CN116252635A

CN116252635A - Single pedal mode deceleration operation control method and system for electric automobile under ice and snow road conditions

Info

Publication number: CN116252635A
Application number: CN202310074387.4A
Authority: CN
Inventors: 刘辉; 李军; 蔡永明; 蔚兴隆; 胡浩; 张功
Original assignee: Chongqing Seres New Energy Automobile Design Institute Co Ltd
Current assignee: Chongqing Seres New Energy Automobile Design Institute Co Ltd
Priority date: 2023-01-17
Filing date: 2023-01-17
Publication date: 2023-06-13

Abstract

The application discloses a single pedal mode deceleration operation control method of an electric automobile under ice and snow road conditions. The method comprises the following steps of responding to a starting signal, switching into a single pedal mode, obtaining a braking target torque, and driving a motor by using the target braking torque, wherein the target braking torque is a deceleration torque; acquiring a first vehicle speed value, the first vehicle speed value being acquired by an ESP; simultaneously obtaining a second vehicle speed value, wherein the second vehicle speed value is obtained by converting MCU rotation signals; calculating a vehicle speed difference between the second vehicle speed value and the first vehicle speed value; when the difference value of the vehicle speeds is larger than or equal to a first preset threshold value, outputting a first braking torque to the motor, and accessing the ESP; the ESP establishes hydraulic braking based on a difference between the target braking torque and the first braking torque in the single pedal mode for active braking control.

Description

Single pedal mode deceleration operation control method and system for electric automobile under ice and snow road conditions

Technical Field

The disclosure relates to the technical field of single pedal modes of electric vehicles, in particular to a single pedal mode deceleration operation control method and system of an electric vehicle under ice and snow road conditions.

Background

The current single pedal mode is increasingly popular on electric automobiles, and aims to realize acceleration and deceleration by operating an accelerator pedal by a single foot of a driver, particularly provide larger motor braking strength immediately when a throttle or a small accelerator is released to realize vehicle deceleration, and simultaneously realize the increase of cruising mileage by utilizing energy recovery as much as possible; when a vehicle suddenly encounters an ice and snow road section easy to slip in a single pedal mode, pure continuous maintenance of larger electromechanical braking energy recovery cannot comprehensively consider the driving safety, for example, when the vehicle encounters abrupt change of road adhesion coefficient, such as ice and snow road surface, the situation that the wheel is difficult to slip is difficult to avoid by simple larger-strength motor braking, the traditional ESP intervention relies on hydraulic control of the ESP to have response delay and simultaneously has specific problems of forward running, power interruption and the like, and the driving safety of the whole vehicle can be influenced.

Disclosure of Invention

In view of the above-mentioned drawbacks or shortcomings in the prior art, it is desirable to provide a method and a system for controlling a single pedal mode of an electric vehicle to run in a single pedal mode under an ice road condition where the electric vehicle is safely running on an ice road section that is prone to slipping.

In a first aspect, a method for controlling a single pedal mode deceleration operation of an electric vehicle under ice and snow road conditions includes the following steps:

switching to a single pedal mode in response to the start signal;

obtaining a first vehicle speed value and a second vehicle speed value, wherein when the first vehicle speed value is not connected with an ESP, the ESP is obtained through calculation of wheel rotation speed, and the second vehicle speed is obtained through calculation of rotation speed of a driving motor output shaft at the same moment as the first vehicle speed value;

calculating a vehicle speed difference between the second vehicle speed value and the first vehicle speed value;

and when the difference value of the vehicle speed is larger than or equal to a first preset threshold value, outputting a first braking torque to the motor, and accessing the ESP.

According to the technical scheme provided by the embodiment of the application, after the ESP is accessed, the method further comprises the following steps:

obtaining a third vehicle speed value and a fourth vehicle speed value, wherein the third vehicle speed value is obtained by calculating the rotation speed of wheels through the ESP after being connected into the ESP, and the fourth vehicle speed is obtained by calculating the rotation speed of an output shaft of a driving motor at the same time as the third vehicle speed value;

when the fourth vehicle speed value is judged to be equal to the third vehicle speed value, the ESP is exited;

and restoring the output target braking torque to drive the motor with the target braking torque.

According to the technical scheme provided by the embodiment of the application, after the switching to the single pedal mode, the method further comprises the following steps:

and acquiring a braking target torque, and driving the motor with the target braking torque, wherein the target braking torque is a deceleration torque.

According to the technical solution provided in the embodiments of the present application, the obtaining the first vehicle speed value and the second vehicle speed value includes:

acquiring a first vehicle speed value based on the ESP;

collecting a first MCU rotation signal;

and converting according to the first MCU rotation signal to obtain a second vehicle speed value.

According to the technical solution provided in the embodiments of the present application, after calculating the vehicle speed difference between the second vehicle speed value and the first vehicle speed value, the method further includes:

and when the difference value of the vehicle speed is less than the first preset threshold value, circularly executing the step of acquiring the first vehicle speed value and the second vehicle speed value.

According to the technical scheme provided by the embodiment of the application, after the third vehicle speed value and the fourth vehicle speed value are obtained, the method further comprises the following steps:

and when the fourth vehicle speed value is judged to be not equal to the third vehicle speed value, the step of acquiring the third vehicle speed value and the fourth vehicle speed value is circularly executed.

According to the technical scheme provided by the embodiment of the application, the obtaining the third vehicle speed value and the fourth vehicle speed value includes:

based on the ESP, obtaining a third vehicle speed value;

collecting a second MCU rotation signal;

and converting according to the second MCU rotation signal to obtain a fourth vehicle speed value.

In a second aspect, the present application provides a single pedal mode deceleration operation control system for an electric vehicle under ice and snow road conditions, including:

the single pedal mode starting module is used for responding to the starting signal and switching into a single pedal mode;

the system comprises a vehicle speed acquisition module, a speed control module and a speed control module, wherein the vehicle speed acquisition module is used for acquiring a first vehicle speed value and a second vehicle speed value, the ESP is obtained through calculation of wheel rotation speed when the first vehicle speed value is not connected with the ESP, and the second vehicle speed is obtained through calculation of the rotation speed of an output shaft of a driving motor at the same moment as the first vehicle speed value;

the vehicle speed difference value calculation module is used for calculating the vehicle speed difference value between the second vehicle speed value and the first vehicle speed value;

and the ESP access module is used for outputting a first braking torque to the motor when the difference value of the vehicle speeds is larger than or equal to a first preset threshold value, and then accessing the ESP.

The third aspect is a server, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the step of the single pedal mode deceleration running control method of the electric automobile under ice and snow road conditions when executing the computer program.

In a fourth aspect, a computer readable storage medium has a computer program, where the computer program when executed by a processor implements the step of the method for controlling a single pedal mode deceleration operation of an electric vehicle under ice and snow road conditions.

In summary, the technical scheme specifically discloses a single pedal mode deceleration running control method for an electric automobile under ice and snow road conditions, and the electric automobile is switched into a single pedal mode by responding to a starting signal, and obtains a braking target torque, and drives a motor by using the target braking torque, wherein the target braking torque is a deceleration torque; when an ice and snow road section easy to slip is entered, a first vehicle speed value is obtained by an ESP, an MCU rotation signal at the same moment as the first vehicle speed value is obtained, a second vehicle speed value is obtained through calculation of the MCU rotation signal, and then a vehicle speed difference value between the second vehicle speed value and the first vehicle speed value is calculated; when the difference value of the vehicle speeds is larger than or equal to a first preset threshold value, outputting a first braking torque to the motor, and accessing the ESP; the ESP establishes hydraulic braking based on the difference value of the target braking torque and the first braking torque in a single pedal mode, active braking control is carried out, mechanical braking is carried out through the ESP hydraulic braking, so that torque is compensated, and the whole vehicle can safely run at a speed reduction mode on an ice and snow road section which is easy to slip.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings, in which:

fig. 1 is a flow chart of a control method for single pedal mode deceleration operation of an electric vehicle under ice and snow road conditions.

Fig. 2 is a schematic diagram of a first diversion path of a single pedal mode deceleration control method for an electric vehicle under ice and snow road conditions.

Fig. 3 is a schematic diagram of a second diversion path of the electric vehicle in the single pedal mode for controlling the deceleration operation under the ice and snow road conditions.

Fig. 4 is a schematic diagram of a third branch flow of the electric vehicle in a single pedal mode for controlling the deceleration operation under ice and snow road conditions.

Fig. 5 is a schematic diagram of a fourth diversion process of the electric vehicle in a single pedal mode for controlling the deceleration operation under ice and snow road conditions.

Fig. 6 is a schematic diagram of a fifth diversion process of the electric vehicle in a single pedal mode for controlling the deceleration operation under ice and snow road conditions.

Fig. 7 is a schematic diagram of a sixth branch flow of the electric vehicle in a single pedal mode for controlling the deceleration operation under ice and snow road conditions.

Fig. 8 is a schematic structural diagram of a single pedal mode deceleration control system for an electric vehicle under ice and snow road conditions.

Fig. 9 is a schematic block diagram of a server.

Reference numerals in the drawings: 101. a single pedal mode start module; 102. a vehicle speed acquisition module; 103. a vehicle speed difference calculation module; 104. an ESP access module; 105. an ESP exit module; 501. a CPU; 502. a ROM; 503. a RAM; 504. a bus; 505. an I/O interface; 506. an input section; 507. an output section; 508. a storage section; 509. a communication section; 510. a driver; 511. removable media.

Detailed Description

The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Example 1

Please refer to fig. 1, which illustrates a method for controlling a single pedal mode deceleration operation of an electric automobile under ice and snow road conditions, which includes the following steps:

s1.1, responding to a starting signal, and switching into a single pedal mode;

s2, acquiring a first vehicle speed value and a second vehicle speed value, wherein when the first vehicle speed value is not connected with the ESP, the ESP is obtained through calculation of wheel rotation speed, and the second vehicle speed is obtained through calculation of the rotation speed of an output shaft of a driving motor at the same moment as the first vehicle speed value;

s3, calculating a vehicle speed difference value between the second vehicle speed value and the first vehicle speed value;

and S4.1, outputting a first braking torque to the motor when the difference value of the vehicle speeds is larger than or equal to a first preset threshold value, and accessing the ESP.

In the embodiment, S1.1, responding to a starting signal, switching to enter a single pedal mode;

further, the single pedal mode is a driving mode of the vehicle, the single pedal mode is used for completing acceleration and braking operations of the vehicle by means of an accelerator pedal, and does not mean that the accelerator and the brake are all arranged on one pedal, and the single pedal mode is still provided with two pedals, namely one accelerator and one brake, but in general, the motion and the brake of the automobile can be controlled by using only one pedal; the accelerator pedal is pressed down to accelerate, the accelerator pedal is released to brake, and the nearby brake pedal can be used under the condition of emergency braking;

further, the single pedal mode is originally designed for energy recovery, so that the problem of continuous cruising of the electric vehicle, which is always caused by the problem, is solved, and the general principle is that when the vehicle releases an accelerator pedal, a regenerative braking system starts to work, the vehicle speed is reduced while the kinetic energy of the vehicle is recovered, the energy recovery at the moment is mainly completed by dragging of a driving motor, the motor can drive the vehicle to move forward when rotating forward, and the generator can store energy when rotating reversely; by the mode, the vehicle can fully recover energy in the running process, the endurance mileage is improved, the triggering times and the strength of braking are reduced, the hydraulic braking burden and the operation burden of a driver are reduced, and the service life of the friction plate is prolonged to a certain extent;

further, as shown in fig. 2, after switching to the single pedal mode, the method further includes:

s1.2, acquiring a braking target torque, and driving a motor by using the target braking torque, wherein the target braking torque is a deceleration torque;

further, the target braking torque is a negative torque, namely a deceleration torque, and the value of the target braking torque is 2000 N.m, for example;

further, as shown in fig. 3, acquiring the first vehicle speed value and the second vehicle speed value includes:

s2.1, acquiring a first vehicle speed value based on the ESP;

s2.2, acquiring a first MCU rotation signal;

further, the MCU is Micro Controller Unite for short, which means that the motor control unit is a module for controlling the motor to act, and the first MCU rotation signal is a rotation signal sent by the motor control unit;

further, the decoder decodes the first MCU rotation signal to obtain a motor rotation speed n;

s2.3, converting according to the first MCU rotation signal to obtain a second vehicle speed value;

further, the calculation of the second vehicle speed value is as follows:

wherein n is the motor rotation speed, and the unit is rpm;

v is a second vehicle speed value, in km/h;

r is the radius of the wheel, and the unit is m;

ratio is the transmission Ratio;

further, the excessive difference between the speed of the second vehicle speed value and the speed of the first vehicle speed value can cause the phenomenon of skidding of wheels of the vehicle;

s4.1, outputting a first braking torque to the motor when the difference value of the vehicle speeds is larger than or equal to a first preset threshold value, and accessing an ESP;

further, the ESP establishes hydraulic braking based on the difference value of the target braking torque and the first braking torque in a single pedal mode, and performs active braking control;

further, after outputting the first braking torque to the motor, the electric braking torque is reduced, the ESP compensates the reduced torque, and the hydraulic braking of the ESP compensates the reduced torque of the electric braking, so that the electric braking and the hydraulic braking together achieve the target braking torque;

further, the value of the first preset threshold is, for example, 1km/h;

preferably, the first braking torque is zero torque, so the ESP establishes hydraulic braking based on the target braking torque in the single pedal mode; further, the motor is a whole vehicle driving motor;

further, the ESP is generally known as Electronic Stability Program, which is commonly referred to as a vehicle body electronic stability control system; ESP not only controls the driving wheel, but also controls the driven wheel, such as the situation of oversteering frequently occurring in a rear wheel driving automobile, at the moment, the rear wheel is out of control and gets rid of tail, and ESP can slow down the front wheel at the outer side to stabilize the automobile;

when the steering is too small, the ESP can slow down the inner rear wheel to correct the tracking direction, so that the running direction is corrected;

furthermore, the ESP mainly controls the longitudinal and transverse stability of the vehicle, so that the vehicle is ensured to run according to the consciousness of a driver, when the tire is about to be locked under the condition of braking of the vehicle, the vehicle body electronic stability system can brake for hundreds of times within 1 second in a mechanical point brake mode, and the vehicle can still keep to control the running direction of the vehicle through the steering wheel when the full-force braking is finished;

further, as shown in fig. 4, after calculating the vehicle speed difference between the second vehicle speed value and the first vehicle speed value, the method further includes:

s4.2, when the difference value of the vehicle speed is smaller than a first preset threshold value, circularly executing the step of acquiring a first vehicle speed value and a second vehicle speed value;

further, when the difference value of the vehicle speed between the second vehicle speed value and the first vehicle speed value is smaller than a first preset threshold value, the vehicle can still keep running stably, an ESP is not needed to be connected to stabilize the vehicle body, and the first vehicle speed value and the second vehicle speed value can be continuously monitored in real time;

the electric automobile responds to a starting signal, switches to enter a single pedal mode, acquires a braking target torque, and drives a motor by using the target braking torque, wherein the target braking torque is a deceleration torque; when an ice and snow road section easy to slip is entered, a first vehicle speed value is obtained by an ESP, an MCU rotation signal at the same moment as the first vehicle speed value is obtained, a second vehicle speed value is obtained through calculation of the MCU rotation signal, and then a vehicle speed difference value between the second vehicle speed value and the first vehicle speed value is calculated; when the difference value of the vehicle speeds is larger than or equal to a first preset threshold value, outputting a first braking torque to the motor, and accessing the ESP; the ESP establishes hydraulic braking based on the difference value of the target braking torque and the first braking torque in a single pedal mode, active braking control is carried out, mechanical braking is carried out through the ESP hydraulic braking so as to compensate the torque, and the whole vehicle is enabled to safely run at a speed reduction mode on an ice and snow road section which is easy to slip;

as shown in fig. 5, after accessing the ESP, the method further comprises:

s5, obtaining a third vehicle speed value and a fourth vehicle speed value, wherein the third vehicle speed value is obtained by calculating the wheel rotation speed of the ESP after being connected into the ESP, and the fourth vehicle speed is obtained by calculating the rotation speed of the output shaft of the driving motor at the same moment as the third vehicle speed value;

further, as shown in fig. 6, S5, obtaining the third vehicle speed value and the fourth vehicle speed value includes:

s5.1, acquiring a third vehicle speed value based on the ESP;

s5.2, collecting a second MCU rotation signal;

further, the second MCU rotation signal is a rotation signal sent by the motor control unit;

further, the decoder decodes the second MCU rotation signal to obtain a motor rotation speed n;

s5.3, converting according to the second MCU rotation change signal to obtain a fourth vehicle speed value;

further, the calculation of the fourth vehicle speed value is as follows:

wherein n is the motor rotation speed, and the unit is rpm;

v is a second vehicle speed value, in km/h;

r is the radius of the wheel, and the unit is m;

ratio is the transmission Ratio;

s6.1, when the fourth vehicle speed value is judged to be equal to the third vehicle speed value, the ESP is exited;

further, when the fourth vehicle speed value is equal to the third vehicle speed value, the vehicle is in a stable running state;

s7, restoring output target braking torque, and driving the motor with the target braking torque;

further, as shown in fig. 7, after the third vehicle speed value and the fourth vehicle speed value are obtained, the method further includes:

s6.2, when the fourth vehicle speed value is judged to be not equal to the third vehicle speed value, the step of acquiring the third vehicle speed value and the fourth vehicle speed value is circularly executed;

further, when the fourth vehicle speed value is not equal to the third vehicle speed value, the phenomenon that the vehicle still possibly slips is indicated, the vehicle body cannot keep running stably, the hydraulic braking of the ESP is still needed to stabilize the vehicle body, and the third vehicle speed value and the fourth vehicle speed value are continuously monitored in real time until the fourth vehicle speed value is equal to the third vehicle speed value;

when the road section is in a smooth road section through an ice and snow road section easy to slip, a third vehicle speed value is obtained in real time by the ESP, an MCU rotation signal at the same time as the third vehicle speed value is obtained, a fourth vehicle speed value is obtained through calculation of the MCU rotation signal, and then a vehicle speed difference value between the fourth vehicle speed value and the third vehicle speed value is calculated; and if the fourth vehicle speed value is equal to the third vehicle speed value, the ESP is exited, the target braking torque is recovered and output, the motor is driven by the target braking torque, and the operation condition of the electric vehicle in a stable road section is recovered.

Example two

Please refer to fig. 8, which illustrates a single pedal mode deceleration operation control system for an electric vehicle under ice and snow road conditions, which includes:

a single pedal mode starting module 101 for switching to a single pedal mode in response to a starting signal;

the vehicle speed obtaining module 102 is configured to obtain a first vehicle speed value and a second vehicle speed value, where the first vehicle speed value is obtained by calculating a wheel rotation speed when the ESP is not connected, and the second vehicle speed is obtained by calculating a rotation speed of an output shaft of a driving motor at the same time as the first vehicle speed value;

further, the vehicle speed obtaining module 102 is further configured to obtain a third vehicle speed value and a fourth vehicle speed value, where the third vehicle speed value is obtained by calculating a wheel rotation speed after the ESP is connected, and the fourth vehicle speed is obtained by calculating a rotation speed of an output shaft of the driving motor at the same time as the third vehicle speed value;

a vehicle speed difference calculation module 103, configured to calculate a vehicle speed difference between the second vehicle speed value and the first vehicle speed value;

the ESP access module 104 is configured to output a first braking torque to the motor when the difference value of the vehicle speeds is greater than or equal to a first preset threshold value, so as to access the ESP;

further, the method further comprises the following steps: the ESP exit module 105 exits the ESP when the fourth vehicle speed value is determined to be equal to the third vehicle speed value.

Further, after entering an ice and snow road section easy to slip, the single pedal mode is switched into a single pedal mode by the single pedal mode starting module 101 in response to a starting signal, then a target braking torque is output and obtained in the single pedal mode, the motor is driven by the target braking torque, and the target braking torque is a negative torque so as to drive the whole vehicle to run at a deceleration; the first vehicle speed value and the second vehicle speed value are acquired through the vehicle speed acquisition module 102, the vehicle speed difference value calculation module 103 calculates the vehicle speed difference value between the second vehicle speed value and the first vehicle speed value, and when the ESP access module 104 judges that the vehicle speed difference value is greater than or equal to a first preset threshold value, the first braking torque is output to the motor, so that the ESP can be accessed, the ESP can execute ESP hydraulic braking, and mechanical braking is performed through the ESP hydraulic braking to compensate the torque, so that the whole vehicle can safely run at a speed reduction on an ice and snow road section easy to slip.

Further, after the whole vehicle enters the smooth road section, the single pedal mode starting module 101 collects a third vehicle speed value and a fourth vehicle speed value in real time, and when the ESP exiting module 105 judges that the fourth vehicle speed value is equal to the third vehicle speed value, the hydraulic brake of the ESP is exited.

Example III

A server comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the step of the single pedal mode deceleration running control method of the electric automobile under the ice and snow road conditions when executing the computer program.

In the present embodiment, as shown in fig. 9, the computer system includes a Central Processing Unit (CPU) 501, which can execute various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage section into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the system operation are also stored. The CPU 501, ROM 502, and RAM503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

The following components are connected to the I/O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output section including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The drives are also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as needed so that a computer program read therefrom is mounted into the storage section 508 as needed.

In particular, the process described above with reference to flowchart 1 may be implemented as a computer software program according to an embodiment of the invention. For example, embodiments of the present invention include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. The above-described functions defined in the system of the present application are performed when the computer program is executed by a Central Processing Unit (CPU) 501.

The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units involved in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases. The described units or modules may also be provided in a processor, for example, as: the processor comprises a first generation module, an acquisition module, a search module, a second generation module and a combination module. The names of these units or modules do not in any way limit the units or modules themselves, and the acquisition module may also be described as "an acquisition module for acquiring a plurality of instances to be probed in the base table", for example.

As another aspect, the present application also provides a computer-readable medium that may be contained in the electronic device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs, which when executed by one of the electronic devices, cause the electronic device to implement a single pedal mode deceleration operation control method for an electric vehicle under ice and snow road conditions as in the above embodiment.

The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.

Claims

1. The method for controlling the single pedal mode deceleration operation of the electric automobile under the ice and snow road conditions is characterized by comprising the following steps of:

switching to a single pedal mode in response to the start signal;

and when the difference value of the vehicle speeds is larger than or equal to a first preset threshold value, outputting a first braking torque to the motor, and accessing the ESP.

2. The method for controlling the single pedal mode deceleration operation of the electric automobile under the ice and snow road conditions according to claim 1, further comprising after the ESP is accessed:

3. The method for controlling the single pedal mode deceleration operation of the electric vehicle under the ice and snow road conditions according to claim 1, further comprising, after the switching into the single pedal mode:

4. The method for controlling the single pedal mode deceleration operation of the electric vehicle under the ice and snow road conditions according to claim 1, wherein the obtaining the first vehicle speed value and the second vehicle speed value comprises:

acquiring a first vehicle speed value based on the ESP;

collecting a first MCU rotation signal;

5. The method for controlling the single pedal mode deceleration operation of the electric vehicle under the ice and snow road conditions according to claim 1, further comprising, after calculating the vehicle speed difference between the second vehicle speed value and the first vehicle speed value:

6. The method for controlling the single pedal mode deceleration operation of the electric vehicle under the ice and snow road conditions according to claim 2, further comprising, after the third vehicle speed value and the fourth vehicle speed value are obtained:

7. The method for controlling the single pedal mode deceleration operation of the electric vehicle under the ice and snow road conditions according to claim 2, wherein the obtaining the third vehicle speed value and the fourth vehicle speed value comprises:

based on the ESP, obtaining a third vehicle speed value;

collecting a second MCU rotation signal;

8. The utility model provides an electric automobile single pedal mode speed reduction operation control system under ice and snow road conditions which characterized in that includes:

9. A server comprising a memory, a processor and a computer program stored in the memory and operable on the processor, wherein the processor executes the computer program to implement the steps of the single pedal mode deceleration operation control method for an electric vehicle under ice and snow road conditions as claimed in any one of claims 1 to 7.

10. A computer readable storage medium having a computer program, wherein the computer program when executed by a processor implements the steps of a single pedal mode deceleration operation control method for an electric vehicle under ice and snow road conditions as claimed in any one of claims 1 to 7.