CN-121973754-A - Control method of vehicle, storage medium, controller and vehicle

CN121973754ACN 121973754 ACN121973754 ACN 121973754ACN-121973754-A

Abstract

The invention discloses a control method of a vehicle, a storage medium, a controller and the vehicle, and relates to the technical field of vehicles. The vehicle control method comprises the steps of responding to a torque request, determining closed loop target power and vehicle required torque, obtaining actual power of a target to be corrected, generating maximum allowable request power based on power deviation between the closed loop target power and the actual power, limiting the vehicle required torque by using the maximum allowable request power to obtain the vehicle target wheel end torque, and controlling a driving motor of a vehicle based on the vehicle target wheel end torque. The method can dynamically ensure the operation safety boundary of the high-voltage component in the full working condition range through real-time detection and closed-loop compensation of the power deviation. Meanwhile, the method effectively balances potential deviation of the power system and the demand of a driver, ensures that the power response of the whole vehicle meets the expectations, maximizes the energy recovery efficiency and further optimizes the endurance performance.

Inventors

YANG DONGSHENG
WANG HAOQIANG
WU KAN
CUI XUEZHI
SHANG SHUAISHUAI

Assignees

比亚迪股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260211

Claims (10)

1. A control method of a vehicle, characterized by comprising the steps of: determining a closed loop target power and a vehicle demand torque in response to the torque request; Acquiring the actual power of a target to be corrected, and generating maximum allowable request power based on the power deviation between the closed loop target power and the actual power, wherein the target to be corrected comprises a vehicle power battery and/or a boost DC module; Limiting the required torque of the whole vehicle by utilizing the maximum allowable request power to obtain the target wheel end torque of the whole vehicle; and controlling a driving motor of the vehicle based on the target wheel end torque of the whole vehicle.
2. The method of controlling a vehicle according to claim 1, wherein the determining a closed loop target power in response to a torque request includes: calculating a sum of a maximum allowable battery discharge power and a load consumption power of the vehicle in response to a driving torque request, and taking the sum down to a boosted DC maximum allowable discharge power of the vehicle to obtain the closed-loop target power; and responding to a braking torque request, calculating a difference value between the maximum allowable battery charging power of the vehicle and the load consumption power, and taking the difference value and the maximum allowable boost DC charging power of the vehicle down to obtain the closed-loop target power.
3. The control method of the vehicle according to claim 2, characterized in that the generating the maximum allowable request power based on the power deviation between the closed-loop target power and the actual power includes: generating the maximum allowable request power based on the power deviation using a PID controller; The power deviation is the closed loop target power minus the actual power at the drive torque request, and the power deviation is the actual power minus the closed loop target power at the brake torque request.
4. The control method of a vehicle according to claim 1, characterized in that when the power deviation is greater than 0, before the limitation of the vehicle required torque with the maximum allowable request power, the method further includes: under a driving torque request, determining that the required torque of the whole vehicle is larger than or equal to the maximum driving target torque of the whole vehicle, and the actual power of the target to be corrected is smaller than the maximum allowable discharge power of the target to be corrected; and under the braking torque request, determining that the whole vehicle required torque is greater than or equal to the whole vehicle maximum feedback target torque, and the actual power of the target to be corrected is smaller than the maximum allowable charging power of the target to be corrected.
5. The method for controlling a vehicle according to claim 1, wherein the limiting the vehicle required torque with the maximum allowable request power to obtain a vehicle target wheel end torque includes: Calculating a maximum allowable request torque based on the maximum allowable request power; Taking the maximum allowable request torque and the maximum allowable output torque of the vehicle driving motor to be smaller; Responding to the fact that the required torque of the whole vehicle is larger than the torque after the torque is taken as the torque of the target wheel end of the whole vehicle; and responding to the whole vehicle required torque being smaller than or equal to the torque after the torque is taken, and taking the whole vehicle required torque as the whole vehicle target wheel end torque.
6. The control method of a vehicle according to claim 1, characterized in that, before the control of the drive motor of the vehicle based on the target wheel end torque of the whole vehicle, the method further comprises: And carrying out smooth filtering treatment on the torque of the target wheel end of the whole vehicle.
7. The control method of a vehicle according to claim 1, characterized in that the acquiring of the actual power of the target to be corrected includes: acquiring the current and the voltage of the target to be corrected; Multiplying the current and the voltage of the target to be corrected, and performing second-order low-pass filtering on the multiplied result to obtain the actual power of the target to be corrected.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the control method of a vehicle according to any one of claims 1-7.
9. A controller comprising at least one processor and a memory communicatively coupled to the at least one processor, wherein the memory stores a computer program executable by the at least one processor, the computer program, when executed by the at least one processor, causes the at least one processor to perform the method of controlling a vehicle as claimed in any one of claims 1-7.
10. A vehicle according to claim 9, comprising a controller.

Description

Control method of vehicle, storage medium, controller and vehicle Technical Field The present invention relates to the field of vehicle technologies, and in particular, to a vehicle control method, a storage medium, a controller, and a vehicle. Background The power system of the vehicle (such as pure electric vehicle and hybrid electric vehicle) integrates a driving motor, various high-voltage loads, a boosting DC module and other components, and the operation working condition of the power system is complex and changeable. Deviations of any component in the system, such as motor efficiency deviation calibration value, inaccurate estimation of high-voltage load power consumption and the like, can cause power deviation of the whole power system. If the deviation is not controlled, the overcharge and overdischarge of a battery or a boost DC module can be caused to influence the safety and the service life of a system, and on the other hand, the discharge capacity of the battery can be underutilized to reduce the dynamic property of the whole vehicle, or the charging is insufficient during energy recovery, so that the braking feedback efficiency is weakened, and the driving range is reduced. Disclosure of Invention The invention aims to provide a vehicle control method, a storage medium, a controller and a vehicle, so as to improve estimation efficiency and accuracy of road adhesion coefficient. In a first aspect, an embodiment of the present invention provides a control method for a vehicle, where the method includes determining a closed loop target power and a vehicle required torque in response to a torque request, obtaining an actual power of a target to be corrected, and generating a maximum allowable request power based on a power deviation between the closed loop target power and the actual power, where the target to be corrected includes a vehicle power battery and/or a boost DC module, limiting the vehicle required torque with the maximum allowable request power to obtain a vehicle target wheel end torque, and controlling a driving motor of the vehicle based on the vehicle target wheel end torque. In some embodiments, the determining the closed loop target power in response to a torque request includes calculating a sum of a maximum allowable battery discharge power and a load consumption power of the vehicle in response to a drive torque request and reducing the sum to a boosted DC maximum allowable battery discharge power of the vehicle to obtain the closed loop target power, and calculating a difference between the maximum allowable battery charge power of the vehicle and the load consumption power in response to a brake torque request and reducing the difference to a boosted DC maximum allowable battery charge power of the vehicle to obtain the closed loop target power. In some embodiments, the generating the maximum allowable request power based on a power offset between the closed loop target power and the actual power includes generating the maximum allowable request power based on the power offset with a PID controller, wherein the power offset is the closed loop target power minus the actual power at the drive torque request, and the power offset is the actual power minus the closed loop target power at the brake torque request. In some embodiments, when the power deviation is greater than 0, before limiting the vehicle required torque by using the maximum allowable request power, the method further includes determining that the vehicle required torque is greater than or equal to a vehicle maximum driving target torque and the actual power of the target to be corrected is less than the maximum allowable discharge power of the target to be corrected, and determining that the vehicle required torque is greater than or equal to a vehicle maximum feedback target torque and the actual power of the target to be corrected is less than the maximum allowable charge power of the target to be corrected, under a braking torque request. In some embodiments, the limiting the vehicle required torque by using the maximum allowable request power to obtain a vehicle target wheel end torque includes calculating a maximum allowable request torque based on the maximum allowable request power, taking the maximum allowable request torque and the maximum allowable output torque of the vehicle driving motor to be smaller, taking the smaller torque as the vehicle target wheel end torque in response to the vehicle required torque being greater than the smaller torque, and taking the vehicle required torque as the vehicle target wheel end torque in response to the vehicle required torque being less than or equal to the smaller torque. In some embodiments, before the driving motor of the vehicle is controlled based on the target wheel end torque of the whole vehicle, the method further comprises smoothing the target wheel end torque of the whole vehicle. In some embodiments, the obtaining the actual power of the target t