drive mode.
Step 307, determining a target driving mode from the candidate driving modes.
The driving power required by the candidate driving mode can be determined, the driving mode with the minimum driving power is selected from the candidate driving modes, and the target driving mode is obtained, so that the electric energy consumption of the electric vehicle can be reduced, the electric vehicle is driven in the driving mode with the minimum driving power, the driving mileage of the electric vehicle can be longer, and the economical efficiency of the electric vehicle is improved to the greatest extent.
For example, if the candidate drive modes include a front motor drive and a rear motor drive, the drive power required for the front motor drive is P1, the drive power required for the rear motor drive is P2, and if P1< P2, the candidate drive mode (front motor drive) corresponding to P1 may be determined as the target drive mode.
Optionally, if the driver demand is a stability demand, a driving mode in which the upgrade tire is enabled may be selected from the candidate driving modes, to obtain the target driving mode.
In which the drive mode of the upgrade tire is enabled is understood to mean that the tire of the motor-driven wheel comprises the drive mode of the upgrade tire.
For example, if the candidate driving modes include a front motor driving mode and a rear motor driving mode, the tire of the wheel driven by the front motor is an upgrade tire, and the tire of the wheel driven by the rear motor is a common tire, the candidate driving mode (front motor driving mode) with the upgrade tire enabled can be selected as the target driving mode, so that the candidate driving mode with the upgrade tire enabled can be determined to be the target driving mode according to the requirement of the driver for keeping the stability of the electric vehicle, the stability of the vehicle can be kept to the greatest extent, the driving safety of the driver can be better guaranteed, and better driving experience can be brought to the driver.
Optionally, if the plurality of candidate driving modes all enable the upgrade tire, a driving mode with the smallest driving power may be selected from the plurality of candidate driving modes, so as to obtain the target driving mode.
According to the embodiment of the invention, the driving force provided by each wheel can be determined according to the position data of different tires, and then the provided torque of each driving mode and the required torque of the electric vehicle are determined according to the driving force provided by each wheel, and the target driving mode for driving the electric vehicle to run is determined from each driving mode, which is equivalent to fully considering the influence of the position data of the upgrading tire on the driving force of each wheel, and the target driving mode for driving the electric vehicle to run is determined from each driving mode automatically according to the provided torque of each driving mode and the required torque of the electric vehicle, so that the target driving mode matched with the position data of the common tire and the upgrading tire is determined in real time according to the provided torque of each driving mode, the problem that the electric vehicle is poor in stability due to the fact that the position data of the upgrading tire is not considered is solved, the driving safety of a driver is better ensured, and better driving experience is brought to the driver.
In the following, taking an example that the candidate driving modes include front motor driving, rear motor driving and dual-motor combined driving as an example, how the control method for an electric vehicle provided by the embodiment of the present invention determines the target driving mode from the candidate driving modes is further described, fig. 4 is a schematic flow chart of determining the target driving mode from the candidate driving modes in the control method for an electric vehicle provided by the embodiment of the present invention, as shown in fig. 4, specifically, the method may include the following steps:
Step 401, calculating the driving power required for driving the front motor according to the rotation speed and the required torque of the front motor of the electric vehicle.
Specifically, the rotation speed of the front motor can be determined according to the real-time running speed of the front motor, and the rotation speed and the required torque of the front motor of the electric vehicle are substituted into a calculation formula of the driving power required by single motor driving to calculate, so that the driving power required by the front motor driving is obtained. Wherein the single motor drive may include a front motor drive and a rear motor drive.
For example, the calculation formula of the driving power required by the single motor driving may be driving power= (required torque is the rotation speed)/9550, wherein 9550 may be understood as a power coefficient, and the rotation speed and the required torque of the front motor may be substituted into the calculation formula of the driving power required by the single motor driving to calculate, so as to obtain the driving power required by the front motor driving.
Step 402, calculating the driving power required for driving the rear motor according to the rotation speed and the required torque of the rear motor of the electric vehicle.
Specifically, the rotation speed of the rear motor can be determined according to the real-time running speed of the rear motor, and the rotation speed and the required torque of the rear motor of the electric vehicle are substituted into a calculation formula of the driving power required by single motor driving to calculate, so that the driving power required by the rear motor driving is obtained.
For example, the rotation speed and the required torque of the rear motor may be substituted into a calculation formula of the driving power required for the single motor driving to calculate, thereby obtaining the driving power required for the rear motor driving.
Step 403, calculating the driving power of the dual-motor combined driving according to the driving power required by the front motor driving and the driving power required by the rear motor driving.
The method comprises the steps of obtaining a driving power proportion of front motor driving and a driving power proportion of rear motor driving, and calculating driving power of double-motor combined driving according to the driving power proportion of the front motor driving, driving power required by the front motor driving, driving power proportion required by the rear motor driving and driving power required by the rear motor driving.
Further, there may be a plurality of driving power ratios of the front motor drive, there may be a plurality of driving power ratios of the rear motor drive, and the sum of the driving power ratios of the front motor drive and the driving power ratios of the rear motor drive may be a fixed value, so that when the driving power ratios of the front motor drive and the driving power ratios of the rear motor drive are obtained, a combination of the driving power ratios of the front motor drive and the driving power ratios of the rear motor drive may be obtained, and the ratio combination of the driving power ratios of the front motor drive and the driving power ratios of the rear motor drive, the driving power required by the front motor drive and the driving power required by the rear motor drive may be sequentially substituted into a calculation formula of the driving power required by the dual motor combined drive to calculate, thereby obtaining a plurality of candidate dual motor driving powers, and then selecting the minimum candidate dual motor driving power from the plurality of candidate dual motor driving powers, and determining the minimum candidate dual motor driving power as the driving power of the dual motor combined drive.
For example, the calculation formula of the driving power required for the two-motor combined driving is as follows:
P Double-piece ＝P1*x1+P2*x2。
Wherein, P Double-piece may represent the driving power required for the dual motor combined driving, P 1 may represent the driving power required for the front motor driving, x 1 may represent the driving power ratio of the front motor driving, P 2 may represent the driving power required for the rear motor driving, and x 2 may represent the driving power ratio of the rear motor driving.
Table 1 drive power ratio table
| x1 | x2 |
| 0 | 1 |
| 0.1 | 0.9 |
| 0.2 | 0.8 |
| 0.3 | 0.7 |
| 0.4 | 0.6 |
| 0.5 | 0.5 |
| 0.6 | 0.4 |
| 0.7 | 0.3 |
| 0.8 | 0.2 |
| 0.9 | 0.1 |
| 1 | 0 |
Table 1 is a driving power ratio value table. As can be seen from table 1, 11 sets of driving power proportion value combinations are obtained, the driving power required by x 1、x2, the driving power required by front motor driving and the driving power required by rear motor driving can be substituted into the calculation formula of the driving power required by dual-motor combined driving in sequence according to the obtaining sequence of x 1、x2 to calculate to obtain 11 candidate dual-motor driving powers, then the minimum candidate dual-motor driving power is selected from the multiple candidate dual-motor driving powers, the minimum candidate dual-motor driving power is determined to be the driving power of dual-motor combined driving, and thus the driving power of multiple dual-motor combined driving can be obtained according to the multiple sets of driving power proportion values, the driving power required by front motor driving and the driving power required by rear motor driving, and then the candidate dual-motor driving power with the minimum driving power is selected from the multiple candidate dual-motor driving powers, the driving power of dual-motor combined driving is determined to be the driving power of dual-motor combined driving, and the driving power of dual-motor combined driving can be determined more accurately, and the economical efficiency of an electric vehicle can be improved.
The specific forms of the driving force, the driving power required for the single motor driving, the calculation formula of the driving power required for the dual motor combined driving, and the like are only examples, and in practical application, other forms may be adopted, and the specific limitation is not made here.
And step 404, selecting a driving mode with the minimum driving power from the candidate driving modes to obtain a target driving mode.
According to the embodiment of the invention, the driving force provided by each wheel can be determined according to the position data of different tires, and then the provided torque of each driving mode and the required torque of the electric vehicle are determined according to the driving force provided by each wheel, and the target driving mode for driving the electric vehicle to run is determined from each driving mode, which is equivalent to fully considering the influence of the position data of the upgrading tire on the driving force of each wheel, and the target driving mode for driving the electric vehicle to run is determined from each driving mode automatically according to the provided torque of each driving mode and the required torque of the electric vehicle, so that the target driving mode matched with the position data of the common tire and the upgrading tire is determined in real time according to the provided torque of each driving mode, the problem that the electric vehicle is poor in stability due to the fact that the position data of the upgrading tire is not considered is solved, the driving safety of a driver is better ensured, and better driving experience is brought to the driver.
Fig. 5 is a schematic structural diagram of a control device for an electric vehicle according to an embodiment of the present invention, where the electric vehicle includes a normal tire and an upgraded tire, and the device is adapted to execute the control method for an electric vehicle according to the embodiment of the present invention. As shown in fig. 5, the apparatus may specifically include:
A driving force determination module 501 for determining driving forces provided by respective wheels of the electric vehicle based on position data of the ordinary tire and the upgraded tire in the electric vehicle;
A torque determination module 502 for determining a supply torque of each drive mode of the electric vehicle based on the driving forces supplied from the respective wheels;
a required torque obtaining module 503, configured to obtain a required torque of the electric vehicle;
a target driving mode determining module 504, configured to determine a target driving mode from the driving modes according to the required torque and the provided torque, and drive the electric vehicle according to the target driving mode.
Alternatively, the driving force determination module 501 is specifically configured to:
Determining road surface adhesion coefficients of respective wheels of the electric vehicle based on position data of the ordinary tire and the upgraded tire in the electric vehicle;
acquiring a wheel radius of the electric vehicle and a vehicle load of the electric vehicle;
The driving force provided by each wheel of the electric vehicle is calculated based on the wheel radius, the road surface adhesion coefficient of each wheel, and the vehicle load.
Optionally, the target driving mode determining module 504 is specifically configured to:
Selecting a driving mode with the provided torque exceeding the required torque from the driving modes to obtain candidate driving modes;
And determining the target driving mode from the candidate driving modes.
Optionally, the target driving mode determining module 504 determines the target driving mode from the candidate driving modes, including:
Determining a required drive power for the candidate drive mode;
and selecting a driving mode with the minimum driving power from the candidate driving modes to obtain the target driving mode.
Optionally, the candidate driving modes include front motor driving, rear motor driving and dual motor combined driving;
The target drive mode determination module 504 determines the drive power required for the candidate drive mode, including:
Calculating the driving power required by the front motor according to the rotating speed of the front motor of the electric vehicle and the driving force provided by front wheels;
calculating a driving power required for driving the rear motor based on a rotational speed of the rear motor and a driving force provided by rear wheels of the electric vehicle, and
And calculating the driving power of the double-motor combined driving according to the driving power required by the front motor driving and the driving power required by the rear motor driving.
Alternatively, the target driving mode determining module 504 calculates the driving power of the dual motor combined driving according to the driving power required for the front motor driving and the driving power required for the rear motor driving, including:
Acquiring the driving power proportion of the front motor drive and the driving power proportion of the rear motor drive;
and calculating the driving power of the double-motor combined drive according to the driving power proportion of the front motor drive, the driving power required by the front motor drive, the driving power proportion of the rear motor drive and the driving power required by the rear motor drive.
Optionally, the target driving mode determining module 504 is further specifically configured to:
And selecting a driving mode which enables the upgrading tire from the candidate driving modes to obtain the target driving mode.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working process of the functional module described above may refer to the corresponding process in the foregoing method embodiment, and will not be described herein.
The device of the embodiment of the invention determines driving force provided by each wheel of the electric vehicle according to position data of a common tire and an upgrade tire in the electric vehicle, determines providing torque of each driving mode of the electric vehicle according to the driving force provided by each wheel, obtains required torque of the electric vehicle, determines a target driving mode from each driving mode according to the required torque and the providing torque, and drives the electric vehicle according to the target driving mode. The driving force provided by each wheel can be determined according to the position data of different tires, the provided torque of each driving mode and the required torque of the electric vehicle are determined according to the driving force provided by each wheel, the target driving mode for driving the electric vehicle to run is determined from each driving mode, which is equivalent to fully considering the influence of the position data of the upgrading tire on the driving force of each wheel, the target driving mode for driving the electric vehicle to run is determined from each driving mode automatically according to the provided torque of each driving mode and the required torque of the electric vehicle, the target driving mode matched with the position data of the common tire and the upgrading tire is determined in real time according to the provided torque of each driving mode and the required torque of the electric vehicle, the problem that the electric vehicle is poor in stability due to the fact that the position data of the upgrading tire is not considered is solved, the driving safety of a driver is better ensured, and better driving experience is brought to the driver.
The embodiment of the invention also provides an electric vehicle, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the control method of the electric vehicle provided by any embodiment when executing the program.
The embodiment of the invention also provides a computer readable medium, on which a computer program is stored, which when executed by a processor, implements the control method of the electric vehicle provided in any of the above embodiments.
Referring now to fig. 6, a schematic structural diagram of an electric vehicle 600 suitable for use in implementing an embodiment of the present invention is shown. The electric vehicle in the embodiment of the present invention may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electric vehicle shown in fig. 6 is merely an example, and should not impose any limitation on the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 6, the electric vehicle 600 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 601, which may perform various appropriate actions and processes according to programs stored in a Read Only Memory (ROM) 602 or programs loaded from a storage device 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electric vehicle 600 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
In general, devices may be connected to I/O interface 605 including input devices 606, including for example, touch screens, touch pads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc., output devices 607, including for example, liquid Crystal Displays (LCDs), speakers, vibrators, etc., storage devices 608, including for example, magnetic tape, hard disk, etc., and communication devices 609. The communication device 609 may allow the electric vehicle 600 to communicate with other devices wirelessly or by wire to exchange data. While fig. 6 illustrates an electric vehicle 600 having various devices, it should be understood that not all illustrated devices are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present invention, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 609, or from storage means 608, or from ROM 602. The above-described functions defined in the method of the embodiment of the present invention are performed when the computer program is executed by the processing means 601. The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of a computer-readable storage medium may include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules and/or units involved in the embodiments of the present invention may be implemented in software, or may be implemented in hardware. The described modules and/or units may also be provided in a processor, such as a processor that includes a driving force determination module, a supply torque determination module, a demand torque acquisition module, and a target driving mode determination module. The names of these modules do not constitute a limitation on the module itself in some cases.
As a further aspect, the invention also provides a computer readable medium which may be comprised in the device described in the above embodiments or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by one of the apparatuses, cause the apparatus to include determining driving forces provided by respective wheels of the electric vehicle based on position data of a normal tire and an upgraded tire in the electric vehicle, determining providing torques of respective driving modes of the electric vehicle based on the driving forces provided by the respective wheels, acquiring required torques of the electric vehicle, determining a target driving mode from the respective driving modes based on the required torques and the providing torques, and driving the electric vehicle in the target driving mode.
According to the technical scheme, driving forces provided by all wheels of an electric vehicle are determined according to position data of common tires and updated tires in the electric vehicle, providing torques of all driving modes of the electric vehicle are determined according to the driving forces provided by all the wheels, required torques of the electric vehicle are obtained, a target driving mode is determined from all the driving modes according to the required torques and the provided torques, and the electric vehicle is driven according to the target driving mode. The driving force provided by each wheel can be determined according to the position data of different tires, the provided torque of each driving mode and the required torque of the electric vehicle are determined according to the driving force provided by each wheel, the target driving mode for driving the electric vehicle to run is determined from each driving mode, which is equivalent to fully considering the influence of the position data of the upgrading tire on the driving force of each wheel, the target driving mode for driving the electric vehicle to run is determined from each driving mode automatically according to the provided torque of each driving mode and the required torque of the electric vehicle, the target driving mode matched with the position data of the common tire and the upgrading tire is determined in real time according to the provided torque of each driving mode and the required torque of the electric vehicle, the problem that the electric vehicle is poor in stability due to the fact that the position data of the upgrading tire is not considered is solved, the driving safety of a driver is better ensured, and better driving experience is brought to the driver.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A control method of an electric vehicle, characterized in that the electric vehicle includes a normal tire and an upgraded tire, the method comprising:
Determining driving forces provided by each wheel of the electric vehicle according to the position data of the common tire and the upgrading tire in the electric vehicle, wherein the driving forces provided by each wheel are rim circumferential forces corresponding to each wheel;
determining the provided torque of each driving mode of the electric vehicle according to the driving force provided by each wheel, wherein the provided torque of each driving mode is the maximum torque which can be provided by each driving mode;
Acquiring a required torque of the electric vehicle;
And determining a target driving mode from the driving modes according to the required torque and the provided torque, and driving the electric vehicle according to the target driving mode.
2. The method according to claim 1, wherein the determining the driving force provided by each wheel of the electric vehicle based on the position data of the ordinary tire and the upgraded tire in the electric vehicle includes:
Determining road surface adhesion coefficients of respective wheels of the electric vehicle based on position data of the ordinary tire and the upgraded tire in the electric vehicle;
acquiring a wheel radius of the electric vehicle and a vehicle load of the electric vehicle;
The driving force provided by each wheel of the electric vehicle is calculated based on the wheel radius, the road surface adhesion coefficient of each wheel, and the vehicle load.
3. The method of claim 1, wherein said determining a target drive mode from said respective drive modes based on said requested torque and said provided torque comprises:
Selecting a driving mode with the provided torque exceeding the required torque from the driving modes to obtain candidate driving modes;
And determining the target driving mode from the candidate driving modes.
4. A method according to claim 3, wherein said determining said target drive mode from said candidate drive modes comprises:
Determining a required drive power for the candidate drive mode;
and selecting a driving mode with the minimum driving power from the candidate driving modes to obtain the target driving mode.
5. The method of claim 4, wherein the candidate drive modes include a front motor drive, a rear motor drive, and a dual motor combined drive, and wherein determining the drive power required for the candidate drive modes comprises:
calculating driving power required for driving a front motor of the electric vehicle according to the rotating speed of the front motor and the required torque;
calculating a driving power required for driving a rear motor of the electric vehicle based on a rotation speed of the rear motor and the required torque, and
And calculating the driving power of the double-motor combined driving according to the driving power required by the front motor driving and the driving power required by the rear motor driving.
6. The method according to claim 5, wherein the calculating the drive power of the two-motor combined drive from the drive power required for the front motor drive and the drive power required for the rear motor drive includes:
Acquiring the driving power proportion of the front motor drive and the driving power proportion of the rear motor drive;
and calculating the driving power of the double-motor combined drive according to the driving power proportion of the front motor drive, the driving power required by the front motor drive, the driving power proportion of the rear motor drive and the driving power required by the rear motor drive.
7. A method according to claim 3, wherein said determining said target drive mode from said candidate drive modes comprises:
And selecting a driving mode which enables the upgrading tire from the candidate driving modes to obtain the target driving mode.
8. A control apparatus of an electric vehicle, characterized in that the electric vehicle includes a normal tire and an upgraded tire, the apparatus comprising:
A driving force determining module, configured to determine driving forces provided by respective wheels of the electric vehicle according to position data of the common tire and the upgrade tire in the electric vehicle, where the driving forces provided by the respective wheels are rim circumferential forces corresponding to the respective wheels;
A supply torque determination module configured to determine a supply torque of each driving mode of the electric vehicle according to the driving force supplied by each wheel, the supply torque of each driving mode being a maximum torque that each driving mode can supply;
a required torque acquisition module for acquiring a required torque of the electric vehicle;
And the target driving mode determining module is used for determining a target driving mode from the driving modes according to the required torque and the provided torque and driving the electric vehicle according to the target driving mode.
9. An electric vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the control method of an electric vehicle according to any one of claims 1 to 7 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the control method of an electric vehicle according to any one of claims 1 to 7.
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