Control Method and Device for Dual-Motor Vehicle, and Electronic Device

Abstract

The present invention discloses a control method and device for a dual-motor vehicle, and an electronic device. Among them, the method includes: calculating vehicle acceleration, road surface adhesion coefficient, and road gradient based on pre-acquired vehicle parameters and driving parameters, where the driving parameters at least include: steering wheel angle, accelerator pedal opening, and the vehicle parameters at least include: current vehicle speed; calculating a driving stability factor based on vehicle acceleration, road surface adhesion coefficient, steering wheel angle, and current vehicle speed; determining a target working mode based on the driving stability factor, accelerator pedal opening, current vehicle speed, road gradient, and the control mode selected by the driver; calculating torque distribution parameters according to the target working mode and the vehicle state of the driving vehicle. The present invention solves the technical problem in the related art that the current electric vehicle lacks consideration of the overall vehicle's power performance and the driver's intention, which affects the operation performance.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular, to a control method and device for a dual-motor vehicle, and an electronic device. Background Art

[0002] In the related art, the development of electric vehicles and hybrid vehicles is getting faster and faster. Compared with traditional fuel vehicles, electric vehicles, especially four-wheel drive vehicles with front and rear axles, have multiple power sources, and the torque control is relatively complex. In currently mass-produced electric four-wheel drive vehicles, the torque distribution between the front and rear motors is basically a fixed ratio or several adjustable fixed ratios during normal driving. In the actual driving process, using a single index or a fixed ratio to distribute the driving torque of the front and rear axle motors cannot meet the driving requirements of the driver for economy or power performance. At the same time, the working mode of hybrid four-wheel drive vehicles generally starts from fuel economy, and improves the economy of the whole vehicle through the torque distribution of the engine and the motor, rarely considering the driver's intention and the power performance requirements of the whole vehicle, and there are problems such as slow power response and poor handling and stability performance.

[0003] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0004] Embodiments of the present invention provide a control method and device for a dual-motor vehicle, and an electronic device, so as to at least solve the technical problem in the related art that the current electric vehicle lacks consideration of the power performance of the whole vehicle and the driver's intention, which affects the operation performance.

[0005] According to an aspect of an embodiment of the present invention, a control method for a dual-motor vehicle is provided, including: calculating a vehicle acceleration, a road adhesion coefficient, and a road gradient based on pre-acquired vehicle parameters and driving parameters, where the driving parameters at least include: a steering wheel angle and an accelerator pedal opening, and the vehicle parameters at least include: a current vehicle speed; calculating a driving stability factor based on the vehicle acceleration, the road adhesion coefficient, the steering wheel angle, and the current vehicle speed; determining a target working mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road gradient, and a control mode selected by a driver; calculating a torque distribution parameter according to the target working mode and the vehicle state of the driving vehicle.

[0006] Optionally, before calculating the vehicle acceleration, road adhesion coefficient, and road gradient based on pre-acquired vehicle parameters and driving parameters, it further includes: collecting the vehicle longitudinal acceleration, vehicle lateral acceleration, yaw rate, wheel speed, and current vehicle speed through the sensors of the driving vehicle to obtain the vehicle parameters; collecting the operation signals of the driver on the driving vehicle, and analyzing the operation signals to determine the brake pedal opening, accelerator pedal opening, steering wheel angle, and the control mode selected by the driver to obtain the driving parameters.

[0007] Optionally, the control mode selected by the driver includes: economy mode, sport mode, and automatic mode, and the target working mode is one of the following: series sport four-wheel drive mode, series economy four-wheel drive mode, parallel sport four-wheel drive mode, parallel front-wheel drive hybrid mode.

[0008] Optionally, the steps of determining the target working mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road gradient, and the control mode selected by the driver include: when the accelerator pedal opening is greater than the preset opening threshold, and the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the driving vehicle to enter the series sport four-wheel drive mode; or when the driving stability factor is greater than the set factor threshold, and the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the driving vehicle to enter the series sport four-wheel drive mode; or when the road adhesion coefficient is less than the set coefficient threshold, and the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the driving vehicle to enter the series sport four-wheel drive mode; or when the road gradient is greater than the set gradient threshold, and the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the driving vehicle to enter the series sport four-wheel drive mode; or when the control mode selected by the driver is the sport mode, and the current vehicle speed is less than the preset vehicle speed threshold, controlling the driving vehicle to enter the series sport four-wheel drive mode.

[0009] Optionally, the steps of determining the target working mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road gradient, and the control mode selected by the driver include: when the accelerator pedal opening is less than or equal to the preset opening threshold, and the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the driving vehicle to enter the series economy four-wheel drive mode.

[0010] Optionally, the step of determining the target operating mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road gradient, and the control mode selected by the driver includes: when the accelerator pedal opening is greater than a preset opening threshold, and the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the driven vehicle to enter the parallel motion four-wheel drive mode; or when the driving stability factor is greater than a set factor threshold, and the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the driven vehicle to enter the parallel motion four-wheel drive mode; or when the road surface adhesion coefficient is less than a set coefficient threshold, and the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the driven vehicle to enter the parallel motion four-wheel drive mode; or when the road gradient is greater than a set gradient threshold, and the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the driven vehicle to enter the parallel motion four-wheel drive mode; or when the control mode selected by the driver is the sport mode, and the current vehicle speed is greater than a preset vehicle speed threshold, controlling the driven vehicle to enter the parallel motion four-wheel drive mode.

[0011] Optionally, the step of determining the target operating mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road gradient, and the control mode selected by the driver includes: when the accelerator pedal opening is less than or equal to a preset opening threshold, and the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the driven vehicle to enter the parallel front-wheel drive hybrid mode; or when the control mode selected by the driver is the economy mode and the current vehicle speed is greater than a preset vehicle speed threshold, controlling the driven vehicle to enter the parallel front-wheel drive hybrid mode.

[0012] Optionally, the step of calculating torque distribution parameters according to the target working mode and the vehicle state of the driving vehicle includes: when the target working mode is the series motion four-wheel drive mode, controlling the clutch of the driving vehicle to disengage and using the engine to generate electricity to determine the charging demand torque; calculating the engine demand torque and the generator demand torque based on the charging demand torque and the motor demand torque; calculating the axle load ratios of the front axle motor and the rear axle motor according to the vehicle acceleration and the road gradient; calculating the torque distribution parameters of the front axle motor and the rear axle motor according to the axle load ratios, the engine demand torque and the generator demand torque; when the target working mode is the series economy four-wheel drive mode, controlling the clutch of the driving vehicle to disengage and using the engine to generate electricity to determine the charging demand torque; calculating the engine demand torque and the generator demand torque based on the charging demand torque and the motor demand torque; calculating the torque distribution parameters of the front axle motor and the rear axle motor according to the vehicle motor speed, the engine demand torque and the generator demand torque; when the target working mode is the parallel motion four-wheel drive mode, controlling the clutch of the driving vehicle to engage and controlling the engine to operate; calculating the axle load ratios of the front axle motor and the rear axle motor according to the vehicle acceleration and the road gradient; distributing the required torque of the front axle motor and the demand torque of the rear axle motor according to the axle load ratios; calculating the engine demand torque and the generator demand torque according to the required torque of the front axle, the charging demand torque and the demand torque of the rear axle motor; calculating the torque distribution parameters of the front axle motor and the rear axle motor based on the engine demand torque, the generator demand torque and the electric torque; when the target working mode is the parallel front-wheel drive mode, controlling the clutch of the driving vehicle to engage and controlling the engine to operate; calculating the engine torque and the generator torque according to the driving demand torque, the actual engine torque and the charging demand torque; calculating the torque distribution parameters of the front axle motor and the rear axle motor according to the engine torque, the generator torque and the electric torque.

[0013] According to another aspect of the embodiments of the present invention, there is also provided a control device for a dual-motor vehicle, including: a first calculation unit configured to calculate a vehicle acceleration, a road surface adhesion coefficient, and a road gradient based on pre-acquired vehicle parameters and driving parameters, where the driving parameters at least include: a steering wheel angle, an accelerator pedal opening, and the vehicle parameters at least include: a current vehicle speed; a second calculation unit configured to calculate a driving stability factor based on the vehicle acceleration, the road surface adhesion coefficient, the steering wheel angle, and the current vehicle speed; a determination unit configured to determine a target working mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road gradient, and a control mode selected by a driver; and a third calculation unit configured to calculate torque distribution parameters according to the target working mode and the vehicle state of the driving vehicle.

[0014] Optionally, the control device of the dual-motor vehicle further includes: a first processing unit, configured to collect the longitudinal acceleration, lateral acceleration, yaw rate, wheel speed, and current vehicle speed of the vehicle through the sensors of the driving vehicle to obtain the vehicle parameters before calculating the vehicle acceleration, road adhesion coefficient, and road gradient based on the pre-acquired vehicle parameters and driving parameters; a second processing unit, configured to collect the operation signals of the driver on the driving vehicle, analyze the operation signals to determine the brake pedal opening, accelerator pedal opening, steering wheel angle, and the control mode selected by the driver to obtain the driving parameters.

[0015] Optionally, the control mode selected by the driver includes: an economy mode, a sport mode, and an automatic mode, and the target operating mode is one of the following: a series sport four-wheel drive mode, a series economy four-wheel drive mode, a parallel sport four-wheel drive mode, and a parallel front-wheel drive hybrid mode.

[0016] Optionally, the determination unit includes: a first control sub-unit, configured to control the driving vehicle to enter the series sport four-wheel drive mode when the accelerator pedal opening is greater than a preset opening threshold, the current vehicle speed is less than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a second control sub-unit, configured to control the driving vehicle to enter the series sport four-wheel drive mode when the driving stability factor is greater than a set factor threshold, the current vehicle speed is less than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a third control sub-unit, configured to control the driving vehicle to enter the series sport four-wheel drive mode when the road adhesion coefficient is less than a set coefficient threshold, the current vehicle speed is less than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a fourth control sub-unit, configured to control the driving vehicle to enter the series sport four-wheel drive mode when the road gradient is greater than a set gradient threshold, the current vehicle speed is less than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a fifth control sub-unit, configured to control the driving vehicle to enter the series sport four-wheel drive mode when the control mode selected by the driver is the sport mode and the current vehicle speed is less than a preset vehicle speed threshold.

[0017] Optionally, the determination unit further includes: a sixth control sub-unit, configured to control the driving vehicle to enter the series economy four-wheel drive mode when the accelerator pedal opening is less than or equal to a preset opening threshold, the current vehicle speed is less than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode.

[0018] Optionally, the determination unit further includes: a seventh control subunit, configured to control the driving vehicle to enter the parallel motion four-wheel drive mode when the accelerator pedal opening is greater than a preset opening threshold, the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, an eighth control subunit, configured to control the driving vehicle to enter the parallel motion four-wheel drive mode when the driving stability factor is greater than a set factor threshold, the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a ninth control subunit, configured to control the driving vehicle to enter the parallel motion four-wheel drive mode when the road surface adhesion coefficient is less than a set coefficient threshold, the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a tenth control subunit, configured to control the driving vehicle to enter the parallel motion four-wheel drive mode when the road slope is greater than a set slope threshold, the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, an eleventh control subunit, configured to control the driving vehicle to enter the parallel motion four-wheel drive mode when the control mode selected by the driver is the sport mode and the current vehicle speed is greater than a preset vehicle speed threshold.

[0019] Optionally, the determination unit further includes: a twelfth control subunit, configured to control the driving vehicle to enter the parallel front-wheel drive hybrid mode when the accelerator pedal opening is less than or equal to a preset opening threshold, the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a thirteenth control subunit, configured to control the driving vehicle to enter the parallel front-wheel drive hybrid mode when the control mode selected by the driver is the economy mode and the current vehicle speed is greater than a preset vehicle speed threshold.

[0020] Optionally, a third computing unit, comprising: a first processing subunit, configured to, when the target working mode is a series motion four-wheel drive mode, control the clutch of the driving vehicle to disengage, generate electricity using the engine, determine the charging demand torque; calculate the engine demand torque and the generator demand torque based on the charging demand torque and the motor demand torque; calculate the axle load ratios of the front axle motor and the rear axle motor according to the vehicle acceleration and the road gradient; calculate the torque distribution parameters of the front axle motor and the rear axle motor according to the axle load ratios, the engine demand torque, and the generator demand torque; a second processing subunit, configured to, when the target working mode is a series economy four-wheel drive mode, control the clutch of the driving vehicle to disengage, generate electricity using the engine, determine the charging demand torque; calculate the engine demand torque and the generator demand torque based on the charging demand torque and the motor demand torque; calculate the torque distribution parameters of the front axle motor and the rear axle motor according to the vehicle motor speed, the engine demand torque, and the generator demand torque; a third processing subunit, configured to, when the target working mode is a parallel motion four-wheel drive mode, control the clutch of the driving vehicle to engage and control the engine to operate; calculate the axle load ratios of the front axle motor and the rear axle motor according to the vehicle acceleration and the road gradient; distribute the required torque of the front axle motor and the demand torque of the rear axle motor according to the axle load ratios; calculate the engine demand torque and the generator demand torque according to the required torque of the front axle, the charging demand torque, and the demand torque of the rear axle motor; calculate the torque distribution parameters of the front axle motor and the rear axle motor based on the engine demand torque, the generator demand torque, and the electric torque; a fourth processing subunit, configured to, when the target working mode is a parallel front-wheel drive mode, control the clutch of the driving vehicle to engage and control the engine to operate; calculate the engine torque and the generator torque according to the driving demand torque, the actual engine torque, and the charging demand torque; calculate the torque distribution parameters of the front axle motor and the rear axle motor according to the engine torque, the generator torque, and the electric torque.

[0021] In the present invention, based on the pre-acquired vehicle parameters and driving parameters, vehicle acceleration, road adhesion coefficient, and road gradient are calculated. Based on the vehicle acceleration, road adhesion coefficient, steering wheel angle, and current vehicle speed, a driving stability factor is calculated. Then, based on the driving stability factor, accelerator pedal opening, current vehicle speed, road gradient, and the control mode selected by the driver, a target working mode is determined. Finally, according to the target working mode and the vehicle state of the driving vehicle, torque distribution parameters are calculated. By comprehensively considering the vehicle parameters, driving parameters, and the control mode selected by the driver, the target working mode of the vehicle is determined, and then according to the target working mode and the vehicle state, torque distribution parameters for driving control of the vehicle are calculated, thereby controlling the vehicle, achieving the purpose of fully considering the driver's intention to control the hybrid four-wheel drive vehicle, and thus realizing the technical effect of excellent control of the vehicle economy, power performance, and handling stability while taking into account the driver's operation intention, and further solving the technical problem in the related art that the current electric vehicle lacks consideration of the vehicle's power performance and the driver's intention, which affects the operation performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 is a schematic diagram of an optional four-wheel drive hybrid system structure according to an embodiment of the present invention;

[0024] Figure 2 is a flowchart of an optional control method for a dual-motor vehicle according to an embodiment of the present invention;

[0025] Figure 3 is an architecture diagram of an optional hybrid four-wheel drive torque control system according to an embodiment of the present invention;

[0026] Figure 4 is a flowchart of an optional distributed four-wheel drive torque control according to an embodiment of the present invention;

[0027] Figure 5 is a schematic diagram of an optional control device for a dual-motor vehicle according to an embodiment of the present invention;

[0028] Figure 6 is a hardware structure block diagram of an electronic device (or mobile device) for implementing the control method of a dual-motor vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] The present invention can be applied to various autonomous driving systems / software / products, especially in electric vehicles or hybrid vehicles (including but not limited to: series hybrid vehicles, parallel hybrid vehicles, series-parallel hybrid vehicles, plug-in hybrid vehicles) mainly powered by new energy vehicles. For example, a four-wheel drive hybrid vehicle can build a dual-motor hybrid four-wheel drive torque control architecture and control system, taking into account the driver's operation intention and the working mode of the hybrid vehicle system, and selecting a mode for the hybrid vehicle according to the torque control strategy in each mode.

[0032] Figure 1 is a schematic diagram of an optional four-wheel drive hybrid system structure according to an embodiment of the present invention, as Figure 1 shown. To achieve the purpose of fully considering the driver's control requirements and building a dual-motor hybrid four-wheel drive torque architecture and control system, the present invention proposes a control system for a dual-motor vehicle, as Figure 1As shown in the figure, a torque control architecture for the hybrid four-wheel drive of a dual-motor vehicle is schematically illustrated. The hybrid system includes: an engine, a generator, a front drive motor (hereinafter referred to as the front motor), a rear drive motor (hereinafter referred to as the rear motor), a power coupling device (for example, for the power system of a parallel or series-parallel hybrid vehicle, to achieve torque coupling, speed coupling, traction coupling, and hybrid coupling. In the present invention, torque coupling is used for schematic illustration. This torque coupling may refer to that during the coupling process of the output powers of multiple power sources, the output torques of the multiple power sources are independent of each other, the output speeds are proportional to each other, and finally, the combined torque is the coupled superposition of the output torques of the multiple power sources), a vehicle controller (VCU), a differential (which refers to a mechanism that compensates for the distance difference with different speeds and enables the left and right (or front and rear) drive wheels of the vehicle to rotate at different speeds, ensuring that the two drive wheels on both sides perform pure rolling motion and adjusting the speed difference between the left and right wheels), and a power battery, capable of realizing the control of a four-wheel drive (such as Figure 1 including: left front wheel, right front wheel, left rear wheel, right rear wheel, etc.) hybrid vehicle, and defines the discrimination mechanism for the dual-motor hybrid working mode, and proposes the torque control strategies under various modes.

[0033] It should be noted that the control of the power system of a hybrid vehicle is achieved by the vehicle controller (VCU) by adjusting the power output between the engine and the motor, and with different power system configurations, there are working modes such as pure electric, series, parallel, and series-parallel.

[0034] The present invention fully considers the driver's intention and the efficiency of the power system, improves the economy of the vehicle through an intelligent four-wheel drive control mode, proposes the torque control methods under various modes, and constructs a dual-motor hybrid four-wheel drive torque control architecture and control system. So that under various driving conditions, through torque control of the engine, generator, and motor, a control method that can achieve excellent vehicle economy, power performance, and handling stability while taking into account the driver's operation intention can be realized.

[0035] The present invention will be described in detail below in conjunction with each embodiment.

[0036] Embodiment 1

[0037] According to an embodiment of the present invention, a method embodiment of a control method for a dual-motor vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0038] Figure 2 is a flowchart of an optional control method for a dual-motor vehicle according to an embodiment of the present invention, as Figure 2As shown, the method includes the following steps:

[0039] Step S201: Calculate the vehicle acceleration, road surface adhesion coefficient, and road gradient based on the pre-acquired vehicle parameters and driving parameters. Among them, the driving parameters at least include: steering wheel angle, accelerator pedal opening, and the vehicle parameters at least include: current vehicle speed;

[0040] Step S202: Calculate the driving stability factor based on the vehicle acceleration, road surface adhesion coefficient, steering wheel angle, and current vehicle speed.

[0041] Step S203: Determine the target working mode based on the driving stability factor, accelerator pedal opening, current vehicle speed, road gradient, and the control mode selected by the driver.

[0042] Step S204: Calculate the torque distribution parameters according to the target working mode and the vehicle state of the driving vehicle.

[0043] Through the above steps, first, based on the pre-acquired vehicle parameters and driving parameters, the vehicle acceleration, road surface adhesion coefficient, and road gradient can be calculated. Among them, the driving parameters at least include: steering wheel angle, accelerator pedal opening, and the vehicle parameters at least include: current vehicle speed. Then, based on the vehicle acceleration, road surface adhesion coefficient, steering wheel angle, and current vehicle speed, the driving stability factor is calculated. After that, based on the driving stability factor, accelerator pedal opening, current vehicle speed, road gradient, and the control mode selected by the driver, the target working mode is determined. Finally, according to the target working mode and the vehicle state of the driving vehicle, the torque distribution parameters are calculated. In this embodiment, by integrating the vehicle parameters and driving parameters of the vehicle with the control mode selected by the driver, the target working mode of the vehicle is determined. Then, according to the target working mode and the state of the vehicle, the torque distribution parameters for controlling the driving of the vehicle are calculated, and then the vehicle is controlled, achieving the purpose of fully considering the driver's intention to control the hybrid four-wheel drive vehicle, thus realizing the technical effect of achieving excellent control of the vehicle economy, power performance, and handling stability while taking into account the driver's operation intention, and further solving the technical problem in the related art that the current electric vehicle lacks consideration of the vehicle's power performance and the driver's intention, which affects the operation performance.

[0044] The embodiments of the present invention will be described in detail below in combination with the above-mentioned implementation steps.

[0045] As an optional implementation manner of this embodiment, before calculating the vehicle acceleration, road adhesion coefficient, and road gradient based on the pre-acquired vehicle parameters and driving parameters, it further includes: collecting the vehicle longitudinal acceleration, vehicle lateral acceleration, yaw rate, wheel speed, and current vehicle speed through the sensors of the vehicle to obtain vehicle parameters; collecting the operation signals of the driver for driving the vehicle, analyzing the operation signals to determine the brake pedal opening, accelerator pedal opening, steering wheel angle, and the control mode selected by the driver to obtain driving parameters.

[0046] In this embodiment, multiple types of sensors can be deployed in the vehicle, including but not limited to: acceleration sensors, temperature sensors, tire pressure sensors, speed sensors, etc. Through these sensors, various driving parameters of the vehicle can be collected in real time. For example, vehicle longitudinal acceleration, vehicle lateral acceleration, yaw rate, wheel speed, and vehicle speed.

[0047] At the same time, the operation signals of the driver for driving the vehicle can be obtained in real time through the control system in the vehicle. For example, the change amplitude of the pedal, the change amplitude of the brake, and the rotation angle of the steering wheel can be obtained.

[0048] Figure 3 It is a schematic diagram of the architecture of an optional hybrid four-wheel drive torque control system according to an embodiment of the present invention, as Figure 3 shown in the lower left. Obtain the current vehicle parameters, and the current parameters include but are not limited to: accelerator pedal opening, brake pedal opening, vehicle speed, driving mode, and may also include: accelerator pedal opening. During the calculation of the driver's required torque, the driver's required torque can be obtained according to the accelerator pedal opening, brake pedal opening, and vehicle speed. Then, according to the required torque, motor speed, SOC (State Of Charge, which refers to the state of charge, indicating the proportion of the current battery charge), and the total assembly capacity (including: total assembly energy), the engine start-stop demand flag bit can be determined.

[0049] After collecting data such as the current vehicle parameters and driving parameters, some required parameters can be calculated.

[0050] Step S101, calculate the vehicle acceleration, road adhesion coefficient, and road gradient based on the pre-acquired vehicle parameters and driving parameters, where the driving parameters at least include: steering wheel angle, accelerator pedal opening, and the vehicle parameters at least include: current vehicle speed.

[0051] It should be noted that the pre-acquired vehicle parameters and driving parameters can be obtained by collecting them through the instrument panel of the vehicle operation or sensors. The above vehicle parameters may include the current vehicle speed, and may also include parameters such as the longitudinal acceleration or lateral acceleration, yaw rate, and wheel speed of the vehicle during operation. The above driving parameters may include the steering wheel angle, accelerator pedal opening, etc. The above vehicle parameters and driving parameters may also include other vehicle state signals.

[0052] In this embodiment, based on information such as the vehicle longitudinal acceleration, vehicle lateral acceleration, steering wheel angle, yaw rate, and wheel speed, the vehicle acceleration (identified as a_act in this embodiment), road surface adhesion coefficient (identified as μ in this embodiment), and slope (identified as slope in this embodiment) can be calculated.

[0053] Step S102, calculate the driving stability factor based on the vehicle acceleration, road surface adhesion coefficient, steering wheel angle, and current vehicle speed.

[0054] In this embodiment, based on parameters such as the vehicle acceleration, road surface adhesion coefficient, steering wheel angle, and current vehicle speed, the driving stability factor can be calculated. Among them, the driving stability factor may refer to an operating factor for ensuring the smooth and stable operation of the vehicle. Through this driving stability factor (which may also be referred to as the driving stability factor or handling stability factor), it can be set between 0 and 1. The larger this value, the more fully the road surface coefficient is utilized, and the closer it is to the road surface adhesion limit. Through this driving stability factor, a suitable working mode can be selected.

[0055] Next, a schematic description of how to calculate the driving stability factor is given. The driving stability factor is calculated based on the road surface adhesion coefficient, current vehicle acceleration, steering wheel angle, and vehicle speed, and is mainly determined by the current vehicle acceleration a_act and the road surface adhesion coefficient μ, and then corrected by the vehicle speed and the steering wheel angle steerAngle.

[0056]

[0057]

[0058] fac2 = lookupTable(steerAngle).

[0059] Among them, γ is the driving stability factor, fac1 is the coefficient regarding the vehicle speed, and fac2 is the coefficient regarding the steering wheel angle.

[0060] Step S103, determine the target working mode based on the driving stability factor, accelerator pedal opening, current vehicle speed, road slope, and the control mode selected by the driver.

[0061] In this embodiment, an appropriate operating mode can be selected based on information such as the driving stability factor of the vehicle, the accelerator pedal opening, the brake pedal opening, the steering wheel angle, the SOC, the road gradient, the current vehicle speed, the current state of the vehicle, and the environment in which the vehicle is located. For example, in Figure 3 it is possible to control the electric four-wheel drive vehicle to enter the corresponding operating mode according to the accelerator pedal opening, the brake pedal opening, the steering wheel angle, the vehicle speed, and the control mode selected by the driver. This can fully consider the control requirements of the driver and the driving conditions of the vehicle, thereby determining the operating mode of the vehicle.

[0062] As an optional implementation manner of this embodiment, the control modes selected by the driver include, but are not limited to: economy mode, sport mode, and automatic mode, and the target operating mode is one of the following: series sport four-wheel drive mode, series economy four-wheel drive mode, parallel sport four-wheel drive mode, parallel front-wheel drive hybrid mode.

[0063] Fully considering the driver's requirements for the economy and power performance of vehicle driving, the control modes selected by the driver include: economy mode, sport mode, and automatic mode. Combining the driving conditions of the vehicle, according to the control mode selected by the driver, the operating mode of the vehicle can be determined to be one of the following: series sport four-wheel drive mode, series economy four-wheel drive mode, parallel sport four-wheel drive mode, parallel front-wheel drive hybrid mode.

[0064] Optionally, the steps of determining the target operating mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road gradient, and the control mode selected by the driver include: when the accelerator pedal opening is greater than the preset opening threshold, and the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the vehicle to enter the series sport four-wheel drive mode; or, when the driving stability factor is greater than the set factor threshold, and the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the vehicle to enter the series sport four-wheel drive mode; or, when the road surface adhesion coefficient is less than the set coefficient threshold, and the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the vehicle to enter the series sport four-wheel drive mode; or, when the road gradient is greater than the set gradient threshold, and the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the vehicle to enter the series sport four-wheel drive mode; or, when the control mode selected by the driver is the sport mode, and the current vehicle speed is less than the preset vehicle speed threshold, controlling the vehicle to enter the series sport four-wheel drive mode.

[0065] The following is a schematic description of each operating mode entered by the vehicle. Among them, the vehicle can be an electric vehicle or a hybrid vehicle.

[0066] First, the series sport four-wheel drive mode

[0067] The working mode of the vehicle entering the series sport four-wheel drive mode is schematically explained. When the opening of the accelerator pedal is greater than the preset opening threshold, and the current vehicle speed is less than the preset speed threshold, and the received mode instruction is an automatic mode (AUTO) instruction (that is, when the control mode selected by the driver is the automatic mode), or the driving stability factor is greater than the set factor threshold, and the current vehicle speed is less than the preset speed threshold, and the received mode instruction of the control mode selected by the driver is an automatic mode (AUTO) instruction, or the road adhesion coefficient is less than the set coefficient threshold, and the current vehicle speed is less than the preset speed threshold, and the received mode instruction is an automatic mode (AUTO) instruction, or the road slope is greater than the set slope threshold, and the current vehicle speed is less than the preset speed threshold, and the received mode instruction is an automatic mode (AUTO) instruction, or when the received mode instruction is a sport mode instruction (that is, when the control mode selected by the driver is the sport mode) and the current vehicle speed is less than the preset speed threshold, the driving vehicle is controlled to enter the series sport four-wheel drive mode.

[0068] The second type is the series economic four-wheel drive mode

[0069] Optionally, the step of determining the target working mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road slope and the control mode selected by the driver includes: when the accelerator pedal opening is less than or equal to a preset opening threshold, and the current vehicle speed is less than a preset speed threshold, and the control mode selected by the driver is automatic mode, controlling the driving vehicle to enter the series economic four-wheel drive mode.

[0070] The situation of entering the series economic four-wheel drive mode may be: when the opening of the accelerator pedal is less than or equal to the preset opening threshold, and the current vehicle speed is less than the preset vehicle speed threshold, and the received mode instruction is an automatic mode instruction (AUTO), that is, when the control mode selected by the driver is automatic mode, the driving vehicle is controlled to enter the series economic four-wheel drive mode.

[0071] The third type is parallel motion four-wheel drive mode

[0072] Optionally, the steps of determining the target working mode based on the driving stability factor, accelerator pedal opening, current vehicle speed, road gradient, and the control mode selected by the driver include: when the accelerator pedal opening is greater than the preset opening threshold, and the current vehicle speed is greater than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the vehicle to enter the parallel motion four-wheel drive mode; or, when the driving stability factor is greater than the set factor threshold, and the current vehicle speed is greater than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the vehicle to enter the parallel motion four-wheel drive mode; or, when the road surface adhesion coefficient is less than the set coefficient threshold, and the current vehicle speed is greater than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the vehicle to enter the parallel motion four-wheel drive mode; or, when the road gradient is greater than the set gradient threshold, and the current vehicle speed is greater than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the vehicle to enter the parallel motion four-wheel drive mode; or, when the control mode selected by the driver is the sport mode, and the current vehicle speed is greater than the preset vehicle speed threshold, controlling the vehicle to enter the parallel motion four-wheel drive mode.

[0073] Optionally, a situation for entering the parallel motion four-wheel drive mode can be: when the accelerator pedal opening is greater than the preset opening threshold, and the current vehicle speed is greater than the preset vehicle speed threshold, and the received mode command is the automatic mode (AUTO) command, or when the driving stability factor is greater than the set factor threshold, and the current vehicle speed is greater than the preset vehicle speed threshold, and the received mode command is the automatic mode (AUTO) command, or when the road surface adhesion coefficient is less than the set coefficient threshold, and the current vehicle speed is greater than the preset vehicle speed threshold, and the received mode command is the automatic mode (AUTO) command, or when the road gradient is greater than the set gradient threshold, and the current vehicle speed is greater than the preset vehicle speed threshold, and the received mode command is the automatic mode (AUTO) command, or when the received mode command is the sport mode command and the current vehicle speed is greater than the preset vehicle speed threshold, controlling the vehicle to enter the sporty parallel motion four-wheel drive mode.

[0074] Fourth, the parallel front-wheel drive hybrid mode

[0075] Optionally, the steps of determining the target working mode based on the driving stability factor, accelerator pedal opening, current vehicle speed, road gradient, and the control mode selected by the driver include: when the accelerator pedal opening is less than or equal to the preset opening threshold, and the current vehicle speed is greater than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, controlling the vehicle to enter the parallel front-wheel drive hybrid mode; or, when the control mode selected by the driver is the economy mode and the current vehicle speed is greater than the preset vehicle speed threshold, controlling the vehicle to enter the parallel front-wheel drive hybrid mode.

[0076] In this embodiment, the conditions for entering the parallel front-wheel drive hybrid mode can be as follows: when the opening of the accelerator pedal is less than or equal to a preset opening threshold, and the current vehicle speed is greater than a preset vehicle speed threshold, and the received mode command is an automatic mode command, that is, when the control mode selected by the driver is the automatic mode, or when the received mode command is an economy mode command (that is, when the control mode selected by the driver is the economy mode) and the current vehicle speed is greater than the preset vehicle speed threshold, the vehicle is controlled to enter the parallel front-wheel drive hybrid mode.

[0077] Through the above implementation manner, it is illustrated how to determine the driving stability factor based on the collected driving parameters and vehicle driving parameters, and then select a working mode that meets the driving torque requirements.

[0078] As Figure 3 shown, after selecting the working mode, the inter-axle power distribution (determining the front motor torque), hybrid power distribution (determining the rear motor torque), and inter-axle economic distribution can be achieved through the power distribution module.

[0079] Step S104, calculate the torque distribution parameters according to the target working mode and the vehicle state of the driving vehicle.

[0080] After selecting the target working mode, that is, the above series motion four-wheel drive mode, series economy four-wheel drive mode, parallel motion four-wheel drive mode, and parallel front-wheel drive hybrid mode, combined with the current vehicle state of the driving vehicle, the torque distribution parameters can be calculated. Through the above torque distribution parameters, the torque control strategy in the target working mode can be realized, and then the function of controlling the driving of the vehicle according to the driver's needs and the state of the dual-motor vehicle can be realized.

[0081] Among them, the above vehicle state may include the vehicle driving state, such as the running speed, the running states of various vehicle power components, the vehicle power state, etc. The state of the vehicle may also include the environmental state of the driving vehicle.

[0082] Optionally, the step of calculating the torque distribution parameters according to the target working mode and the vehicle state of the driving vehicle includes:

[0083] In the case where the target working mode is the series motion four-wheel drive mode, control the clutch of the driving vehicle to disengage and use the engine to generate electricity to determine the charging demand torque; based on the charging demand torque and the motor demand torque, calculate the engine demand torque and the generator demand torque; according to the vehicle acceleration and the road gradient, calculate the axle load ratio of the front axle motor and the rear axle motor; according to the axle load ratio, the engine demand torque and the generator demand torque, calculate the torque distribution parameters of the front axle motor and the rear axle motor;

[0084] When the target working mode is the series economic four-wheel drive mode, control the clutch of the driving vehicle to disengage, use the engine to generate electricity, and determine the charging demand torque; based on the charging demand torque and the motor demand torque, calculate the engine demand torque and the generator demand torque; according to the vehicle motor speed, the engine demand torque and the generator demand torque, calculate the torque distribution parameters of the front axle motor and the rear axle motor.

[0085] When the target working mode is the parallel sporty four-wheel drive mode, control the clutch of the driving vehicle to engage and control the engine to run; according to the vehicle acceleration and the road gradient, calculate the axle load ratios of the front axle motor and the rear axle motor; according to the axle load ratios, distribute the required torque of the front axle motor and the demand torque of the rear axle motor; according to the required torque of the front axle, the charging demand torque, and the demand torque of the rear axle motor, calculate the engine demand torque and the generator demand torque; based on the engine demand torque, the generator demand torque, and the electric torque, calculate the torque distribution parameters of the front axle motor and the rear axle motor.

[0086] When the target working mode is the parallel front-wheel drive mode, control the clutch of the driving vehicle to engage and control the engine to run; according to the driving demand torque, the actual engine torque, and the charging demand torque, calculate the engine torque and the generator torque; according to the engine torque, the generator torque, and the electric torque, calculate the torque distribution parameters of the front axle motor and the rear axle motor.

[0087] Figure 4 is a flowchart of an optional distributed four-wheel drive torque control according to an embodiment of the present application. As Figure 4 shown, it is possible to first detect the opening degree of the acceleration pedal, the opening degree of the brake pedal, the steering wheel angle, the vehicle speed, and the driving mode of the electric vehicle, and then obtain the acceleration and the road surface adhesion coefficient; then determine the driving stability factor, the opening degree of the throttle pedal, the SOC, the gradient, the AUTO mode, the control mode (including the sport mode and the economy mode), and then determine the control mode of the driver's four-wheel drive vehicle, and combine the control mode with the parameters obtained above to determine the working mode.

[0088] When the electric vehicle is in any working mode of the series sport four-wheel drive mode, the series economic four-wheel drive mode, the parallel sport four-wheel drive mode, and the parallel front-wheel drive hybrid mode, perform torque distribution calculation according to the current working mode and the vehicle state of the electric vehicle. The following is a schematic description of the steps of the torque distribution parameters in each working mode.

[0089] 1. The target working mode is the series sport four-wheel drive mode (series + dynamic torque distribution of front and rear motors).

[0090] In the series motion four-wheel drive mode, the clutch of the driving vehicle can be controlled to disengage, and the engine can be used for power generation to determine the charging demand torque. Based on the charging demand torque and the motor demand torque, the engine demand torque and the generator demand torque are calculated. According to the vehicle acceleration and the road gradient, the axle load ratios of the front axle motor and the rear axle motor are calculated. According to the axle load ratios, the engine demand torque and the generator demand torque, the torque distribution parameters of the front axle motor and the rear axle motor are calculated.

[0091] In this mode, the clutch is disengaged, and the engine generates power to provide the power required by the battery and the power motor. The front and rear motors are power-distributed in the optimal way for the vehicle's dynamic performance.

[0092] 1) Coordinated control of the engine, generator, and motor is performed according to the SOC of the power battery and the driver's demand torque.

[0093] Based on the driving demand torque (actual output torque) = engine torque + power motor demand torque - generator torque, considering the hysteresis of the responses of each power source, to ensure power balance, the control logic of each power source is as follows: First, calculate the engine demand torque, and the engine output torque is equal to the charging demand torque + power motor demand torque. Then, calculate the generator demand torque, and the generator demand torque is equal to the engine demand torque.

[0094] 2) Calculate the front and rear axle load ratios according to the vehicle acceleration, gradient, etc., and calculate the front and rear axle demand torque distribution coefficients according to the axle load ratios, and divide the driver's demand torque into the front axle motor demand torque and the rear axle power demand torque.

[0095] 2. The target operating mode is the series economic four-wheel drive mode (series + economic torque distribution of the front and rear motors).

[0096] In the series economic four-wheel drive mode, the clutch of the driving vehicle can be controlled to disengage, and the engine can be used for power generation to determine the charging demand torque. Based on the charging demand torque and the motor demand torque, the engine demand torque and the generator demand torque are calculated. According to the vehicle motor speed, the engine demand torque and the generator demand torque, the torque distribution parameters of the front axle motor and the rear axle motor are calculated.

[0097] In this mode, the clutch is disengaged, and the engine generates power to provide the power required by the battery and the power motor. The front and rear motors are power-distributed in the optimal way for the motor economy.

[0098] 1) Coordinate the control of the engine, drive motor, and generator according to the power battery SOC and the driver's required torque. Based on the driving required torque (actual output torque) = engine torque + electric torque - generator torque, considering the hysteresis of the response of each power source, to ensure power balance, the control logic of each power source is as follows: First, calculate the engine required torque, and the engine output torque is equal to the charging required torque + the power motor required torque. Then calculate the generator required torque, and the generator required torque is equal to the engine required torque. Then calculate the generator required torque again, and the generator required torque is equal to the power motor actual torque + the charging required torque.

[0099] 2) According to the vehicle motor speed and required torque, calculate the torque distribution coefficient with the optimal economy based on the motor system efficiency table, and divide the driver's required torque into the front axle motor required torque and the rear axle power required torque.

[0100] 3. The target working mode is the parallel kinematic four-wheel drive mode (parallel + front and rear axle dynamic torque distribution).

[0101] In the parallel kinematic four-wheel drive mode, control the clutch engagement of the driving vehicle and control the engine operation; calculate the axle load ratio of the front axle motor and the rear axle motor according to the vehicle acceleration and road gradient; distribute the required torque of the front axle motor and the required torque of the rear axle motor according to the axle load ratio; calculate the engine required torque and the generator required torque according to the required torque of the front axle, the charging required torque, and the required torque of the rear axle motor; calculate the torque distribution parameters of the front axle motor and the rear axle motor based on the engine required torque, the generator required torque, and the electric torque.

[0102] In this mode, the clutch is engaged and the engine drives, while providing the power required by the battery and the power motor. The front and rear motors perform power distribution in the optimal way for the vehicle dynamics.

[0103] 1) Calculate the front and rear axle loads according to the vehicle acceleration, gradient, etc., and distribute the required torque of the front and rear axles according to the axle load ratio, dividing the driver's required torque into the required torque of the hybrid axle (front axle) and the required torque of the rear axle motor.

[0104] 2) Coordinate the control of the engine, front drive motor, and generator according to the SOC and the required torque of the hybrid axle.

[0105] 3) According to the driving demand torque (actual output torque) = engine torque + electric torque - generator torque, considering the hysteresis of the response of each power source, to ensure power balance, the control logic of each power source is as follows: First, calculate the engine demand torque, and the engine demand torque is equal to the torque required by the hybrid shaft + the charging demand torque + the rear motor demand torque. Second, calculate the generator demand torque, and the generator demand torque is equal to the charging demand torque + the rear motor demand torque. Then, calculate the front motor demand torque, and the power motor torque is equal to the total driver demand torque - the actual engine torque.

[0106] 4. The target operating mode is the parallel front-wheel drive mode (parallel + front-axle drive).

[0107] In the parallel front-wheel drive mode, the clutch of the driving vehicle can be controlled to engage, and the engine can be controlled to operate. According to the driving demand torque, the actual engine torque, and the charging demand torque, the engine torque and the generator torque are calculated. According to the engine torque, the generator torque, and the electric torque, the torque distribution parameters of the front-axle motor and the rear-axle motor are calculated.

[0108] In this mode, the clutch engages, the engine drives, and at the same time provides the power required by the battery and the front motor, and the rear motor does not participate in driving;

[0109] 1) According to the SOC and the hybrid shaft demand torque, coordinate the control of the engine, the front drive motor, and the generator

[0110] According to the driving demand torque (actual output torque) = engine torque + electric torque - generator torque, considering the hysteresis of the response of each power source, to ensure power balance, the control logic of each power source is as follows: First, calculate the engine demand torque, and the engine demand torque is equal to the driver demand torque + the charging demand torque. Second, calculate the generator demand torque, and the generator demand torque is equal to the charging demand torque. Then, calculate the front motor demand torque, and the power motor torque is equal to the total driver demand torque - the actual engine torque.

[0111] In the embodiments of the present invention, the operation intention of the driver can be fully considered. According to the control mode selected by the driver, the economy of the vehicle is improved through an intelligent four-wheel drive control mode. The torque control methods in each mode are proposed, and a dual-motor hybrid four-wheel drive torque control architecture and control system are constructed; so that in various driving conditions, through torque control of the engine, the generator, and the motor, a control method with excellent vehicle economy, power performance, and handling stability that takes into account the operation intention of the driver can be realized.

[0112] The following describes the present invention in conjunction with another alternative embodiment.

[0113] Embodiment 2

[0114] This embodiment provides an optional control device for a dual-motor vehicle. Each implementation unit included in this control device corresponds to each implementation step in Embodiment 1 above.

[0115] A control device for a dual-motor vehicle provided in this embodiment. It should be noted that the control device for a dual-motor vehicle in the embodiment of the present invention can be used to execute the control method for a dual-motor vehicle provided in the embodiment of the present invention. The following introduces the control device for a dual-motor vehicle provided in the embodiment of the present invention.

[0116] Figure 5 It is a schematic diagram of another optional control device for a dual-motor vehicle according to the embodiment of the present invention. As Figure 5 shown, it includes: a first calculation unit 51, a second calculation unit 52, a determination unit 53, and a third calculation unit 54. Among them,

[0117] The first calculation unit 51 is used to calculate the vehicle acceleration, road surface adhesion coefficient, and road slope based on the pre-acquired vehicle parameters and driving parameters. Among them, the driving parameters at least include: steering wheel angle, accelerator pedal opening, and the vehicle parameters at least include: current vehicle speed;

[0118] The second calculation unit 52 is used to calculate the driving stability factor based on the vehicle acceleration, road surface adhesion coefficient, steering wheel angle, and current vehicle speed.

[0119] The determination unit 53 is used to determine the target working mode based on the driving stability factor, accelerator pedal opening, current vehicle speed, road slope, and the control mode selected by the driver.

[0120] The third calculation unit 54 is used to calculate the torque distribution parameter according to the target working mode and the vehicle state of the driving vehicle.

[0121] The control device of the dual-motor vehicle can first calculate the vehicle acceleration, road adhesion coefficient, and road gradient through the first calculation unit 51 based on the pre-acquired vehicle parameters and driving parameters. Among them, the driving parameters at least include: steering wheel angle and accelerator pedal opening, and the vehicle parameters at least include: current vehicle speed. Then, the second calculation unit 52 calculates the driving stability factor based on the vehicle acceleration, road adhesion coefficient, steering wheel angle, and current vehicle speed. After that, the determination unit 53 determines the target working mode based on the driving stability factor, accelerator pedal opening, current vehicle speed, road gradient, and the control mode selected by the driver. Finally, the third calculation unit 54 calculates the torque distribution parameters according to the target working mode and the vehicle state of the driving vehicle. In this embodiment, by integrating the vehicle parameters and driving parameters of the vehicle with the control mode selected by the driver, the target working mode of the vehicle is determined, and then the torque distribution parameters for controlling the vehicle's driving are calculated according to the target working mode and the vehicle state, thereby controlling the vehicle, achieving the purpose of fully considering the driver's intention to control the hybrid four-wheel drive vehicle, and thus realizing the technical effect of excellent control of the vehicle economy, power performance, and handling stability that takes into account the driver's operation intention. Furthermore, it solves the technical problem in the related art that the current electric vehicle lacks consideration of the vehicle's dynamic performance and the driver's intention, which affects the operation performance.

[0122] Optionally, the control device of the dual-motor vehicle further includes: a first processing unit, configured to collect the vehicle longitudinal acceleration, vehicle lateral acceleration, yaw rate, wheel speed, and current vehicle speed through the sensors of the driving vehicle to obtain vehicle parameters before calculating the vehicle acceleration, road adhesion coefficient, and road gradient based on the pre-acquired vehicle parameters and driving parameters; a second processing unit, configured to collect the operation signals of the driver for the driving vehicle, analyze the operation signals to determine the brake pedal opening, accelerator pedal opening, steering wheel angle, and the control mode selected by the driver, and obtain driving parameters.

[0123] Optionally, the second processing unit includes: a mode sub-unit, the control mode selected by the driver includes: economy mode, sport mode, and automatic mode, and the target working mode is one of the following: series sport four-wheel drive mode, series economy four-wheel drive mode, parallel sport four-wheel drive mode, parallel front-wheel drive hybrid mode.

[0124] Optionally, the determination unit includes: a first control subunit, configured to control the vehicle to enter the series motion four-wheel drive mode when the accelerator pedal opening is greater than a preset opening threshold, the current vehicle speed is less than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a second control subunit, configured to control the vehicle to enter the series motion four-wheel drive mode when the driving stability factor is greater than a set factor threshold, the current vehicle speed is less than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a third control subunit, configured to control the vehicle to enter the series motion four-wheel drive mode when the road surface adhesion coefficient is less than a set coefficient threshold, the current vehicle speed is less than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a fourth control subunit, configured to control the vehicle to enter the series motion four-wheel drive mode when the road gradient is greater than a set gradient threshold, the current vehicle speed is less than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a fifth control subunit, configured to control the vehicle to enter the series motion four-wheel drive mode when the control mode selected by the driver is the sport mode and the current vehicle speed is less than a preset vehicle speed threshold.

[0125] Optionally, the determination unit further includes: a sixth control subunit, configured to control the vehicle to enter the series economic four-wheel drive mode when the accelerator pedal opening is less than or equal to a preset opening threshold, the current vehicle speed is less than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode.

[0126] Optionally, the determination unit further includes: a seventh control subunit, configured to control the vehicle to enter the parallel motion four-wheel drive mode when the accelerator pedal opening is greater than a preset opening threshold, the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, an eighth control subunit, configured to control the vehicle to enter the parallel motion four-wheel drive mode when the driving stability factor is greater than a set factor threshold, the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a ninth control subunit, configured to control the vehicle to enter the parallel motion four-wheel drive mode when the road surface adhesion coefficient is less than a set coefficient threshold, the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a tenth control subunit, configured to control the vehicle to enter the parallel motion four-wheel drive mode when the road gradient is greater than a set gradient threshold, the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, an eleventh control subunit, configured to control the vehicle to enter the parallel motion four-wheel drive mode when the control mode selected by the driver is the sport mode and the current vehicle speed is greater than a preset vehicle speed threshold.

[0127] Optionally, the determination unit further includes: a twelfth control subunit, configured to control the vehicle to enter a parallel front-wheel drive hybrid mode when the accelerator pedal opening is less than or equal to a preset opening threshold, the current vehicle speed is greater than a preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode; or, a thirteenth control subunit, configured to control the vehicle to enter a parallel front-wheel drive hybrid mode when the control mode selected by the driver is the economy mode and the current vehicle speed is greater than a preset vehicle speed threshold.

[0128] Optionally, the third calculation unit includes: a first processing subunit, configured to, when the target operating mode is the series motion four-wheel drive mode, control the clutch of the vehicle to disengage, use the engine to generate electricity, determine the charging demand torque; calculate the engine demand torque and the generator demand torque based on the charging demand torque and the motor demand torque; calculate the axle load ratios of the front axle motor and the rear axle motor according to the vehicle acceleration and the road gradient; calculate the torque distribution parameters of the front axle motor and the rear axle motor according to the axle load ratios, the engine demand torque, and the generator demand torque; a second processing subunit, configured to, when the target operating mode is the series economy four-wheel drive mode, control the clutch of the vehicle to disengage, use the engine to generate electricity, determine the charging demand torque; calculate the engine demand torque and the generator demand torque based on the charging demand torque and the motor demand torque; calculate the torque distribution parameters of the front axle motor and the rear axle motor according to the vehicle motor speed, the engine demand torque, and the generator demand torque; a third processing subunit, configured to, when the target operating mode is the parallel motion four-wheel drive mode, control the clutch of the vehicle to engage and control the engine to operate; calculate the axle load ratios of the front axle motor and the rear axle motor according to the vehicle acceleration and the road gradient; distribute the required torque of the front axle motor and the demand torque of the rear axle motor according to the axle load ratios; calculate the engine demand torque and the generator demand torque according to the required torque of the front axle, the charging demand torque, and the demand torque of the rear axle motor; calculate the torque distribution parameters of the front axle motor and the rear axle motor based on the engine demand torque, the generator demand torque, and the electric torque; a fourth processing subunit, configured to, when the target operating mode is the parallel front-wheel drive mode, control the clutch of the vehicle to engage and control the engine to operate; calculate the engine torque and the generator torque according to the driving demand torque, the actual engine torque, and the charging demand torque; calculate the torque distribution parameters of the front axle motor and the rear axle motor according to the engine torque, the generator torque, and the electric torque.

[0129] The control device of the dual-motor vehicle described above may further include a processor and a memory. The first calculation unit 51, the second calculation unit 52, the determination unit 53, the third calculation unit 54, etc. are all stored in the memory as program units, and the processor executes the above program units stored in the memory to implement corresponding functions.

[0130] The above-mentioned processor includes a kernel, which retrieves corresponding program units from the memory. One or more kernels can be set, and by adjusting the kernel parameters, the technical problem in the related art that the current electric vehicle lacks consideration for the overall vehicle's power performance and the driver's intention, thus affecting the operation performance, is solved.

[0131] The above-mentioned memory may include non-permanent memory in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory includes at least one memory chip.

[0132] According to another aspect of the embodiments of the present invention, an electronic device is further provided, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the control method of the dual-motor vehicle in any one of the above via executing the executable instructions.

[0133] Figure 6 It is a hardware structure block diagram of an electronic device (or mobile device) for a control method of a dual-motor vehicle according to an embodiment of the present invention. As Figure 6 shown, the electronic device may include one or more processors 102 (shown as 102a, 102b,..., 102n in the figure) (the processor 102 may include, but is not limited to, processing devices such as a microprocessor MCU or a programmable logic device FPGA), and a memory 104 for storing data. In addition, it may further include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which can be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply, and / or a camera. Those of ordinary skill in the art can understand that Figure 6 the structure shown is only schematic and does not limit the structure of the above-mentioned electronic device. For example, the electronic device may further include more or fewer components than Figure 6 shown, or have a different configuration from Figure 6 shown.

[0134] The serial numbers of the above-mentioned embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0135] In the above-mentioned embodiments of the present invention, the descriptions of each embodiment have their own emphases. For parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0136] In several embodiments provided by this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in electrical or other forms.

[0137] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0138] In addition, in each embodiment of the present invention, the functional units can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0139] If the above-mentioned 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 technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks or optical discs that can store program codes.

[0140] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A control method for a dual-motor vehicle, characterized in that Including: Based on pre-acquired vehicle parameters and driving parameters, calculate vehicle acceleration, road adhesion coefficient, and road gradient. Wherein, the driving parameters at least include: steering wheel angle, accelerator pedal opening, and the vehicle parameters at least include: current vehicle speed; Based on the vehicle acceleration, the road adhesion coefficient, the steering wheel angle, and the current vehicle speed, calculate a driving stability factor; Based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road gradient, and the control mode selected by the driver, determine a target working mode, and the target working mode is one of the following: series motion four-wheel drive mode, series economy four-wheel drive mode, parallel motion four-wheel drive mode, parallel front-wheel drive hybrid mode; According to the target working mode and the vehicle state of the driving vehicle, calculate torque distribution parameters; Wherein, the step of calculating the torque distribution parameters according to the target working mode and the vehicle state of the driving vehicle includes: when the target working mode is the series motion four-wheel drive mode, control the clutch of the driving vehicle to disengage and use the engine to generate electricity to determine the charging demand torque; based on the charging demand torque and the motor demand torque, calculate the engine demand torque and the generator demand torque; according to the vehicle acceleration and the road gradient, calculate the axle load ratios of the front axle motor and the rear axle motor; according to the axle load ratios, the engine demand torque, and the generator demand torque, calculate the torque distribution parameters of the front axle motor and the rear axle motor; when the target working mode is the series economy four-wheel drive mode, control the clutch of the driving vehicle to disengage and use the engine to generate electricity to determine the charging demand torque; based on the charging demand torque and the motor demand torque, calculate the engine demand torque and the generator demand torque; according to the vehicle motor speed, the engine demand torque, and the generator demand torque, calculate the torque distribution parameters of the front axle motor and the rear axle motor; when the target working mode is the parallel motion four-wheel drive mode, control the clutch of the driving vehicle to engage and control the engine to operate; according to the vehicle acceleration and the road gradient, calculate the axle load ratios of the front axle motor and the rear axle motor; according to the axle load ratios, distribute the required torque of the front axle motor and the demand torque of the rear axle motor; according to the required torque of the front axle, the charging demand torque, and the demand torque of the rear axle motor, calculate the engine demand torque and the generator demand torque; based on the engine demand torque, the generator demand torque, and the electric torque, calculate the torque distribution parameters of the front axle motor and the rear axle motor; when the target working mode is the parallel front-wheel drive mode, control the clutch of the driving vehicle to engage and control the engine to operate; according to the driving demand torque, the actual engine torque, and the charging demand torque, calculate the engine torque and the generator torque, where the driving demand torque = engine torque + electric torque - generator torque; according to the engine torque, the generator torque, and the electric torque, calculate the torque distribution parameters of the front axle motor and the rear axle motor.

2. The control method according to claim 1, wherein Before calculating the vehicle acceleration, road adhesion coefficient, and road gradient based on the pre-acquired vehicle parameters and driving parameters, it further includes: Collect vehicle longitudinal acceleration, vehicle lateral acceleration, yaw rate, wheel speed, and the current vehicle speed through the sensors of the driving vehicle to obtain the vehicle parameters; Collect the operation signals of the driver on the driving vehicle, and analyze the operation signals to determine the brake pedal opening, the accelerator pedal opening, the steering wheel angle, and the control mode selected by the driver to obtain the driving parameters.

3. The control method according to claim 2, wherein The control modes selected by the driver include: economy mode, sport mode, and automatic mode.

4. The control method according to claim 3, wherein The steps of determining the target working mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road gradient, and the control mode selected by the driver include: When the accelerator pedal opening is greater than the preset opening threshold, the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, control the driving vehicle to enter the series motion four-wheel drive mode; or, When the driving stability factor is greater than the set factor threshold, the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, control the driving vehicle to enter the series motion four-wheel drive mode; or, When the road surface adhesion coefficient is less than the set coefficient threshold, the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, control the driving vehicle to enter the series motion four-wheel drive mode; or, When the road gradient is greater than the set gradient threshold, the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, control the driving vehicle to enter the series motion four-wheel drive mode; or, When the control mode selected by the driver is the sport mode and the current vehicle speed is less than the preset vehicle speed threshold, control the driving vehicle to enter the series motion four-wheel drive mode.

5. The control method according to claim 3, characterized in that The steps of determining the target working mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road gradient, and the control mode selected by the driver include: When the accelerator pedal opening is less than or equal to the preset opening threshold, the current vehicle speed is less than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, control the driving vehicle to enter the series economy four-wheel drive mode.

6. The control method according to claim 3, characterized in that, The steps of determining the target working mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road gradient, and the control mode selected by the driver include: When the accelerator pedal opening is greater than the preset opening threshold, the current vehicle speed is greater than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, control the driving vehicle to enter the parallel motion four-wheel drive mode; or, When the driving stability factor is greater than the set factor threshold, the current vehicle speed is greater than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, control the driving vehicle to enter the parallel motion four-wheel drive mode; or, When the road surface adhesion coefficient is less than the set coefficient threshold, the current vehicle speed is greater than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, control the driving vehicle to enter the parallel motion four-wheel drive mode; or, When the road slope is greater than the set slope threshold, the current vehicle speed is greater than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, control the driving vehicle to enter the parallel motion four-wheel drive mode; or, When the control mode selected by the driver is the sport mode and the current vehicle speed is greater than the preset vehicle speed threshold, control the driving vehicle to enter the parallel motion four-wheel drive mode.

7. The control method according to claim 3, wherein, The step of determining the target working mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road slope, and the control mode selected by the driver includes: When the accelerator pedal opening is less than or equal to the preset opening threshold, the current vehicle speed is greater than the preset vehicle speed threshold, and the control mode selected by the driver is the automatic mode, control the driving vehicle to enter the parallel front-wheel drive hybrid mode; or, When the control mode selected by the driver is the economy mode and the current vehicle speed is greater than the preset vehicle speed threshold, control the driving vehicle to enter the parallel front-wheel drive hybrid mode.

8. A control device for a dual-motor vehicle, characterized in that, It includes: A first calculation unit for calculating the vehicle acceleration, the road surface adhesion coefficient, and the road slope based on the pre-acquired vehicle parameters and driving parameters, where the driving parameters at least include: the steering wheel angle, the accelerator pedal opening, and the vehicle parameters at least include: the current vehicle speed; A second calculation unit for calculating the driving stability factor based on the vehicle acceleration, the road surface adhesion coefficient, the steering wheel angle, and the current vehicle speed; A determination unit for determining the target working mode based on the driving stability factor, the accelerator pedal opening, the current vehicle speed, the road slope, and the control mode selected by the driver, and the target working mode is one of the following: series motion four-wheel drive mode, series economy four-wheel drive mode, parallel motion four-wheel drive mode, parallel front-wheel drive hybrid mode; A third calculation unit for calculating the torque distribution parameter according to the target working mode and the vehicle state of the driving vehicle; Among them, the third calculation unit includes: a first processing subunit, configured to, when the target working mode is the series motion four-wheel drive mode, control the clutch of the driving vehicle to disengage, use the engine to generate electricity, determine the charging demand torque; calculate the engine demand torque and the generator demand torque based on the charging demand torque and the motor demand torque; calculate the axle load ratios of the front axle motor and the rear axle motor according to the vehicle acceleration and the road gradient; calculate the torque distribution parameters of the front axle motor and the rear axle motor according to the axle load ratios, the engine demand torque, and the generator demand torque; a second processing subunit, configured to, when the target working mode is the series economy four-wheel drive mode, control the clutch of the driving vehicle to disengage, use the engine to generate electricity, determine the charging demand torque; calculate the engine demand torque and the generator demand torque based on the charging demand torque and the motor demand torque; calculate the torque distribution parameters of the front axle motor and the rear axle motor according to the vehicle motor speed, the engine demand torque, and the generator demand torque; a third processing subunit, configured to, when the target working mode is the parallel motion four-wheel drive mode, control the clutch of the driving vehicle to engage and control the engine to operate; calculate the axle load ratios of the front axle motor and the rear axle motor according to the vehicle acceleration and the road gradient; distribute the required torque of the front axle motor and the demand torque of the rear axle motor according to the axle load ratios; calculate the engine demand torque and the generator demand torque according to the required torque of the front axle, the charging demand torque, and the demand torque of the rear axle motor; calculate the torque distribution parameters of the front axle motor and the rear axle motor based on the engine demand torque, the generator demand torque, and the electric torque; a fourth processing subunit, configured to, when the target working mode is the parallel front-wheel drive mode, control the clutch of the driving vehicle to engage and control the engine to operate; calculate the engine torque and the generator torque according to the driving demand torque, the actual engine torque, and the charging demand torque, where the driving demand torque = engine torque + electric torque - generator torque; calculate the torque distribution parameters of the front axle motor and the rear axle motor according to the engine torque, the generator torque, and the electric torque.

9. An electronic device, characterized in that, Comprising one or more processors and a memory, the memory is used to store one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the dual-motor vehicle according to any one of claims 1 to 7.

Images