Control method, device and storage medium of vehicle

Abstract

The application discloses a control method and device of a vehicle and a storage medium. The method comprises the following steps: obtaining a target driving condition of a vehicle on a current road section; determining a first torque value of a first wheel in the vehicle and a second torque value of a second wheel in the vehicle output by a coaxial electric drive system of the vehicle based on the target driving condition, wherein the coaxial electric drive system at least comprises a differential mechanism, a first clutch and a second clutch, the differential mechanism comprises a first friction plate and a second friction plate, the first friction plate is controlled by the first clutch, the second friction plate is controlled by the second clutch, and the first wheel is parallel to the second wheel and located on both sides of the wheels; and controlling the vehicle to drive based on the first torque value and the second torque value. The application solves the technical problem of large vehicle space requirement of a differential mechanism.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more specifically, to a vehicle control method, apparatus, and storage medium. Background Technology

[0002] In related technologies, the traditional differential is mainly used to control the vehicle by connecting two electric drive systems in series. However, because the electric drive system is connected in series with the motor, the axial dimension is relatively long, which leads to the technical problem of large vehicle space requirements for the differential.

[0003] There is currently no effective solution to the technical problem of the large vehicle space requirements of the aforementioned differential. Summary of the Invention

[0004] This invention provides a vehicle control method, device, and storage medium to at least address the technical problem of large vehicle space requirements for differentials.

[0005] According to one aspect of the present invention, a vehicle control method is provided. The method may include: acquiring a target driving condition of the vehicle on a current road segment; determining, based on the target driving condition, a first torque value of a first wheel and a second torque value of a second wheel of the vehicle, output by a coaxial electric drive system of the vehicle, wherein the coaxial electric drive system includes at least a differential mechanism, a first clutch, and a second clutch; the differential mechanism includes a first friction plate and a second friction plate; the first friction plate is controlled by the first clutch; the second friction plate is controlled by the second clutch; the first wheel and the second wheel are parallel and located on opposite sides of the wheels; and controlling the vehicle's movement based on the first torque value and the second torque value.

[0006] Optionally, determining the first torque value of the first wheel and the second torque value of the second wheel of the vehicle, output by the vehicle's coaxial electric drive system, based on the target driving conditions, includes: adjusting the contact state between the first friction plate and the second friction plate based on the target driving conditions to determine the first torque value and the second torque value.

[0007] Optionally, controlling vehicle movement based on a first torque value and a second torque value includes: transmitting the first torque value from an adjusted first friction plate to a first wheel, and transmitting the second torque value from an adjusted second friction plate to a second wheel, wherein the first friction plate is connected to the first wheel via at least one gear, and the second friction plate is connected to the second wheel via at least one gear; controlling vehicle movement based on the first torque value of the first wheel and the second torque value of the second wheel.

[0008] Optionally, when the target driving condition is a straight-line driving condition, the contact state between the first friction plate and the second friction plate is adjusted to a first contact state, wherein the first torque value is equal to the second torque value, and the first rotational speed of the first wheel is equal to the second rotational speed of the second wheel. The first contact state is used to characterize the contact between the first friction plate and the second friction plate.

[0009] Optionally, when the target driving condition is that the vehicle turns in the target direction, the contact state between the first friction plate and the second friction plate is adjusted to a second contact state, wherein the first torque value of the first wheel on the same side as the target direction is greater than the second torque value, and the first rotational speed of the first wheel is less than the second rotational speed of the second wheel on the opposite side of the target direction. The second contact state is used to characterize that the first friction plate and the second friction plate are not in contact.

[0010] Optionally, the coaxial electric drive system further includes a housing assembly and a motor assembly, wherein the motor assembly is disposed within the housing assembly and includes a stator and a rotor, and a first clutch and a second clutch are disposed within the rotor.

[0011] According to one aspect of the present invention, a vehicle control device is provided. The device may include: an acquisition unit for acquiring a target driving condition of the vehicle on a current road segment; a determination unit for determining, based on the target driving condition, a first torque value of a first wheel of the vehicle and a second torque value of a second wheel of the vehicle output by a coaxial electric drive system, wherein the coaxial electric drive system includes at least a differential mechanism, a first clutch, and a second clutch, the differential mechanism including a first friction plate and a second friction plate, the first friction plate being controlled by the first clutch, the second friction plate being controlled by the second clutch, and the first wheel and the second wheel being parallel and located on opposite sides of the wheel; and a control unit for controlling the vehicle's movement based on the first torque value and the second torque value.

[0012] According to another aspect of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the vehicle control method of the present invention.

[0013] According to another aspect of the present invention, a processor is also provided. The processor is used to run a program, wherein the program, when run by the processor, executes the vehicle control method of the present invention.

[0014] According to another aspect of the present invention, a vehicle is also provided. This vehicle is used to execute the vehicle control method of the present invention.

[0015] In this embodiment of the invention, the target driving conditions of the vehicle on the current road segment are obtained; based on the target driving conditions, a first torque value of the first wheel and a second torque value of the second wheel of the vehicle, output by the vehicle's coaxial electric drive system, are determined. The coaxial electric drive system includes at least a differential mechanism, a first clutch, and a second clutch. The differential mechanism includes a first friction plate and a second friction plate, the first friction plate being controlled by the first clutch and the second friction plate by the second clutch. The first wheel and the second wheel are parallel and located on opposite sides of the wheel. Based on the first and second torque values, the vehicle's movement is controlled. In other words, this embodiment of the invention first obtains the target driving conditions of the vehicle on the current road segment, then, based on the obtained target driving conditions, outputs the first torque value and the second torque value corresponding to the first wheel and the second wheel respectively through the vehicle's coaxial electric drive system. Finally, based on the determined first and second torque values, the first wheel and the second wheel are adjusted respectively to control the vehicle's movement, thereby achieving the purpose of vector control of the vehicle. This solves the technical problem of the large vehicle space requirement of the differential and achieves the technical effect of reducing the vehicle space requirement of the differential. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of an integrated coaxial electric drive system according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of another integrated coaxial electric drive system according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention 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 where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] Example 1

[0024] According to an embodiment of the present invention, a vehicle control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention. This method can be applied to the vehicle processor side, such as... Figure 1 As shown, the method may include the following steps:

[0026] Step S101: Obtain the target driving conditions of the vehicle on the current road segment.

[0027] In the technical solution provided by step S101 of the present invention, by analyzing the current journey of the vehicle, the vehicle's position and angle in the current journey are identified, and the target driving conditions of the vehicle in the current road segment are determined and obtained based on the identified position and angle of the vehicle.

[0028] Optionally, different target driving conditions can be obtained when the vehicle's position and angle are different during the current journey. For example, when the vehicle is identified as being on a flat road without angular deflection, the target driving condition obtained is a straight driving condition; when the vehicle is identified as being on a curved road with angular deflection, the target driving condition obtained is a turning driving condition. This is only an example and is not specifically limited.

[0029] Step S102: Based on the target driving conditions, determine the first torque value of the first wheel and the second torque value of the second wheel of the vehicle output by the coaxial electric drive system of the vehicle. The coaxial electric drive system includes at least a differential mechanism, a first clutch and a second clutch. The differential mechanism includes a first friction plate and a second friction plate. The first friction plate is controlled by the first clutch and the second friction plate is controlled by the second clutch. The first wheel and the second wheel are parallel and located on both sides of the wheel.

[0030] In the technical solution provided by step S102 of the present invention, after obtaining the target driving condition of the vehicle on the current road segment, the first friction plate and the second friction plate included in the differential mechanism are controlled by the first clutch and the second clutch set in the coaxial electric drive system, respectively, and the contact state between the two friction plates is adjusted, thereby determining the first torque value of the first wheel in the vehicle and the second torque value of the second wheel in the vehicle.

[0031] Optionally, the coaxial electric drive system may include: a housing assembly, a motor assembly, a differential mechanism, a transmission mechanism, a first clutch, and a second clutch, wherein the motor assembly, the differential mechanism, the transmission mechanism, the first clutch, and the second clutch are all disposed within the housing assembly to achieve the technical effect of reducing costs.

[0032] Optionally, the first friction plate can be used to transmit a first torque value and control the rotation speed of the first wheel, and the second friction plate can be used to transmit a second torque value and control the rotation speed of the second wheel. During vehicle operation, the first friction plate transmits the first torque value to adjust the original torque of the first wheel to the first torque value, and controls the rotation speed of the first wheel to adjust it from its original speed to the required speed. At the same time, the second friction plate transmits the second torque value to adjust the original torque of the second wheel to the second torque value, and controls the rotation speed of the second wheel to adjust it from its original speed to the required speed.

[0033] Optionally, the first wheel can be the left wheel of the vehicle, and the second wheel can be the right wheel of the vehicle. This is only an example and is not a specific limitation.

[0034] Optionally, under the condition of fixed vehicle power, the first torque value can be inversely proportional to the rotational speed of the first wheel, and the second torque value can be inversely proportional to the rotational speed of the second wheel. For example, when the first torque value increases, the rotational speed of the first wheel decreases, and when the first torque value decreases, the rotational speed of the first wheel increases; when the second torque value increases, the rotational speed of the second wheel decreases, and when the second torque value decreases, the rotational speed of the second wheel increases. This is only an example and is not specifically limited.

[0035] Step S103: Control the vehicle's movement based on the first torque value and the second torque value.

[0036] In the technical solution provided by step S103 of the present invention, by determining the first torque value and the second torque value, the first wheel and the second wheel are respectively adjusted from their original torque to the determined first torque value and the second torque value. At the same time, the rotation speed of the first wheel and the rotation speed of the second wheel are also adjusted from their original speed to their current required speed, so that the vehicle switches from the original driving state to the required driving state, thereby controlling the vehicle driving and achieving the purpose of vector control of the vehicle by controlling the clutch.

[0037] In steps S101 to S103 of this application, the target driving conditions of the vehicle on the current road segment are obtained; based on the target driving conditions, the first torque value of the first wheel and the second torque value of the second wheel of the vehicle, output by the coaxial electric drive system of the vehicle, are determined. The coaxial electric drive system includes at least a differential mechanism, a first clutch and a second clutch. The differential mechanism includes a first friction plate and a second friction plate. The first friction plate is controlled by the first clutch and the second friction plate is controlled by the second clutch. The first wheel and the second wheel are parallel and located on both sides of the wheel. The vehicle is controlled to drive based on the first torque value and the second torque value. In other words, the embodiments of the present invention first obtain the target driving conditions of the vehicle on the current road segment based on the identified vehicle's location and angle. Then, based on the obtained target driving conditions, the vehicle's coaxial electric drive system outputs the first torque value and the second torque value corresponding to the first wheel and the second wheel, respectively. Finally, the first wheel and the second wheel are adjusted from their original torques to the output first torque value and the second torque value, respectively. At the same time, the rotation speeds of the first wheel and the second wheel are also adjusted to their current required speeds to control the vehicle's movement. This achieves the purpose of vector control of the vehicle, thereby solving the technical problem of the large vehicle space requirement of the differential and realizing the technical effect of reducing the vehicle space requirement of the differential.

[0038] The method described in this embodiment will be further described below.

[0039] As an optional embodiment, step S102, determining the first torque value of the first wheel and the second torque value of the second wheel of the vehicle, output by the vehicle's coaxial electric drive system, based on the target driving conditions, includes: adjusting the contact state between the first friction plate and the second friction plate based on the target driving conditions to determine the first torque value and the second torque value.

[0040] In this embodiment, based on the target driving conditions of the vehicle on the current road segment, the first friction plate and the second friction plate can be controlled by the first clutch and the second clutch respectively to adjust the original contact state between the first friction plate and the second friction plate, so that the contact state between the first friction plate and the second friction plate becomes the current required contact state, thereby determining the first torque value and the second torque value required under the target driving conditions.

[0041] Optionally, the contact state between the first friction plate and the second friction plate can be used to indicate the degree of contact between the first friction plate and the second friction plate. For example, the contact state between the first friction plate and the second friction plate can be divided into the following types: the first contact state, which can be used to indicate that the two friction plates are in contact; and the second contact state, which can be used to indicate that the two friction plates are not in contact. This is only an example and is not specifically limited.

[0042] As an optional embodiment, step S103, controlling vehicle movement based on a first torque value and a second torque value, includes: transmitting the first torque value from an adjusted first friction plate to a first wheel, and transmitting the second torque value from an adjusted second friction plate to a second wheel, wherein the first friction plate is connected to the first wheel via at least one gear, and the second friction plate is connected to the second wheel via at least one gear; controlling vehicle movement based on the first torque value of the first wheel and the second torque value of the second wheel.

[0043] In this embodiment, the first friction plate can be connected to the first wheel via at least one gear, and the second friction plate can be connected to the second wheel via at least one gear. After determining the first torque value and the second torque value required under the target driving condition, the determined first torque value is transmitted to the first wheel through the adjusted first friction plate, so that the original torque of the first wheel is adjusted to the first torque value, and the determined second torque value is transmitted to the second wheel through the adjusted second friction plate, so that the original torque of the second wheel is adjusted to the second torque value. At the same time, the rotational speed of the first wheel is adjusted from the original rotational speed to the required rotational speed, and the rotational speed of the second wheel is adjusted from the original rotational speed to the required rotational speed, thereby controlling the vehicle's movement.

[0044] Optionally, after the determined first torque value is transmitted to the first wheel and the determined second torque value is transmitted to the second wheel, the rotational speed of the first wheel and the rotational speed of the second wheel are also adjusted accordingly. In response to the determined first torque value and the second torque value, the first wheel and the second wheel rotate relative to the current road surface, respectively. In response to the adjusted rotational speed of the first wheel and the second wheel, the first wheel and the second wheel drive relative to the current road surface at the adjusted rotational speed, respectively.

[0045] As an optional embodiment, the method further includes: when the target driving condition is a straight-line driving condition, adjusting the contact state between the first friction plate and the second friction plate to a first contact state, wherein the first torque value is equal to the second torque value, and the first rotational speed of the first wheel is equal to the second rotational speed of the second wheel, and the first contact state is used to characterize the contact between the first friction plate and the second friction plate.

[0046] In this embodiment, the first contact state can be used to characterize the contact between the first friction plate and the second friction plate. When the obtained target driving condition is a straight driving condition, the contact state between the first friction plate and the second friction plate is adjusted from the original contact state to the first contact state, so that the first friction plate and the second friction plate are in contact with each other, thereby ensuring that the first torque value and the second torque value required under the target driving condition are equal, and ensuring that the first speed of the first wheel required under the target driving condition is equal to the second speed of the second wheel. Then, the first speed and the second speed are transmitted to the first wheel and the second wheel respectively through the transmission mechanism, thereby controlling the vehicle to drive on a smooth straight road.

[0047] Optionally, the first contact state can be achieved by controlling the electromagnetic clutch to press the first friction plate and the second friction plate together. This is only an example and is not a specific limitation.

[0048] Optionally, straight-line driving conditions may include the following situations: the vehicle enters straight-line driving after turning, the vehicle maintains straight-line driving, and the vehicle accelerates to resume straight-line driving after emergency braking. These are only examples and are not specifically limited.

[0049] As an optional embodiment, when the target driving condition is that the vehicle turns in the target direction, the contact state between the first friction plate and the second friction plate is adjusted to a second contact state, wherein the first torque value of the first wheel on the same side as the target direction is greater than the second torque value, and the first rotational speed of the first wheel is less than the second rotational speed of the second wheel on the opposite side of the target direction. The second contact state is used to characterize that the first friction plate and the second friction plate are not in contact.

[0050] In this embodiment, the second contact state can be used to characterize that the first friction plate and the second friction plate are not in contact. When the obtained target driving condition is that the vehicle turns in the target direction, the contact state between the first friction plate and the second friction plate is adjusted from the original contact state to the second contact state, so that the first friction plate and the second friction plate are not in contact. This ensures that the first torque value required under the target driving condition and on the same side as the target direction is greater than the second torque value, and also ensures that the first rotational speed of the first wheel required under the target driving condition is less than the second rotational speed of the second wheel and on the opposite side of the target direction. Then, the first rotational speed and the second rotational speed are transmitted to the first wheel and the second wheel respectively through the transmission mechanism, thereby controlling the vehicle to turn in the target direction.

[0051] Optionally, the second contact state can be achieved by controlling the electromagnetic clutch to make the first friction plate and the second friction plate slide relative to each other. This is only an example and is not specifically limited.

[0052] Optionally, the conditions under which a vehicle turns in the target direction may include the following: turning right while driving normally, turning left while driving normally. These are only examples and are not specifically limited.

[0053] Optionally, when the target driving condition is that the left wheel of the vehicle is stuck in the mud and the right wheel is suspended in the air, the left electromagnetic clutch is controlled to increase the output torque on the left side and make the suspended right wheel output zero torque to help the vehicle get out of trouble; when the target driving condition is that the right wheel of the vehicle is stuck in the mud and the left wheel is suspended in the air, the right electromagnetic clutch is controlled to increase the output torque on the right side and make the suspended left wheel output zero torque to help the vehicle get out of trouble.

[0054] As an alternative embodiment, the coaxial electric drive system includes a housing assembly and a motor assembly, wherein the motor assembly is disposed within the housing assembly, the motor assembly includes a stator and a rotor, and a first clutch and a second clutch are disposed within the rotor.

[0055] In this embodiment, the coaxial electric drive system may include: a housing assembly, a motor assembly, a differential mechanism, and a transmission mechanism. The motor assembly, differential mechanism, and transmission mechanism are disposed within the housing assembly. The motor assembly includes a stator and a rotor. A first clutch and a second clutch are disposed within the rotor. The differential mechanism includes a left support plate, a right support plate, a first friction plate, a second friction plate, a left input shaft, a right input shaft, a thrust bearing, a support bearing, and a first needle roller bearing. The transmission mechanism includes a gear ring, a second-stage reduction gear, a first-stage reduction gear, a planetary carrier, a second needle roller bearing, a planetary gear shaft, and pins.

[0056] This embodiment adjusts the contact state between the first and second friction plates according to the target driving conditions, determines the first and second torque values ​​required under the target driving conditions, and then adjusts the original torque of the first wheel and the original torque of the second wheel to the first and second torque values ​​respectively according to the first and second torque values ​​required under the target driving conditions. At the same time, the first speed of the first wheel and the second speed of the second wheel are also adjusted accordingly, ultimately controlling the vehicle's movement. This solves the technical problem of the large vehicle space requirement of the differential and achieves the technical effect of reducing the vehicle space requirement of the differential.

[0057] Example 2

[0058] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0059] In through-type electric drive reducers, the assembly is mostly a planetary gear train or a parallel gear shaft train. However, both of these methods require the motor to be connected to the reducer using a hollow shaft, which results in a large overall structure size, which is not conducive to the layout of the vehicle. Therefore, an integrated coaxial electric drive system is needed to replace the traditional differential and facilitate the layout of the vehicle.

[0060] In one related technology, an electric drive reducer assembly layout structure is disclosed, including a motor, a reducer, and a differential. The reducer has at least two reduction stages. The output shaft of the motor is directly connected to the main gear of the input stage of the reducer, and the driven gear of the output stage of the reducer is connected to the input end of the differential. However, this method uses a reduction mechanism and differential arranged in series with the motor, resulting in a long axial space. The drive shaft needs to be connected via an intermediate transition. To ensure equal drive shaft lengths, the electric drive's placement within the vehicle is limited, making it difficult to achieve vector control and disconnection functions.

[0061] In another related technology, a coaxial electric drive axle with a differential lock is disclosed. The motor transmits power to the differential via a planetary reducer, and then distributes the power to both wheels. The key feature is that the motor and the sun gear of the planetary reducer are fixed together by a spline, transmitting power to the planetary reducer and then to the differential. The differential outputs power to both wheels via half-shafts. Both the differential lock and the planetary carrier have end-face teeth. The differential lock is inserted into the half-shaft wheel carrier. During normal vehicle operation, the electromagnetic controller retracts the differential lock, separating it from the end-face teeth of the planetary carrier. When the vehicle slips, the end-face teeth of the differential lock engage with the end-face teeth of the planetary carrier, fixing the planetary carrier and differential lock together, and then to the half-shaft wheel carrier, thus locking the differential and achieving uniform power output to both sides. However, this method still uses a series arrangement of the reduction mechanism, differential, and motor, resulting in a long axial space and different half-shaft lengths, making it difficult to achieve vector control and disconnection functions.

[0062] In another related technology, a dual-motor direct-drive system and vehicle are disclosed. The dual-motor direct-drive system includes: a planetary reduction mechanism with input and output ends on both sides; and two motors located on both sides of the planetary reduction mechanism, with the output shafts of the two motors connected to the two input ends, and both output ends used to connect to the wheels. However, this method uses two sets of electric drive systems arranged coaxially in series, which only achieves vector control, and the axial space is still very long, making it difficult to facilitate the overall vehicle layout.

[0063] However, embodiments of the present invention propose a vehicle control method. This method uses a multi-plate clutch instead of a traditional differential and places it inside a motor. Vector control of the vehicle is achieved by controlling the clutch, effectively reducing the types and number of parts, thus solving the technical problem that using a traditional differential is detrimental to the overall vehicle layout.

[0064] Figure 2 This is a schematic diagram of an integrated coaxial electric drive system according to an embodiment of the present invention, as shown below. Figure 2 As shown, the integrated coaxial electric drive system may include: housing assembly 0, motor assembly 1, differential mechanism 2 and transmission mechanism 3, wherein the motor assembly 1, differential mechanism 2 and transmission mechanism 3 are all disposed within the housing assembly 0.

[0065] Optionally, this integrated coaxial electric drive system eliminates the traditional differential structure and places the multi-plate clutch inside the motor, achieving vector control through electromagnetic clutch control; the left and right reduction transmission mechanisms are symmetrically arranged and integrated inside the motor, which can minimize the axial distance and increase the parts commonality rate; the planetary carrier and housing end cover are integrated design, effectively reducing the types and number of parts; the output end structure is symmetrical, which facilitates the overall vehicle layout.

[0066] Figure 3 This is a schematic diagram of another integrated coaxial electric drive system according to an embodiment of the present invention, such as... Figure 3 As shown, the integrated coaxial electric drive system may include the following parts and components:

[0067] The housing assembly 0 includes a left housing 01, a right housing 02, a support bearing 03, an oil seal 04, and an electromagnetic clutch 05. The first support bearing 03 is fixed in the left housing 01 and the right housing 02 by a retaining ring, and the electromagnetic clutch 05 is fixed in the left housing 01 and the right housing 02 respectively.

[0068] The motor assembly 1 includes a stator assembly 11 and a rotor 12.

[0069] The differential mechanism 2 includes a left support plate 21, a right support plate 22, a first friction plate 23, a second friction plate 24, a left input shaft 25, a right input shaft 26, a thrust bearing 27, a second support bearing 28, and a first needle roller bearing 29. The left support plate 21 and the right support plate 22 are fixed by welding (threaded connection or riveting) and are rigidly connected to the rotor 12. The left support plate 21 and the right support plate 22, together with the rotor 12, are supported within the housing by the support bearing 28. The left support plate 21 and the right support plate 22 have end faces for the electromagnetic clutch 05 to drive the actuator to engage and disengage the first friction plate 23 and the second friction plate 24. Friction plate 23 and friction plate 24 are connected to rotor 12 via splines. Friction plate 23 and friction plate 24 are connected to left input shaft 25 and right input shaft 26 via splines. Friction plate 23 and friction plate 24 are assembled alternately. Friction plate 23 is limited by the protrusion in the middle of rotor 12. Friction plate 24 is limited by retaining rings on left input shaft 25 and right input shaft 26 respectively. Left input shaft 25 and right input shaft 26 are supported inside the housing by first needle roller bearing 29. The axial position between the input shafts and the housing is limited by thrust bearing 27. Left input shaft 25 meshes with left planetary gear and right input shaft 26 meshes with right planetary gear.

[0070] The transmission mechanism 3 includes a gear ring 31, a secondary reduction gear 32, a primary reduction gear 33, a planetary carrier 34, a second needle roller bearing 35, a planetary gear shaft 36, and a pin 37. The gear ring 31 is fixed inside the left housing 01. The secondary reduction gear 32 is arranged on the inner side and meshes with the gear ring 31. The primary reduction gear 33 is arranged on the outer side and rigidly connected to the secondary reduction gear 32. The primary reduction gear 33 meshes with the input shaft gear. The planetary carrier 34 is supported in the housing by a first support bearing 03 and a second support bearing 28. The planetary carrier 34 can contact the oil seal 04 to ensure sealing and can be directly connected to the transmission shaft by bolts. The planetary gear shaft 36 is fixed to the planetary carrier 34 by the pin 37 and supports the planetary gears by the second needle roller bearing 35.

[0071] It should be noted that the overall vehicle structure may include an integrated coaxial electric drive system, a drive shaft, and wheels.

[0072] Furthermore, combined Figure 1 and Figure 2 The working principle of the integrated coaxial electric drive system is explained as follows:

[0073] When the vehicle is traveling in a straight line, the electromagnetic clutches 05 on both sides engage, and the first friction plate 23 and the second friction plate 24 are pressed together. At this time, the rotor 12 transmits power to the left input shaft 25 and the right input shaft 26 through the first friction plate 23 and the second friction plate 24, respectively. At this time, the output speed and torque of the left input shaft 25 and the right input shaft 26 are the same. The left input shaft 25 transmits power to the first-stage reduction gear 33, and the power is directly transmitted to the planetary carrier 34 through the planetary gear shaft 36. Finally, the planetary carrier 34 transmits power to the left wheel through the drive shaft. The power transmission route on the right side is the same as that on the left.

[0074] When the vehicle turns left, the speed of the wheels on both sides decreases relative to the right wheel. At this time, by controlling the left electromagnetic clutch 05, the first friction plate 23 and the second friction plate 24 slide relative to each other, and the speed of the left input shaft 25 decreases relative to the right input shaft 26. This speed is then transmitted to the wheels through the left and right fixed speed ratio transmission mechanisms, realizing the differential speed function of the two wheels. When the vehicle turns right, the opposite occurs.

[0075] When the right wheel of the vehicle leaves the ground and the left wheel is stuck, the clamping force of the left electromagnetic clutch 05 can be adjusted to increase the output torque on the left side, helping the vehicle to get out of trouble, while the right wheel outputs zero torque. When the left wheel leaves the ground, the opposite occurs.

[0076] Optionally, when applied to four-wheel drive vehicles, the motor can be disengaged from the wheel ends by disconnecting the electromagnetic clutches 05 on both sides, thereby reducing power consumption.

[0077] In this embodiment, by engaging the electromagnetic clutch, the contact state between the first friction plate and the second friction plate is first adjusted. Then, the power is transmitted to the left input shaft and the right input shaft respectively through the adjusted first and second friction plates. The power is then transmitted to the planetary carrier, and finally, the planetary carrier transmits the power to the left and right wheels respectively through the drive shaft to control the vehicle's movement. This solves the technical problem of the large vehicle space requirement of the differential and achieves the technical effect of reducing the vehicle space requirement of the differential.

[0078] Example 3

[0079] According to an embodiment of the present invention, a vehicle control device is also provided. It should be noted that this vehicle control device can be used to execute a vehicle control method as described in Embodiment 1.

[0080] Figure 4 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention. Figure 4 As shown, a vehicle control device 400 may include: an acquisition unit 401, a determination unit 402, and a control unit 403.

[0081] The acquisition unit 401 is used to acquire the target driving conditions of the vehicle on the current road segment.

[0082] The determining unit 402 is used to determine, based on the target driving conditions, the first torque value of the first wheel in the vehicle and the second torque value of the second wheel in the vehicle output by the coaxial electric drive system of the vehicle. The coaxial electric drive system includes at least a differential mechanism, a first clutch and a second clutch. The differential mechanism includes a first friction plate and a second friction plate. The first friction plate is controlled by the first clutch and the second friction plate is controlled by the second clutch. The first wheel and the second wheel are parallel and located on both sides of the wheel.

[0083] Control unit 403 is used to control the vehicle's movement based on a first torque value and a second torque value.

[0084] Optionally, the determining unit 402 may include: a determining module, used to adjust the contact state between the first friction plate and the second friction plate based on the target driving conditions, so as to determine the first torque value and the second torque value.

[0085] Optionally, the control unit 403 may include: a transmission module for transmitting a first torque value from an adjusted first friction plate to a first wheel, and transmitting a second torque value from an adjusted second friction plate to a second wheel, wherein the first friction plate is connected to the first wheel via at least one gear, and the second friction plate is connected to the second wheel via at least one gear; and a control module for controlling vehicle movement based on the first torque value of the first wheel and the second torque value of the second wheel.

[0086] Optionally, the vehicle control device 400 may further include: a first adjustment unit, used to adjust the contact state between the first friction plate and the second friction plate to a first contact state when the target driving condition is a straight driving condition, wherein the first torque value is equal to the second torque value, and the first rotational speed of the first wheel is equal to the second rotational speed of the second wheel, and the first contact state is used to characterize that the first friction plate and the second friction plate are in contact.

[0087] Optionally, the vehicle control device 400 may further include: a second adjustment unit, used to adjust the contact state between the first friction plate and the second friction plate to a second contact state when the target driving condition is that the vehicle turns in the target direction, wherein the first torque value of the first wheel on the same side as the target direction is greater than the second torque value, and the first rotational speed of the first wheel is less than the second rotational speed of the second wheel on the opposite side of the target direction, and the second contact state is used to characterize that the first friction plate and the second friction plate are not in contact.

[0088] Optionally, the coaxial electric drive system may further include: a housing assembly and a motor assembly, wherein the motor assembly is disposed within the housing assembly, the motor assembly includes a stator and a rotor, and a first clutch and a second clutch are disposed within the rotor.

[0089] In this embodiment, the acquisition unit is used to acquire the target driving conditions of the vehicle on the current road segment; the determination unit is used to determine, based on the target driving conditions, the first torque value of the first wheel and the second torque value of the second wheel of the vehicle output by the coaxial electric drive system of the vehicle, wherein the coaxial electric drive system includes at least a differential mechanism, a first clutch and a second clutch, the differential mechanism includes a first friction plate and a second friction plate, the first friction plate is controlled by the first clutch and the second friction plate is controlled by the second clutch, and the first wheel and the second wheel are parallel and located on both sides of the wheel; the control unit is used to control the vehicle driving based on the first torque value and the second torque value, thereby solving the technical problem of the large vehicle space requirement of the differential and achieving the technical effect of reducing the vehicle space requirement of the differential.

[0090] Example 4

[0091] According to an embodiment of the present invention, a computer-readable storage medium is also provided, the storage medium including a stored program, wherein the program executes the vehicle control method of Embodiment 1.

[0092] Example 5

[0093] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program is executed by the processor to perform the vehicle control method of embodiment 1.

[0094] Example 6

[0095] According to an embodiment of the present invention, a vehicle is also provided for performing any of the vehicle control methods in Embodiment 1.

[0096] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0097] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0098] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

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

[0100] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0101] If the integrated unit is implemented as 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 this invention, in essence, or the part that contributes to the prior art, or all or part of the 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0102] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling a vehicle, characterized in that, include: Obtain the target driving conditions of the vehicle on the current road segment; Based on the target driving conditions, the first torque value of the first wheel and the second torque value of the second wheel in the vehicle, output by the coaxial electric drive system of the vehicle, are determined. The coaxial electric drive system includes at least a differential mechanism, a first clutch and a second clutch. The differential mechanism includes a first friction plate and a second friction plate. The first friction plate is controlled by the first clutch and the second friction plate is controlled by the second clutch. The first wheel and the second wheel are parallel and located on both sides of the wheel. The vehicle is controlled to move based on the first torque value and the second torque value; The method of determining the first torque value of the first wheel and the second torque value of the second wheel of the vehicle, output by the coaxial electric drive system of the vehicle, based on the target driving condition, includes: adjusting the contact state between the first friction plate and the second friction plate based on the target driving condition to determine the first torque value and the second torque value. The method further includes: when the target driving condition is a straight driving condition, adjusting the contact state between the first friction plate and the second friction plate to a first contact state, wherein the first torque value is equal to the second torque value, and the first rotational speed of the first wheel is equal to the second rotational speed of the second wheel, the first contact state is used to characterize that the first friction plate and the second friction plate are in contact; when the target driving condition is that the vehicle is turning in the target direction, adjusting the contact state between the first friction plate and the second friction plate to a second contact state, wherein the first torque value of the first wheel on the same side as the target direction is greater than the second torque value, and the first rotational speed of the first wheel is less than the second rotational speed of the second wheel on the opposite side of the target direction, the second contact state is used to characterize that the first friction plate and the second friction plate are not in contact.

2. The method according to claim 1, characterized in that, Controlling the vehicle's movement based on the first torque value and the second torque value includes: The first torque value is transmitted from the adjusted first friction plate to the first wheel, and the second torque value is transmitted from the adjusted second friction plate to the second wheel, wherein the first friction plate is connected to the first wheel via at least one gear, and the second friction plate is connected to the second wheel via at least one gear; The vehicle is controlled to move based on the first torque value of the first wheel and the second torque value of the second wheel.

3. The method according to claim 1, characterized in that, The coaxial electric drive system also includes: The housing assembly and the motor assembly, wherein the motor assembly is disposed within the housing assembly, the motor assembly includes a stator and a rotor, and the first clutch and the second clutch are disposed within the rotor.

4. A vehicle control device, characterized in that, include: The acquisition unit is used to acquire the target driving conditions of the vehicle in the current road segment; A determining unit is configured to determine, based on the target driving condition, a first torque value of the first wheel of the vehicle and a second torque value of the second wheel of the vehicle output by the coaxial electric drive system of the vehicle, wherein the coaxial electric drive system includes at least a differential mechanism, a first clutch and a second clutch, the differential mechanism includes a first friction plate and a second friction plate, the first friction plate is controlled by the first clutch, the second friction plate is controlled by the second clutch, and the first wheel and the second wheel are parallel and located on both sides of the wheel; A control unit is configured to control the vehicle's movement based on the first torque value and the second torque value; The determining unit is further configured to perform the following steps: based on the target driving condition, adjust the contact state between the first friction plate and the second friction plate to determine the first torque value and the second torque value; The device is further configured to perform the following steps: when the target driving condition is a straight-line driving condition, adjusting the contact state between the first friction plate and the second friction plate to a first contact state, wherein the first torque value is equal to the second torque value, and the first rotational speed of the first wheel is equal to the second rotational speed of the second wheel, the first contact state being used to characterize that the first friction plate and the second friction plate are in contact; when the target driving condition is that the vehicle is turning in the target direction, adjusting the contact state between the first friction plate and the second friction plate to a second contact state, wherein the first torque value of the first wheel on the same side as the target direction is greater than the second torque value, and the first rotational speed of the first wheel is less than the second rotational speed of the second wheel on the opposite side of the target direction, the second contact state being used to characterize that the first friction plate and the second friction plate are not in contact.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 3.

6. A processor, characterized in that, The processor is used to run a program, wherein the program is executed by the processor to perform the method according to any one of claims 1 to 3.

7. A vehicle, characterized in that, The vehicle is used to perform the method according to any one of claims 1 to 3.

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