Control method and device, apparatus, computer readable storage medium

Abstract

Embodiments of the present application disclose a control method and device, equipment and computer readable storage medium. The method comprises: detecting whether the vehicle has a four-wheel drive demand in real time when the vehicle is in a four-wheel drive state; if it is detected that the vehicle has no four-wheel drive demand, controlling a driving motor to reduce a preset torque output and controlling an engine to increase a torque corresponding to a preset torque output value until the torque output by the driving motor is zero, so that the vehicle exits the four-wheel drive state. The application adds a four-wheel drive state exit logic, detects whether the vehicle has a four-wheel drive demand in real time, reduces the torque of the driving motor in time when the vehicle has no four-wheel drive demand, simultaneously increases the torque of the engine by an equal amount, saves unnecessary four-wheel drive energy consumption, and increases or decreases the corresponding output torque by a preset value, avoids traffic safety accidents caused by a large change in the corresponding output torque, enables the vehicle to safely exit the four-wheel drive state, and ensures the timeliness and safety of the vehicle when exiting the four-wheel drive state.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicles, in particular to a control method and device, equipment and computer readable storage medium. BACKGROUND

[0002] PHEV (Plug-in hybrid electric vehicle, plug-in hybrid electric vehicle) is one of the optional ways for vehicle enterprises to reduce carbon emissions. Using four-wheel drive strategy during vehicle operation can improve power performance, or distributing torque during driving to provide a more stable driving experience, so that the vehicle can balance power performance, economy and stability, which has become a new development direction of PHEV.

[0003] However, many current torque control methods do not design appropriate exit logic after the vehicle enters the four-wheel drive state, resulting in the PHEV being unable to exit the four-wheel drive state in time and safely when there is no need for four-wheel drive. SUMMARY

[0004] To solve the above technical problems, embodiments of the present application provide a control method and device, equipment and computer readable storage medium, which can exit the four-wheel drive state in time and safely when there is no need for four-wheel drive.

[0005] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0006] According to an aspect of an embodiment of the present application, a control method is provided, comprising: detecting in real time whether a vehicle has a four-wheel drive demand when the vehicle is in a four-wheel drive state; if it is detected that the vehicle has no four-wheel drive demand, controlling a drive motor to reduce output of a preset torque, and controlling an engine to increase output of a torque corresponding to a numerical value of the preset torque, until the torque output by the drive motor is zero, so that the vehicle exits the four-wheel drive state.

[0007] According to an aspect of an embodiment of the present application, a control device is provided, comprising: a detection module configured to detect in real time whether a vehicle has a four-wheel drive demand when the vehicle is in a four-wheel drive state; a control module configured to control a drive motor to reduce output of a preset torque if it is detected that the vehicle has no four-wheel drive demand, and control an engine to increase output of a torque corresponding to a numerical value of the preset torque, until the torque output by the drive motor is zero, so that the vehicle exits the four-wheel drive state.

[0008] In another embodiment, the detection module comprises: a first detection unit configured to detect whether the opening degree of the accelerator pedal at the current time exceeds a preset opening degree range and whether the vehicle condition at the current time meets an acceleration condition if the vehicle is detected to have the four-wheel drive demand.

[0009] In another embodiment, the first detection unit comprises: a first strategy maintaining block configured to stop detecting whether the vehicle condition at the current time meets the acceleration condition and control the vehicle according to the control strategy corresponding to the four-wheel drive state at the current time if the opening degree of the accelerator pedal at the current time is detected to not exceed the preset opening degree range.

[0010] In another embodiment, the first detection unit comprises: an acquisition block configured to acquire a radar sensing result at the current time and detect whether the radar sensing result represents that there is an obstacle around the vehicle at the current time; a first detection block configured to determine that the vehicle condition at the current time does not meet the acceleration condition if the radar sensing result is detected to represent that there is an obstacle around the vehicle at the current time; and a second detection block configured to determine that the vehicle condition at the current time meets the acceleration condition if the radar sensing result is detected to represent that there is no obstacle around the vehicle at the current time.

[0011] In another embodiment, the first detection unit comprises: a second strategy maintaining block configured to control the vehicle according to the control strategy corresponding to the four-wheel drive state at the current time if the opening degree of the accelerator pedal at the current time is detected to exceed the preset opening degree range and the vehicle condition at the current time is detected to not meet the acceleration condition.

[0012] In another embodiment, the control device further comprises: a vehicle speed detection module configured to detect whether the vehicle speed at the current time is zero; and a four-wheel drive state detection module configured to detect whether the vehicle is in the four-wheel drive state if the vehicle speed at the current time is detected to not be zero.

[0013] In another embodiment, the four-wheel drive state detection module comprises: a zero value detection unit configured to detect whether the torque output by the driving motor and the engine at the current time is both zero; a first four-wheel drive state determination unit configured to determine that the vehicle is in the four-wheel drive state if the torque output by the driving motor and the engine at the current time is detected to be both zero; and a second four-wheel drive state determination unit configured to determine that the vehicle is not in the four-wheel drive state if the torque output by the driving motor at the current time is detected to be zero or the torque output by the engine at the current time is detected to be zero.

[0014] According to an aspect of the embodiments of the present application, an electronic device is provided, comprising: a controller; a memory for storing one or more programs, which when executed by the controller, perform the control method described above.

[0015] According to an aspect of the embodiments of the present application, a computer readable storage medium is also provided, which stores computer readable instructions, which when executed by a processor of a computer, cause the computer to perform the control method described above.

[0016] According to an aspect of the embodiments of the present application, a computer program product or computer program is also provided, which comprises computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device performs the control method described above.

[0017] In the technical solutions provided by the embodiments of the present application, when the vehicle is in the four-wheel drive state, it is detected in real time whether the vehicle has a four-wheel drive demand; if it is detected that the vehicle has no four-wheel drive demand, the driving motor is controlled to reduce a preset torque output, and the engine is controlled to increase a torque corresponding to the preset torque output, until the torque output by the driving motor is zero, so that the vehicle exits the four-wheel drive state. The embodiments of the present application add a four-wheel drive state exit logic, detect in real time whether the vehicle has a four-wheel drive demand, reduce the torque of the driving motor in time when the vehicle has no four-wheel drive demand, and increase the torque of the engine by an equal amount, so as to save unnecessary four-wheel drive energy consumption, and preset values are added or reduced to the corresponding torque output, so as to avoid traffic safety accidents caused by a large change in the corresponding torque output, so that the vehicle safely exits the four-wheel drive state, and the timeliness and safety of the vehicle when exiting the four-wheel drive state are ensured.

[0018] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings incorporated into the specification and forming a part thereof, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those of ordinary skill in the art without creative labor on the basis of these drawings. In the drawings:

[0020] Figure 1 is a schematic diagram of an implementation environment related to the present application;

[0021] Figure 2 is a flowchart of a control method according to an example embodiment of the present application;

[0022] Figure 3 is a flowchart of another control method according to the example embodiment shown in Figure 2 is a flowchart of another control method according to the example embodiment shown in

[0023] Figure 4 is a flowchart of another control method according to the example embodiment shown in Figure 3 is a flowchart of another control method according to the example embodiment shown in

[0024] Figure 5 is a flowchart of another control method according to the example embodiment shown in Figure 3 is a flowchart of another control method according to the example embodiment shown in

[0025] Figure 6 is a flowchart of another control method according to the example embodiment shown in

[0026] Figure 7 is a flowchart of another control method according to the example embodiment shown in Figure 2 is a flowchart of another control method according to the example embodiment shown in

[0027] Figure 8 is a flowchart of another control method according to the example embodiment shown in Figure 7 is a flowchart of another control method according to the example embodiment shown in

[0028] Figure 9 is a flowchart of a control method for a four-wheel drive state of a PHEV according to an example embodiment of the present application;

[0029] Figure 10 is a structural diagram of a control device according to an example embodiment of the present application;

[0030] Figure 11 is a structural diagram of a computer system of an electronic device according to an example embodiment of the present application. DETAILED DESCRIPTION

[0031] The example embodiments will now be described in detail with reference to the drawings. When the description is made with reference to the drawings, the same numbers on different drawings represent the same or similar elements. The following description of example embodiments is not representative of all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the appended claims.

[0032] The block diagrams shown in the drawings are merely functional entities, and do not necessarily correspond to physically independent entities. That is, the functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0033] The flowcharts shown in the drawings are merely exemplary illustrations, and do not necessarily include all contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to actual conditions.

[0034] In this application, "multiple" refers to two or more. "And / or" describes the association between the associated objects, indicating that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship.

[0035] First, please refer to Figure 1 , Figure 1 is a schematic diagram of an implementation environment involved in this application. The implementation environment includes a data acquisition device 100 and a server 200, and the data acquisition device 100 and the server 200 communicate through a wired or wireless network.

[0036] The data acquisition device 100 is used to acquire vehicle-related data, such as pedal opening degree information, gear information, engine operating conditions, motor operating conditions, peripheral radar sensing information, four-wheel drive control logic information, etc.; the server 200 detects and controls the vehicle according to the relevant data collected by the data acquisition device 100, for example:

[0037] The server 200 detects in real time whether the vehicle has a four-wheel drive demand when the vehicle is in a four-wheel drive state; if it is detected that the vehicle has no four-wheel drive demand, the server 200 controls the drive motor to reduce the output of a preset torque, and controls the engine to output a torque corresponding to a preset torque value, until the torque output by the drive motor is zero, so that the vehicle exits the four-wheel drive state.

[0038] Among them, the data acquisition device 100 can be a device with storage space, that is, it can store the collected vehicle-related data, which can be, for example Figure 1The physical device shown to be placed in the vehicle interior can also be a collection device set in the cloud, which is not limited here. The server 200 can be a standalone physical server, or a server cluster or distributed system composed of multiple physical servers, wherein multiple servers can form a blockchain, and the server is a node on the blockchain. The server 200 can also be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms, etc. Basic cloud computing services, which are not limited here.

[0039] Current electric vehicles and hydrogen fuel vehicles using clean energy vehicles are ideal models for reducing carbon emissions, but from the perspective of vehicle life cycle, electric vehicles have little effect on carbon reduction; At the same time, hydrogen energy vehicles still have a distance to large-scale and extensive civilian use, therefore, hybrid electric vehicles are still the first choice for current vehicle enterprises to reduce carbon emissions. Among them, PHEV (Plug-in hybrid electric vehicle) is one of the optional ways for current vehicle enterprises to reduce carbon emissions.

[0040] Because PHEV is equipped with a more powerful battery, it can increase the output torque of the motor to improve power performance, or use a four-wheel drive strategy to improve power performance, but in many current torque control methods, there is no appropriate exit logic after PHEV enters the four-wheel drive state, resulting in PHEV cannot exit the four-wheel drive state in time and safely when there is no need for four-wheel drive demand.

[0041] Therefore, the present application provides a control method, please refer to Figure 2 , Figure 2 is a flowchart of a control method according to an exemplary embodiment of the present application, which can be specifically executed by the server 200 in the implementation environment shown in Figure 1 . Of course, the method can also be applied to other implementation environments and executed by server devices in other implementation environments, which are not limited by the present embodiment. As shown in Figure 2 , the method at least includes S210 to S220, which are described in detail as follows:

[0042] S210: Real-time detection whether the vehicle has four-wheel drive demand when the vehicle is in four-wheel drive state.

[0043] The four-wheel drive state is a state in which the vehicle keeps four-wheel drive during operation. Common four-wheel drive states include: full-time four-wheel drive, part-time four-wheel drive, and on-demand four-wheel drive. Among them, the full-time four-wheel drive is a state in which all wheels of the vehicle move independently at any time during driving, and good off-road and handling performance can be achieved at any time, but the torque distribution cannot be adjusted according to the road conditions. The part-time four-wheel drive is a four-wheel drive system that must be controlled by the driver to switch between two-wheel drive and four-wheel drive. The driver can achieve two-wheel drive or four-wheel drive by disconnecting or connecting the transfer case according to the driving needs. The on-demand four-wheel drive is a four-wheel drive system that appears only at appropriate times. The computer chip detects the driving needs and controls the switching between two-wheel drive and four-wheel drive.

[0044] The four-wheel drive demand can be a request instruction triggered by the driver through corresponding operation, which represents the four-wheel drive demand, or can be determined in real time whether there is a four-wheel drive demand through other vehicle parameters.

[0045] S220: If it is detected that the vehicle has no four-wheel drive demand, the output preset torque of the driving motor is reduced, and the output torque of the engine corresponding to the preset torque is increased, until the output torque of the driving motor is zero, so that the vehicle exits the four-wheel drive state.

[0046] The preset torque is a parameter preset before the vehicle leaves the factory, which can be a constant value, for example, 10 units or 100 units. The specific dimension of the torque is not limited in the embodiment.

[0047] When it is detected that the vehicle has no four-wheel drive demand, the torque control is performed, specifically, the torque output of the driving motor is reduced, and the output torque of the engine is increased by the same amount, so that the vehicle gradually exits the four-wheel drive state.

[0048] For example, if it is detected for the first time that the vehicle has no four-wheel drive demand, the output torque of the driving motor is reduced by 10 units, and the output torque of the engine is increased by 10 units. It is detected again whether the vehicle has four-wheel drive demand. If there is no four-wheel drive demand, the output torque of the driving motor is reduced by 10 units again, and the output torque of the engine is increased by 10 units. The cycle is repeated until the output torque of the driving motor is zero, so that the vehicle exits the four-wheel drive state. It should be noted that the value of the torque output of the engine increased each time can be the same or different, for example, the torque is reduced by 10 units the first time and by 5 units the second time. The specific amount of the torque is not limited in the embodiment.

[0049] The embodiment detects whether the vehicle has a four-wheel drive demand in real time when the vehicle is in the four-wheel drive state. If it is detected that the vehicle has no four-wheel drive demand, the driving motor is controlled to reduce a preset torque output, and the engine is controlled to increase a torque corresponding to the preset torque output until the torque output by the driving motor is zero, so that the vehicle exits the four-wheel drive state. The application adds a four-wheel drive state exit logic. The four-wheel drive demand of the vehicle is detected in real time. When the vehicle has no four-wheel drive demand, the torque of the driving motor is reduced, and the torque of the engine is increased by the same amount, so as to save unnecessary four-wheel drive energy consumption. The output torque is increased or decreased by a preset value, so as to avoid traffic safety accidents caused by a large change in the output torque, and the vehicle safely exits the four-wheel drive state, thereby ensuring the timeliness and safety of the vehicle when exiting the four-wheel drive state.

[0050] When the vehicle is in the four-wheel drive state, the vehicle has a continuous four-wheel drive demand. How to accurately perceive the acceleration demand triggered by the driver is a technical problem to be solved. In an example embodiment of the application, the opening degree of the accelerator pedal is detected to perceive the acceleration demand. For details, please refer to Figure 3 , Figure 3 is another control method flowchart based on the embodiment shown in Figure 2 . The method further includes S310 to S320 in S210 shown in Figure 2 . Details are described below:

[0051] S310: If it is detected that the vehicle has a four-wheel drive demand, it is detected whether the opening degree of the accelerator pedal at the current time exceeds a preset opening degree range, and whether the current vehicle condition meets the acceleration condition.

[0052] When it is detected that the vehicle has a continuous four-wheel drive demand at the current time, it is further detected whether the vehicle has a demand for increasing power. The opening degree of the accelerator pedal is mainly detected. Only when the accelerator depth reaches a certain depth, that is, the opening degree of the accelerator pedal exceeds the preset opening degree range, does one of the conditions for vehicle acceleration meet.

[0053] For example, only when it is detected that the opening degree of the accelerator pedal at the current time exceeds the maximum critical preset opening degree of the preset opening degree range, does one of the conditions for vehicle acceleration meet. For example, the preset opening degree range is [30°, 33°]. If the opening degree of the accelerator pedal at the current time is greater than 33°, one of the conditions for vehicle acceleration meets.

[0054] In some embodiments, the preset opening degree range changes in each actual detection process. For example, in the first detection process, the preset opening degree range is [25°, 30°]. In the second detection process, the preset opening degree range is [30°, 33°]. The specific value of the preset opening degree range is not limited in the embodiment.

[0055] In order to increase the safety of the control method, the embodiment further needs to detect whether the vehicle condition at the current time and the surrounding environment meet the acceleration condition, and only when the acceleration condition is met, the vehicle can be accelerated.

[0056] The two detection steps in this step can be performed simultaneously or in a predetermined order, and the embodiment does not limit them.

[0057] S320: If it is detected that the opening degree of the accelerator pedal at the current time exceeds the preset opening degree range, and the vehicle condition at the current time meets the acceleration condition, the acceleration torque required by the driving motor at the current time is determined according to the opening degree of the accelerator pedal at the current time, and the vehicle at the current time is accelerated according to the acceleration torque.

[0058] For example, if it is detected that the opening degree of the accelerator pedal at the current time is 10 units, the preset opening degree range is [6 units, 8 units], and the vehicle condition at the current time meets the acceleration condition, the acceleration torque required by the driving motor at the current time is determined according to the opening degree of the accelerator pedal at the current time, and the vehicle at the current time is accelerated according to the acceleration torque.

[0059] The embodiment further illustrates how to detect whether the vehicle at the current time has an acceleration demand when the vehicle has a continuous four-wheel drive demand. The embodiment accurately judges whether the vehicle at the current time can be accelerated by the opening degree of the accelerator pedal at the current time and the vehicle condition at the current time. In order to improve the safety and accuracy of the acceleration operation process, the preset opening degree range and the acceleration condition are introduced. Only when the opening degree of the accelerator pedal at the current time exceeds the preset opening degree range, and the vehicle condition at the current time meets the acceleration condition, the vehicle at the current time can be accelerated, which avoids accelerating the vehicle when the vehicle condition does not allow acceleration, thereby avoiding the occurrence of safety accidents during acceleration.

[0060] Please refer to Figure 4 , Figure 4 is another flow chart of a control method based on the embodiment shown in Figure 3 . The method further includes S410 in S310 as shown in Figure 3 . Details are as follows:

[0061] S410: If it is detected that the opening degree of the accelerator pedal at the current time does not exceed the preset opening degree range, stop detecting whether the vehicle condition at the current time meets the acceleration condition, and control the vehicle according to the control strategy corresponding to the four-wheel drive state at the current time.

[0062] If the accelerator pedal opening is detected to be within the preset range, then there is no need to detect the current vehicle condition or the detection will stop. This indicates that the driver has not pressed the accelerator pedal or has not pressed it to a depth exceeding the preset maximum critical depth, indicating that the vehicle does not have a need to increase power performance, i.e., the vehicle does not have a need to accelerate. At the same time, the vehicle's operating state is maintained at the current moment, i.e., the vehicle is controlled according to the control strategy corresponding to the current four-wheel drive state.

[0063] This embodiment further illustrates that detecting whether the accelerator pedal opening at the current moment exceeds a preset range is a necessary prerequisite for vehicle acceleration. Only when the accelerator pedal opening at the current moment exceeds the preset range is the condition for vehicle acceleration initially met. If the accelerator pedal opening at the current moment does not exceed the preset range, the detection of whether the vehicle condition meets the acceleration conditions at the current moment is stopped, reducing unnecessary subsequent detection processes and shortening the detection time, thus saving time for the control method of this embodiment.

[0064] How to detect whether the vehicle's current condition meets the acceleration requirements is illustrated in an exemplary embodiment of this application. Please refer to [link / reference needed]. Figure 5 , Figure 5 Based on Figure 3 A flowchart of another control method proposed in the illustrated embodiment. This method, as shown in... Figure 3 The S310 shown includes S510 to S530, which will be described in detail below:

[0065] S510: Obtain the radar sensing results at the current moment and detect whether the radar sensing results indicate that there are obstacles around the vehicle at the current moment.

[0066] Vehicle radar can sense people or objects around a vehicle. For example, if the radar's sensing distance is 1 meter, a sensing circle is formed with the vehicle as the center and the radar's sensing distance of 1 meter as the radius. If there is an object within the sensing circle, the radar sensing result indicates that there is an obstacle around the vehicle.

[0067] S520: If the radar sensing results indicate that there is an obstacle around the vehicle at the current moment, it is determined that the vehicle condition at the current moment does not meet the acceleration conditions.

[0068] For example, if the radar sensing distance is 2 meters, and there is a wall within the 2-meter range, the radar sensing result indicates that there is an obstacle around the vehicle, meaning that the vehicle does not meet the acceleration conditions at the current moment.

[0069] S530: If the radar sensing results indicate that there are no obstacles around the vehicle at the current moment, then it is determined that the vehicle condition at the current moment meets the acceleration conditions.

[0070] If the driving environment around the vehicle at the current time allows the vehicle to accelerate, i.e., in the embodiment, the radar sensing result indicates that there is no obstacle around the vehicle at the current time, it is determined that the vehicle condition at the current time meets the acceleration condition.

[0071] The acceleration condition in the embodiment is that there is no obstacle around the vehicle, i.e., the radar sensing result indicates that there is no obstacle around the vehicle at the current time, it is determined that the vehicle condition at the current time meets the acceleration condition, i.e., the driving environment around the vehicle at the current time allows the vehicle to accelerate.

[0072] When the vehicle is in the four-wheel drive state, the persistent four-wheel drive demand is perceived, and the driver triggers the acceleration demand, how the vehicle accurately perceives the acceleration demand in the four-wheel drive state is a technical problem to be solved at present.

[0073] Therefore, another control method is shown in an example embodiment of the present application, and details are shown in Figure 6 , Figure 6 is a flowchart of another control method based on the embodiment shown in 3. The method at least includes S610 in S310 as shown in Figure 3 will be described in detail below:

[0074] S610: If it is detected that the opening degree of the accelerator pedal at the current time exceeds the preset opening degree range, and the vehicle condition at the current time does not meet the acceleration condition, the vehicle is controlled according to the control strategy corresponding to the four-wheel drive state at the current time.

[0075] For example, the opening degree of the accelerator pedal changes from the original 5 units to 10 units at the current time, the preset opening degree range is [6 units, 8 units], and the opening degree of the accelerator pedal of the vehicle at the current time exceeds the maximum critical preset opening degree of the preset opening degree range, i.e., the opening degree of the accelerator pedal of the vehicle at the current time exceeds the preset opening degree range. However, the working condition parameter of the vehicle at the current time reaches the preset working condition parameter, i.e., the working condition parameter of the vehicle at the current time does not meet the acceleration condition of the vehicle, and the vehicle cannot be accelerated at the current time.

[0076] The embodiment further illustrates that the vehicle has a persistent four-wheel drive demand and an acceleration demand at the current time, but the vehicle condition at the current time does not meet the prerequisite condition for acceleration, for example, the vehicle condition parameter at the current time indicates that the vehicle cannot be accelerated, and only when the vehicle condition parameter reaches the preset condition parameter, the vehicle acceleration condition is met.

[0077] The control method of the present application is for the vehicle in the four-wheel drive state, and therefore, before determining that the vehicle is in the four-wheel drive state, the pre-step condition judgment needs to be performed. In addition, in order to ensure that the control method of the present application is performed in real time during the operation of the vehicle, it is necessary to determine whether the vehicle is in the running state.

[0078] To this end, the present application an exemplary to ensure the control method in the vehicle operating state, the following embodiments are proposed, please refer to Figure 7 , Figure 7 is based on Figure 2 the flow chart of another control method proposed in the embodiment. The method is based on Figure 2 S210 to S220, also includes S710 to S720, the embodiment S710 to S720 can be executed in Figure 2 S210 before, but also can be executed in Figure 2 S220 after, the embodiment does not limit the specific execution order. The following will be described in detail:

[0079] S710: detect whether the current vehicle speed is zero value.

[0080] The embodiment determines whether the vehicle is in driving state through the current vehicle speed, if the current vehicle speed is zero value, it represents that the vehicle is not in driving state at the current time; if the current vehicle speed is not zero value, it represents that the vehicle is in driving state at the current time.

[0081] S720: if the current vehicle speed is not zero value, detect whether the current vehicle is in four-wheel drive state.

[0082] If the current vehicle speed is not zero value, it represents that the vehicle is in driving state at the current time, if S710 to S720 can be executed in Figure 2 S210 before, the vehicle is detected for the first time in four-wheel drive state, to carry out the subsequent control process; if S710 to S720 can be executed in Figure 2 S220 after, the vehicle is detected again in four-wheel drive state, to execute the control process cyclically.

[0083] The embodiment determines whether the vehicle is in driving state through detecting whether the current vehicle speed is zero value, if the vehicle is in driving state, it detects whether the current vehicle is in four-wheel drive state, and controls the vehicle by using the control method described in any embodiment, so as to detect whether the vehicle has four-wheel drive demand in real time.

[0084] How to accurately detect whether the vehicle is in four-wheel drive state, in an exemplary embodiment of the present application, according to the output torque of the driving motor and the engine as a reference standard, to accurately determine whether the vehicle state is in four-wheel drive state, please refer to Figure 8 , Figure 8 is based on Figure 7 the flow chart of another control method proposed in the embodiment. The method is based on Figure 7 S710 at least also includes S810 to S830, which will be described in detail below:

[0085] S810: Detects whether the torque output by the drive motor and engine is not zero at the current moment.

[0086] This embodiment further explains how to determine whether the vehicle is in four-wheel drive mode at the current moment. When a PHEV is in four-wheel drive mode, its drive motor and engine are both running, meaning they both output corresponding torque. This embodiment determines whether the vehicle is in four-wheel drive mode by detecting whether the torque output by the drive motor and engine at the current moment is not zero, that is, by detecting whether the drive motor and engine are outputting torque at the current moment.

[0087] S820: If it is detected that the torque output by both the drive motor and the engine is not zero at the current moment, then the vehicle is determined to be in four-wheel drive mode.

[0088] If both the drive motor and the engine are outputting torque at the current moment, for example, if the drive motor outputs 100 units of torque and the engine outputs 200 units of torque at the current moment, then the torque output by both the drive motor and the engine is not zero, and the vehicle is in four-wheel drive mode.

[0089] S830: If the torque output of the drive motor is detected to be zero at the current moment, or the torque output of the engine is detected to be zero at the current moment, then it is determined that the vehicle is not in four-wheel drive mode.

[0090] If either the drive motor or the engine outputs zero torque at the current moment, meaning the drive motor is not outputting torque or the engine is not outputting torque at the current moment, then it is determined that the vehicle is not in four-wheel drive mode.

[0091] This embodiment further illustrates how to determine whether a vehicle is in four-wheel drive mode by detecting the torque values ​​output by the drive motor and engine. Because both the drive motor and engine are running when the vehicle is in four-wheel drive mode, meaning both output torque, detecting whether the torque output by the drive motor and engine is not zero at the current moment can accurately determine whether the vehicle is in four-wheel drive mode at that moment.

[0092] To better illustrate the application of the control method of this application in a PHEV, an exemplary embodiment of this application illustrates the control method for the four-wheel drive state of a PHEV. Please refer to [link / reference needed]. Figure 9 , Figure 9 This is a flowchart illustrating a control method for the four-wheel drive state of a PHEV according to an exemplary embodiment of this application. Figure 9 As shown, this control method includes at least S901 to S912, which will be described in detail below:

[0093] S901: Obtain vehicle-related data.

[0094] The relevant data in the embodiment includes the opening data of the accelerator pedal, the gear data, the engine operation data, the motor operation data, the peripheral radar sensing result data, and the four-wheel drive control logic information.

[0095] S902: Detect whether the vehicle is in the four-wheel drive state.

[0096] S903: If it is detected that the vehicle is in the four-wheel drive state, detect whether the vehicle has a four-wheel drive demand.

[0097] S904: If it is detected that the vehicle has no four-wheel drive demand, control the driving motor to reduce the output of a preset torque by a certain number of units, and control the engine to increase the output of the preset torque by a corresponding number of units.

[0098] In the four-wheel drive state of the vehicle, the real-time detection is performed on whether the vehicle has a four-wheel drive demand. Exemplarily, if it is detected that the vehicle has no four-wheel drive demand, the driving motor is controlled to reduce the output of a preset torque by 50 units, and the engine is controlled to increase the output of the preset torque by 50 units.

[0099] S905: Detect whether the vehicle has a four-wheel drive demand.

[0100] This step represents the re-detection of the four-wheel drive demand of the vehicle. In the embodiment, the real-time detection is performed on whether the vehicle has a four-wheel drive demand in the four-wheel drive state of the vehicle.

[0101] S906: If it is detected that the vehicle has a four-wheel drive demand, control the vehicle state to switch to the four-wheel drive state.

[0102] If it is detected that the vehicle has a four-wheel drive demand this time, it indicates that the vehicle has a four-wheel drive demand again in the process of exiting the four-wheel drive state. Therefore, the process of exiting the four-wheel drive state is stopped, and the vehicle state is controlled to switch to the four-wheel drive state.

[0103] S907: If it is detected that the vehicle has no four-wheel drive demand, detect whether the driving motor stops working.

[0104] If it is detected that the vehicle has no four-wheel drive demand again, whether the vehicle completely exits the four-wheel drive state is determined by detecting whether the driving motor stops working.

[0105] S908: If it is detected that the driving motor stops working, detect whether the vehicle speed is zero.

[0106] If it is detected that the driving motor does not stop working, the vehicle has not completely exited the four-wheel drive state. Therefore, the driving motor is controlled to reduce the output of a preset torque again, and the engine is controlled to output a torque corresponding to the preset torque.

[0107] If the driving motor is detected to stop working, it indicates that the vehicle completely exits the four-wheel drive state, and whether the vehicle speed is zero is detected. If the vehicle speed is zero, it indicates that the vehicle stops running, and all control processes are ended.

[0108] S909: Whether the opening degree of the accelerator pedal exceeds the preset opening degree range is detected.

[0109] If the vehicle has a four-wheel drive demand, whether the opening degree of the accelerator pedal exceeds the preset opening degree range is detected.

[0110] S910: If the opening degree of the accelerator pedal is detected to not exceed the preset opening degree range, the vehicle is controlled according to the control strategy corresponding to the current four-wheel drive state.

[0111] Exemplarily, the current opening degree of the accelerator pedal is 5 units, and the preset opening degree range is [8 units, 10 units]. If the opening degree of the accelerator pedal does not exceed the preset opening degree range, the vehicle is controlled to maintain the current four-wheel drive state, and the vehicle is controlled to run according to the running parameters in the control strategy corresponding to the current four-wheel drive state.

[0112] S911: If the opening degree of the accelerator pedal exceeds the preset opening degree range, whether the vehicle condition meets the acceleration condition is detected.

[0113] If the opening degree of the accelerator pedal exceeds the preset opening degree range, it indicates that the vehicle has an acceleration demand at the current time. At this time, it is necessary to detect whether the vehicle condition meets the acceleration condition. The acceleration condition includes the running condition of the vehicle at the current time and the running environment around the vehicle at the current time.

[0114] S912: If the vehicle condition is detected to meet the acceleration condition, the vehicle is controlled to maintain the four-wheel drive state, and the vehicle is accelerated.

[0115] If the vehicle has an acceleration demand at the current time, and the vehicle condition meets the acceleration condition at the current time, the vehicle is controlled to accelerate in the four-wheel drive state to improve the power performance of the vehicle and speed up the running speed of the vehicle.

[0116] The embodiment designs an exiting logic for torque control of a four-wheel drive PHEV. When the vehicle is in a four-wheel drive state, if it is detected that the vehicle has no four-wheel drive demand, the driving motor can be stopped in time to reduce unnecessary energy consumption and save vehicle operation cost. Meanwhile, the embodiment gradually controls the driving motor to reduce a preset torque output and controls the engine to increase a torque corresponding to the preset torque output value until the torque output by the driving motor is zero, so that the vehicle exits the four-wheel drive state without losing the power performance, that is, the power demand during driving is ensured, and the occurrence of vehicle safety accidents caused by sudden stop of the driving motor torque output is avoided, and the safety of the vehicle when exiting the four-wheel drive state is ensured. In addition, the control method of the embodiment is applicable to all current four-wheel drive PHEVs without changing the internal structure of the PHEV, and the control method is convenient to implement.

[0117] It should be noted that any control method of the present application can be combined with other control methods, or other control methods can affect the control method of the present application. For example, when the driving motor torque is reduced and the engine torque is increased by the same amount, the engine driving wheel may slip due to excessive torque. If the slip phenomenon occurs, the output torque of the engine needs to be stopped and the current control method needs to be maintained, which represents the power demand at the current time and needs to rely on the four-wheel drive control strategy. The present application does not elaborate on other control methods, and does not limit the specific combination of the control method of the present application and other control methods, the application process, and the specific process of mutual influence.

[0118] Another aspect of the present application also provides a control device, as shown in Figure 10 , which is a structural schematic diagram of the control device shown in an exemplary embodiment of the present application. The control device comprises: Figure 10 , which is a structural schematic diagram of the control device shown in an exemplary embodiment of the present application. The control device comprises:

[0119] The detection module 1010 is configured to detect in real time whether the vehicle has a four-wheel drive demand when the vehicle is in a four-wheel drive state.

[0120] The control module 1030 is configured to control the driving motor to reduce a preset torque output and control the engine to increase a torque corresponding to the preset torque output value until the torque output by the driving motor is zero if it is detected that the vehicle has no four-wheel drive demand, so that the vehicle exits the four-wheel drive state.

[0121] In another embodiment, the detection module 1010 comprises:

[0122] The first detection unit is configured to detect whether the opening degree of the accelerator pedal at the current time exceeds a preset opening degree range and whether the current vehicle condition meets the acceleration condition if it is detected that the vehicle has a four-wheel drive demand.

[0123] The acceleration unit is configured to, if it is detected that the opening degree of the accelerator pedal at the current moment exceeds the preset opening degree range and the vehicle condition at the current moment meets the acceleration condition, determine an acceleration torque required for the driving motor at the current moment according to the opening degree of the accelerator pedal at the current moment, and perform an acceleration operation on the vehicle at the current moment according to the acceleration torque.

[0124] In another embodiment, the first detection unit comprises:

[0125] The first strategy maintaining block is configured to, if it is detected that the opening degree of the accelerator pedal at the current moment does not exceed the preset opening degree range, stop detecting whether the vehicle condition at the current moment meets the acceleration condition, and control the vehicle according to the control strategy corresponding to the four-wheel drive state at the current moment.

[0126] In another embodiment, the first detection unit comprises:

[0127] The acquisition block is configured to acquire a radar sensing result at the current moment, and detect whether the radar sensing result represents that there is an obstacle around the vehicle at the current moment.

[0128] The first detection block is configured to, if it is detected that the radar sensing result represents that there is an obstacle around the vehicle at the current moment, determine that the vehicle condition at the current moment does not meet the acceleration condition.

[0129] The second detection block is configured to, if it is detected that the radar sensing result represents that there is no obstacle around the vehicle at the current moment, determine that the vehicle condition at the current moment meets the acceleration condition.

[0130] In another embodiment, the first detection unit comprises:

[0131] The second strategy maintaining block is configured to, if it is detected that the opening degree of the accelerator pedal at the current moment exceeds the preset opening degree and the vehicle condition at the current moment does not meet the acceleration condition, control the vehicle according to the control strategy corresponding to the four-wheel drive state at the current moment.

[0132] In another embodiment, the control device further comprises:

[0133] The vehicle speed detection module is configured to detect whether the vehicle speed at the current moment is a zero value.

[0134] The four-wheel drive state detection module is configured to, if it is detected that the vehicle speed at the current moment is not a zero value, detect whether the vehicle at the current moment is in a four-wheel drive state.

[0135] In another embodiment, the four-wheel drive state detection module comprises:

[0136] The zero value detection unit is configured to detect whether the torque output by the driving motor and the engine at the current moment are both zero values.

[0137] The first four-wheel drive state determination unit is configured to determine that the vehicle is in the four-wheel drive state if it is detected that the torque output by the driving motor and the torque output by the engine are both nonzero values at the current time.

[0138] The second four-wheel drive state determination unit is configured to determine that the vehicle is not in the four-wheel drive state if it is detected that the torque output by the driving motor is a zero value at the current time or the torque output by the engine is a zero value at the current time.

[0139] It should be noted that the control device provided in the above embodiments and the control method provided in the above embodiments belong to the same concept, and the specific manner in which each module and unit performs operations has been described in detail in the method embodiments, which will not be described here.

[0140] Another aspect of the present application also provides an electronic device, comprising: a controller; a memory for storing one or more programs, when the one or more programs are executed by the controller, to perform the above-mentioned control method.

[0141] Please refer to Figure 11 , Figure 11 is a structural schematic diagram of a computer system of an electronic device according to an example embodiment of the present application, which shows a structural schematic diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application.

[0142] It should be noted that Figure 11 the computer system 1100 of the electronic device shown is only an example, and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0143] As Figure 11 shown, the computer system 1100 includes a central processing unit (CPU) 1101, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 1102 or programs loaded from a storage portion 1108 into a random access memory (RAM) 1103, such as performing the methods in the above embodiments. In the RAM 1103, various programs and data required for system operation are also stored. The CPU 1101, the ROM 1102, and the RAM 1103 are connected to each other through a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0144] The following components are connected to the I / O interface 1105: an input part 1106 including a keyboard, a mouse, etc.; an output part 1107 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage part 1108 including a hard disk, etc.; and a communication part 1109 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I / O interface 1105 as necessary. A removable media 1111 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 1110 as necessary, so that a computer program read therefrom is installed in the storage part 1108 as necessary.

[0145] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present application. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing a computer program for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication part 1109, and / or installed from the removable media 1111. When the computer program is executed by the central processing unit (CPU) 1101, various functions defined in the system of the present application are executed.

[0146] It should be noted that the computer-readable medium in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination thereof. The computer-readable storage medium may, for example, be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples of the computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, the computer-readable storage medium can be any tangible medium that contains or stores a program used by an instruction execution system, apparatus or device, and can be used or combined with the same. In this application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable computer programs. Such a propagated data signal can take various forms, including, but not limited to, an electromagnetic signal, an optical signal, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, transmit, propagate or transport a program for use by or in connection with an instruction execution system, apparatus or device. The computer programs contained in the computer-readable medium can be transmitted by any suitable medium, including, but not limited to, wireless, wired, or the like, or any suitable combination thereof.

[0147] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In the flowcharts or block diagrams, each block can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order from that noted in the drawings. For example, two blocks represented in succession can actually be executed substantially in parallel, and sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams or flowcharts, and the combination of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system for implementing the specified functions or operations, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0148] The units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The units described can also be located in a single processor. In some cases, the names of the units do not constitute a limitation on the units themselves.

[0149] Another aspect of the present application provides a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the control method as described above. The computer readable storage medium can be included in the electronic device as described in the embodiments above, or can exist separately from the electronic device.

[0150] Another aspect of the present application provides a computer program product or computer program, which includes computer instructions. The computer instructions are stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the control method provided in the embodiments above.

[0151] According to an aspect of the embodiments of the present application, a computer system is also provided. The computer system includes a central processing unit (CPU) that can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) or loaded from a storage section into a random access memory (RAM), such as executing the methods in the embodiments above. Various programs and data required for system operation are also stored in the RAM. The CPU, the ROM, and the RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0152] The following components are connected to the I / O interface: an input section including a keyboard, a mouse, etc.; an output section including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section including a hard disk, etc.; and a communication section including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as necessary. A removable medium, such as a magnetic disk, a magneto-optical disk, a semiconductor memory, etc., is attached to the drive as necessary, so that a computer program read out from the removable medium is installed into the storage section as necessary.

[0153] The above merely provides preferred exemplary embodiments of the present application, and is not intended to limit the implementation of the present application. Based on the main concept and spirit of the present application, the person skilled in the art can easily make corresponding changes or modifications, and therefore the protection scope of the present application should be subject to the protection scope required by the claims.

Claims

1. A control method characterized by, The method comprises the following steps: detecting in real time whether the vehicle has a four-wheel drive demand when the vehicle is in a four-wheel drive state; if it is detected that the vehicle does not have the four-wheel drive demand, controlling a driving motor to reduce output of a preset torque and controlling an engine to increase output of the preset torque; if it is detected that the vehicle does not have the four-wheel drive demand and the driving motor outputs a torque of zero, triggering execution of the step of controlling the driving motor to reduce output of the preset torque and the step of controlling the engine to increase output of the preset torque until the driving motor outputs the torque of zero, so that the vehicle exits the four-wheel drive state; if it is detected that the vehicle has the four-wheel drive demand, detecting whether an opening degree of a throttle at a current time exceeds a preset opening degree range and detecting whether a vehicle condition at the current time meets an acceleration condition; if it is detected that the opening degree of the throttle at the current time exceeds the preset opening degree range and the vehicle condition at the current time meets the acceleration condition, determining an acceleration torque required by the driving motor at the current time according to the opening degree of the throttle at the current time and performing an acceleration operation on the vehicle at the current time according to the acceleration torque.

2. The method of claim 1, wherein, The step of detecting whether the opening degree of the throttle at the current time exceeds the preset opening degree range and detecting whether the vehicle condition at the current time meets the acceleration condition comprises the following steps: if it is detected that the opening degree of the throttle at the current time does not exceed the preset opening degree range, stopping the detection of whether the vehicle condition at the current time meets the acceleration condition and controlling the vehicle according to a control strategy corresponding to the four-wheel drive state at the current time.

3. The method of claim 1, wherein, The step of detecting whether the vehicle condition at the current time meets the acceleration condition comprises the following steps: obtaining a radar sensing result at the current time and detecting whether the radar sensing result represents that there is an obstacle around the vehicle at the current time; if it is detected that the radar sensing result represents that there is the obstacle around the vehicle at the current time, determining that the vehicle condition at the current time does not meet the acceleration condition; if it is detected that the radar sensing result represents that there is no obstacle around the vehicle at the current time, determining that the vehicle condition at the current time meets the acceleration condition.

4. The method of claim 1, wherein, The step of detecting whether the opening degree of the throttle at the current time exceeds the preset opening degree range and detecting whether the vehicle condition at the current time meets the acceleration condition comprises the following steps: if it is detected that the opening degree of the throttle at the current time exceeds the preset opening degree range and the vehicle condition at the current time does not meet the acceleration condition, controlling the vehicle according to the control strategy corresponding to the four-wheel drive state at the current time.

5. The method of claim 1, wherein, The method further comprises the following steps: detecting whether a vehicle speed at a current time is a zero value; if it is detected that the vehicle speed at the current time is not the zero value, detecting whether the vehicle at the current time is in the four-wheel drive state.

6. The method of claim 5, wherein, The step of detecting whether the vehicle at the current time is in the four-wheel drive state comprises the following steps: detecting whether torques output by the driving motor and the engine at the current time are both zero values; if it is detected that the torques output by the driving motor and the engine at the current time are both the zero values, determining that the vehicle is in the four-wheel drive state; if it is detected that the torque output by the driving motor at the current time is the zero value or the torque output by the engine at the current time is the zero value, determining that the vehicle is not in the four-wheel drive state.

7. A control device characterized by comprising: The method comprises the following steps: The detection module is configured to detect in real time whether the vehicle has a four-wheel drive demand when the vehicle is in a four-wheel drive state; The control module is configured to control the driving motor to reduce a preset torque output and control the engine to increase a torque corresponding to the preset torque output if it is detected that the vehicle does not have the four-wheel drive demand; the step of detecting in real time whether the vehicle has the four-wheel drive demand is triggered, and if the vehicle does not have the four-wheel drive demand and the torque output by the driving motor is not zero, the step of controlling the driving motor to reduce the preset torque output and controlling the engine to increase the preset torque is triggered until the torque output by the driving motor is zero, so that the vehicle exits the four-wheel drive state; The control module is further configured to detect whether the opening degree of the accelerator pedal at the current time exceeds a preset opening degree range and whether the vehicle condition at the current time meets an acceleration condition if it is detected that the vehicle has the four-wheel drive demand; If it is detected that the opening degree of the accelerator pedal at the current time exceeds the preset opening degree range and the vehicle condition at the current time meets the acceleration condition, the acceleration torque required by the driving motor at the current time is determined according to the opening degree of the accelerator pedal at the current time, and the vehicle at the current time is accelerated according to the acceleration torque.

8. An electronic device, comprising: Comprise: A controller; A memory for storing one or more programs, which, when executed by the controller, cause the controller to implement the control method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, A computer readable instruction is stored thereon, which, when executed by a processor of a computer, causes the computer to perform the control method of any one of claims 1 to 6.

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