Four-wheel drive hybrid vehicle control method, device and vehicle

Abstract

The present application is applicable to the field of vehicle control technology, and provides a four-wheel drive hybrid vehicle control method, device and vehicle. The above-mentioned four-wheel drive hybrid vehicle control method obtains the gear state of the front axle gearbox and the gear state of the rear axle gearbox. When the gear state of the front axle gearbox is in gear shifting, the front axle drive motor needs to provide torque to make the torque at the crankshaft end of the engine zero. At this time, the front axle drive motor is controlled to maintain the current torque ratio to prevent the front axle drive motor from continuously increasing and exceeding the motor capacity to cause power loss. When the gear state of the rear axle gearbox is in gear shifting, the rear axle drive motor cannot continue to output power. At this time, the torque ratio of the front axle drive motor is controlled to be increased to the preset ratio, reducing the loss of vehicle power and improving the stability of vehicle driving.

Description

Technical Field

[0001] The present application belongs to the field of vehicle control technology, and in particular, relates to a four-wheel drive hybrid vehicle control method, device and vehicle. Background Art

[0002] DHT (Dedicated Hybrid Technology) is a highly integrated oil-electric hybrid system that integrates major components such as a dedicated hybrid engine, GM / TM dual motors, dual motor controller, integrated DCDC and fixed-axis gearbox. It can achieve a smaller size, lighter weight and higher transmission efficiency than traditional fuel powertrains.

[0003] The current front and rear axle torque distribution of DHT models does not take into account the front and rear axle speed cable shifting and actual gear issues, which will cause the vehicle to have problems such as uneven torque or power loss during the gear shifting process. Summary of the invention

[0004] The embodiments of the present application provide a four-wheel drive hybrid vehicle control method, device and vehicle, which can solve the problem of uneven torque or power loss during vehicle shifting.

[0005] In a first aspect, an embodiment of the present application provides a four-wheel drive hybrid vehicle control method, comprising:

[0006] Obtain the gear status of the front axle gearbox and the gear status of the rear axle gearbox;

[0007] When the gear state of the front axle gearbox is in the gear shifting state, controlling the front axle drive motor to maintain the current torque ratio;

[0008] When the gear state of the rear axle gearbox is in the gear shifting state, the torque ratio of the front axle drive motor is controlled to increase to a preset ratio.

[0009] In a possible implementation of the first aspect, the four-wheel drive hybrid vehicle control method further includes:

[0010] Get the working mode of the vehicle;

[0011] When the working mode of the vehicle is in the process of switching from the series mode to the engine direct drive mode, the front axle drive motor is controlled to maintain the current torque ratio.

[0012] In a possible implementation of the first aspect, the four-wheel drive hybrid vehicle control method further includes:

[0013] When the gear state of the rear axle gearbox is in neutral for a duration greater than a preset time, the torque ratio of the front axle drive motor is controlled to increase to 100%.

[0014] In a possible implementation of the first aspect, when the gear state of the rear axle gearbox is in the gear shifting state, controlling the torque ratio of the front axle drive motor to increase to a preset ratio includes:

[0015] Obtaining a first rate of torque ratio unloading of the rear axle drive motor;

[0016] The front axle drive motor is controlled to increase the torque ratio to the preset ratio according to the first speed.

[0017] In a second aspect, an embodiment of the present application provides a four-wheel drive hybrid vehicle control device, comprising:

[0018] A first acquisition module, used to acquire the gear status of the front axle gearbox and the gear status of the rear axle gearbox;

[0019] A first control module, used for controlling the front axle drive motor to maintain a current torque ratio when the gear state of the front axle gearbox is in the gear shifting state;

[0020] The second control module is used to control the torque ratio of the front axle drive motor to increase to a preset ratio when the gear state of the rear axle gearbox is in the gear shifting state.

[0021] In a possible implementation of the second aspect, the four-wheel drive hybrid vehicle control device further includes:

[0022] A second acquisition module is used to acquire the working mode of the vehicle;

[0023] The third control module is used to control the front axle drive motor to maintain the current torque ratio when the working mode of the vehicle is in the process of switching from the series mode to the engine direct drive mode.

[0024] In a possible implementation of the second aspect, the four-wheel drive hybrid vehicle control device further includes:

[0025] The fourth control module is used to control the torque ratio of the front axle drive motor to increase to 100% when the gear state of the rear axle gearbox is in neutral for a duration greater than a preset time.

[0026] In a possible implementation manner of the second aspect, the second control module includes:

[0027] An acquisition unit, used for acquiring a first rate of unloading of the torque ratio of the rear axle drive motor;

[0028] A control unit is used to control the front axle drive motor to increase the torque ratio to the preset ratio according to the first rate.

[0029] In a third aspect, an embodiment of the present application provides a vehicle comprising a memory, a controller, and a computer program stored in the memory and executable on the controller, wherein the controller implements any one of the methods described in the first aspect when executing the computer program.

[0030] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a controller, the method described in any one of the first aspects is implemented.

[0031] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute any of the methods described in the first aspect above.

[0032] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0033] By obtaining the gear status of the front axle gearbox and the gear status of the rear axle gearbox, when the gear status of the front axle gearbox is in the gear shifting state, the front axle drive motor needs to provide torque to make the torque of the engine crankshaft end zero. At this time, the front axle drive motor is controlled to maintain the current torque ratio to prevent the front axle drive motor torque ratio from continuously increasing beyond the motor capacity and causing power loss. When the gear status of the rear axle gearbox is in the gear shifting state, the rear axle drive motor can no longer output power. At this time, the torque ratio of the front axle drive motor is controlled to increase to the preset ratio to reduce the loss of vehicle power and improve the stability of vehicle driving.

[0034] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0036] Figure 1 is a flow chart of a four-wheel drive hybrid vehicle control method provided by an embodiment of the present application;

[0037] Figure 2 is a flow chart of a four-wheel drive hybrid vehicle control method provided by another embodiment of the present application;

[0038] Figure 3 is a flow chart of a four-wheel drive hybrid vehicle control method provided by another embodiment of the present application;

[0039] Figure 4 is a structural schematic diagram of a four-wheel drive hybrid vehicle control device provided in one embodiment of the present application;

[0040] Figure 5 It is a schematic diagram of the structure of a vehicle provided in one embodiment of the present application. DETAILED DESCRIPTION

[0041] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0042] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0043] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0044] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0045] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0046] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0047] Figure 1 FIG. 1 is a flow chart of a four-wheel drive hybrid vehicle control method provided by an embodiment of the present application. Figure 1 As shown, the four-wheel drive hybrid vehicle control method includes steps S101 to S103.

[0048] Step S101, obtaining the gear status of the front axle gearbox and the gear status of the rear axle gearbox.

[0049] Specifically, the controller on the vehicle can obtain the gear status of the front axle gearbox and the gear status of the rear axle gearbox by analyzing the signals transmitted by the sensors or other electronic components on the vehicle.

[0050] Step S102, when the gear state of the front axle gearbox is in the gear shifting state, the front axle drive motor is controlled to maintain the current torque ratio.

[0051] Specifically, when the front axle gearbox shifts gears, the torque at the crankshaft end of the engine must be zero before the gear shift can be performed. However, in order to ensure that the engine is in an efficient working area, the front axle drive motor is required to provide negative torque to offset the torque at the crankshaft end of the engine, so that the total torque at the crankshaft end of the engine is zero. In the prior art, the torque ratio of the front axle drive motor is increased, but the continuous increase in the torque ratio of the front axle drive motor will exceed the capacity of the motor, which may cause power loss of the front axle drive motor and affect the driving stability. At this time, the front axle drive motor is controlled to maintain the current torque ratio. The front axle drive motor uses the current output torque to offset the torque at the crankshaft end of the engine, so that the total torque at the crankshaft end of the engine is zero, preventing the torque ratio of the front axle drive motor from continuing to increase beyond the motor capacity to cause power loss, thereby improving the driving stability of the vehicle.

[0052] In one embodiment of the present application, in order to control the front axle drive motor to maintain the current torque ratio, a filter module with a very small gradient can be added to the vehicle. During the front axle gear shifting period, the filter module controls the torque ratio of the front axle drive motor to increase slowly, basically maintaining the current value, and does not cause the torque ratio of the front axle drive motor to increase too much, causing power loss.

[0053] Step S103, when the gear state of the rear axle gearbox is in the gear shifting state, the torque ratio of the front axle drive motor is controlled to increase to a preset ratio.

[0054] Specifically, under intense vehicle driving conditions, the front axle drive motor and the rear axle drive motor both output torque at full capacity according to the current torque limit. Under this condition, what affects the motor torque limit is the current maximum discharge power of the battery. If the rear axle gearbox shifts gears at this time, the rear axle drive motor needs to adjust speed and shift gears and cannot continue to output power, causing the vehicle to lose power and affecting the stability of the vehicle's driving.

[0055] When the rear axle gearbox is in the gear shifting state, the torque ratio of the front axle drive motor is controlled to increase to the preset ratio, thereby increasing the torque of the front axle drive motor, and the front axle drive motor supplements the power lost due to the gear shifting of the rear axle gearbox, thereby minimizing the loss of vehicle power and improving the driving stability of the vehicle.

[0056] It should be noted that the designer can set the specific data of the preset ratio according to actual needs. Preferably, the preset ratio is 90%-100%, and the optimal preset ratio is 100%. When the preset ratio is 100%, when the gear state of the rear axle gearbox is in the gear shifting state, the torque ratio of the front axle drive motor is controlled to be increased to 100%. At this time, all the power of the battery on the vehicle is distributed to the front axle drive motor, and the front axle drive motor supplements the power lost due to the rear axle gearbox shifting, thereby minimizing the loss of vehicle power and improving the stability of vehicle driving.

[0057] Exemplarily, step S103 may specifically include step S1031 and step S1032.

[0058] Step S1031, obtaining a first rate of unloading of the rear axle drive motor torque ratio.

[0059] Specifically, the controller on the vehicle has a shift logic inside, which determines whether the rear axle gearbox needs to shift gears by integrating the current parameters of the vehicle (such as vehicle speed, the accelerator pedal opening of the driver, and gearbox data, etc.). When the controller on the vehicle sends a shift request, it will control the torque ratio of the rear axle drive motor to unload at a first rate. When the torque ratio of the rear axle drive motor is zero, the rear axle gearbox can complete the shift.

[0060] The first rate can be a fixed value pre-set by the designer, or it can be real-time data calculated by the controller based on the current parameters of the vehicle. The first rate is used to indicate how fast the torque ratio of the rear axle drive motor is reduced. The larger the first rate, the faster the torque ratio of the rear axle drive motor is reduced; the smaller the first rate, the slower the torque ratio of the rear axle drive motor is reduced.

[0061] Step S1032, controlling the front axle drive motor to increase the torque ratio to a preset ratio at a first rate.

[0062] Specifically, during the rear axle gearbox shifting process, the rear axle drive motor reduces the torque ratio to zero at the first rate. At this time, the front axle drive motor is controlled to increase the torque ratio to a preset ratio at the first rate, and the increase rate of the front axle drive motor torque ratio is equal to the decrease rate of the rear axle drive motor torque ratio. The increased torque of the front axle drive motor compensates for the decrease in the torque of the rear axle drive motor, so that the power of the vehicle remains stable and the stability of the vehicle during the rear axle gearbox shifting is improved.

[0063] For example, the preset ratio is 100%. Before the rear axle gearbox shifts, the torque of the rear axle drive motor is 500Nm, and the torque ratio is 50%; the torque of the front axle drive motor is 500Nm, and the torque ratio is 50%. During the rear axle gearbox shift, the torque unloading rate of the rear axle drive motor is 500Nm / s, and the torque ratio unloading rate is 50% / s; the torque increase rate of the front axle drive motor is 500Nm / s, and the torque ratio increase rate is 50% / s. This ensures that the total torque of the vehicle remains stable during the rear axle gearbox shift, and improves the stability of the vehicle when the rear axle gearbox shifts.

[0064] Figure 2 FIG. 2 is a flow chart of a four-wheel drive hybrid vehicle control method provided by another embodiment of the present application. Figure 2 As shown, the four-wheel drive hybrid vehicle control method also includes step S104 and step S105.

[0065] Step S104, obtaining the working mode of the vehicle.

[0066] Specifically, the working modes of four-wheel drive hybrid vehicles include EV mode, series mode and parallel mode. In EV mode, the vehicle is directly driven by the drive motor. In series mode, the engine drives the generator to generate electricity, the generator provides energy to the drive motor, and the drive motor directly drives the vehicle. In parallel mode, the engine directly drives the vehicle, and the generator and drive motor are responsible for adjusting the engine operating point and auxiliary driving.

[0067] By analyzing the signals transmitted by sensors or other electronic components on the vehicle, the current operating mode of the vehicle can be obtained.

[0068] Step S105, when the working mode of the vehicle is in the process of switching from the series mode to the engine direct drive mode, the front axle drive motor is controlled to maintain the current torque ratio.

[0069] Specifically, when the vehicle's operating mode is in the process of switching from series mode to engine direct drive mode, the vehicle's driving mode switches from pure electric drive to the engine and drive motor driving the vehicle together. Due to the slow rise of engine torque, during the mode switching process, the actual torque of the engine is less than the target torque, and the front axle drive motor is required to compensate for the torque. This causes the torque of the front axle drive motor to increase rapidly. If the torque of the front axle drive motor rises too quickly, the torque of the front and rear axles will be uneven. When the torque of the front axle drive motor exceeds the drive motor's own capacity, the front axle drive motor will lose power.

[0070] In order to solve the above problems, when the vehicle's working mode is in the process of switching from series mode to engine direct drive mode, the front axle drive motor is controlled to maintain the current torque ratio, so that the front axle drive motor uses the existing torque to compensate for the engine torque, thereby preventing the torque ratio of the front axle drive motor from increasing too much and causing power loss.

[0071] Figure 3 FIG. 2 is a flow chart of a four-wheel drive hybrid vehicle control method provided by another embodiment of the present application. Figure 3 As shown, the four-wheel drive hybrid vehicle control method also includes step S106.

[0072] Step S106, when the gear state of the rear axle transmission is in neutral for a duration greater than a preset time, the torque ratio of the front axle drive motor is controlled to increase to 100%.

[0073] Specifically, during the vehicle power-on process, if the rear axle gearbox fails to self-learn, the rear axle gearbox will always be in N gear (neutral), and the rear axle drive motor will have no power output. If the rear axle drive motor is still torque-proportioned at this time, it will cause energy waste and insufficient vehicle power. When the rear axle gearbox is in neutral for a period of time greater than the preset time, it means that the rear axle gearbox has failed to self-learn, and the rear axle gearbox is always in N gear. At this time, the torque ratio of the front axle drive motor is controlled to increase to 100%, and the torque ratio of the front axle drive motor is increased to compensate for the torque loss of the rear axle drive motor, maintain sufficient power for the vehicle, and ensure that the vehicle can still drive normally when the rear axle gearbox is in neutral.

[0074] It should be noted that the designer can set the specific value of the preset time according to actual requirements, for example, setting the preset time to 3 seconds, 5 seconds or other time.

[0075] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0076] Figure 4 Schematic diagram of the structure of a four-wheel drive hybrid vehicle control device provided by an embodiment of the present application. Figure 4 As shown, the four-wheel drive hybrid vehicle control device includes:

[0077] A first acquisition module, used to acquire the gear status of the front axle gearbox and the gear status of the rear axle gearbox;

[0078] A first control module, used for controlling the front axle drive motor to maintain a current torque ratio when the gear state of the front axle gearbox is in the gear shifting state;

[0079] The second control module is used to control the torque ratio of the front axle drive motor to increase to a preset ratio when the gear state of the rear axle gearbox is in the gear shifting state.

[0080] In one embodiment of the present application, the four-wheel drive hybrid vehicle control device further includes:

[0081] A second acquisition module is used to acquire the working mode of the vehicle;

[0082] The third control module is used to control the front axle drive motor to maintain the current torque ratio when the working mode of the vehicle is in the process of switching from the series mode to the engine direct drive mode.

[0083] In one embodiment of the present application, the four-wheel drive hybrid vehicle control device further includes:

[0084] The fourth control module is used to control the torque ratio of the front axle drive motor to increase to 100% when the gear state of the rear axle gearbox is in neutral for a duration greater than a preset time.

[0085] In one embodiment of the present application, the second control module includes:

[0086] An acquisition unit, used for acquiring a first rate of unloading of the torque ratio of the rear axle drive motor;

[0087] A control unit is used to control the front axle drive motor to increase the torque ratio to the preset ratio according to the first rate.

[0088] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0089] Figure 5 This is a schematic diagram of the structure of a vehicle provided in one embodiment of the present application. Figure 5 As shown, the vehicle 5 of this embodiment may include: at least one controller 50 ( Figure 5 Only one controller 50 is shown in the figure), a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one controller 50. When the controller 50 executes the computer program 52, the steps in any of the above-mentioned method embodiments are implemented, for example Figure 1 Steps S101 to S103 in the illustrated embodiment. Alternatively, when the controller 50 executes the computer program 52, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 4 The functions of modules 41 to 43 are shown.

[0090] Exemplarily, the computer program 52 may be divided into one or more modules / units, which are stored in the memory 51 and executed by the controller 50 to implement the present invention. The one or more modules / units may be a series of computer program 52 instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program 52 in the vehicle 5.

[0091] The controller 50 may be a central processing unit (CPU), or other general controllers, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general controller may be a microcontroller or any conventional controller, etc.

[0092] In some embodiments, the memory 51 may be an internal storage unit of the vehicle 5, such as a hard disk or memory of the vehicle 5. In other embodiments, the memory 51 may also be an external storage device of the vehicle 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the vehicle 5. Further, the memory 51 may also include both an internal storage unit of the vehicle 5 and an external storage device. The memory 51 is used to store an operating system, an application program, a boot loader, data, and other programs, such as the program code of the computer program 52. The memory 51 may also be used to temporarily store data that has been output or is to be output.

[0093] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program 52 . When the computer program 52 is executed by the controller 50 , the steps in the above-mentioned method embodiments can be implemented.

[0094] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0095] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program 52, and the computer program 52 can be stored in a computer-readable storage medium. When the computer program 52 is executed by the controller 50, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program 52 includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, RandomAccess Memory), an electric carrier signal, a telecommunication signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0096] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0097] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0098] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0099] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0100] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A four-wheel drive hybrid vehicle control method, characterized in that: include: Obtain the gear status of the front axle gearbox and the gear status of the rear axle gearbox; When the gear state of the front axle gearbox is in the gear shifting state, controlling the front axle drive motor to maintain the current torque ratio; When the gear state of the rear axle gearbox is in the gear shifting state, the torque ratio of the front axle drive motor is controlled to increase to a preset ratio.

2. The four-wheel drive hybrid vehicle control method according to claim 1, characterized in that: The four-wheel drive hybrid vehicle control method further includes: Get the working mode of the vehicle; When the working mode of the vehicle is in the process of switching from the series mode to the engine direct drive mode, the front axle drive motor is controlled to maintain the current torque ratio.

3. The four-wheel drive hybrid vehicle control method according to claim 1, characterized in that: The four-wheel drive hybrid vehicle control method further includes: When the gear state of the rear axle gearbox is in neutral for a duration greater than a preset time, the torque ratio of the front axle drive motor is controlled to increase to 100%.

4. The four-wheel drive hybrid vehicle control method according to claim 1, characterized in that: When the gear state of the rear axle gearbox is in the gear shifting state, controlling the torque ratio of the front axle drive motor to increase to a preset ratio includes: Obtaining a first rate of torque ratio unloading of the rear axle drive motor; The front axle drive motor is controlled to increase the torque ratio to the preset ratio according to the first speed.

5. A four-wheel drive hybrid vehicle control device, characterized in that: include: A first acquisition module, used to acquire the gear status of the front axle gearbox and the gear status of the rear axle gearbox; A first control module, used for controlling the front axle drive motor to maintain a current torque ratio when the gear state of the front axle gearbox is in the gear shifting state; The second control module is used to control the torque ratio of the front axle drive motor to increase to a preset ratio when the gear state of the rear axle gearbox is in the gear shifting state.

6. The four-wheel drive hybrid vehicle control device according to claim 5, characterized in that: The four-wheel drive hybrid vehicle control device also includes: A second acquisition module is used to acquire the working mode of the vehicle; The third control module is used to control the front axle drive motor to maintain the current torque ratio when the working mode of the vehicle is in the process of switching from the series mode to the engine direct drive mode.

7. The four-wheel drive hybrid vehicle control device according to claim 5, characterized in that: The four-wheel drive hybrid vehicle control device also includes: The fourth control module is used to control the torque ratio of the front axle drive motor to increase to 100% when the gear state of the rear axle gearbox is in neutral for a duration greater than a preset time.

8. The four-wheel drive hybrid vehicle control device according to claim 5, characterized in that: The second control module includes: An acquisition unit, used for acquiring a first rate of unloading of the torque ratio of the rear axle drive motor; A control unit is used to control the front axle drive motor to increase the torque ratio to the preset ratio according to the first rate.

9. A vehicle comprising a memory, a controller, and a computer program stored in the memory and executable on the controller, characterized in that: When the controller executes the computer program, the method according to any one of claims 1 to 4 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a controller, the method according to any one of claims 1 to 4 is implemented.

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