CN109367400B - Torque arbitration method and device for starting stage of electric automobile - Google Patents
Torque arbitration method and device for starting stage of electric automobile Download PDFInfo
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- CN109367400B CN109367400B CN201811094839.0A CN201811094839A CN109367400B CN 109367400 B CN109367400 B CN 109367400B CN 201811094839 A CN201811094839 A CN 201811094839A CN 109367400 B CN109367400 B CN 109367400B
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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
- B60L15/2072—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 for drive off
- B60L15/2081—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 for drive off for drive off on a slope
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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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- 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
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
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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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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to the technical field of new energy vehicles, in particular to a torque arbitration method and device for an electric vehicle in a starting stage. The invention finely controls the torque of each starting stage by sectionally controlling the brake exit process of the electric automobile in the starting stage, finishes the starting action by matching with the brake, increases the starting smoothness, and reduces the abrasion of a brake system and the starting abnormal sound.
Description
Technical Field
The invention relates to the technical field of new energy vehicles, in particular to a torque arbitration method for an electric vehicle in a starting stage.
Background
A VCU (Vehicle control unit) is generally mainly responsible for coordinated control work of torque, power on/off, thermal management, and the like of a Vehicle and analysis of an accelerator pedal and a brake pedal.
The damping device on the traditional internal combustion engine is not arranged between the motor and the wheel of the electric automobile, so that the vibration on the drive train is easily transmitted to a driver. For example, after an EPB (Electrical Park Brake) is involved, if the driver does not deal with the intervention of the friction braking force when stepping on the accelerator to start, abnormal sound and vibration are easy to occur.
At present, torque arbitration after EPB intervention on the market is mostly used in a hybrid electric vehicle or a traditional internal combustion engine vehicle, and the hybrid electric vehicle or the traditional internal combustion engine vehicle has a damping device on a transmission system and a clutch during starting, so that the arbitration requirement on the torque after the EPB intervention is not high, and better starting smoothness can be achieved, but the effect is poor if the torque arbitration is directly used on an electric vehicle.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a torque arbitration method and device for an electric automobile in a starting stage, which can increase the starting smoothness of the electric automobile and reduce the abrasion of a braking system and the abnormal starting sound.
The invention provides a torque arbitration method for an electric automobile in a starting stage, which comprises the following steps:
judging whether the electric automobile enters a starting state or not;
when the electric automobile enters a starting state, detecting a gradient value of a road where the electric automobile is located;
determining the current starting stage of the electric automobile;
acquiring a target torque corresponding to the gradient value, and acquiring a slope corresponding to a starting stage where the electric automobile is currently located;
calculating a limit torque based on the target torque and the slope;
and controlling the motor of the electric automobile to rotate according to the limit torque.
The invention also provides a torque arbitration device for the starting stage of the electric automobile, which comprises:
the starting state judging unit is used for judging whether the electric automobile enters a starting state or not;
the gradient detection unit is used for detecting the gradient value of the road where the electric automobile is located when the electric automobile enters a starting state;
the starting stage determining unit is used for determining the current starting stage of the electric automobile;
the obtaining unit is used for obtaining a target torque corresponding to the gradient value and obtaining a gradient corresponding to a starting stage where the electric automobile is currently located;
a calculation unit for calculating a limit torque from the target torque and the slope;
and the control unit is used for controlling the motor of the electric automobile to rotate according to the limit torque.
Due to the technical scheme, the invention has the following beneficial effects:
the invention provides a torque arbitration strategy when a driver steps on an accelerator for starting after the intervention of a brake, finely controls the torque of each starting stage by performing sectional control on the brake exit process of the starting stage of the electric automobile, completes the starting action by matching with the brake, increases the starting smoothness, and reduces the abrasion of a brake system and the abnormal starting sound.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a flowchart of a torque arbitration method for a start phase of an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a torque arbitration device for a start phase of an electric vehicle according to an embodiment of the present invention;
fig. 3 is a data graph obtained by applying a torque arbitration scheme for a start phase of an electric vehicle to an actual vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
A damping device is not arranged between a motor and wheels of the conventional electric automobile, and abnormal sound and vibration are easy to occur when a driver steps on an accelerator to start. Aiming at the problems, the invention provides a torque arbitration method for an electric automobile in a starting stage, which finely controls the torque of each starting stage by performing segmented control on a brake exit process of the electric automobile in the starting stage, reduces the abrasion of a brake system and abnormal starting sound, and increases the starting smoothness.
Fig. 1 is a flowchart of a torque arbitration method for an electric vehicle in a starting phase according to an embodiment of the present invention. Referring to fig. 1, the torque arbitration method for the electric vehicle at the starting stage of the embodiment may be executed by the vehicle controller, and includes the following steps:
s101: and judging whether the electric automobile enters a starting state or not.
In the embodiment of the present invention, determining whether the electric vehicle enters the starting state may include: detecting the opening degree of an accelerator through an accelerator pedal sensor; judging whether the opening degree of the accelerator is larger than a preset opening degree threshold value or not; if the accelerator opening is larger than the opening threshold, determining that the electric automobile enters a starting state; and if the accelerator opening is not larger than the opening threshold, judging that the electric automobile does not enter a starting state. When a driver steps on an accelerator pedal, a process of gradually applying force is carried out, and the opening degree of the accelerator is gradually increased under the action of the stepping force; in the parking situation, if the driver does not step on or lightly steps on the accelerator pedal so that the opening degree of the accelerator pedal does not reach a preset opening degree threshold value, the driver can be judged to have no starting intention, and if the driver steps on the accelerator pedal so that the opening degree of the accelerator pedal is larger than the opening degree threshold value, the driver can be judged to have the starting intention. Preferably, the opening degree threshold may be 5%.
S102: and when the electric automobile enters a starting state, detecting the gradient value of the road where the electric automobile is located.
Specifically, the slope value of the road where the electric vehicle is currently located may be obtained by detecting a slope sensor mounted on the electric vehicle, or may be obtained by calculation. In one possible embodiment, the gradient value is calculated by: detecting the longitudinal acceleration of the electric automobile; the gradient value is calculated by a gradient calculation formula tan θ (arcsin (a/g)), where θ is a gradient angle, a is a longitudinal acceleration of the electric vehicle, and g is a gravitational acceleration.
S103: and determining the current starting stage of the electric automobile.
In the embodiment, the starting process of the electric automobile is divided into three stages, namely a first starting stage, a second starting stage and a third starting stage, and the torques of the electric automobile in the three starting stages are respectively and finely controlled, so that the abrasion of a brake system and the abnormal starting sound are reduced, and the starting smoothness is improved.
In the embodiment of the present invention, determining the current starting stage of the electric vehicle may include: when the electric automobile enters a starting state and a brake caliper of a brake is in a locking state, judging that the electric automobile is in a first starting stage; when the brake caliper of the brake is in a release state and does not reach a critical position separated from the brake disc, judging that the electric automobile is in a second starting stage; and when the brake caliper of the brake is located between the critical position and the unlocking position of the brake caliper, determining that the electric automobile is in a third starting stage. The unlocking position of the brake caliper refers to the position of the brake caliper when the brake is in a complete release state, namely the initial position of the brake caliper. The state of the brake can be generally divided into a complete locking state, a complete releasing state and a releasing state, wherein the complete locking state is a state that the brake caliper is clamped into the brake disc to realize parking, the complete releasing state is a state that the brake caliper is not clamped into the brake disc and is in an initial position, the locking state is a process from complete releasing to complete locking, and the releasing state is a process from complete locking to complete releasing.
In one possible embodiment, the state and the position of the brake caliper can be acquired by a sensor and transmitted to the vehicle control unit, and the vehicle control unit judges the current starting stage of the electric vehicle.
S104: and acquiring a target torque corresponding to the gradient value, and acquiring a gradient corresponding to the starting stage where the electric automobile is currently located.
In one possible embodiment, the obtaining of the target torque corresponding to the gradient value includes: and inquiring a first data table according to the gradient value to obtain a target torque corresponding to the gradient value, wherein the first data table is used for recording the mapping relation between the gradient value and the target torque. The data in the first data table can be obtained by calibrating by a calibrating person according to different opening degrees and gradients of the accelerator under the starting working condition and by combining the requirements of starting smoothness and starting speed. In one possible embodiment, the calibration of the target torque may be performed by a method comprising:
judging whether the brake is in an incomplete release state (the incomplete release state comprises three states of complete locking, locking and releasing), if the brake is in the incomplete release state, detecting the opening degree of an accelerator, judging whether the opening degree of the accelerator is greater than a preset opening degree limit value, if the opening degree of the accelerator is greater than the opening degree limit value, calculating to obtain a first torque according to the speed of the vehicle and a ramp, taking the sum of the first torque and the creep torque as a target torque, and if the opening degree of the accelerator is not greater than the opening degree limit value, calculating to obtain the first torque according to the speed of the vehicle and the ramp, and taking the first torque as the target torque.
According to the embodiment, when the brake is in a non-complete release state, the torque of the accelerator is limited, and abrasion, noise and vibration of a braking system caused by overlarge torque output are prevented. Considering that the larger the gradient, the larger the torque is required to prevent the hill from slipping, it is necessary to determine the target torque in accordance with the different gradient and vehicle speed. The vehicle speed is generally low in the starting stage, the influence of the vehicle speed on the target torque is small and is mainly determined by the gradient, for example, the influence on the target torque is the same when the vehicle speed is within 10km/h, and the influence on the target torque is the same when the vehicle speed is within 10 km/h-20 km/h. In addition, the vehicle is in a creeping working condition when the accelerator is not normally stepped on, the creeping torque is required to be output under the creeping working condition to ensure that the vehicle slowly runs, but the torque is not necessary after parking (the condition that the accelerator opening is not larger than the opening limit value is regarded as parking), so the creeping torque is cancelled after parking, the vehicle is made to be static, and the condition that the motor is overheated due to the fact that the motor continuously outputs the torque under the parking condition is prevented. Meanwhile, due to the existence of the crawling working condition, when the driver steps on the accelerator and is larger than a certain limit value, corresponding crawling torques under different gradients need to be additionally increased, so that the driver can automatically correspond to different torques when starting on roads with different gradients, and the user experience is improved.
In one possible embodiment, the obtaining the slope corresponding to the starting stage where the electric vehicle is currently located includes: and inquiring and obtaining the slope corresponding to the starting stage from a third data table according to the starting stage where the electric automobile is currently located, wherein the slope comprises a first slope corresponding to the first starting stage, a second slope corresponding to the second starting stage and a third slope corresponding to the third starting stage. Wherein the first slope is greater than a third slope, and the third slope is greater than the second slope.
Fig. 3 is a data graph obtained by applying a torque arbitration scheme for a start phase of an electric vehicle to an actual vehicle according to an embodiment of the present invention. Referring to fig. 3, the lower numbers in the figure represent four different phases, 1 representing a first pull-off phase, 2 representing a second pull-off phase, 3 representing a third pull-off phase, 4 representing a phase after the brake is fully released:
in the first starting stage, namely, under the state that the brake is completely locked, the driver steps on the accelerator pedal to start, the accelerator torque reaches the brake release point, the torque increase speed is higher at the beginning, and the starting time is shortened. However, the speed becomes slow when the brake release point is approached, and the sudden start of the motor car is prevented, so that abnormal noise of the speed reducer due to gear gaps and the like is prevented.
And in the second starting stage, namely the process from the beginning of releasing the brake calipers to the releasing of the brake calipers to the critical position separated from the brake disc, the torque increase is reduced, and the brake loss is reduced. Also the torque increase needs to be slowed down, since gear backlash is also possible to compensate at this stage. Which is beneficial to reduce wear on the brake and to control noise and vibration.
And in the third starting stage, namely from the critical position of the brake caliper to the complete release, the faster torque is output, and the starting time is reduced. It can be seen that both 2 and 3 belong to the release process, and if the torque is rapidly increased after the release is finished, the starting time is increased by hundreds of ms to 1 s.
After the brake is completely released, the torque limit is removed, the torque is quickly increased, and the starting speed is further accelerated.
In one possible embodiment, the determination of whether the brake release point is reached may be made by: according to the gradient value of the current road of the electric automobile, the brake release point torque corresponding to the gradient value is obtained through query from a second data table, and the second data table is used for recording the mapping relation between the gradient value and the brake release point torque. When the electric automobile starts, in order to ensure that the electric automobile does not slide down the slope, the brake is released when the torque reaches the torque value of the electric automobile, the torque value of the electric automobile is different for different slopes, the torque at the release point of the brake is the torque value for ensuring that the electric automobile does not slide down the slope, and the brake can be rapidly determined when the torque is increased to release the brake by combining the slope value of the road where the electric automobile is located and the second data table. And when the output torque of the electric automobile reaches the brake release point torque, judging that the electric automobile reaches a brake release point, and controlling the brake to release the brake caliper.
S105: a limit torque is calculated based on the target torque and the slope.
In the embodiment of the present invention, the product of the target torque and the slope may be used as the limit torque.
S106: and controlling the motor of the electric automobile to rotate according to the limit torque.
The method further comprises the following steps: and when the brake caliper of the brake reaches the unlocking position, acquiring output torque according to the current accelerator opening degree, and controlling the motor to rotate according to the output torque. After the brake is completely released, the limitation on the torque is removed, and the vehicle speed is quickly increased.
The embodiment of the invention finely controls the torque of each starting stage by sectionally controlling the brake exit process of the electric automobile in the starting stage, finishes the starting action by matching with the brake, increases the starting smoothness, and reduces the abrasion of a brake system and the abnormal starting sound.
Fig. 2 is a schematic structural diagram of a torque arbitration device in a starting stage of an electric vehicle according to an embodiment of the present invention. Referring to fig. 2, the torque arbitration device 200 for the starting phase of the electric vehicle of the present embodiment includes a starting state determination unit 210, a gradient detection unit 220, a starting phase determination unit 230, an acquisition unit 240, a calculation unit 250, and a control unit 260.
The starting state judging unit 210 is configured to judge whether the electric vehicle enters a starting state;
the gradient detection unit 220 is configured to detect a gradient value of a road where the electric vehicle is located when the electric vehicle enters a starting state;
the starting stage determining unit 230 is configured to determine a starting stage where the electric vehicle is currently located;
the obtaining unit 240 is configured to obtain a target torque corresponding to the gradient value, and obtain a slope corresponding to a starting stage where the electric vehicle is currently located;
the calculating unit 250 is configured to calculate a limiting torque according to the target torque and the slope;
and the control unit 260 is used for controlling the motor of the electric automobile to rotate according to the limit torque.
In a possible embodiment, the starting state determining unit 210 is specifically configured to: detecting the opening degree of an accelerator through an accelerator pedal sensor; judging whether the opening degree of the accelerator is larger than a preset opening degree threshold value or not; if the accelerator opening is larger than the opening threshold, determining that the electric automobile enters a starting state; and if the accelerator opening is not larger than the opening threshold, judging that the electric automobile does not enter a starting state.
In one possible embodiment, the starting phase determining unit 230 includes:
the first starting stage determining module 231 is configured to determine that the electric vehicle is in a first starting stage when the electric vehicle enters a starting state and a brake caliper of a brake is in a locked state;
the second starting stage determining module 232 is configured to determine that the electric vehicle is in a second starting stage when the brake caliper of the brake is in a released state and does not reach a critical position separated from the brake disc;
and a third starting stage determining module 233, configured to determine that the electric vehicle is in a third starting stage when the brake caliper of the brake is located between the critical position and the unlocking position of the brake caliper.
In one possible embodiment, the obtaining unit 240 includes:
the first obtaining module 241 is configured to obtain a target torque corresponding to the gradient value by querying from a first data table according to the gradient value, where the first data table is used to record a mapping relationship between the gradient value and the target torque;
the second obtaining module 242 is configured to obtain, according to a starting stage where the electric vehicle is currently located, a slope corresponding to the starting stage by querying from a third data table, where the slope includes a first slope corresponding to the first starting stage, a second slope corresponding to the second starting stage, and a third slope corresponding to the third starting stage, where the first slope is greater than the third slope, and the third slope is greater than the second slope.
The embodiment controls the brake exiting process in the starting stage of the electric automobile in a segmented manner, finely controls the torque of each starting stage, reduces the abrasion of a braking system and the abnormal starting sound, increases the starting smoothness, and is favorable for improving the user experience.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A torque arbitration method for an electric vehicle in a starting stage is characterized by comprising the following steps:
judging whether the electric automobile enters a starting state or not;
when the electric automobile enters a starting state, detecting a gradient value of a road where the electric automobile is located;
determining the current starting stage of the electric automobile;
acquiring a target torque corresponding to the gradient value, and acquiring a slope corresponding to a starting stage where the electric automobile is currently located;
calculating a limit torque based on the target torque and the slope;
and controlling the motor of the electric automobile to rotate according to the limit torque.
2. The method of claim 1, wherein the determining whether the electric vehicle enters a launch state comprises:
detecting the opening degree of an accelerator through an accelerator pedal sensor;
judging whether the opening degree of the accelerator is larger than a preset opening degree threshold value or not;
if the accelerator opening is larger than the opening threshold, determining that the electric automobile enters a starting state;
and if the accelerator opening is not larger than the opening threshold, judging that the electric automobile does not enter a starting state.
3. The method of claim 1, wherein the determining the current stage of departure of the electric vehicle comprises:
when the electric automobile enters a starting state and a brake caliper of a brake is in a locking state, judging that the electric automobile is in a first starting stage;
when the brake caliper of the brake is in a release state and does not reach a critical position separated from the brake disc, judging that the electric automobile is in a second starting stage;
and when the brake caliper of the brake is located between the critical position and the unlocking position of the brake caliper, determining that the electric automobile is in a third starting stage.
4. The method of claim 1, wherein said obtaining a target torque corresponding to said grade value comprises:
and inquiring a first data table according to the gradient value to obtain a target torque corresponding to the gradient value, wherein the first data table is used for recording the mapping relation between the gradient value and the target torque.
5. The method of claim 1, wherein the obtaining a slope corresponding to a starting phase in which the electric vehicle is currently located comprises:
and inquiring and obtaining the slope corresponding to the starting stage from a third data table according to the starting stage where the electric automobile is currently located, wherein the slope comprises a first slope corresponding to the first starting stage, a second slope corresponding to the second starting stage and a third slope corresponding to the third starting stage.
6. The method of claim 5, wherein the first slope is greater than a third slope, the third slope being greater than the second slope.
7. The method of claim 3, further comprising:
according to the gradient value of the current road of the electric automobile, inquiring and obtaining the brake release point torque corresponding to the gradient value from a second data table, wherein the second data table is used for recording the mapping relation between the gradient value and the brake release point torque;
when the output torque of the electric automobile reaches the brake release point torque, judging that the electric automobile reaches a brake release point, and controlling the brake to release the brake caliper;
and when the brake caliper of the brake reaches the unlocking position, acquiring output torque according to the current accelerator opening degree, and controlling the motor to rotate according to the output torque.
8. An electric vehicle launch phase torque arbitration device, comprising:
the starting state judging unit is used for judging whether the electric automobile enters a starting state or not;
the gradient detection unit is used for detecting the gradient value of the road where the electric automobile is located when the electric automobile enters a starting state;
the starting stage determining unit is used for determining the current starting stage of the electric automobile;
the obtaining unit is used for obtaining a target torque corresponding to the gradient value and obtaining a gradient corresponding to a starting stage where the electric automobile is currently located;
a calculation unit for calculating a limit torque from the target torque and the slope;
and the control unit is used for controlling the motor of the electric automobile to rotate according to the limit torque.
9. The apparatus according to claim 8, wherein the starting phase determining unit includes:
the first starting stage determining module is used for determining that the electric automobile is in a first starting stage when the electric automobile enters a starting state and a brake caliper of a brake is in a locking state;
the second starting stage determining module is used for judging that the electric automobile is in a second starting stage when the brake caliper of the brake is in a release state and does not reach a critical position separated from a brake disc;
and the third starting stage determining module is used for determining that the electric automobile is in a third starting stage when the brake caliper of the brake is located between the critical position and the unlocking position of the brake caliper.
10. The apparatus of claim 8, wherein the obtaining unit comprises:
the first obtaining module is used for inquiring and obtaining a target torque corresponding to the gradient value from a first data table according to the gradient value, and the first data table is used for recording the mapping relation between the gradient value and the target torque;
the second obtaining module is used for inquiring and obtaining a slope corresponding to the starting stage from a third data table according to the starting stage where the electric automobile is located at present, wherein the slope comprises a first slope corresponding to the first starting stage, a second slope corresponding to the second starting stage and a third slope corresponding to the third starting stage, the first slope is larger than the third slope, and the third slope is larger than the second slope.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112498122B (en) * | 2019-09-16 | 2022-04-08 | 北京新能源汽车股份有限公司 | Torque control method and device and electric automobile |
| CN111016680B (en) * | 2019-12-25 | 2021-06-15 | 上汽大众汽车有限公司 | Slope-stopping control method and system for fuel cell vehicle |
| CN111071061A (en) * | 2019-12-26 | 2020-04-28 | 上海擎度汽车科技有限公司 | Starting and releasing method of electronic parking system of new energy unmanned automobile |
| CN111907339A (en) * | 2020-07-08 | 2020-11-10 | 宝能(广州)汽车研究院有限公司 | Vehicle slope starting control method and device and vehicle |
| CN112208358B (en) * | 2020-10-26 | 2022-07-26 | 北京车和家信息技术有限公司 | Electric automobile control method and device, controller and electric automobile |
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| CN103895531A (en) * | 2014-04-18 | 2014-07-02 | 清华大学苏州汽车研究院（吴江） | Ramp starting control method for pure electric vehicle |
| KR101543077B1 (en) * | 2013-08-30 | 2015-08-07 | 현대자동차주식회사 | Device and method for controlling motor system of green car |
| CN108501769A (en) * | 2018-04-28 | 2018-09-07 | 北京新能源汽车股份有限公司 | Starting control method and device and automobile |
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| KR101543077B1 (en) * | 2013-08-30 | 2015-08-07 | 현대자동차주식회사 | Device and method for controlling motor system of green car |
| CN103895531A (en) * | 2014-04-18 | 2014-07-02 | 清华大学苏州汽车研究院（吴江） | Ramp starting control method for pure electric vehicle |
| CN108501769A (en) * | 2018-04-28 | 2018-09-07 | 北京新能源汽车股份有限公司 | Starting control method and device and automobile |
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