System description系统说明

The vehicle control system is the core of the vehicle control system of electric vehicles. It is responsible for coordinating the collaborative work of various control systems and providing complete control logic for the good operation of the vehicle. The vehicle control system collects accelerator pedal signals, brake pedal signals and other component signals to monitor vehicle information and driver intentions. After making corresponding judgments based on algorithms such as torque models, it controls the actions of controllers and actuators of lower-level components to drive the vehicle to normal driving. As a vehicle management center, the main functions of the vehicle control system include: vehicle driving control functions, vehicle network management, braking energy feedback control, vehicle energy management and optimization, vehicle status monitoring and display, fault diagnosis and processing, external charging management, etc. It plays the role of controlling vehicle operation.整车控制系统是电动汽车车辆控制系统的核心，它负责协调各控制系统的协同工作，为车辆的良好运行提供完善的控制逻辑。整车控制系统通过采集加速踏板信号、制动踏板信号及其他部件信号，监测车辆信息及驾驶员意图，并根据扭矩模型等算法做出相应判断后，控制下层各部件控制器及执行器的动作，驱动汽车正常行驶。作为汽车管理中心，整车控制系统主要功能包括：对汽车行驶控制的功能、整车的网络化管理、制动能量回馈控制、整车能量管理和优化、车辆状态的监测和显示、故障诊断与处理、外接充电管理等，它起着控制车辆运行的作用。

1.

The vehicle control system consists of the vehicle controller, brake pedal, accelerator pedal, etc.整车控制系统由整车控制器、制动踏板、加速踏板等组成。

2.

Driving mode control function: The driver operates the driving mode button. After the infotainment head unit receives the driver's mode selection, it highlights the driving mode selected by the driver. The infotainment head unit transmits the current driving mode selected by the driver to the vehicle controller. The vehicle controller switches the driving mode to energy saving/comfort/sport mode and notifies the relevant modules through the vehicle controller. When the driving mode is switched, the vehicle controller must filter the torque output to ensure that the vehicle does not accelerate or decelerate suddenly. When the battery shows that the SOC is too low, the instrument pop-up box reminds the driver whether to enter the extreme energy-saving mode. When the driver chooses to enter the extreme energy-saving function, the instrument and the host continue to display the current driving mode, but there is a special mark on the instrument to indicate that the extreme energy-saving function has been entered, and the extreme energy-saving icon continues to be displayed on the host.驾驶模式控制功能：驾驶员操作驾驶模式按键，车载智能多媒体主机接收到驾驶员的模式选择后，高亮显示驾驶员选择的驾驶模式，车载智能多媒体主机将当前驾驶员选择的驾驶模式传递给整车控制器，整车控制器切换驾驶模式进入节能 /舒适 /运动 模式，并通过整车控制器告知各相关模块。驾驶模式在切换时，整车控制器要对扭矩输出进行滤波处理，保证车辆不能出现突兀加速或减速。当电池显示SOC过低时，仪表弹框提醒驾驶员是否进入极致节能模式，当驾驶员选择进入极致节能功能时，仪表和主机继续显示当前驾驶模式，但在仪表上有特殊标识显示已进入极致节能功能，在主机上持续显示极致节能图标。

3.

Gear switching function: Vehicle gears include P, D, R and N. After the driver performs the gear shifting operation (the driver's operation is correct by default), the switch between each gear is realized. In the "Ready" state of the vehicle, the combination of the three states of the door, seat belt and driver's departure sensor realizes the function of automatically returning to "P" gear. When the driver's operation is wrong, the vehicle controller will give corresponding text and sound reminders through the instrument.挡位切换功能：车辆挡位包含P挡、D挡、R挡和N挡。驾驶员通过怀挡操作后(默认驾驶员操作正确)，实现各挡位之间的切换。车辆“Ready”状态下，车门、安全带和主驾离位传感器三者状态的组合，实现自动回“P”挡的功能。当驾驶员的操作错误时，整车控制器会通过仪表进行相应的文字和声音提醒。

4.

Energy recovery function: The driver selects the energy recovery intensity, and the infotainment head unit sends it to the vehicle controller in the form of 0~100%. After receiving the infotainment head unit signal, the vehicle controller executes the corresponding energy recovery level according to the request: intelligent energy recovery, close [0%, 5%], low (5%, 40%], medium (40%, 80%], strong (80%, 100]. The vehicle controller is only responsible for the recovery intensity when the driver does not apply the brakes. The maximum deceleration for low energy recovery intensity is 0.05g, the maximum deceleration for medium energy recovery intensity is 0.15g, the maximum deceleration for high energy recovery intensity is 0.23g, and the maximum deceleration for smart energy recovery intensity is 0.23g. Off means there is no coasting energy recovery intensity. When the driver applies the brake, the brake energy recovery function is activated, and the integrated brake control unit is responsible for calculating the target recovery torque. The vehicle controller continues to send the target energy recovery torque value in coasting or energy-saving mode in real time based on the current gear and vehicle speed to recover part of the energy.能量回收功能：驾驶员选择能量回收强度，车载智能多媒体主机以0~100%形式发送给整车控制器，整车控制器收到车载智能多媒体主机信号后，按照请求执行相应的能量回收等级：智能能量回收，关闭[0% , 5%]，低(5% , 40%]，中(40% , 80%]，强(80% , 100]。整车控制器只负责驾驶员未踩刹车时的回收强度。低能量回收强度最大减速度0.05g，中能量回收强度最大减速度0.1g，高能量回收强度最大减速度0.15g，智能能量回收强度最大减速度0.23g，关闭表示无滑行能量回收强度。驾驶员踩制动时，激活制动能量回收功能，由集成式制动控制单元负责目标回收扭矩计算。整车控制器根据当前挡位和车速继续实时发送滑行或节能模式下的目标能量回收扭矩值，来回收部分能量。

5.

Driving energy management function: The driving energy management function means that the vehicle manages the power of all electrical appliances on the vehicle based on the current battery power and power status.行驶能量管理功能：行驶能量管理功能是指车辆根据目前的电池电量及电源状态对车辆上的所有用电器的功率进行管理。

6.

System drive and recovery capacity calculation function: The battery pack obtains the maximum current value based on SOC and battery temperature data, and sends this current value to the vehicle controller. After comprehensive calculation, the vehicle controller obtains the current limit value of the integrated electric drive assembly and sends it to the integrated electric drive assembly. System drive and energy recovery are achieved by integrating the electric drive assembly. During driving, the actual current and 10s capacity current value of the battery are monitored in real time. When the actual current exceeds the 10s capacity value, a closed-loop control scheme is adopted to actively reduce the drive or recover the target torque to prevent over-discharge or overcharge of the battery.系统驱动和回收能力计算功能：电池组箱根据SOC和电池温度数据得到最大的电流值，并将此电流值发送给整车控制器，整车控制器经过综合计算后得到集成电力驱动总成的电流限制值，并发送给集成电力驱动总成。通过集成电力驱动总成来实现系统驱动和能量回收的。行驶过程中，实时监测电池的实际电流与10s能力电流值，当实际电流超过10s能力值时，采用闭环控制方案，主动减小驱动或回收目标扭矩，来防止电池的过放或过充。

7.

Torque calculation and management function: The integrated electric drive assembly must output driving torque or braking torque according to the driver's intention. When the driver steps on the accelerator or brake pedal, the integrated electric drive assembly must output a certain amount of driving power or regenerative braking power. The greater the pedal opening, the greater the output power of the integrated electric drive assembly. Therefore, the accelerator pedal must reasonably interpret the driver's operation, receive feedback information from each subsystem of the vehicle, provide decision-making feedback to the driver, and send control instructions to each subsystem of the vehicle to achieve normal driving of the vehicle. At the same time, the vehicle controller needs to control the torque output of the integrated electric drive assembly according to the different functions that the vehicle needs to implement.扭矩计算与管理功能：集成电力驱动总成必须按照驾驶员意图输出驱动扭矩或制动扭矩。当驾驶员踩下加速踏板或制动踏板时，集成电力驱动总成要输出一定的驱动功率或再生制动功率。踏板开度越大，集成电力驱动总成的输出功率越大。因此，加速踏板要合理解释驾驶员操作，接收整车各子系统的反馈信息，为驾驶员提供决策反馈；对整车各子系统的发送控制指令，以实现车辆的正常行驶。同时根据车辆需实现的不同功能整车控制器需控制集成电力驱动总成的扭矩输出。

8.

Battery SOC and driving range calculation and display function: The displayed SOC can only change in one direction, that is, it can only increase when charging and can only decrease when discharging. When the vehicle is parked for more than 1 month and has not been used, the battery self-discharge is large, the battery reports a level 3 or above fault, or reaches the battery charge and discharge cut-off voltage, and the SOC historical value storage abnormality allows the display of SOC jumps; when the battery power is too low and the remaining cruising range is insufficient, the vehicle controller will provide corresponding continuous text reminders through the instrument.电池SOC及续驶里程计算与显示功能：显示SOC只能单向变化，即充电时候只能增加，放电时候，只能下降；当车辆停放超1个月未使用，电池自放电较大、电池上报3级以上故障，或达到电池充放电截止电压、显示SOC历史值存储异常则允许显示SOC跳变；当电池的电量过低，剩余续航里程不足时，整车控制器会通过仪表进行相应的持续文字提醒。