Vehicle control method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle control method and device, a vehicle and a storage medium and relates to the field of automatic control, and the method comprises the steps that under the condition that the opening degree of an accelerator pedal of the vehicle is changed, the motor rotating speed and the target torque of the vehicle are obtained; motor parameters of the vehicle are determined according to the motor rotating speed, and the motor parameters comprise output torques of the main driving motor and the auxiliary driving motor under different efficiencies; and controlling the vehicle according to the motor parameters and the target torque. According to the method, the output torque of the main driving motor and the output torque of the auxiliary driving motor at different rotating speeds are determined according to the rotating speed of the current driving motor, and finally the target torque is distributed according to the motor parameters and the target torque, so that the distribution efficiency of the target torque can be improved on the premise of ensuring the dynamic property of the vehicle, and thus, the efficiency of the vehicle is improved. The efficiency of the whole vehicle driving system is improved, the energy consumption of the driving system is reduced, and the endurance mileage of the vehicle is increased.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic control technology, and in particular to a vehicle control method, device, vehicle and storage medium. Background Art

[0002] New energy vehicles have the characteristics of fast torque response and simple and controllable energy recovery, and have been widely used, with a growing market share. Currently, most vehicles use a single motor direct drive, or a drive system with a multi-speed gearbox; or a dual motor direct drive system.

[0003] However, the current torque distribution method distributes the torque according to the maximum output torque ratio of the drive motor. This torque distribution method is relatively simple and cannot reduce the energy consumption of the vehicle drive system while ensuring the vehicle's dynamic performance. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a vehicle control method, device, vehicle and storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, comprising: When the accelerator pedal opening of the vehicle changes, obtaining the motor speed and target torque of the vehicle; Determining motor parameters of the vehicle according to the motor speed, the motor parameters including output torques of a main drive motor and an auxiliary drive motor at different efficiencies; The vehicle is controlled according to the motor parameters and the target torque.

[0006] In one embodiment, the motor parameters include a first performance torque and a second performance torque, the first performance torque being the maximum torque that the main drive motor can output when the efficiency of the main drive motor is greater than or equal to a preset threshold, and the second performance torque being the maximum torque that the auxiliary drive motor can output when the efficiency of the auxiliary drive motor is greater than or equal to a preset threshold.

[0007] In one embodiment, controlling the vehicle according to the motor parameters and the target torque includes: When the target torque is less than or equal to the first performance torque, controlling the main drive motor to output the target torque; or, When the target torque is greater than the first performance torque, the output torques of the main drive motor and the auxiliary drive motor are controlled so that the sum of the output torques of the main drive motor and the auxiliary drive motor equals the target torque.

[0008] In one embodiment, when the target torque is greater than the first performance torque, controlling the output torque of the main drive motor and the auxiliary drive motor includes: When the target torque is greater than the first performance torque and less than or equal to the sum of the first performance torque and the second performance torque, the main drive motor is controlled to output the first performance torque, and the auxiliary drive motor is controlled to output the difference between the target torque and the first performance torque.

[0009] In one embodiment, the motor parameters further include a first maximum torque and a second maximum torque, wherein the first maximum torque is the maximum torque that can be output by the main drive motor when the efficiency of the main drive motor is less than a preset threshold, and the second maximum torque is the maximum torque that can be output by the auxiliary drive motor when the efficiency of the auxiliary drive motor is less than a preset threshold; When the target torque is greater than the first performance torque, controlling the output torques of the main drive motor and the auxiliary drive motor includes: When the target torque is greater than the sum of the first performance torque and the second performance torque, and the target torque is less than or equal to the sum of the first maximum torque and the second performance torque, the main drive motor is controlled to output the difference between the target torque and the second performance torque, and the auxiliary drive motor is controlled to output the second performance torque; or When the target torque is greater than the sum of the first maximum torque and the second performance torque, and the target torque is less than or equal to the sum of the first maximum torque and the second maximum torque, the main drive motor is controlled to output the first maximum torque, and the auxiliary drive motor is controlled to output the difference between the target torque and the first maximum torque.

[0010] In one embodiment, determining the motor parameters of the motor according to the motor speed includes: The first performance torque and the second performance torque corresponding to the motor speed are determined according to a preset corresponding relationship, wherein the preset corresponding relationship includes a corresponding relationship among the motor speed, the first performance torque and the second performance torque.

[0011] In one embodiment, the method further comprises: Acquiring the initial torque, torque adjustment gradient and torque adjustment times of the vehicle, wherein the initial torque is the torque of the drive system before the accelerator pedal opening changes; The target torque is determined according to the change in the accelerator pedal opening, the initial torque, the torque adjustment gradient, and the torque adjustment times.

[0012] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle control device, comprising: An acquisition module, used for acquiring a motor speed and a target torque of the vehicle when an accelerator pedal opening of the vehicle changes; A determination module, configured to determine motor parameters of the vehicle according to the motor speed, wherein the motor parameters include output torques of a main drive motor and an auxiliary drive motor at different efficiencies; A control module is used to control the vehicle according to the motor parameters and the target torque.

[0013] In one embodiment, the motor parameters include a first performance torque and a second performance torque, the first performance torque being the maximum torque that the main drive motor can output when the efficiency of the main drive motor is greater than or equal to a preset threshold, and the second performance torque being the maximum torque that the auxiliary drive motor can output when the efficiency of the auxiliary drive motor is greater than or equal to a preset threshold.

[0014] In one embodiment, the control module is further used to: When the target torque is less than or equal to the first performance torque, controlling the main drive motor to output the target torque; or, When the target torque is greater than the first performance torque, the output torques of the main drive motor and the auxiliary drive motor are controlled so that the sum of the output torques of the main drive motor and the auxiliary drive motor equals the target torque.

[0015] In one embodiment, the control module is further used to: When the target torque is greater than the first performance torque and less than or equal to the sum of the first performance torque and the second performance torque, the main drive motor is controlled to output the first performance torque, and the auxiliary drive motor is controlled to output the difference between the target torque and the first performance torque.

[0016] In one embodiment, the motor parameters further include a first maximum torque and a second maximum torque, wherein the first maximum torque is the maximum torque that can be output by the main drive motor when the efficiency of the main drive motor is less than a preset threshold, and the second maximum torque is the maximum torque that can be output by the auxiliary drive motor when the efficiency of the auxiliary drive motor is less than a preset threshold; The control module is also used for: When the target torque is greater than the sum of the first performance torque and the second performance torque, and the target torque is less than or equal to the sum of the first maximum torque and the second performance torque, the main drive motor is controlled to output the difference between the target torque and the second performance torque, and the auxiliary drive motor is controlled to output the second performance torque; or When the target torque is greater than the sum of the first maximum torque and the second performance torque, and the target torque is less than or equal to the sum of the first maximum torque and the second maximum torque, the main drive motor is controlled to output the first maximum torque, and the auxiliary drive motor is controlled to output the difference between the target torque and the first maximum torque.

[0017] In one embodiment, the determining module is further used to: The first performance torque and the second performance torque corresponding to the motor speed are determined according to a preset corresponding relationship, wherein the preset corresponding relationship includes a corresponding relationship among the motor speed, the first performance torque and the second performance torque.

[0018] In one embodiment, the acquisition module is further used to acquire the initial torque, torque adjustment gradient and torque adjustment times of the vehicle, wherein the initial torque is the torque of the drive system before the accelerator pedal opening changes; The determination module is further configured to determine the target torque according to the change in the accelerator pedal opening, the initial torque, the torque adjustment gradient and the number of torque adjustments.

[0019] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising a processor and a memory; the memory stores a computer program thereon; and the processor is configured to execute the computer program in the memory to implement the method provided in the first aspect of the present disclosure.

[0020] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the vehicle control method provided in the first aspect of the present disclosure are implemented.

[0021] Through the above technical scheme, the output torque of the main drive motor and the output torque of the auxiliary drive motor at different speeds are determined according to the current speed of the drive motor. Finally, the target torque is distributed according to the motor parameters and the target torque. Under the premise of ensuring the vehicle's dynamic performance, the distribution efficiency of the target torque is improved. In this way, the efficiency of the vehicle's drive system is improved, the energy consumption of the drive system is reduced, and the vehicle's cruising range is increased.

[0022] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0024] Figure 2 It is a flowchart of the specific steps of a vehicle control method provided in an embodiment of the present application.

[0025] Figure 3 is a block diagram of a vehicle control device according to an exemplary embodiment.

[0026] Figure 4 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0027] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0028] It should be noted that all actions of acquiring signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0029] The terms "first", "second", etc. in the specification and claims of the present disclosure and the above drawings are used to distinguish similar objects and do not have to be understood as a specific order or sequence. In addition, in the description with reference to the drawings, the same symbols in different drawings represent the same elements.

[0030] In the description of the present disclosure, unless otherwise specified, "multiple" means two or more than two, and other quantifiers are similar thereto; "at least one item", "one item or multiple items" or similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one item a can represent any number of a; for another example, one item or multiple items among a, b and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple; "and / or" is a kind of description of the association relationship of associated objects, indicating that there can be three kinds of relationships, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " indicates that the associated objects before and after are in an "or" relationship.

[0031] Although operations or steps are described in a specific order in the drawings in the embodiments of the present disclosure, it should not be understood that it is required to perform these operations or steps in the specific order shown or in a serial order, or to perform all the operations or steps shown to obtain the desired results. In the embodiments of the present disclosure, these operations or steps can be performed in series; these operations or steps can also be performed in parallel; or some of these operations or steps can be performed.

[0032] First, the application scenarios of the present disclosure are described.

[0033] In recent years, my country has vigorously developed and supported the development of new energy vehicles. At the same time, people's demands for automobile safety, comfort, energy conservation and environmental protection are also increasing. The driving range of the car is also an important factor affecting users' willingness to buy a car. During the use of the vehicle, the energy consumed by the drive system accounts for the largest proportion of the total vehicle energy consumption; under the premise of ensuring the vehicle's power, reducing the energy consumption of the drive system plays a vital role in improving the vehicle's endurance.

[0034] Currently, most vehicles use a single-motor direct drive, or a drive system matched with a multi-speed gearbox; or a dual-motor direct drive system, but the output torque of the drive motor is distributed according to the ratio of the maximum output torque of the drive motor, without considering the impact of different output torques of the drive motor on the motor efficiency at the same speed; the lower the motor efficiency, the greater the energy loss, and the more electricity is consumed for the same kinetic energy output; this will cause the vehicle's power consumption per 100 kilometers to increase, and the vehicle's range will be reduced with the same power battery.

[0035] In order to solve the above problems, the present disclosure provides a vehicle control method, device, vehicle and storage medium. When the accelerator pedal opening of the vehicle changes, the motor speed and target torque of the vehicle are obtained; according to the motor speed, the motor parameters of the vehicle are determined, and the motor parameters include the output torque of the main drive motor and the auxiliary drive motor at different efficiencies; according to the motor parameters and the target torque, the vehicle is controlled. Through the above method, according to the current speed of the drive motor, the output torque of the main drive motor and the output torque of the auxiliary drive motor at different speeds are determined, and finally according to the motor parameters and the target torque, the target torque is distributed, which can improve the distribution efficiency of the target torque while ensuring the vehicle's dynamic performance. In this way, the efficiency of the vehicle drive system is improved, the energy consumption of the drive system is reduced, and the vehicle's cruising range is increased.

[0036] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0037] Figure 1 is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 1 As shown, the vehicle control method includes the following steps.

[0038] In step S101 , when the accelerator pedal opening of the vehicle changes, the motor speed and target torque of the vehicle are acquired.

[0039] In the present embodiment, the change in the opening degree of the accelerator pedal of the vehicle may be the change in the opening degree caused by the driver stepping on the accelerator pedal.

[0040] In some embodiments, the change in the accelerator pedal opening may be obtained by a vehicle electronic control unit (ECU).

[0041] In this embodiment, the motor speed of the vehicle may be the speed at which a drive motor in a drive system of the vehicle rotates, and the drive motor may include a main drive motor and an auxiliary drive motor.

[0042] In some embodiments, the motor speed of the vehicle may be detected by a set sensor, or the motor speed of the vehicle may be obtained by motor speed information sent by a motor controller from a controller area network (CAN).

[0043] In some embodiments, the target torque may be obtained from the CAN bus, or may be calculated based on the change in the accelerator pedal opening, wherein the change in the accelerator pedal opening and the target torque have a characteristic corresponding relationship. It is understandable that within a certain period of time, the change in the accelerator pedal opening affects the target torque increase speed, thereby affecting the target torque of the vehicle drive system.

[0044] In step S102 , motor parameters of the vehicle are determined according to the motor speed.

[0045] In this embodiment, the motor parameters include the output torques of the main drive motor and the auxiliary drive motor at different efficiencies.

[0046] In this embodiment, different motor speeds have different motor parameters.

[0047] Exemplarily, the motor parameters include a first performance torque and a second performance torque, the first performance torque being the maximum torque that the main drive motor can output when the efficiency of the main drive motor is greater than or equal to a preset threshold, and the second performance torque being the maximum torque that the auxiliary drive motor can output when the efficiency of the auxiliary drive motor is greater than or equal to a preset threshold.

[0048] In other embodiments, the motor parameters also include a first maximum torque and a second maximum torque, the first maximum torque being the maximum torque that the main drive motor can output when the efficiency of the main drive motor is less than a preset threshold, and the second maximum torque being the maximum torque that the auxiliary drive motor can output when the efficiency of the auxiliary drive motor is less than a preset threshold.

[0049] In practical applications, the maximum torque of the drive motor at different speeds can be calibrated through bench tests.

[0050] In step S103 , the vehicle is controlled according to the motor parameters and the target torque.

[0051] In this embodiment, the motor parameters and the target torque are used to ensure the highest torque distribution efficiency for the vehicle, thereby improving the motor efficiency while ensuring the vehicle's dynamic performance.

[0052] In this embodiment, the vehicle can be controlled by distributing the driving torque currently output by the motor sent by the vehicle controller to the motor controller.

[0053] In some embodiments, step S103 may include: controlling the main drive motor to output the target torque according to the size interval to which the target torque belongs, or controlling the torque distribution method of the main drive motor and the auxiliary drive motor so that the sum of the output torques of the main drive motor and the auxiliary drive motor is the target torque.

[0054] In this embodiment, allocating the target torque to the main drive motor and the auxiliary drive motor refers to controlling the common output torque of the main drive motor and the auxiliary drive motor so that the sum of the output torques of the main drive motor and the auxiliary drive motor is the target torque.

[0055] In this way, according to the size of the target torque, adopting a single drive motor control mode or a dual drive motor control mode can improve the efficiency of the vehicle's drive system, reduce the vehicle's energy loss, and thereby increase the vehicle's cruising range.

[0056] In a possible implementation, step S103 may further include: a vehicle control unit (VCU) determines the output torque of the main drive motor and the output torque of the auxiliary drive motor by judgment, and a motor controller (Micro Controller Unit, MCU) controls the motor according to the torque input by the VCU.

[0057] In another possible implementation, step S103 may further include: querying a motor map according to motor parameters and a target torque to obtain a torque output value; and controlling a driving system of the vehicle to output the torque output value.

[0058] In some embodiments, after step S103, the control method of the above-mentioned vehicle may further include: converting the torque output value of the vehicle into a motor-end torque according to a preset conversion ratio, and sending it to the motor of the vehicle.

[0059] Through the above method, the output torque of the main drive motor and the output torque of the auxiliary drive motor at different speeds are determined according to the current speed of the drive motor. Finally, the target torque is distributed according to the motor parameters and the target torque. Under the premise of ensuring the vehicle's dynamic performance, the distribution efficiency of the target torque is improved. In this way, the efficiency of the vehicle's drive system is improved, the energy consumption of the drive system is reduced, and the vehicle's cruising range is increased.

[0060] In some embodiments, the vehicle control method further includes: Obtaining the initial torque, torque adjustment gradient and torque adjustment times of the vehicle, where the initial torque is the torque of the drive system before the accelerator pedal opening changes; The target torque is determined based on the change in accelerator pedal opening, initial torque, torque adjustment gradient and torque adjustment times.

[0061] In this embodiment, the initial torque may be the driving torque currently output by the motor sent by the vehicle controller to the motor controller.

[0062] Exemplarily, the dual-motor energy consumption reduction control is to query the motor map according to the accelerator pedal opening and the current motor speed after the vehicle high voltage is connected to obtain the target torque of the vehicle drive system. The motor map is a correspondence between motor speed, accelerator pedal opening and torque calibrated through a large number of experiments.

[0063] In this embodiment, the target torque can be determined by a preset target torque calculation formula according to the change in the accelerator pedal opening, the initial torque, the torque adjustment gradient and the number of torque adjustments.

[0064] Exemplarily, the preset target torque calculation formula may be as follows:

[0065] In the above formula, T 目标 represents the target torque, represents the initial torque, Δa represents the change in the accelerator pedal opening, It represents the torque adjustment gradient, and n represents the number of torque adjustments.

[0066] In this embodiment, the target torque calculation formula is used to increase or continuously decrease the initial torque output value n times according to the gradient of ΔT until the target torque is reached.

[0067] In practical applications, the torque adjustment gradient and the number of torque adjustments may be preset, and the torque adjustment gradient and the number of torque adjustments may also be obtained by querying a motor map according to the accelerator pedal opening and the current motor speed.

[0068] Through the above method, when calculating the target torque of the drive system, the influence of the change in the opening size of the accelerator pedal is taken into account, and the initial torque is continuously adjusted through the torque adjustment gradient and the number of torque adjustments, rather than directly outputting a constant torque. While the drive system torque responds quickly, the engine torque output has a gentler slope, thereby making the vehicle's acceleration smoother, avoiding sudden acceleration or deceleration of the vehicle, and providing users with a good driving experience.

[0069] Figure 2 is a flow chart of specific steps of a vehicle control method provided by an embodiment of the present application, such as Figure 2 As shown, the method may include the following steps.

[0070] In step S201 , when the accelerator pedal opening of the vehicle changes, the motor speed and target torque of the vehicle are acquired.

[0071] The implementation of this step is similar to the implementation process of the above step S101, and will not be repeated here.

[0072] In step S202, motor parameters of the vehicle are determined according to the motor speed.

[0073] In some embodiments, step S202 may include: According to a preset corresponding relationship, a first performance torque and a second performance torque corresponding to the motor speed are determined, and the preset corresponding relationship includes a corresponding relationship among the motor speed, the first performance torque and the second performance torque.

[0074] In this embodiment, the preset threshold may be 90%.

[0075] Exemplarily, after the vehicle is connected to high voltage, the VCU reads the current motor speed, determines the speed range of the motor, and looks up the table to determine the first performance torque and the second performance torque when the drive motor efficiency is greater than 90% at the current motor speed.

[0076] In practical applications, the correspondence between the motor speed, the first performance torque and the second performance torque can be stored in a motor map. When the vehicle's accelerator pedal changes, the motor map is queried to determine the first performance torque and the second performance torque at different speeds through the speed range to which the current drive motor speed belongs.

[0077] Through the above method, according to the current speed of the drive motor, the motor parameters of the motor at different speeds are determined to be greater than or equal to the preset threshold, thereby improving the motor efficiency of the vehicle, reducing the energy consumption of the drive system, and thus increasing the vehicle's cruising range.

[0078] In step S203 , when the target torque is less than or equal to the first performance torque, the main drive motor is controlled to output the target torque.

[0079] In this embodiment, when the target torque is less than or equal to the first performance torque, a single drive motor mode may be adopted, and at this time, only the main drive motor outputs torque.

[0080] It is understandable that when the target torque is less than or equal to the first performance torque, it means that the required torque of the vehicle drive system is low, and the target torque is preferentially allocated to the main drive motor. This can avoid the situation where the torque allocated to the main drive motor and the auxiliary drive motor is very low, resulting in low efficiency of the two drive motors, which in turn affects the efficiency of the vehicle drive system.

[0081] In step S204 , when the target torque is greater than the first performance torque, the output torques of the main drive motor and the auxiliary drive motor are controlled so that the sum of the output torques of the main drive motor and the auxiliary drive motor is the target torque.

[0082] In this embodiment, when the target torque is greater than the first performance torque, in order to improve the motor efficiency of the vehicle, a dual-motor mode is used to output torque, that is, the main drive motor and the auxiliary drive motor are controlled to output torque together.

[0083] It can be understood that when the target torque is greater than the first performance torque, it means that the required torque of the vehicle drive system cannot be output by the main drive motor alone. Determining different torque distribution methods according to different target torques can enable the two drive motors to adopt a more efficient torque distribution ratio, thereby effectively utilizing the high-efficiency torque range of the two drive motors, which is beneficial to improving the efficiency of the vehicle drive system.

[0084] It should be noted that step S203 and step S204 are in an OR relationship.

[0085] In some embodiments, step S204 includes the following steps.

[0086] Sub-step 2041: When the target torque is greater than the first performance torque and less than or equal to the sum of the first performance torque and the second performance torque, control the main drive motor to output the first performance torque, and control the auxiliary drive motor to output the difference between the target torque and the first performance torque.

[0087] It can be understood that when the target torque is greater than the first performance torque, and the target torque is less than or equal to the sum of the first performance torque and the second performance torque, in order to improve the vehicle's motor efficiency, at this time, priority is given to ensuring that the efficiency of the main drive motor is higher, that is, the main drive motor is controlled to output the first performance torque. In this way, when the vehicle is in dual-motor mode, both the main drive motor and the auxiliary drive motor adopt an output mode with higher motor efficiency, which can effectively utilize the high-efficiency torque range of the two drive motors, thereby improving the efficiency of the entire vehicle drive system.

[0088] In other embodiments, the above-mentioned vehicle control method also includes: obtaining a first maximum torque and a second maximum torque of the vehicle, the first maximum torque being the maximum torque that the main drive motor can output when the efficiency of the main drive motor is less than a preset threshold, and the second maximum torque being the maximum torque that the auxiliary drive motor can output when the efficiency of the auxiliary drive motor is less than a preset threshold.

[0089] Correspondingly, step S204 may also include the following steps.

[0090] Sub-step 2042: When the target torque is greater than the sum of the first performance torque and the second performance torque, and the target torque is less than or equal to the sum of the first maximum torque and the second performance torque, the main drive motor is controlled to output the difference between the target torque and the second performance torque, and the auxiliary drive motor is controlled to output the second performance torque.

[0091] It can be understood that when the target torque is greater than the sum of the first performance torque and the second performance torque, it means that the main drive motor and the auxiliary drive motor can no longer output the required torque of the vehicle drive system using the output mode with higher efficiency. At this time, in order to ensure the power of the vehicle, the main drive motor is given priority to output a higher torque, and the auxiliary drive motor still uses a more efficient torque output. In this way, when the target torque is large, the economy of the vehicle can be guaranteed according to the target torque while ensuring the power of the vehicle drive system, thereby meeting the users' dual requirements for the economy and power of dual-motor electric vehicles.

[0092] Sub-step 2043: When the target torque is greater than the sum of the first maximum torque and the second performance torque, and the target torque is less than or equal to the sum of the first maximum torque and the second maximum torque, the main drive motor is controlled to output the first maximum torque, and the auxiliary drive motor is controlled to output the difference between the target torque and the first maximum torque.

[0093] It can be understood that when the target torque is less than or equal to the sum of the first maximum torque and the second maximum torque, it means that the main drive motor and the auxiliary drive motor can no longer output the required torque of the vehicle drive system using an output mode with higher machine efficiency. At this time, in order to ensure the dynamic performance of the vehicle, the main drive motor is given priority to output a higher torque. Therefore, the main drive motor is controlled without considering the motor efficiency and outputting with the maximum torque. In this way, the dynamic performance of the vehicle drive system can be guaranteed when the target torque is large.

[0094] It should be noted that the relationship among sub-step 2041, sub-step 2042 and sub-step 2043 is "or".

[0095] Through the above method, according to the size of the target torque, the target torque is distributed to the main drive motor and the auxiliary drive motor by adopting a torque distribution method. On the premise of ensuring the power of the vehicle drive system, the economy of the whole vehicle is guaranteed according to the target torque, thereby meeting the user's dual requirements for the economy and power of dual-motor electric vehicles.

[0096] In some embodiments, controlling the vehicle in step S103 may further include: obtaining a torque output value according to a preset torque calculation formula; and controlling the motor of the vehicle to output the torque output value.

[0097] In a possible implementation, the preset torque calculation formula is: torque output value = motor current torque + motor request torque × torque gradient × system time. The torque gradient is multiplied by the system time to calculate the magnitude of the torque increase or decrease within the system time. The system time is the duration of a specific torque gradient. The system time can also be obtained by integrating the torque gradient over the duration.

[0098] Through the above technical solution, the torque output value is obtained through a preset calculation, which can improve the motor efficiency and reduce the energy consumption of the drive system while ensuring the vehicle's dynamics, thereby increasing the vehicle's cruising range.

[0099] Figure 3 is a block diagram of a vehicle control device according to an exemplary embodiment. Figure 3 The device includes an acquisition module 301, a determination module 302 and a control module 303.

[0100] The acquisition module 301 is used to acquire the motor speed and target torque of the vehicle when the accelerator pedal opening of the vehicle changes; A determination module 302 is used to determine motor parameters of the vehicle according to the motor speed, where the motor parameters include output torques of the main drive motor and the auxiliary drive motor at different efficiencies; The control module 303 is used to control the vehicle according to the motor parameters and the target torque.

[0101] In one embodiment, the motor parameters include a first performance torque and a second performance torque, the first performance torque being the maximum torque that the main drive motor can output when the efficiency of the main drive motor is greater than or equal to a preset threshold, and the second performance torque being the maximum torque that the auxiliary drive motor can output when the efficiency of the auxiliary drive motor is greater than or equal to a preset threshold.

[0102] In one embodiment, the control module 303 is further configured to: When the target torque is less than or equal to the first performance torque, the main drive motor is controlled to output the target torque; or, When the target torque is greater than the first performance torque, the output torques of the main drive motor and the auxiliary drive motor are controlled so that the sum of the output torques of the main drive motor and the auxiliary drive motor is the target torque.

[0103] In one embodiment, the control module 303 is further configured to: When the target torque is greater than the first performance torque and less than or equal to the sum of the first performance torque and the second performance torque, the main drive motor is controlled to output the first performance torque, and the auxiliary drive motor is controlled to output the difference between the target torque and the first performance torque.

[0104] In one embodiment, the motor parameters further include a first maximum torque and a second maximum torque, wherein the first maximum torque is the maximum torque that can be output by the main drive motor when the efficiency of the main drive motor is less than a preset threshold, and the second maximum torque is the maximum torque that can be output by the auxiliary drive motor when the efficiency of the auxiliary drive motor is less than a preset threshold; The control module 303 is further used for: When the target torque is greater than the sum of the first performance torque and the second performance torque, and the target torque is less than or equal to the sum of the first maximum torque and the second performance torque, the main drive motor is controlled to output the difference between the target torque and the second performance torque, and the auxiliary drive motor is controlled to output the second performance torque; or, When the target torque is greater than the sum of the first maximum torque and the second performance torque, and the target torque is less than or equal to the sum of the first maximum torque and the second maximum torque, the main drive motor is controlled to output the first maximum torque, and the auxiliary drive motor is controlled to output the difference between the target torque and the first maximum torque.

[0105] In one embodiment, the determination module 302 is further configured to: According to a preset corresponding relationship, a first performance torque and a second performance torque corresponding to the motor speed are determined, and the preset corresponding relationship includes a corresponding relationship among the motor speed, the first performance torque and the second performance torque.

[0106] In one embodiment, the acquisition module 301 is further used to acquire the initial torque, torque adjustment gradient and torque adjustment times of the vehicle, where the initial torque is the torque of the drive system before the accelerator pedal opening changes; The determination module 302 is further configured to determine the target torque according to the change in the accelerator pedal opening, the initial torque, the torque adjustment gradient and the number of torque adjustments.

[0107] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0108] Figure 4 4 is a block diagram of a vehicle 400 according to an exemplary embodiment. The vehicle includes Figure 1 The vehicle control system. For example, the vehicle 400 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 400 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0109] Reference Figure 4 , the vehicle 400 may include various subsystems, for example, an infotainment system 410, a perception system 420, a decision control system 430, a drive system 440, and a computing platform 450. The vehicle 400 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 400 may be interconnected by wire or wireless means.

[0110] In some embodiments, the infotainment system 410 may include a communication system, an entertainment system, and a navigation system, among others.

[0111] The perception system 420 may include several sensors for sensing information about the environment around the vehicle 400. For example, the perception system 420 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0112] The decision control system 430 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0113] The drive system 440 may include components that provide power movement for the vehicle 400. In one embodiment, the drive system 440 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0114] Some or all functions of the vehicle 400 are controlled by a computing platform 450. The computing platform 450 may include at least one processor 451 and a memory 452, and the processor 451 may execute instructions 453 stored in the memory 452.

[0115] The processor 451 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0116] The memory 452 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0117] In addition to instructions 453 , memory 452 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in memory 452 may be used by computing platform 450 .

[0118] In the embodiment of the present disclosure, the processor 451 can execute the instruction 453 to complete all or part of the steps of the above-mentioned vehicle control method.

[0119] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and the program instructions, when executed by a processor, implement the steps of the vehicle control method provided by the present disclosure.

[0120] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle control method when executed by the programmable device.

[0121] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0122] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0123] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: When the accelerator pedal opening of the vehicle changes, obtaining the motor speed and target torque of the vehicle; Determining motor parameters of the vehicle according to the motor speed, the motor parameters including output torques of a main drive motor and an auxiliary drive motor at different efficiencies; The vehicle is controlled according to the motor parameters and the target torque.

2. The vehicle control method according to claim 1, characterized in that: The motor parameters include a first performance torque and a second performance torque. The first performance torque is the maximum torque that the main drive motor can output when the efficiency of the main drive motor is greater than or equal to a preset threshold, and the second performance torque is the maximum torque that the auxiliary drive motor can output when the efficiency of the auxiliary drive motor is greater than or equal to a preset threshold.

3. The vehicle control method according to claim 2, characterized in that: The controlling the vehicle according to the motor parameters and the target torque comprises: When the target torque is less than or equal to the first performance torque, controlling the main drive motor to output the target torque; or, When the target torque is greater than the first performance torque, the output torques of the main drive motor and the auxiliary drive motor are controlled so that the sum of the output torques of the main drive motor and the auxiliary drive motor equals the target torque.

4. The vehicle control method according to claim 3, characterized in that: When the target torque is greater than the first performance torque, controlling the output torque of the main drive motor and the auxiliary drive motor includes: When the target torque is greater than the first performance torque and less than or equal to the sum of the first performance torque and the second performance torque, the main drive motor is controlled to output the first performance torque, and the auxiliary drive motor is controlled to output the difference between the target torque and the first performance torque.

5. The vehicle control method according to claim 3, characterized in that: The motor parameters further include a first maximum torque and a second maximum torque, wherein the first maximum torque is the maximum torque that can be output by the main drive motor when the efficiency of the main drive motor is less than a preset threshold, and the second maximum torque is the maximum torque that can be output by the auxiliary drive motor when the efficiency of the auxiliary drive motor is less than a preset threshold; When the target torque is greater than the first performance torque, controlling the output torque of the main drive motor and the auxiliary drive motor includes: When the target torque is greater than the sum of the first performance torque and the second performance torque, and the target torque is less than or equal to the sum of the first maximum torque and the second performance torque, the main drive motor is controlled to output the difference between the target torque and the second performance torque, and the auxiliary drive motor is controlled to output the second performance torque; or, When the target torque is greater than the sum of the first maximum torque and the second performance torque, and the target torque is less than or equal to the sum of the first maximum torque and the second maximum torque, the main drive motor is controlled to output the first maximum torque, and the auxiliary drive motor is controlled to output the difference between the target torque and the first maximum torque.

6. The vehicle control method according to claim 1, characterized in that: Determining the motor parameters of the motor according to the motor speed includes: The first performance torque and the second performance torque corresponding to the motor speed are determined according to a preset corresponding relationship, wherein the preset corresponding relationship includes a corresponding relationship among the motor speed, the first performance torque and the second performance torque.

7. The vehicle control method according to claim 1, characterized in that: The method further comprises: Acquiring the initial torque, torque adjustment gradient and torque adjustment times of the vehicle, wherein the initial torque is the torque of the drive system before the accelerator pedal opening changes; The target torque is determined according to the change in the accelerator pedal opening, the initial torque, the torque adjustment gradient, and the torque adjustment times.

8. A vehicle control device, characterized in that: include: An acquisition module, used for acquiring a motor speed and a target torque of the vehicle when an accelerator pedal opening of the vehicle changes; A determination module, configured to determine motor parameters of the vehicle according to the motor speed, wherein the motor parameters include output torques of a main drive motor and an auxiliary drive motor at different efficiencies; A control module is used to control the vehicle according to the motor parameters and the target torque.

9. A vehicle, characterized in that: including a processor and a memory; a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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