CN114407674A - Single-pedal mode control method, device, equipment and storage medium for electric automobile - Google Patents

Single-pedal mode control method, device, equipment and storage medium for electric automobile Download PDF

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Publication number
CN114407674A
CN114407674A CN202210044209.2A CN202210044209A CN114407674A CN 114407674 A CN114407674 A CN 114407674A CN 202210044209 A CN202210044209 A CN 202210044209A CN 114407674 A CN114407674 A CN 114407674A
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China
Prior art keywords
acceleration
torque
accelerator pedal
pedal
opening degree
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CN202210044209.2A
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CN114407674B (en
Inventor
白鸿
程晓军
李冬
张翼鹏
樊红磊
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Dongfeng Motor Group Co Ltd
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Dongfeng Motor Group Co Ltd
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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
    • 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • B60L2240/16—Acceleration longitudinal
    • 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
    • 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
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • B60L2250/28—Accelerator pedal thresholds
    • 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 method, a device, equipment and a storage medium for controlling a single pedal mode of an electric automobile, wherein the method comprises the steps of acquiring the opening degree of an accelerator pedal of the electric automobile when the activation of the single pedal mode is detected, and judging the driving intention of a driver according to the opening degree of the accelerator pedal; determining a corresponding target required torque under the current working condition according to the driving intention; the torque of the electric automobile is controlled according to the target required torque, the control speed and efficiency of the single-pedal mode of the electric automobile can be improved, the actual performance of the vehicle in the single-pedal mode is matched with the driving intention of the driver, the control accuracy of the single-pedal vehicle is improved, the dynamic performance and the smoothness of the actual driving of the vehicle are guaranteed, complaints caused by the fact that the accelerator pedal is stepped on the vehicle to be immovable or decelerated are avoided, and the driving experience of the driver is improved.

Description

Single-pedal mode control method, device, equipment and storage medium for electric automobile
Technical Field
The invention relates to the technical field of automobiles, in particular to a method, a device, equipment and a storage medium for controlling a single-pedal mode of an electric automobile.
Background
With the stricter environmental protection regulations, the turning change of the automobile industry pattern is occurring, and the market share of the electric automobile is rapidly increased along with the continuous progress of the three-electricity technology; the single pedal function is a functional device related to acceleration and braking used on the electric automobile; the driver only needs to operate the accelerator pedal to realize acceleration and deceleration respectively; the driver drives the vehicle from the initial control of three pedals to the subsequent control of two pedals to the current single pedal, thereby avoiding frequent pedal switching during conventional acceleration and deceleration, reducing driving difficulty and reducing driving fatigue.
In the current single-pedal mode, when the pedal opening is larger than a set value, a Vehicle Control Unit (VCU) allocates a driving torque demand to realize that a driving motor provides driving torque to drive a Vehicle to accelerate; when the pedal opening is smaller than a set value, the VCU distributes energy recovery torque demand and drives the motor to provide braking torque so as to realize vehicle energy recovery and braking deceleration; however, the actual performance of the vehicle under the actual working condition does not accord with the driving willingness, so that the complaints are caused: firstly, the vehicle is started on site and does not run, and secondly, when the vehicle is expected to accelerate by stepping on an accelerator pedal in the process of low-speed sliding, the vehicle is not accelerated but is continuously decelerated.
Disclosure of Invention
The invention mainly aims to provide a method, a device, equipment and a storage medium for controlling a single pedal mode of an electric automobile, and aims to solve the technical problem that the actual performance of the automobile does not accord with the driving intention in the single pedal mode in the prior art.
In a first aspect, the invention provides a method for controlling a single pedal mode of an electric vehicle, which comprises the following steps:
when the single-pedal mode is detected to be activated, the opening degree of an accelerator pedal of the electric automobile is obtained, and the driving intention of a driver is judged according to the opening degree of the accelerator pedal;
determining a corresponding target required torque under the current working condition according to the driving intention;
and controlling the torque of the electric automobile according to the target required torque.
Optionally, the acquiring an accelerator pedal opening degree of the electric vehicle when the activation of the single pedal mode is detected, and determining the driving intention of the driver according to the accelerator pedal opening degree includes:
when the single-pedal mode is detected to be activated, the opening degree of an accelerator pedal of the electric automobile is obtained, and the opening degree change is determined according to the opening degree of the accelerator pedal corresponding to the adjacent time;
the driving intention of the driver is determined to be acceleration when the opening degree is changed to increase the opening degree, and the driving intention is determined to be deceleration when the opening degree is changed to decrease the opening degree.
Optionally, the acquiring an accelerator pedal opening of the electric vehicle when detecting that the single pedal mode is activated, and determining an opening change according to the accelerator pedal opening corresponding to adjacent times includes:
when the single-pedal mode is detected to be activated, acquiring opening data corresponding to the opening of an accelerator pedal of the electric automobile, and acquiring an opening difference value of the accelerator pedal corresponding to the previous moment and the next moment which are adjacent to each other from the opening data;
when the difference value of the opening degrees of the accelerator pedals is larger than 0, determining that the opening degree is changed into opening degree increase;
and when the difference value of the opening degrees of the accelerator pedals is less than 0, determining that the opening degree is changed into opening degree reduction.
Optionally, the determining the target required torque corresponding to the current working condition according to the driving intention includes:
acquiring the lowest speed allowed by energy recovery braking after a single-pedal mode is activated, and acquiring the current speed and the current acceleration of the electric automobile;
when the driving intention is acceleration, acquiring an accelerator pedal threshold value with expected acceleration increase, and acquiring a corresponding target acceleration demand torque according to the accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed;
and when the driving intention is deceleration, acquiring a deceleration accelerator pedal threshold value with expected acceleration reduction, and acquiring a corresponding target deceleration demand torque according to the deceleration accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed.
Optionally, the obtaining an accelerator pedal threshold value of an expected acceleration increase when the driving intention is acceleration, and obtaining a corresponding target acceleration demand torque according to the accelerator pedal threshold value, the current vehicle speed, the current acceleration and the minimum vehicle speed includes:
obtaining an accelerator pedal threshold at which an increase in acceleration is desired when the driving intent is acceleration;
when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is not greater than the lowest vehicle speed, obtaining a first target acceleration demand torque corresponding to the acceleration according to a preset first driving torque table;
when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is greater than the minimum vehicle speed, obtaining a second target acceleration demand torque corresponding to the acceleration according to a preset second driving torque table;
and when the acceleration is larger than the accelerator pedal threshold value, obtaining a third target acceleration demand torque corresponding to the acceleration according to the preset first driving torque table.
Optionally, the obtaining a deceleration accelerator pedal threshold value of the expected acceleration reduction when the driving intention is deceleration, and obtaining a corresponding target deceleration demand torque according to the deceleration accelerator pedal threshold value, the current vehicle speed, the current acceleration and the minimum vehicle speed includes:
obtaining a deceleration accelerator pedal threshold at which a desired acceleration is reduced when the driving intent is deceleration;
when the current acceleration is not smaller than the deceleration accelerator pedal threshold value, obtaining a first target deceleration demand torque corresponding to the acceleration according to the preset first driving torque table;
and when the current acceleration is smaller than the deceleration accelerator pedal threshold value, obtaining a second target deceleration demand torque corresponding to the acceleration according to the preset second driving torque table.
Optionally, the controlling the torque of the electric vehicle according to the target required torque includes:
when the target required torque is an acceleration torque, performing torque acceleration on the electric vehicle according to the target required torque;
and when the target required torque is a deceleration torque, carrying out torque deceleration on the electric automobile according to the target required torque, and recovering braking torque energy.
In a second aspect, to achieve the above object, the present invention further provides an electric vehicle single-pedal mode control device, including:
the judging module is used for acquiring the opening degree of an accelerator pedal of the electric automobile when the activation of the single pedal mode is detected, and judging the driving intention of a driver according to the opening degree of the accelerator pedal;
the torque acquisition module is used for determining a corresponding target required torque under the current working condition according to the driving intention;
and the control module is used for controlling the torque of the electric automobile according to the target required torque.
In a third aspect, to achieve the above object, the present invention further provides an electric vehicle single-pedal mode control apparatus, including: the control system comprises a memory, a processor and an electric vehicle single pedal mode control program stored on the memory and operable on the processor, wherein the electric vehicle single pedal mode control program is configured to realize the steps of the electric vehicle single pedal mode control method.
In a fourth aspect, to achieve the above object, the present invention further provides a storage medium, where the storage medium stores an electric vehicle single-pedal mode control program, and the electric vehicle single-pedal mode control program, when executed by a processor, implements the steps of the electric vehicle single-pedal mode control method as described above.
According to the single-pedal mode control method for the electric automobile, disclosed by the invention, the opening degree of an accelerator pedal of the electric automobile is obtained when the activation of a single-pedal mode is detected, and the driving intention of a driver is judged according to the opening degree of the accelerator pedal; determining a corresponding target required torque under the current working condition according to the driving intention; the torque of the electric automobile is controlled according to the target required torque, the control speed and efficiency of the single-pedal mode of the electric automobile can be improved, the actual performance of the vehicle in the single-pedal mode is matched with the driving intention of the driver, the control accuracy of the single-pedal vehicle is improved, the dynamic performance and the smoothness of the actual driving of the vehicle are guaranteed, complaints caused by the fact that the accelerator pedal is stepped on the vehicle to be immovable or decelerated are avoided, and the driving experience of the driver is improved.
Drawings
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a single pedal mode control method for an electric vehicle according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a single pedal mode control method for an electric vehicle according to the present invention;
FIG. 4 is a flowchart illustrating a third exemplary embodiment of a method for controlling an electric vehicle in a single pedal mode according to the present invention;
FIG. 5 is a flowchart illustrating a fourth exemplary embodiment of a method for controlling an electric vehicle in a single pedal mode according to the present invention;
FIG. 6 is a flowchart illustrating a fifth embodiment of a single pedal mode control method for an electric vehicle according to the present invention;
FIG. 7 is a functional block diagram of a first embodiment of a single pedal mode control device for an electric vehicle according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The solution of the embodiment of the invention is mainly as follows: when the single-pedal mode is detected to be activated, the opening degree of an accelerator pedal of the electric automobile is obtained, and the driving intention of a driver is judged according to the opening degree of the accelerator pedal; determining a corresponding target required torque under the current working condition according to the driving intention; the torque of the electric automobile is controlled according to the target required torque, the control speed and efficiency of the single-pedal mode of the electric automobile can be improved, the actual performance of the vehicle in the single-pedal mode is matched with the driving intention of a driver, the control accuracy of the single-pedal vehicle is improved, the dynamic performance and smoothness of actual driving of the vehicle are guaranteed, complaints caused by the fact that an accelerator pedal is used for stepping down the vehicle to be immobile or is decelerated are avoided, the driving experience of the driver is improved, and the technical problem that the actual performance of the vehicle in the single-pedal mode in the prior art is not consistent with the driving intention is solved.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The Memory 1005 may be a high-speed RAM Memory or a Non-Volatile Memory (Non-Volatile Memory), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating device, a network communication module, a user interface module, and an electric vehicle single pedal mode control program.
The apparatus of the present invention calls an electric vehicle single pedal mode control program stored in the memory 1005 by the processor 1001, and performs the following operations:
when the single-pedal mode is detected to be activated, the opening degree of an accelerator pedal of the electric automobile is obtained, and the driving intention of a driver is judged according to the opening degree of the accelerator pedal;
determining a corresponding target required torque under the current working condition according to the driving intention;
and controlling the torque of the electric automobile according to the target required torque.
The apparatus of the present invention calls the electric vehicle single pedal mode control program stored in the memory 1005 through the processor 1001, and also performs the following operations:
when the single-pedal mode is detected to be activated, the opening degree of an accelerator pedal of the electric automobile is obtained, and the opening degree change is determined according to the opening degree of the accelerator pedal corresponding to the adjacent time;
the driving intention of the driver is determined to be acceleration when the opening degree is changed to increase the opening degree, and the driving intention is determined to be deceleration when the opening degree is changed to decrease the opening degree.
The apparatus of the present invention calls the electric vehicle single pedal mode control program stored in the memory 1005 through the processor 1001, and also performs the following operations:
when the single-pedal mode is detected to be activated, acquiring opening data corresponding to the opening of an accelerator pedal of the electric automobile, and acquiring an opening difference value of the accelerator pedal corresponding to the previous moment and the next moment which are adjacent to each other from the opening data;
when the difference value of the opening degrees of the accelerator pedals is larger than 0, determining that the opening degree is changed into opening degree increase;
and when the difference value of the opening degrees of the accelerator pedals is less than 0, determining that the opening degree is changed into opening degree reduction.
The apparatus of the present invention calls the electric vehicle single pedal mode control program stored in the memory 1005 through the processor 1001, and also performs the following operations:
acquiring the lowest speed allowed by energy recovery braking after a single-pedal mode is activated, and acquiring the current speed and the current acceleration of the electric automobile;
when the driving intention is acceleration, acquiring an accelerator pedal threshold value with expected acceleration increase, and acquiring a corresponding target acceleration demand torque according to the accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed;
and when the driving intention is deceleration, acquiring a deceleration accelerator pedal threshold value with expected acceleration reduction, and acquiring a corresponding target deceleration demand torque according to the deceleration accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed.
The apparatus of the present invention calls the electric vehicle single pedal mode control program stored in the memory 1005 through the processor 1001, and also performs the following operations:
obtaining an accelerator pedal threshold at which an increase in acceleration is desired when the driving intent is acceleration;
when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is not greater than the lowest vehicle speed, obtaining a first target acceleration demand torque corresponding to the acceleration according to a preset first driving torque table;
when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is greater than the minimum vehicle speed, obtaining a second target acceleration demand torque corresponding to the acceleration according to a preset second driving torque table;
and when the acceleration is larger than the accelerator pedal threshold value, obtaining a third target acceleration demand torque corresponding to the acceleration according to the preset first driving torque table.
The apparatus of the present invention calls the electric vehicle single pedal mode control program stored in the memory 1005 through the processor 1001, and also performs the following operations:
obtaining a deceleration accelerator pedal threshold at which a desired acceleration is reduced when the driving intent is deceleration;
when the current acceleration is not smaller than the deceleration accelerator pedal threshold value, obtaining a first target deceleration demand torque corresponding to the acceleration according to the preset first driving torque table;
and when the current acceleration is smaller than the deceleration accelerator pedal threshold value, obtaining a second target deceleration demand torque corresponding to the acceleration according to the preset second driving torque table.
The apparatus of the present invention calls the electric vehicle single pedal mode control program stored in the memory 1005 through the processor 1001, and also performs the following operations:
when the target required torque is an acceleration torque, performing torque acceleration on the electric vehicle according to the target required torque;
and when the target required torque is a deceleration torque, carrying out torque deceleration on the electric automobile according to the target required torque, and recovering braking torque energy.
According to the scheme, when the single-pedal mode is detected to be activated, the opening degree of the accelerator pedal of the electric automobile is obtained, and the driving intention of a driver is judged according to the opening degree of the accelerator pedal; determining a corresponding target required torque under the current working condition according to the driving intention; the torque of the electric automobile is controlled according to the target required torque, the control speed and efficiency of the single-pedal mode of the electric automobile can be improved, the actual performance of the vehicle in the single-pedal mode is matched with the driving intention of the driver, the control accuracy of the single-pedal vehicle is improved, the dynamic performance and the smoothness of the actual driving of the vehicle are guaranteed, complaints caused by the fact that the accelerator pedal is stepped on the vehicle to be immovable or decelerated are avoided, and the driving experience of the driver is improved.
Based on the hardware structure, the embodiment of the single-pedal mode control method of the electric automobile is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of a single pedal mode control method of an electric vehicle according to the present invention.
In a first embodiment, the electric vehicle single pedal mode control method comprises the following steps:
and step S10, when the activation of the single-pedal mode is detected, acquiring the opening degree of an accelerator pedal of the electric automobile, and judging the driving intention of the driver according to the opening degree of the accelerator pedal.
It should be noted that the single pedal mode is a mode in which only one pedal is used in the pedal modes of the electric vehicle, and compared with the double pedal mode and the three pedal mode, the single pedal mode can avoid frequent pedal switching of the driver during normal acceleration and deceleration, reduce driving difficulty, and reduce driving fatigue of the driver.
It can be understood that after the single-pedal mode is activated, the single-pedal control mode is entered, at this time, the accelerator pedal opening degree of the electric vehicle, that is, the different pedal angles corresponding to the accelerator pedal, can be obtained, and the driving intention of the driver can be determined through the accelerator pedal opening degree.
And step S20, determining the corresponding target required torque under the current working condition according to the driving intention.
It is understood that different required torques corresponding to different current operating conditions can be determined by the driving intention of the driver.
And step S30, controlling the torque of the electric automobile according to the target required torque.
It is to be understood that the electric vehicle can be subjected to the corresponding generator driving torque by the target required torque.
According to the scheme, when the single-pedal mode is detected to be activated, the opening degree of the accelerator pedal of the electric automobile is obtained, and the driving intention of a driver is judged according to the opening degree of the accelerator pedal; determining a corresponding target required torque under the current working condition according to the driving intention; the torque of the electric automobile is controlled according to the target required torque, the control speed and efficiency of the single-pedal mode of the electric automobile can be improved, the actual performance of the vehicle in the single-pedal mode is matched with the driving intention of the driver, the control accuracy of the single-pedal vehicle is improved, the dynamic performance and the smoothness of the actual driving of the vehicle are guaranteed, complaints caused by the fact that the accelerator pedal is stepped on the vehicle to be immovable or decelerated are avoided, and the driving experience of the driver is improved.
Further, fig. 3 is a schematic flowchart of a second embodiment of the method for controlling an electric vehicle in a single pedal mode according to the present invention, and as shown in fig. 3, the second embodiment of the method for controlling an electric vehicle in a single pedal mode according to the present invention is proposed based on the first embodiment, in this embodiment, the step S10 specifically includes the following steps:
and step S11, when the single-pedal mode is detected to be activated, acquiring the opening degree of an accelerator pedal of the electric automobile, and determining the opening degree change according to the opening degree of the accelerator pedal corresponding to the adjacent time.
It should be noted that when the activation of the single-pedal mode is detected, the accelerator pedal opening degree of the electric vehicle at the current moment may be obtained, so that the opening degree change degree corresponding to the accelerator pedal opening degree may be determined according to the accelerator pedal opening degree corresponding to the adjacent moment, and generally, the opening degree change may be determined by a difference value between the accelerator pedal opening degree at the previous moment and the accelerator pedal opening degree at the adjacent next moment.
Step S12 is a step of determining that the driving intention of the driver is acceleration when the opening degree is changed to an increase in opening degree, and determining that the driving intention is deceleration when the opening degree is changed to a decrease in opening degree.
It is understood that the driving intention of the driver may be determined as acceleration when the opening degree is changed to increase the opening degree of the accelerator pedal, and may be determined as deceleration when the opening degree is changed to decrease the opening degree of the accelerator pedal.
According to the scheme, when the single-pedal mode is detected to be activated, the opening degree of the accelerator pedal of the electric automobile is obtained, and the opening degree change is determined according to the opening degree of the accelerator pedal corresponding to the adjacent time; when the opening degree is changed to be the opening degree increase, the driving intention of the driver is judged to be acceleration, and when the opening degree is changed to be the opening degree decrease, the driving intention of the driver is judged to be deceleration, so that the driving intention of the driver can be accurately judged, the control speed and efficiency of the single-pedal mode of the electric automobile are further improved, and the actual performance of the vehicle in the single-pedal mode is matched with the driving intention of the driver.
Further, fig. 4 is a schematic flow chart of a third embodiment of the method for controlling an electric vehicle in a single pedal mode according to the present invention, and as shown in fig. 4, the third embodiment of the method for controlling an electric vehicle in a single pedal mode according to the present invention is proposed based on the second embodiment, in this embodiment, the step S11 specifically includes the following steps:
and step S111, when the activation of the single-pedal mode is detected, acquiring opening data corresponding to the opening of an accelerator pedal of the electric automobile, and acquiring the difference value of the opening of the accelerator pedal corresponding to the previous time and the next time which are adjacent from the opening data.
It should be noted that when the activation of the single-pedal mode is detected, opening data corresponding to the opening of the accelerator pedal of the electric vehicle may be obtained, an accelerator pedal opening value at the adjacent previous time and an accelerator pedal opening value at the adjacent next time may be obtained from the opening data, and through calculation, an accelerator pedal opening difference value corresponding to the adjacent previous time and the adjacent next time may be obtained.
And step S112, when the difference value of the opening degrees of the accelerator pedals is larger than 0, determining that the opening degree is changed into an opening degree increase.
It is understood that the opening degree may be determined to be changed to an increase in the opening degree when the accelerator pedal opening degree difference is greater than 0, and correspondingly, the opening degree may be determined to be changed to a constant opening degree when the accelerator pedal opening degree difference is equal to 0.
And step S113, when the difference value of the opening degrees of the accelerator pedals is smaller than 0, determining that the opening degree is changed into opening degree reduction.
It should be understood that, when the accelerator pedal opening difference is less than 0, it may be determined that the opening is changed to a decrease in opening.
In a specific implementation, the driving intention of the driver is judged according to the change of the pedal opening degree: r isnIs tnPedal opening at time, rn+1Is tn+1The pedal opening at the moment, when the difference value delta r of the accelerator pedal opening is rn+1-rn>When 0, the acceleration is judged to be increased; when the difference value delta r of the opening degree of the accelerator pedal is rn+1-rn<When 0, judging that the expected acceleration is reduced; when Δ r ═ rn+1-rnWhen the value is 0, the value is judged to be expected.
According to the scheme, when the single-pedal mode is detected to be activated, the opening data corresponding to the opening of the accelerator pedal of the electric automobile is obtained, and the difference value of the opening of the accelerator pedal corresponding to the previous moment and the next moment which are adjacent to each other is obtained from the opening data; when the difference value of the opening degrees of the accelerator pedals is larger than 0, determining that the opening degree is changed into opening degree increase; when the difference value of the opening degrees of the accelerator pedals is smaller than 0, the opening degree change is determined to be opening degree reduction, the opening degree change can be determined in detail, the control speed and efficiency of the single-pedal mode of the electric automobile are improved, and the actual performance of the vehicle in the single-pedal mode is matched with the driving intention of a driver.
Further, fig. 5 is a schematic flowchart of a fourth embodiment of the method for controlling an electric vehicle in a single pedal mode according to the present invention, and as shown in fig. 5, the method for controlling an electric vehicle in a single pedal mode according to the present invention is proposed based on the first embodiment, in this embodiment, the step S20 specifically includes the following steps:
and step S21, acquiring the lowest vehicle speed allowed by the energy recovery brake after the single pedal mode is activated, and acquiring the current vehicle speed and the current acceleration of the electric vehicle.
It should be noted that after the single pedal mode is activated, the preset minimum vehicle speed allowed by the energy recovery braking can be obtained, and the current vehicle speed and the current acceleration of the electric vehicle at the current moment can be obtained, so as to provide data support for the subsequent torque calculation.
And step S22, when the driving intention is acceleration, acquiring an accelerator pedal threshold value with expected acceleration increase, and acquiring a corresponding target acceleration demand torque according to the accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed.
It is to be understood that, when the driving intention is acceleration, an accelerator pedal threshold value, which is an accelerator pedal threshold value corresponding to an increase in a desired acceleration, may be obtained, so that a corresponding target acceleration demand torque may be obtained based on the accelerator pedal threshold value, the current vehicle speed, the current acceleration, and the minimum vehicle speed.
Further, the step S22 specifically includes the following steps:
obtaining an accelerator pedal threshold at which an increase in acceleration is desired when the driving intent is acceleration;
when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is not greater than the lowest vehicle speed, obtaining a first target acceleration demand torque corresponding to the acceleration according to a preset first driving torque table;
when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is greater than the minimum vehicle speed, obtaining a second target acceleration demand torque corresponding to the acceleration according to a preset second driving torque table;
and when the acceleration is larger than the accelerator pedal threshold value, obtaining a third target acceleration demand torque corresponding to the acceleration according to the preset first driving torque table.
In a specific implementation, an accelerator-intended pedal threshold a may be set, and the minimum allowable vehicle speed for entering energy recovery braking may be set as vlimitThe method comprises the steps that a preset first driving torque table MAP1 for obtaining target required driving torque when the set opening degree is larger than a and a preset second driving torque table MAP2 for obtaining the target required driving torque when the set opening degree is not larger than a are set, wherein the preset first driving torque table and the preset second driving torque table are preset torque query tables corresponding to different acceleration and different torques; in actual operation, if the current vehicle speed v ≦ the minimum vehicle speed v when the acceleration increase intention is discriminatedlimitThen, a first target acceleration demand torque corresponding to the acceleration may be obtained by presetting a first driving torque table MAP 1; when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is greater than the minimum vehicle speed, namely the current acceleration r is less than or equal to a and the current vehicle speed v is>vlimitIf so, acquiring a second target acceleration demand torque corresponding to the acceleration according to a preset second driving torque table MAP 2; when the acceleration is greater than the accelerator pedal threshold, i.e. the current acceleration r>When the acceleration is higher than the preset acceleration threshold value, obtaining a third target acceleration demand torque corresponding to the acceleration according to the preset first driving torque table MAP 1; the motor can be further controlled by a Micro Controller Unit (MCU) to output driving or braking torqueThe target requirement is met.
And step S23, when the driving intention is deceleration, acquiring a deceleration accelerator pedal threshold value with expected acceleration reduction, and acquiring a corresponding target deceleration demand torque according to the deceleration accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed.
It should be appreciated that when the driving intent is deceleration, an accelerator pedal threshold at which acceleration reduction is desired, i.e., a deceleration accelerator pedal threshold, may be obtained such that a corresponding target deceleration demand torque may be obtained based on the deceleration accelerator pedal threshold, the current vehicle speed, the current acceleration, and the minimum vehicle speed.
Further, the step S23 specifically includes the following steps:
obtaining a deceleration accelerator pedal threshold at which a desired acceleration is reduced when the driving intent is deceleration;
when the current acceleration is not smaller than the deceleration accelerator pedal threshold value, obtaining a first target deceleration demand torque corresponding to the acceleration according to the preset first driving torque table;
and when the current acceleration is smaller than the deceleration accelerator pedal threshold value, obtaining a second target deceleration demand torque corresponding to the acceleration according to the preset second driving torque table.
In the concrete implementation, a pedal threshold value b during deceleration intention is set, when acceleration reduction intention is judged, if the current acceleration r is more than or equal to b, the required torque is the driving torque, and the target required driving torque is obtained by a target required driving torque table MAP 1; if r is less than b, corresponding torque can be obtained through a preset second driving torque meter MAP2, the MCU controls the motor to output driving torque and braking torque respectively to meet target requirements, in actual operation, the preset first driving torque meter and the preset second driving torque meter can be reasonably set according to dynamic property and smoothness of the vehicle in actual driving, and correspondingly, an accelerator pedal threshold value and a deceleration accelerator pedal threshold value can be reasonably set by combining the action of stepping on an accelerator pedal and subjective expectation of a driver.
According to the scheme, the lowest vehicle speed allowed by energy recovery braking after the single-pedal mode is activated is obtained, and the current vehicle speed and the current acceleration of the electric vehicle are obtained; when the driving intention is acceleration, acquiring an accelerator pedal threshold value with expected acceleration increase, and acquiring a corresponding target acceleration demand torque according to the accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed; when the driving intention is deceleration, acquiring a deceleration accelerator pedal threshold value with expected acceleration reduction, and acquiring corresponding target deceleration demand torque according to the deceleration accelerator pedal threshold value, the current speed, the current acceleration and the lowest speed, so that the single-pedal mode control speed and efficiency of the electric automobile can be improved, the demand torque matched with the driving intention of the driver is acquired, and the accuracy of single-pedal vehicle control is improved.
Further, fig. 6 is a schematic flowchart of a fifth embodiment of the method for controlling an electric vehicle in a single pedal mode according to the present invention, and as shown in fig. 6, the fifth embodiment of the method for controlling an electric vehicle in a single pedal mode according to the present invention is proposed based on the first embodiment, in this embodiment, the step S30 specifically includes the following steps:
and step S31, when the target required torque is an acceleration torque, carrying out torque acceleration on the electric automobile according to the target required torque.
When the target required torque is an acceleration torque, the electric vehicle may be torque-accelerated according to the target required torque, that is, the driving torque acceleration may be performed in an open acceleration state.
And step S32, when the target required torque is a deceleration torque, carrying out torque deceleration on the electric automobile according to the target required torque, and recovering braking torque energy.
In a specific implementation, if the driving intention is not changed, the target required torque is not changed, the current torque requirement can be maintained, and when the target required torque is the deceleration torque, the electric vehicle can be subjected to torque deceleration according to the target required torque, namely, the deceleration is carried out under the deceleration condition, and the braking torque is carried out for energy recovery.
According to the scheme, when the target required torque is the acceleration torque, the electric automobile is subjected to torque acceleration according to the target required torque; when the target demand torque is the deceleration torque, the electric automobile is subjected to torque deceleration according to the target demand torque, and braking torque energy is recovered, so that the dynamic property and the smoothness of actual driving of the vehicle are ensured, complaints caused by the fact that an accelerator pedal is used for stepping down the vehicle to be immobile or decelerated are avoided, and the driving experience of a driver is improved.
Correspondingly, the invention further provides a single-pedal mode control device of the electric automobile.
Referring to fig. 7, fig. 7 is a functional block diagram of a first embodiment of a single pedal mode control device of an electric vehicle according to the present invention.
In a first embodiment of the electric vehicle single pedal mode control apparatus of the present invention, the electric vehicle single pedal mode control apparatus comprises:
the judging module 10 is configured to, when the activation of the single pedal mode is detected, obtain an accelerator pedal opening degree of the electric vehicle, and judge a driving intention of a driver according to the accelerator pedal opening degree.
And the torque obtaining module 20 is configured to determine a corresponding target required torque under the current working condition according to the driving intention.
And the control module 30 is used for controlling the torque of the electric automobile according to the target required torque.
The judging module 10 is further configured to obtain an accelerator pedal opening of the electric vehicle when detecting that the single pedal mode is activated, and determine an opening change according to the accelerator pedal opening corresponding to adjacent time; the driving intention of the driver is determined to be acceleration when the opening degree is changed to increase the opening degree, and the driving intention is determined to be deceleration when the opening degree is changed to decrease the opening degree.
The judging module 10 is further configured to, when the activation of the single pedal mode is detected, obtain opening data corresponding to an opening degree of an accelerator pedal of the electric vehicle, and obtain an opening degree difference value corresponding to an adjacent previous time and an adjacent next time from the opening data; when the difference value of the opening degrees of the accelerator pedals is larger than 0, determining that the opening degree is changed into opening degree increase; and when the difference value of the opening degrees of the accelerator pedals is less than 0, determining that the opening degree is changed into opening degree reduction.
The torque acquisition module 20 is further configured to acquire a lowest vehicle speed allowed by the energy recovery brake after the single pedal mode is activated, and acquire a current vehicle speed and a current acceleration of the electric vehicle; when the driving intention is acceleration, acquiring an accelerator pedal threshold value with expected acceleration increase, and acquiring a corresponding target acceleration demand torque according to the accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed; and when the driving intention is deceleration, acquiring a deceleration accelerator pedal threshold value with expected acceleration reduction, and acquiring a corresponding target deceleration demand torque according to the deceleration accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed.
The torque acquisition module 20 is further configured to obtain an accelerator pedal threshold at which an increase in acceleration is desired when the driving intent is acceleration; when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is not greater than the lowest vehicle speed, obtaining a first target acceleration demand torque corresponding to the acceleration according to a preset first driving torque table; when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is greater than the minimum vehicle speed, obtaining a second target acceleration demand torque corresponding to the acceleration according to a preset second driving torque table; and when the acceleration is larger than the accelerator pedal threshold value, obtaining a third target acceleration demand torque corresponding to the acceleration according to the preset first driving torque table.
The torque acquisition module 20 is further configured to obtain a deceleration accelerator pedal threshold at which a desired acceleration is reduced when the driving intent is deceleration; when the current acceleration is not smaller than the deceleration accelerator pedal threshold value, obtaining a first target deceleration demand torque corresponding to the acceleration according to the preset first driving torque table; and when the current acceleration is smaller than the deceleration accelerator pedal threshold value, obtaining a second target deceleration demand torque corresponding to the acceleration according to the preset second driving torque table.
The control module 30 is further configured to perform torque acceleration on the electric vehicle according to the target required torque when the target required torque is an acceleration torque; and when the target required torque is a deceleration torque, carrying out torque deceleration on the electric automobile according to the target required torque, and recovering braking torque energy.
The steps implemented by the functional modules of the electric vehicle single-pedal mode control device can refer to the embodiments of the electric vehicle single-pedal mode control method of the present invention, and are not described herein again.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores an electric vehicle single-pedal mode control program, and when the electric vehicle single-pedal mode control program is executed by a processor, the electric vehicle single-pedal mode control program implements the following operations:
when the single-pedal mode is detected to be activated, the opening degree of an accelerator pedal of the electric automobile is obtained, and the driving intention of a driver is judged according to the opening degree of the accelerator pedal;
determining a corresponding target required torque under the current working condition according to the driving intention;
and controlling the torque of the electric automobile according to the target required torque.
Further, when executed by the processor, the electric vehicle single-pedal mode control program further implements the following operations:
when the single-pedal mode is detected to be activated, the opening degree of an accelerator pedal of the electric automobile is obtained, and the opening degree change is determined according to the opening degree of the accelerator pedal corresponding to the adjacent time;
the driving intention of the driver is determined to be acceleration when the opening degree is changed to increase the opening degree, and the driving intention is determined to be deceleration when the opening degree is changed to decrease the opening degree.
Further, when executed by the processor, the electric vehicle single-pedal mode control program further implements the following operations:
when the single-pedal mode is detected to be activated, acquiring opening data corresponding to the opening of an accelerator pedal of the electric automobile, and acquiring an opening difference value of the accelerator pedal corresponding to the previous moment and the next moment which are adjacent to each other from the opening data;
when the difference value of the opening degrees of the accelerator pedals is larger than 0, determining that the opening degree is changed into opening degree increase;
and when the difference value of the opening degrees of the accelerator pedals is less than 0, determining that the opening degree is changed into opening degree reduction.
Further, when executed by the processor, the electric vehicle single-pedal mode control program further implements the following operations:
acquiring the lowest speed allowed by energy recovery braking after a single-pedal mode is activated, and acquiring the current speed and the current acceleration of the electric automobile;
when the driving intention is acceleration, acquiring an accelerator pedal threshold value with expected acceleration increase, and acquiring a corresponding target acceleration demand torque according to the accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed;
and when the driving intention is deceleration, acquiring a deceleration accelerator pedal threshold value with expected acceleration reduction, and acquiring a corresponding target deceleration demand torque according to the deceleration accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed.
Further, when executed by the processor, the electric vehicle single-pedal mode control program further implements the following operations:
obtaining an accelerator pedal threshold at which an increase in acceleration is desired when the driving intent is acceleration;
when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is not greater than the lowest vehicle speed, obtaining a first target acceleration demand torque corresponding to the acceleration according to a preset first driving torque table;
when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is greater than the minimum vehicle speed, obtaining a second target acceleration demand torque corresponding to the acceleration according to a preset second driving torque table;
and when the acceleration is larger than the accelerator pedal threshold value, obtaining a third target acceleration demand torque corresponding to the acceleration according to the preset first driving torque table.
Further, when executed by the processor, the electric vehicle single-pedal mode control program further implements the following operations:
obtaining a deceleration accelerator pedal threshold at which a desired acceleration is reduced when the driving intent is deceleration;
when the current acceleration is not smaller than the deceleration accelerator pedal threshold value, obtaining a first target deceleration demand torque corresponding to the acceleration according to the preset first driving torque table;
and when the current acceleration is smaller than the deceleration accelerator pedal threshold value, obtaining a second target deceleration demand torque corresponding to the acceleration according to the preset second driving torque table.
Further, when executed by the processor, the electric vehicle single-pedal mode control program further implements the following operations:
when the target required torque is an acceleration torque, performing torque acceleration on the electric vehicle according to the target required torque;
and when the target required torque is a deceleration torque, carrying out torque deceleration on the electric automobile according to the target required torque, and recovering braking torque energy.
According to the scheme, when the single-pedal mode is detected to be activated, the opening degree of the accelerator pedal of the electric automobile is obtained, and the driving intention of a driver is judged according to the opening degree of the accelerator pedal; determining a corresponding target required torque under the current working condition according to the driving intention; the torque of the electric automobile is controlled according to the target required torque, the control speed and efficiency of the single-pedal mode of the electric automobile can be improved, the actual performance of the vehicle in the single-pedal mode is matched with the driving intention of the driver, the control accuracy of the single-pedal vehicle is improved, the dynamic performance and the smoothness of the actual driving of the vehicle are guaranteed, complaints caused by the fact that the accelerator pedal is stepped on the vehicle to be immovable or decelerated are avoided, and the driving experience of the driver is improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. The control method for the single-pedal mode of the electric automobile is characterized by comprising the following steps of:
when the single-pedal mode is detected to be activated, the opening degree of an accelerator pedal of the electric automobile is obtained, and the driving intention of a driver is judged according to the opening degree of the accelerator pedal;
determining a corresponding target required torque under the current working condition according to the driving intention;
and controlling the torque of the electric automobile according to the target required torque.
2. The method for controlling the single pedal mode of the electric vehicle according to claim 1, wherein the step of obtaining an accelerator pedal opening of the electric vehicle when the activation of the single pedal mode is detected, and determining the driving intention of the driver according to the accelerator pedal opening comprises the steps of:
when the single-pedal mode is detected to be activated, the opening degree of an accelerator pedal of the electric automobile is obtained, and the opening degree change is determined according to the opening degree of the accelerator pedal corresponding to the adjacent time;
the driving intention of the driver is determined to be acceleration when the opening degree is changed to increase the opening degree, and the driving intention is determined to be deceleration when the opening degree is changed to decrease the opening degree.
3. The method for controlling the single pedal mode of the electric vehicle according to claim 2, wherein the step of acquiring the opening degree of an accelerator pedal of the electric vehicle when the activation of the single pedal mode is detected, and determining the change of the opening degree according to the opening degree of the accelerator pedal corresponding to the adjacent time comprises the following steps:
when the single-pedal mode is detected to be activated, acquiring opening data corresponding to the opening of an accelerator pedal of the electric automobile, and acquiring an opening difference value of the accelerator pedal corresponding to the previous moment and the next moment which are adjacent to each other from the opening data;
when the difference value of the opening degrees of the accelerator pedals is larger than 0, determining that the opening degree is changed into opening degree increase;
and when the difference value of the opening degrees of the accelerator pedals is less than 0, determining that the opening degree is changed into opening degree reduction.
4. The method for controlling the single pedal mode of the electric vehicle according to claim 1, wherein the determining the target required torque corresponding to the current working condition according to the driving intention comprises:
acquiring the lowest speed allowed by energy recovery braking after a single-pedal mode is activated, and acquiring the current speed and the current acceleration of the electric automobile;
when the driving intention is acceleration, acquiring an accelerator pedal threshold value with expected acceleration increase, and acquiring a corresponding target acceleration demand torque according to the accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed;
and when the driving intention is deceleration, acquiring a deceleration accelerator pedal threshold value with expected acceleration reduction, and acquiring a corresponding target deceleration demand torque according to the deceleration accelerator pedal threshold value, the current vehicle speed, the current acceleration and the lowest vehicle speed.
5. The electric vehicle single-pedal mode control method according to claim 4, wherein the obtaining an accelerator pedal threshold value at which an increase in acceleration is desired when the driving intention is acceleration, and obtaining a corresponding target acceleration demand torque based on the accelerator pedal threshold value, the current vehicle speed, the current acceleration, and the minimum vehicle speed, comprises:
obtaining an accelerator pedal threshold at which an increase in acceleration is desired when the driving intent is acceleration;
when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is not greater than the lowest vehicle speed, obtaining a first target acceleration demand torque corresponding to the acceleration according to a preset first driving torque table;
when the current acceleration is not greater than the accelerator pedal threshold value and the current vehicle speed is greater than the minimum vehicle speed, obtaining a second target acceleration demand torque corresponding to the acceleration according to a preset second driving torque table;
and when the acceleration is larger than the accelerator pedal threshold value, obtaining a third target acceleration demand torque corresponding to the acceleration according to the preset first driving torque table.
6. The electric vehicle single pedal mode control method according to claim 5, wherein the obtaining a deceleration accelerator pedal threshold value at which the acceleration is expected to decrease when the driving intention is deceleration, and obtaining a corresponding target deceleration demand torque based on the deceleration accelerator pedal threshold value, the current vehicle speed, the current acceleration, and the minimum vehicle speed, comprises:
obtaining a deceleration accelerator pedal threshold at which a desired acceleration is reduced when the driving intent is deceleration;
when the current acceleration is not smaller than the deceleration accelerator pedal threshold value, obtaining a first target deceleration demand torque corresponding to the acceleration according to the preset first driving torque table;
and when the current acceleration is smaller than the deceleration accelerator pedal threshold value, obtaining a second target deceleration demand torque corresponding to the acceleration according to the preset second driving torque table.
7. The electric vehicle single-pedal mode control method according to any one of claims 1-6, wherein the controlling the torque of the electric vehicle according to the target required torque includes:
when the target required torque is an acceleration torque, performing torque acceleration on the electric vehicle according to the target required torque;
and when the target required torque is a deceleration torque, carrying out torque deceleration on the electric automobile according to the target required torque, and recovering braking torque energy.
8. An electric vehicle single pedal mode control apparatus, characterized in that the electric vehicle single pedal mode control apparatus comprises:
the judging module is used for acquiring the opening degree of an accelerator pedal of the electric automobile when the activation of the single pedal mode is detected, and judging the driving intention of a driver according to the opening degree of the accelerator pedal;
the torque acquisition module is used for determining a corresponding target required torque under the current working condition according to the driving intention;
and the control module is used for controlling the torque of the electric automobile according to the target required torque.
9. An electric vehicle single pedal mode control apparatus, characterized by comprising: a memory, a processor, and an electric vehicle single pedal mode control program stored on the memory and executable on the processor, the electric vehicle single pedal mode control program configured to implement the steps of the electric vehicle single pedal mode control method of any one of claims 1 to 7.
10. A storage medium having stored thereon a single-pedal mode control program for an electric vehicle, the single-pedal mode control program for an electric vehicle implementing the steps of the single-pedal mode control method for an electric vehicle according to any one of claims 1 to 7 when executed by a processor.
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