Vehicle control method, apparatus, device, vehicle, and storage medium

Abstract

The application provides a vehicle control method, device, equipment, vehicle and storage medium, which can be used in the technical field of vehicles. The method comprises the following steps: a single motor, a motor output shaft reduction mechanism, a preset differential, a planetary row control device and two sets of planetary row variable speed assemblies, the planetary row control device is electrically connected with the differential and each set of planetary row variable speed assembly, the planetary row control device and each set of planetary row variable speed assembly are located at the rear end of the differential, and the motor is connected with the differential through the motor output shaft reduction mechanism; each set of planetary row variable speed assembly is mechanically connected with the corresponding side wheel. The current driving state of the target vehicle is obtained; the to-be-adjusted sun gear clutch torque and the to-be-adjusted planetary carrier brake torque corresponding to at least one side wheel are determined according to the current driving state, so that the torque output by the two side wheels is controlled to match the torque output by the two side wheels with the current driving state. The torque vector control is realized, and the stable driving of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle control method, device, equipment, vehicle, and storage medium. Background Technology

[0002] With the rapid development of new energy vehicle technology, single-motor vehicle drive systems are also widely used in the development and deployment of new energy vehicles.

[0003] Currently, single-motor vehicle drive systems typically deploy a single motor, transmission, reduction gear, differential, and wheel braking mechanism within the vehicle. The transmission, reduction gear, and differential distribute the required speed and torque to both wheels to drive the vehicle.

[0004] However, when the differential distributes the required torque to both wheels, the wheels may slip or deviate, causing the torque distributed to both wheels to deviate from the actual required torque. This results in the loss of torque control for the corresponding wheels, which in turn causes the vehicle to be unable to drive stably. Summary of the Invention

[0005] This application provides a vehicle control method, device, equipment, vehicle, and storage medium to solve the technical problem in the prior art where torque loss occurs at the corresponding wheels on both sides when a vehicle is driven by a single motor, resulting in the vehicle being unable to drive stably.

[0006] In a first aspect, this application provides a vehicle control method. The target vehicle includes a single motor, a motor output shaft reduction mechanism, a preset differential, a planetary gear control device, and two planetary gear transmission assemblies. The planetary gear control device is electrically connected to the differential and each planetary gear transmission assembly. The planetary gear control device and each planetary gear transmission assembly are located at the rear end of the differential. The motor is connected to the differential through the motor output shaft reduction mechanism. Each planetary gear transmission assembly is mechanically connected to the wheel on the corresponding side. Each planetary gear transmission assembly includes a planetary gear transmission mechanism, a sun gear clutch, and a planetary carrier brake.

[0007] The method includes:

[0008] Obtain the current driving status of the target vehicle;

[0009] Based on the current driving state, determine the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted for at least one side of the wheel;

[0010] The torque output of both wheels is controlled according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel, so that the target vehicle outputs torque on both wheels that matches the current driving state under the drive of a single motor.

[0011] In one possible design, the current driving state is a normal driving state; determining the sun gear clutch torque and planetary carrier brake torque corresponding to at least one wheel to be adjusted based on the current driving state includes: obtaining the driving torque corresponding to both wheels based on the normal driving state, wherein the driving torque is the torque input by the differential to both wheels to drive the vehicle; determining the sun gear clutch torque corresponding to both wheels to be adjusted based on the driving torque corresponding to both wheels; and calculating the planetary carrier brake torque corresponding to both wheels to be adjusted based on the sun gear clutch torque corresponding to both wheels to be adjusted.

[0012] In one possible design, calculating the planetary carrier brake torque corresponding to the two wheels based on the clutch torque of the sun gear corresponding to the two wheels includes: calculating the planetary carrier brake torque corresponding to the two wheels based on the clutch torque of the sun gear corresponding to the two wheels according to the following torque calculation formula: CG.Brk.Tq=(1+gRS)*GS.Brk.Tq. Where: gRS is the gear ratio between the ring gear and the sun gear, GS.Brk.Tq is the clutch torque of the sun gear corresponding to the two wheels under the current driving state, and CG.Brk.Tq is the planetary carrier brake torque corresponding to the two wheels under the current driving state.

[0013] In one possible design, controlling the torque output of both wheels according to the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted corresponding to at least one side wheel includes: inputting the sun gear clutch torque to be adjusted corresponding to both sides wheel to the sun gear clutch, and controlling the sun gear clutch to brake according to the sun gear clutch torque to be adjusted; inputting the planetary carrier brake torque to be adjusted corresponding to both sides wheel to the planetary carrier brake, and controlling the planetary carrier brake to brake according to the planetary carrier brake torque to be adjusted.

[0014] In one possible design, the current driving state is a U-turn; determining the sun gear clutch torque and planetary carrier brake torque to be adjusted corresponding to at least one side of the wheel to be adjusted based on the current driving state includes: obtaining the drive torque corresponding to both sides of the wheel based on the U-turn state; determining the sun gear clutch torque and planetary carrier brake torque to be adjusted corresponding to the reversing side wheel based on the drive torque corresponding to the reversing side wheel; and determining the sun gear clutch torque and planetary carrier brake torque to be adjusted corresponding to the driving side wheel based on the drive torque corresponding to the driving side wheel.

[0015] In one possible design, controlling the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side wheel includes: inputting the torque of the sun gear clutch to be adjusted corresponding to the reversing side wheel to the corresponding sun gear clutch; determining the friction loss torque required by the sun gear clutch when the torque output of the reversing side wheel matches the current driving state; and controlling the sun gear clutch braking according to the torque of the sun gear clutch to be adjusted with the additional friction loss torque; inputting the torque of the sun gear clutch to be adjusted corresponding to the driving side wheel to the corresponding sun gear clutch; and controlling the sun gear clutch braking according to the torque of the sun gear clutch to be adjusted; inputting the torque of the planetary carrier brake to be adjusted corresponding to both sides wheel to the planetary carrier brake; and controlling the planetary carrier brake braking according to the torque of the planetary carrier brake to be adjusted.

[0016] In one possible design, the friction loss torque required by the sun gear clutch when determining the torque output of the reversing side wheel that matches the current driving state includes: obtaining the driving torque corresponding to the reversing side wheel, and determining the friction loss torque corresponding to the reversing side wheel based on the driving torque.

[0017] In one possible design, the current driving state is a steering deviation state; controlling the torque output of both wheels according to the torque to be adjusted for the sun gear clutch and the torque to be adjusted for the planetary carrier brake corresponding to at least one wheel includes: inputting the torque to be adjusted for the sun gear clutch corresponding to the steering deviation side wheel to the corresponding sun gear clutch, determining the friction loss torque required for the sun gear clutch when the torque output of the steering deviation side wheel matches the current driving state, and controlling the sun gear clutch braking according to the torque to be adjusted for the additional friction loss torque; inputting the torque to be adjusted for the sun gear clutch corresponding to the non-steering deviation side wheel to the corresponding sun gear clutch, and controlling the sun gear clutch braking according to the torque to be adjusted for the sun gear clutch; inputting the torque to be adjusted for the planetary carrier brake corresponding to both wheels to the planetary carrier brake, and controlling the planetary carrier brake braking according to the torque to be adjusted for the planetary carrier brake.

[0018] In one possible design, the friction loss torque required by the sun gear clutch when determining the torque output of the wheel on the steering deviation side that matches the current driving state includes: obtaining the yaw torque of both wheels in the steering deviation state, and determining the friction loss torque corresponding to the wheel on the steering deviation side based on the yaw torque.

[0019] In one possible design, the current driving state is a wheel slippage state; determining the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted corresponding to at least one wheel based on the current driving state includes: obtaining the speed difference of the wheel on the slipping side based on the wheel slippage state; determining whether the speed of the wheel on the slipping side is abnormal based on the speed difference of the wheel on the slipping side; and, in response to the abnormal speed of the wheel on the slipping side, determining the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted corresponding to both wheels based on the wheel slippage state.

[0020] In one possible design, controlling the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel includes: inputting the torque of the sun gear clutch to be adjusted corresponding to the wheel on the slipping side to the corresponding sun gear clutch; determining the friction loss torque required by the sun gear clutch when the output torque of the wheel on the slipping side matches the current driving state; and controlling the sun gear clutch braking according to the torque of the sun gear clutch to be adjusted with the additional friction loss torque; inputting the torque of the sun gear clutch to be adjusted corresponding to the wheel on the non-slipping side to the corresponding sun gear clutch; and controlling the sun gear clutch braking according to the torque of the sun gear clutch to be adjusted; inputting the torque of the planetary carrier brake to be adjusted corresponding to both wheels to the planetary carrier brake; and controlling the planetary carrier brake braking according to the torque of the planetary carrier brake to be adjusted.

[0021] In one possible design, the current driving state is a brake backup state; determining the sun gear clutch torque and planetary carrier brake torque to be adjusted corresponding to at least one side of the wheel to be adjusted based on the current driving state includes: determining the reverse drive torque corresponding to both sides of the wheel based on the brake backup state; determining the sun gear clutch torque to be adjusted corresponding to both sides of the wheel based on the reverse drive torque corresponding to both sides of the wheel; and calculating the planetary carrier brake torque to be adjusted corresponding to both sides of the wheel based on the sun gear clutch torque to be adjusted corresponding to both sides of the wheel.

[0022] In one possible design, controlling the torque output of both wheels according to the adjusted sun gear clutch torque and the adjusted planetary carrier brake torque corresponding to at least one wheel includes: inputting the adjusted sun gear clutch torque corresponding to both wheels to the sun gear clutch; determining the required friction loss torque of the sun gear clutch when the output torque of both wheels matches the braking backup state; and controlling the sun gear clutch braking according to the adjusted sun gear clutch torque with the additional friction loss torque; inputting the torque to the planetary carrier brake; and controlling the planetary carrier brake braking according to the adjusted planetary carrier brake torque.

[0023] In one possible design, determining the friction loss torque required by the sun gear clutch when the output torque of both wheels matches the braking backup state includes: obtaining the reverse drive torque corresponding to both wheels, and determining the friction loss torque corresponding to both wheels based on the reverse drive torque.

[0024] Secondly, this application provides a vehicle control device. The target vehicle includes a single motor, a motor output shaft reduction mechanism, a preset differential, a planetary gear control device, and two planetary gear transmission assemblies. The planetary gear control device is electrically connected to the differential and each planetary gear transmission assembly. The planetary gear control device and each planetary gear transmission assembly are located at the rear end of the differential. The motor is connected to the differential through the motor output shaft reduction mechanism. Each planetary gear transmission assembly is mechanically connected to the wheel on the corresponding side. Each planetary gear transmission assembly includes a planetary gear transmission mechanism, a sun gear clutch, and a planetary carrier brake.

[0025] The device is located in the planetary gear control equipment, and the device includes:

[0026] The acquisition module is used to acquire the current driving status of the target vehicle;

[0027] The determination module is used to determine the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel based on the current driving state.

[0028] The control module is used to control the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel, so that the target vehicle outputs torque on both wheels that matches the current driving state under the drive of a single motor.

[0029] Thirdly, this application provides a planetary gear control device, including: a processor, and a memory communicatively connected to the processor;

[0030] The memory stores computer-executed instructions;

[0031] The processor executes computer execution instructions stored in the memory to implement the method as described in the first aspect.

[0032] Fourthly, this application provides a target vehicle, including: a single motor, a motor output shaft reduction mechanism, a preset differential, two sets of planetary gearbox assemblies, and a planetary gearbox control device as described in the third aspect;

[0033] The planetary gear control device is electrically connected to the differential and each planetary gear transmission assembly. The planetary gear control device and each planetary gear transmission assembly are located at the rear end of the differential. The motor is connected to the differential through a motor output shaft reduction mechanism. Each planetary gear transmission assembly is mechanically connected to the wheel on the corresponding side. Each planetary gear transmission assembly includes a planetary gear transmission mechanism, a sun gear clutch, and a planet carrier brake.

[0034] Fifthly, this application provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the method described in the first aspect.

[0035] The vehicle control method, device, equipment, vehicle, and storage medium provided in this application include a target vehicle comprising a single motor, a motor output shaft reduction mechanism, a preset differential, a planetary gear control device, and two planetary gear transmission assemblies. The planetary gear control device is electrically connected to the differential and each planetary gear transmission assembly, respectively. The planetary gear control device and each planetary gear transmission assembly are located at the rear end of the differential. The motor is connected to the differential via the motor output shaft reduction mechanism. Each planetary gear transmission assembly is mechanically connected to the corresponding wheel. Each planetary gear transmission assembly includes a planetary gear transmission mechanism, a sun gear clutch, and a planetary carrier brake. The method includes: acquiring the current driving state of the target vehicle; determining the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted corresponding to at least one wheel based on the current driving state; controlling the torque output of both wheels according to the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted corresponding to at least one wheel, so that the target vehicle outputs torque on both wheels matching the current driving state under the drive of the single motor. Because a planetary gear control device and two planetary gear transmission assemblies are pre-installed in the target vehicle and connected to the differential and both wheels respectively, the planetary gear control device can determine the torque to be adjusted for the sun gear clutch and planetary carrier brake corresponding to at least one wheel by controlling the torque input from the differential to the planetary gear transmission assemblies on both sides after obtaining the current driving state of the target vehicle. Furthermore, based on the torque to be adjusted for the sun gear clutch and planetary carrier brake corresponding to at least one wheel, the output torque of both wheels can be controlled. This ensures that when a single motor drives the target vehicle, the torque corresponding to both wheels can be determined according to different driving states of the target vehicle, enabling both wheels to drive the target vehicle with corresponding torques, achieving torque vector control of both wheels, and ensuring stable driving of the target vehicle under different driving states. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0037] Figure 1 This is a schematic diagram of the structure of the target vehicle provided in an embodiment of this application;

[0038] Figure 2 A flowchart of a vehicle control method provided in an embodiment of this application;

[0039] Figure 3 A flowchart of a vehicle control method provided in another embodiment of this application;

[0040] Figure 4 This is a schematic diagram of the structure of the target vehicle provided in another embodiment of this application;

[0041] Figure 5 A flowchart of a vehicle control method provided in another embodiment of this application;

[0042] Figure 6 A flowchart of a vehicle control method provided in another embodiment of this application;

[0043] Figure 7 A flowchart of a vehicle control method provided in another embodiment of this application;

[0044] Figure 8 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0045] Figure 9 This is a schematic diagram of the structure of a planetary gear control device provided in an embodiment of this application.

[0046] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0047] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0048] To clearly understand the technical solution of this application, the solutions of the prior art will be described in detail first.

[0049] Currently, when using a single-motor drive vehicle, the speed and torque corresponding to the two wheels are generally generated and distributed through a transmission, reduction gear, and differential, so that each wheel drives the vehicle according to its corresponding speed and torque. Specifically, a single motor, transmission, reduction gear, differential, and wheel braking mechanism are pre-installed in the vehicle, and these components are mechanically connected. Responding to different driving operations by the driver, the single motor generates the torque needed to drive the vehicle, producing different speeds, and inputs this torque to the transmission and reduction gear to obtain the vehicle's speed according to the vehicle's gear ratio. The vehicle's speed and torque are then input to the differential, which distributes the corresponding speed and torque to the two wheels. However, during driving, wheel slippage or deviation inevitably occurs. This causes a deviation between the torque distributed to the two wheels and the actual required torque, making it impossible to drive the vehicle according to the required torque for each wheel. This leads to loss of torque control for the two wheels, resulting in unstable vehicle operation.

[0050] Therefore, in the face of technical problems in existing technologies, in order to effectively control the torque required by the two wheels under different driving conditions and promote stable vehicle driving under the drive of a single motor, this solution adds a planetary gear control device and two planetary gear transmission assemblies to the rear end of the preset differential. When the vehicle is driven by a single motor, the planetary gear control device determines the torque required by the two wheels according to the different driving conditions of the vehicle, and inputs the required torque to the two wheels by controlling the preset differential. This allows the two wheels to drive the vehicle according to the required torque, instead of the differential directly distributing torque to the two wheels, thereby realizing torque vector control of the two wheels and promoting smooth vehicle driving.

[0051] Figure 1 This is a schematic diagram of the structure of a target vehicle provided in one embodiment of this application, such as... Figure 1 As shown, the target vehicle in this embodiment includes: a single motor 1, a motor output shaft reduction mechanism 2, a preset differential 3, a planetary gearbox control device 4, and two planetary gearbox transmission assemblies. The planetary gearbox control device 4 is electrically connected to the preset differential 3 and the two planetary gearbox transmission assemblies, respectively. The planetary gearbox control device and each planetary gearbox transmission assembly are mounted at the rear end of the differential via drive shafts. The single motor 1 is mechanically connected to the preset differential 3 via the motor output shaft reduction mechanism 2, and the two planetary gearbox transmission assemblies are mechanically connected to the wheels on the corresponding sides. Each planetary gearbox transmission assembly includes a planetary gearbox transmission mechanism, a sun gear clutch, and a planet carrier brake. The planetary gearbox transmission mechanism includes a sun gear and a planet carrier.

[0052] The two planetary gearbox assemblies include a left planetary gearbox assembly 51 and a right planetary gearbox assembly 52. ​​The left planetary gearbox assembly 51 includes a left planetary gearbox transmission mechanism, a left sun gear clutch 9, and a left planet carrier brake 8. The left planetary gearbox transmission mechanism includes a left sun gear 61 and a left planet carrier 71. Correspondingly, the right planetary gearbox assembly 52 includes a right planetary gearbox transmission mechanism, a right sun gear clutch 10, and a right planet carrier brake 11. The right planetary gearbox transmission mechanism includes a right sun gear 62 and a right planet carrier 72.

[0053] The preset differential 3 can be any type of differential or planetary gear set mechanism that distributes speed and torque to both wheels. The planetary gear set control device can be located in the on-board computer of the target vehicle. Each planetary gear set includes a planetary gear set mechanism that is a combination device connecting the sun gear and the planetary carrier. Each planetary gear set includes a brake clutch that controls mechanical movement; therefore, the sun gear clutch is the machine that controls the rotation of the sun gear, and the planetary carrier brake is the machine that controls the movement of the planetary carrier.

[0054] Based on the target vehicle, when the target vehicle is driving under different driving conditions, the planetary gear control device 4 obtains the current driving state of the vehicle and obtains the torque input to the sun gear by the preset differential. According to the stored calculation torque formula, it determines the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted corresponding to at least one wheel under the current driving state. Then, it controls the torque output of both wheels according to the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted corresponding to at least one wheel, so that the target vehicle outputs torque on both wheels that matches the current driving state under the drive of a single motor.

[0055] For example, when controlling the output torque of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side wheel, specifically, the corresponding sun gear clutch can be braked according to the torque of the sun gear clutch to be adjusted corresponding to at least one side wheel, and the corresponding planetary carrier brake can be braked according to the torque of the planetary carrier brake to be adjusted corresponding to at least one side wheel.

[0056] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0057] Figure 2 A flowchart of a vehicle control method provided in an embodiment of this application is shown below. Figure 2As shown, the executing entity in this embodiment is a planetary gear control device. This planetary gear control device is located in the target vehicle, which includes a single motor, a motor output shaft reduction mechanism, a preset differential, the planetary gear control device, and two sets of planetary gear transmission assemblies. The planetary gear control device is electrically connected to the differential and each set of planetary gear transmission assemblies. The planetary gear control device and each set of planetary gear transmission assemblies are located at the rear end of the differential. The motor is connected to the differential through the motor output shaft reduction mechanism. Each set of planetary gear transmission assemblies is mechanically connected to the corresponding wheel. Each set of planetary gear transmission assemblies includes a planetary gear transmission mechanism, a sun gear clutch, and a planetary carrier brake.

[0058] The planetary gear control device can be integrated into the onboard computer of a single-motor vehicle drive system. Therefore, the vehicle control method provided in this embodiment includes the following steps:

[0059] Step 201: Obtain the current driving status of the target vehicle.

[0060] The current driving state refers to the driving state of the target vehicle at the current moment during the driving process, which can specifically include any one of the following: normal driving state, U-turn state, steering deviation state, wheel slippage state, and brake backup state.

[0061] Specifically, in response to a driver performing a driving operation by turning the steering wheel in the target vehicle, the target vehicle's control mechanism receives the steering wheel signal and transmits the steering information to the steering gear via the electronic power steering system according to the driving operation. After the steering gear receives the steering information, the planetary gear control device can obtain the steering information corresponding to the driving operation through its connection with the target vehicle's steering gear, and determine the target yaw rate of the target vehicle based on the steering information, thereby determining the driver's desired driving state under the current driving conditions. It also obtains the actual yaw rate of the target vehicle through its connection with a gyroscope sensor, thereby determining the current driving state of the target vehicle. After the planetary gear control device determines the current driving state of the target vehicle, it acquires the target vehicle's current driving state.

[0062] The target vehicle control mechanism can be a device that controls the direction of travel of the target vehicle.

[0063] Steering information can be pre-stored in the steering signals, and this information can include steering angle, steering torque, etc. Yaw rate is the angle at which the target vehicle rotates perpendicular to the ground. Target yaw rate is the ideal yaw rate of the target vehicle under ideal conditions without external influence. Actual yaw rate is the yaw rate generated by the target vehicle during actual driving.

[0064] Step 202: Determine the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted for at least one side of the wheels based on the current driving status.

[0065] Among them, the torque of the sun gear clutch to be adjusted is the torque required to brake the sun gear clutch, and the torque of the planetary carrier brake to be adjusted is the torque required to brake the planetary carrier brake.

[0066] It should be noted that, in response to the driver's driving operation, the single motor generates the torque to drive the vehicle and inputs this torque into the differential. After the differential receives the torque, it sends an electrical signal to the planetary gear control device confirming the receipt of the torque.

[0067] Specifically, based on the planetary gear control device acquiring the current driving state of the target vehicle, and in response to receiving an electrical signal from the differential, the differential is controlled to input the corresponding driving torque to the sun gears of both wheels according to the current driving state. This obtains the driving torque input to the sun gears of both wheels and determines that this torque should be the torque output by both wheels under the current driving state. After obtaining the torque that should be output by both wheels under the current driving state, the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted are determined based on this torque.

[0068] Specifically, when controlling the differential to input the corresponding driving torque to the sun gears of both wheels according to the current driving state, the planetary gear control device can be as follows: based on determining the driving state desired by the driver under the current driving state, obtain a preset torque algorithm, and determine the driving torque to input by the differential to the sun gears of both wheels according to the driving state desired by the driver and the preset torque algorithm.

[0069] The preset torque algorithm can be stored in the storage medium of the planetary gear control device. The storage format of the preset torque algorithm can be a spreadsheet or other formats, and this embodiment does not limit this.

[0070] The gear ratio is the ratio of the number of teeth between the sun gear and the ring gear in a planetary gear transmission mechanism.

[0071] Step 203: Control the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel, so that the torque output of both wheels of the target vehicle under the drive of a single motor matches the current driving state.

[0072] In this embodiment, based on obtaining the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel, when controlling the torque output of both sides of the wheel according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel, the specific method can be: the planetary gear control device determines whether it is necessary to apply friction loss torque to the sun gear clutch on at least one side according to the current driving state.

[0073] Among them, the friction loss torque is the additional torque that the planetary gear control device applies to the sun gear clutch according to the current driving state.

[0074] Optionally, if it is not necessary to apply additional friction loss torque to at least one sun gear clutch, it means that the wheels on both sides can output torque that matches the current driving state without applying friction loss torque. In this case, the sun gear clutch torque to be adjusted corresponding to at least one wheel is input to the sun gear clutch, and the planetary carrier brake torque to be adjusted is input to the drive planetary carrier brake to drive the target vehicle, thereby controlling the torque output by the wheels on both sides according to the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted corresponding to at least one wheel.

[0075] Optionally, if it is necessary to apply additional friction loss torque to at least one sun gear clutch, this means that at least one sun gear clutch needs to be loaded with a certain amount of friction loss torque so that both wheels can output torque matching the current driving state. After obtaining the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted corresponding to at least one wheel, the friction loss torque to be applied to at least one sun gear clutch is determined based on the current driving state. The sun gear clutch torque to be adjusted, corresponding to the additional friction loss torque of at least one wheel, is input to the sun gear clutch, and the planetary carrier brake torque to be adjusted is input to the planetary carrier brake to drive the target vehicle, thereby controlling the torque output of both wheels according to the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted corresponding to at least one wheel.

[0076] This embodiment provides a vehicle control method. The target vehicle includes a single motor, a motor output shaft reduction mechanism, a preset differential, a planetary gear control device, and two planetary gear transmission assemblies. The planetary gear control device is electrically connected to the differential and each planetary gear transmission assembly. The planetary gear control device and each planetary gear transmission assembly are located at the rear end of the differential. The motor is connected to the differential through the motor output shaft reduction mechanism. Each planetary gear transmission assembly is mechanically connected to the corresponding wheel. Each planetary gear transmission assembly includes a planetary gear transmission mechanism, a sun gear clutch, and a planetary carrier brake. The method includes: acquiring the current driving state of the target vehicle; determining the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted corresponding to at least one wheel based on the current driving state; controlling the torque output of both wheels according to the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted corresponding to at least one wheel, so that the torque output of both wheels of the target vehicle under the drive of the single motor matches the current driving state. Because a planetary gear control device and two planetary gear transmission assemblies are pre-installed in the target vehicle and connected to the differential and both wheels respectively, the planetary gear control device can determine the torque to be adjusted for the sun gear clutch and planetary carrier brake corresponding to at least one wheel by controlling the torque input from the differential to the planetary gear transmission assemblies on both sides after obtaining the current driving state of the target vehicle. Furthermore, based on the torque to be adjusted for the sun gear clutch and planetary carrier brake corresponding to at least one wheel, the output torque of both wheels can be controlled. This ensures that when a single motor drives the target vehicle, the torque corresponding to both wheels can be determined according to different driving states of the target vehicle, enabling both wheels to drive the target vehicle with corresponding torques, achieving torque vector control of both wheels, and ensuring stable driving of the target vehicle under different driving states.

[0077] Figure 3 A flowchart of a vehicle control method provided in another embodiment, such as Figure 3 As shown, the vehicle control method provided in this embodiment further refines the current driving state based on the above embodiment, and further refines the determination of the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state. In this embodiment, the current driving state is a normal driving state. When determining the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state, the method includes the following steps:

[0078] Step 301: Obtain the driving torque corresponding to both wheels according to the normal driving state. The driving torque is the torque that the differential inputs to both wheels to drive the vehicle.

[0079] Specifically, after obtaining the current driving state of the target vehicle, in response to determining that the current driving state is a normal driving state, upon receiving the electrical signal sent by the differential, the system calculates the driving torque that the differential should input to the sun gears of both wheels based on the normal driving state and a preset torque algorithm. After calculating the driving torque, the system controls the differential to input the driving torque to the sun gears of both wheels, thereby obtaining the driving torque corresponding to both wheels under normal driving conditions.

[0080] Understandably, the preset torque algorithm contains variables and calculation formulas related to the driving torque corresponding to both wheels. Therefore, for each driving torque input by the differential to both wheels, the preset torque algorithm can calculate the driving torque according to its variables and calculation formulas.

[0081] Step 302: Determine the sun gear clutch torque to be adjusted for both wheels based on the driving torque corresponding to both wheels.

[0082] Specifically, in response to determining that the current driving state is a normal driving state, the driving torque corresponding to both wheels is determined to be the sun gear clutch torque to be adjusted for both wheels. After determining the sun gear clutch torque to be adjusted for both wheels, the sun gear clutch torque to be adjusted is obtained.

[0083] It is understandable that the torque of the sun gear clutch to be adjusted corresponding to the two wheels is equal to the driving torque corresponding to the two wheels. If the driving torque corresponding to the two wheels is set to InpTq, then the torque of the sun gear clutch to be adjusted corresponding to the two wheels under normal driving conditions is InpTq.

[0084] Here, InpTq is a variable representing the driving torque value. Under the current driving condition, the driving torque value InpTq corresponding to the two wheels may be different. The value of InpTq will also be different under different current driving conditions.

[0085] Step 303: Calculate the torque of the planetary carrier brake corresponding to both wheels based on the torque of the sun gear clutch corresponding to both wheels.

[0086] Specifically, in response to determining the sun gear clutch torque to be adjusted corresponding to both wheels, the gear ratio between the sun gear and the ring gear under normal driving conditions is obtained. Based on the sun gear clutch torque to be adjusted and the gear ratio corresponding to both wheels, the planetary carrier brake torque to be adjusted corresponding to both wheels is calculated. The planetary carrier brake torque to be adjusted is then obtained.

[0087] This embodiment provides a vehicle control method where the current driving state is normal driving. The method determines the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state. The method includes: obtaining the driving torque corresponding to both wheels based on the normal driving state, where the driving torque is the torque input by the differential to both wheels; determining the torque of the sun gear clutch corresponding to both wheels to be adjusted based on the driving torque of both wheels; and calculating the torque of the planetary carrier brake corresponding to both wheels to be adjusted based on the torque of the sun gear clutch corresponding to both wheels. Since the planetary gear control device can control the driving torque input by the differential to both wheels, when the target vehicle is in normal driving state, by obtaining the driving torque corresponding to both wheels based on the normal driving state, the torque of the sun gear clutch corresponding to both wheels to be adjusted can be determined based on the driving torque of both wheels. Furthermore, by calculating the torque of the planetary carrier brake corresponding to both wheels to be adjusted based on the torque of the sun gear clutch corresponding to both wheels, the torque of the planetary carrier brake corresponding to both wheels to be adjusted can be determined. This allows for accurate determination of the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted under normal driving state.

[0088] As an optional embodiment, based on the above embodiment, when calculating the torque of the planetary carrier brake corresponding to both wheels based on the torque of the sun gear clutch corresponding to both wheels, step 303 includes the following steps:

[0089] The torque of the planetary carrier brake corresponding to both wheels is calculated based on the torque of the sun gear clutch corresponding to the wheels to be adjusted, according to the following torque calculation formula:

[0090] CG.Brk.Tq=(1+gRS)*GS.Brk.Tq. Where: gRS is the gear ratio between the ring gear and the sun gear, GS.Brk.Tq is the sun gear clutch torque to be adjusted for the two wheels under the current driving condition, and CG.Brk.Tq is the planetary carrier brake torque to be adjusted for the two wheels under the current driving condition.

[0091] In this embodiment, for example, if the current driving state is normal driving state, then:

[0092] GS.Brk.Tq = InpTq;

[0093] CG.Brk.Tq=(1+gRS)*InpTq.

[0094] This embodiment provides a vehicle control method. When calculating the torque of the planetary carrier brake corresponding to both wheels based on the clutch torque of the sun gear corresponding to the wheels to be adjusted, the following torque calculation formula is used: CG.Brk.Tq=(1+gRS)*GS.Brk.Tq, where: gRS is the gear ratio between the ring gear and the sun gear, GS.Brk.Tq is the clutch torque of the sun gear corresponding to the wheels to be adjusted under the current driving state, and CG.Brk.Tq is the torque of the planetary carrier brake corresponding to the wheels to be adjusted under the current driving state. Since the connection between the sun gear and the ring gear affects the transmitted torque during torque transmission, the torque of the planetary carrier brake corresponding to the wheels to be adjusted can be accurately determined by obtaining the clutch torque of the sun gear under the current driving state and calculating the gear ratio between the ring gear and the sun gear when calculating the torque of the planetary carrier brake corresponding to the wheels to be adjusted.

[0095] As an optional embodiment, in Figure 3 Based on the illustrated embodiment, when controlling the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel, step 204 includes the following steps:

[0096] Step 204a1: Input the torque of the sun gear clutch to be adjusted corresponding to both wheels into the sun gear clutch, and control the sun gear clutch braking according to the torque of the sun gear clutch to be adjusted.

[0097] Specifically, after determining the torque of the sun gear clutch to be adjusted corresponding to both wheels, in response to the current driving state being normal driving state, the torque of the sun gear clutch to be adjusted corresponding to both wheels is applied to the sun gear clutch corresponding to both wheels, the sun gear clutch is controlled to brake according to the torque of the sun gear clutch to be adjusted, and the sun gear clutch corresponding to both wheels is controlled to be in the closed state.

[0098] Step 204a2: Input the torque of the planetary carrier brake corresponding to the two wheels to be adjusted to the planetary carrier brake, and control the planetary carrier brake to brake according to the torque of the planetary carrier brake to be adjusted.

[0099] In this embodiment, in response to the current driving state being a normal driving state, after calculating the torque of the planetary carrier brake corresponding to both wheels based on the torque of the sun gear clutch to be adjusted, a torque greater than or equal to the torque of the planetary carrier brake corresponding to both wheels is applied to the planetary carrier brake corresponding to both wheels, the planetary carrier brake is controlled to brake according to a torque greater than or equal to the torque of the planetary carrier brake to be adjusted, and the planetary carrier brake corresponding to both wheels is controlled to be in the open state.

[0100] It should be noted that the planetary carrier transmission mechanism also includes four sets of reaction torque sensors, such as... Figure 4 As shown, the four sets of torque sensors are: 12 for the left sun gear, 13 for the left planetary carrier, 14 for the right sun gear, and 15 for the right planetary carrier. These four sensors are positioned on the shaft that transmits torque to the wheels on both sides. When torque is transmitted through the torque sensors corresponding to the sun gears and the planetary carriers, the torque transmitted to the wheels is determined to be in the positive direction, causing the wheels to move in the positive direction (forward). When torque is transmitted only through the torque sensors corresponding to the planetary carriers, the torque transmitted to the wheels is determined to be in the negative direction, causing the wheels to move in the opposite direction (backward).

[0101] It should be noted that, under normal driving conditions, the sun gear clutch is in the closed state and the planetary carrier brake is in the open state. Therefore, in response to controlling the sun gear clutch and planetary brake, torque is transmitted to both wheels based on the sun gear clutch torque to be adjusted. Specifically, when transmitting torque to both wheels based on the sun gear clutch torque to be adjusted, after the corresponding sun gear clutches of both wheels obtain the torque to be adjusted for both wheels, the torque is transmitted through the reaction torque sensors corresponding to the sun gears and the planetary carriers to determine that both wheels are traveling in the positive direction. This controls the wheels to switch to a speed matching the torque of the corresponding sun gear clutch to be adjusted for both wheels and begin operation, thereby causing both wheels to output torque matching the current driving state.

[0102] This embodiment provides a vehicle control method. When the current driving state is normal driving, correspondingly, when controlling the torque output of both wheels according to the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel, the torque of the sun gear clutch corresponding to both wheels is input to the sun gear clutch, and the sun gear clutch is controlled to brake according to the torque of the sun gear clutch; the torque of the planetary carrier brake corresponding to both wheels is input to the planetary carrier brake, and the planetary carrier brake is controlled to brake according to the torque of the planetary carrier brake. Since the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to both wheels under normal driving conditions are obtained, by inputting the torque of the sun gear clutch corresponding to both wheels to the sun gear clutch and the torque of the planetary carrier brake corresponding to both wheels to the planetary carrier brake, the target vehicle can be driven according to the torque required by both wheels, thereby achieving torque vector control under normal driving conditions and enabling the target vehicle to drive stably under normal driving conditions.

[0103] Figure 5 A flowchart of a vehicle control method provided in another embodiment is shown below. Figure 5 As shown, the vehicle control method provided in this embodiment further refines the current driving state based on any of the above embodiments, and further refines the determination of the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state. In this embodiment, the current driving state is a U-turn in place. When determining the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state, the method includes the following steps:

[0104] Step 401: Obtain the driving torque corresponding to both wheels based on the stationary U-turn state.

[0105] It is understandable that turning around on the spot is a state of rotation around the center of mass of the target vehicle, which is achieved only if the target vehicle is stationary.

[0106] Specifically, after obtaining the current driving state of the target vehicle, if the current driving state is a U-turn, then upon receiving the electrical signal from the differential, the differential is controlled to input drive torque to the sun gears of both wheels according to the U-turn state, thereby obtaining the corresponding drive torque of both wheels in the U-turn state. The method is similar to step 302, and will not be described again here.

[0107] Step 402: Determine the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to the driving torque corresponding to the reversing side wheel.

[0108] Among them, the reversing side wheels are the wheels that perform reverse driving when turning around on the spot.

[0109] Specifically, in response to determining that the current driving state is a U-turn, the drive torque corresponding to the reversing wheel is determined to be the sun gear clutch torque to be adjusted for the reversing wheel. After determining the sun gear clutch torque to be adjusted for the reversing wheel, the sun gear clutch torque to be adjusted is obtained.

[0110] At the same time, the torque of the planetary carrier brake corresponding to the wheel to be adjusted is calculated according to the torque of the sun gear clutch corresponding to the wheel to be adjusted. The method is similar to step 303, and will not be repeated here.

[0111] Step 403: Determine the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to the driving torque of the driving wheel.

[0112] Among them, the drive-side wheels are the wheels that drive forward when turning around in place.

[0113] Specifically, in response to determining that the current driving state is a U-turn, the torque of the sun gear clutch to be adjusted corresponding to the drive-side wheel is determined based on the drive torque corresponding to the drive-side wheel:

[0114] Drive.CS.Brk.Tq≥(1+gRS) / gRS*InpTq.

[0115] Where Drive.CS.Brk.Tq represents the sun gear clutch torque to be adjusted corresponding to the drive-side wheel. Therefore, after determining the sun gear clutch torque to be adjusted corresponding to the drive-side wheel, the sun gear clutch torque to be adjusted is obtained.

[0116] At the same time, the torque of the planetary carrier brake corresponding to the drive-side wheel is calculated according to the torque of the sun gear clutch corresponding to the drive-side wheel. The method is similar to step 303 and will not be repeated here.

[0117] This embodiment provides a vehicle control method where the current driving state is a stationary U-turn. When determining the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state, the method obtains the driving torques corresponding to both wheels based on the stationary U-turn state. The method further determines the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to the reversing wheel based on the driving torque of the reversing wheel, and the method also determines the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to the driving wheel based on the driving torque of the driving wheel. Since the planetary gear control device can control the driving torque input by the differential to both wheels, when the target vehicle is in a stationary U-turn state, by obtaining the driving torques corresponding to both wheels based on the stationary U-turn state, the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to the reversing wheel can be determined based on the driving torque of the reversing wheel, and simultaneously, the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to the driving wheel can be determined based on the driving torque of the driving wheel. This allows for the accurate determination of the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one side of the wheel to be adjusted in a stationary U-turn state.

[0118] As another alternative embodiment, in Figure 5 Based on the illustrated embodiment, when controlling the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel, step 204 includes the following steps:

[0119] Step 204b1: Input the torque of the sun gear clutch to be adjusted corresponding to the reversing side wheel to the corresponding sun gear clutch, determine the friction loss torque required by the sun gear clutch when the output torque of the reversing side wheel matches the current driving state, and control the sun gear clutch braking according to the sun gear clutch torque to be adjusted with additional friction loss torque.

[0120] In this embodiment, in response to the current driving state being a U-turn in place, it is determined that an additional friction loss torque needs to be applied to the sun gear clutch corresponding to the reversing side wheel.

[0121] Specifically, after calculating the planetary carrier brake torque corresponding to both wheels based on the torque of the sun gear clutch to be adjusted corresponding to both wheels, the additional friction loss torque that needs to be applied to the sun gear clutch corresponding to the reversing side wheel is calculated, and this friction loss torque is added to the torque of the sun gear clutch to be adjusted corresponding to the reversing side wheel. The sun gear clutch braking is controlled according to the adjusted sun gear clutch torque with added friction loss torque, and the sun gear clutch corresponding to the reversing side wheel is controlled to be in the open state.

[0122] Step 204b2: Input the torque of the sun gear clutch to be adjusted corresponding to the drive-side wheel to the corresponding sun gear clutch, and control the sun gear clutch braking according to the torque of the sun gear clutch to be adjusted.

[0123] Specifically, for the drive-side wheels, after inputting the torque of the sun gear clutch to be adjusted corresponding to the drive-side wheel into the sun gear clutch, the sun gear clutch is directly controlled to brake according to the torque of the sun gear clutch to be adjusted. The method is similar to step 204a1, and will not be repeated here. In response to controlling the sun gear clutch to brake according to the torque of the sun gear clutch to be adjusted, the sun gear clutch corresponding to the drive-side wheel is controlled to be in the closed state.

[0124] Step 204b3: Input the torque of the planetary carrier brake corresponding to the two wheels to be adjusted to the planetary carrier brake, and control the planetary carrier brake to brake according to the torque of the planetary carrier brake to be adjusted.

[0125] Specifically, after calculating the torque of the planetary carrier brakes corresponding to both wheels based on the torque of the sun gear clutch to be adjusted, a torque greater than or equal to the torque of the planetary carrier brakes corresponding to both wheels is applied to the planetary carrier brakes corresponding to both wheels, and the planetary carrier brakes are controlled to brake according to the torque greater than or equal to the torque of the planetary carrier brakes corresponding to both wheels. In response to controlling the planetary carrier brakes to brake according to the torque greater than or equal to the torque of the planetary carrier brakes corresponding to both wheels, the planetary carrier brakes corresponding to the reversing side wheels are controlled to be in a closed state, and the planetary carrier brakes corresponding to the driving side wheels are controlled to be in an open state.

[0126] It should be noted that for the drive-side wheels, since the sun gear clutch is in the closed state and the planetary carrier brake is in the open state, in response to controlling the sun gear clutch and planetary brake, torque is transmitted to the drive-side wheels based on the sun gear clutch torque to be adjusted. Specifically, when transmitting torque to the drive-side wheels based on the sun gear clutch torque to be adjusted, after the sun gear clutch corresponding to the drive-side wheel obtains the torque to be adjusted for that drive-side wheel, the torque is transmitted through the reaction torque sensors corresponding to the sun gears on both sides and the reaction torque sensors corresponding to the planetary carriers on both sides, controlling the drive-side wheels to travel in the positive direction. At this time, Drive.CS.Brk.Tq≥(1+gRS) / gRS*InpTq, Drive.CG.Brk.Tq=(1+gRS)*InpTq. Where InpTq is the driving torque input to the sun gear on the drive side, Drive.CS.Brk.Tq is the sun gear clutch torque to be adjusted corresponding to the drive-side wheel, and Drive.CG.Brk.Tq is the planetary carrier brake torque to be adjusted corresponding to the drive-side wheel. If the torque output of the drive-side wheel is InpTq, then the torque output of the drive-side wheel that matches the current driving state is determined, so as to control the wheel to switch to the speed that matches the torque of the sun gear clutch to be adjusted corresponding to the drive-side wheel and start running.

[0127] It should be noted that for the reversing wheel, since the sun gear clutch is open and the planetary carrier brake is closed, in response to controlling the sun gear clutch and planetary brake, torque is transmitted to the reversing wheel based on the torque of the planetary carrier brake to be adjusted. Specifically, when transmitting torque to the reversing wheel based on the torque of the planetary carrier brake to be adjusted, after the planetary carrier brake corresponding to the reversing wheel obtains the torque of the planetary carrier brake to be adjusted corresponding to the reversing wheel, the torque is transmitted only through the reaction torque sensors corresponding to the planetary carriers on both sides, controlling the reversing wheel to travel in the opposite direction. At this time, Back.GS.Brk.Tq=InpTq, Back.GG.Brk.Tq≥(1+gRS)*InpTq. Where InpTq is the driving torque input to the sun gear on the reversing side, Back.GS.Brk.Tq is the torque of the sun gear clutch to be adjusted corresponding to the reversing wheel, and Back.GS.Brk.Tq is the torque of the planetary carrier brake to be adjusted corresponding to the reversing wheel. If no additional friction loss torque is applied to the sun gear clutch, the torque output by the reversing side wheel is -gRS*InpTq.

[0128] Therefore, by adding additional friction loss torque to the sun gear clutch, the torque output of the reversing wheel is -InpTq, so as to determine the torque output of the reversing wheel that matches the current driving state, thereby controlling the wheel to switch to the speed that matches the torque of the sun gear clutch to be adjusted corresponding to the reversing wheel and start running.

[0129] This embodiment provides a vehicle control method that, when controlling the output torque of both wheels according to the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one side wheel, inputs the torque of the sun gear clutch corresponding to the reversing side wheel to the corresponding sun gear clutch, determines the friction loss torque required by the sun gear clutch when the output torque of the reversing side wheel matches the current driving state, and controls the sun gear clutch braking according to the torque of the sun gear clutch with additional friction loss torque; inputs the torque of the sun gear clutch corresponding to the driving side wheel to the corresponding sun gear clutch, and controls the sun gear clutch braking according to the torque of the sun gear clutch; inputs the torque of the planetary carrier brake corresponding to both wheels to the planetary carrier brake, and controls the planetary carrier brake braking according to the torque of the planetary carrier brake. This method is effective because the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to the reversing side wheel and the driving side wheel are determined respectively during a stationary U-turn. Therefore, by determining the friction loss torque required by the sun gear clutch corresponding to the reversing side wheel when the output torque of both wheels matches the current driving state, the torque to be adjusted for the additional friction loss torque of the sun gear clutch corresponding to the reversing side wheel can be input to the sun gear clutch corresponding to the reversing side wheel, and the torque to be adjusted for the sun gear clutch corresponding to the driving side wheel can be input to the sun gear clutch corresponding to the driving side wheel. Furthermore, by inputting the torque to be adjusted for the planetary carrier brake corresponding to both wheels to the planetary carrier brake corresponding to the driving side wheel, the target vehicle can be driven according to the torque required by both wheels, thereby achieving torque vector control in a stationary U-turn and enabling the target vehicle to drive stably in a stationary U-turn.

[0130] As an optional embodiment, based on the above embodiments, when determining the friction loss torque required by the sun gear clutch to match the torque output of the reversing side wheel with the current driving state, step 204b1 includes:

[0131] Step 204b11: Obtain the driving torque corresponding to the reversing side wheel, and determine the friction loss torque corresponding to the reversing side wheel based on the driving torque.

[0132] Specifically, obtain the driving torque corresponding to the reversing side wheel. Set the torque output by the reversing side wheel as the driving torque corresponding to the reversing side wheel, and calculate the additional friction loss torque that needs to be applied to the reversing side sun gear clutch when the torque output by the reversing side wheel is the driving torque corresponding to the reversing side wheel.

[0133] In this embodiment:

[0134] Back.GS.Brk.Tq=InpTq, Back.GG.Brk.Tq≥(1+gRS)*InpTq;

[0135] Frictional loss torque = (gRS-1) / gRS*InpTq.

[0136] This embodiment provides a vehicle control method that, when determining the required friction loss torque of the sun gear clutch when the output torque of the reversing side wheel matches the current driving state, obtains the driving torque corresponding to the reversing side wheel and determines the friction loss torque corresponding to the reversing side wheel based on the driving torque. Since there is a risk that the output torque of the reversing side wheel may not match the current driving state during a stationary U-turn, obtaining the driving torque corresponding to the reversing side wheel allows for the further acquisition of the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted. This enables the calculation of the friction loss torque based on the driving torque of the reversing side wheel, thus accurately determining the required friction loss torque of the sun gear clutch corresponding to the reversing side wheel.

[0137] As an optional embodiment, based on any of the above embodiments, this embodiment further refines the current driving state and further refines the determination of the sun gear clutch torque and planetary carrier brake torque corresponding to at least one wheel to be adjusted according to the current driving state. In this embodiment, the current driving state is a steering deviation state. When controlling the torque output of both wheels according to the sun gear clutch torque and planetary carrier brake torque corresponding to at least one wheel, step 204 includes the following steps:

[0138] Step 204c1: Input the torque of the sun gear clutch to be adjusted corresponding to the wheel on the side of steering deviation to the corresponding sun gear clutch, determine the friction loss torque required by the sun gear clutch when the output torque of the wheel on the side of steering deviation matches the current driving state, and control the sun gear clutch braking according to the sun gear clutch torque to be adjusted with the additional friction loss torque.

[0139] Among them, the steering deviation state refers to the state in which the target vehicle turns or deviates under normal circumstances. For example, it can be the state in which the target vehicle turns or deviates to the left or right on a straight lane under the control of the driver.

[0140] In this embodiment, in response to the current driving state being a steering deviation state, it is determined that an additional friction loss torque needs to be applied to the sun gear clutch corresponding to the wheel on the steering deviation side. After calculating the planetary carrier brake torque to be adjusted for the wheels on both sides based on the sun gear clutch torques to be adjusted for the wheels on both sides, the additional friction loss torque to be applied to the sun gear clutch torque corresponding to the wheel on the reversing side is calculated and added to the sun gear clutch torque to be adjusted for the wheel on the reversing side. The sun gear clutch braking is controlled according to the sun gear clutch torque to be adjusted with the added friction loss torque, and the sun gear clutch corresponding to the wheel on the steering deviation side is controlled to be in a closed state.

[0141] Step 204c2: Input the torque of the sun gear clutch to be adjusted corresponding to the non-steering deviation wheel to the corresponding sun gear clutch, and control the sun gear clutch braking according to the torque of the sun gear clutch to be adjusted.

[0142] Specifically, for the wheel on the non-steering deviation side, after inputting the torque of the sun gear clutch to be adjusted corresponding to the wheel on the non-steering deviation side into the sun gear clutch, the sun gear clutch is directly controlled to brake according to the torque of the sun gear clutch to be adjusted. In response to controlling the sun gear clutch to brake according to the torque of the sun gear clutch to be adjusted, the sun gear clutch corresponding to the wheel on the steering deviation side is controlled to be in the closed state.

[0143] Step 204c3: Input the torque of the planetary carrier brake corresponding to the two wheels to be adjusted to the planetary carrier brake, and control the planetary carrier brake to brake according to the torque of the planetary carrier brake to be adjusted.

[0144] The method is similar to step 204b3, and will not be repeated here. In this embodiment, in response to controlling the planetary carrier brake to brake according to the torque of the planetary carrier brake to be adjusted, the planetary carrier brakes corresponding to both wheels are controlled to be in the open state.

[0145] It should be noted that, since the steps for determining the torque to be adjusted for the sun gear brakes on both sides of the wheels in the steering deviation state are similar to those in the normal driving state, the sun gear clutches on both sides of the wheels are in a closed state and the planetary carrier brakes are in an open state in the steering deviation state. Therefore, in response to controlling the sun gear clutches and planetary brakes, for the steering deviation side, torque is transmitted to the wheel on the steering deviation side based on the torque to be adjusted for the additional friction loss torque of the sun gear clutch. Specifically, when transmitting torque to the wheel on the steering deviation side based on the torque to be adjusted for the additional friction loss torque of the sun gear clutch, the torque can be transmitted through the reaction torque sensor corresponding to the sun gear on the steering deviation side and the reaction torque sensor corresponding to the planetary carrier on the steering deviation side. This controls the wheel on the steering deviation side to travel in the positive direction, in order to determine the torque output of the wheel on the steering deviation side that matches the current driving state. This controls the wheel on the steering deviation side to switch to a speed that matches the torque to be adjusted for the additional friction loss torque of the sun gear clutch and start operating.

[0146] In response to controlling the sun gear clutch and planetary brakes, for the non-steering deviation side, torque is transmitted to the non-steering deviation side wheel according to the sun gear clutch torque to be adjusted. Specifically, when transmitting torque to the non-steering deviation side wheel according to the sun gear clutch torque to be adjusted, after the sun gear clutch corresponding to the non-steering deviation side wheel obtains the sun gear clutch torque to be adjusted, the torque is transmitted through the reaction torque sensor corresponding to the sun gear on the non-steering deviation side and the reaction torque sensor corresponding to the planetary carrier on the non-steering deviation side, controlling the non-steering deviation side wheel to travel in the positive direction, so as to determine the output torque of the non-steering deviation side wheel that matches the current driving state, thereby controlling the non-steering deviation side wheel to switch to the speed matching the sun gear clutch torque to be adjusted and start running.

[0147] This embodiment provides a vehicle control method where the current driving state is a steering deviation state. When controlling the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel, the torque of the sun gear clutch to be adjusted corresponding to the steering deviation side wheel is input to the corresponding sun gear clutch. The friction loss torque required by the sun gear clutch to match the torque output of the steering deviation side wheel with the current driving state is determined, and the sun gear clutch is controlled to brake according to the torque of the sun gear clutch to be adjusted with the additional friction loss torque. The torque of the sun gear clutch to be adjusted corresponding to the non-steering deviation side wheel is input to the corresponding sun gear clutch, and the sun gear clutch is controlled to brake according to the torque of the sun gear clutch to be adjusted. The torque of the planetary carrier brake to be adjusted corresponding to both wheels is input to the planetary carrier brake, and the planetary carrier brake is controlled to brake according to the torque of the planetary carrier brake to be adjusted. Since the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to the steering deviation state are determined... Therefore, by further determining the friction loss torque required by the sun gear clutch corresponding to the wheel on the side of steering deviation when the output torque of both wheels matches the current driving state, the torque to be adjusted for the additional friction loss torque of the sun gear clutch corresponding to the wheel on the side of steering deviation can be input to the sun gear clutch corresponding to the wheel on the side of steering deviation, and the torque to be adjusted for the sun gear clutch corresponding to the wheel on the non-steering deviation side can be input to the sun gear clutch corresponding to the wheel on the non-steering deviation side. Furthermore, by inputting the torque to be adjusted for the planetary carrier brakes corresponding to both wheels to the planetary carrier brakes corresponding to both wheels, the target vehicle can be driven according to the torque required by both wheels, thereby achieving torque vector control in the steering deviation state and enabling the target vehicle to drive stably in the steering deviation state.

[0148] As an optional embodiment, based on the current driving state being a steering deviation state, when determining the frictional loss torque required by the sun gear clutch when the torque output of the steering deviation side wheel matches the current driving state, step 204c1 includes the following steps:

[0149] Step 204c11: Obtain the yaw torque of the wheels on both sides under the steering deviation state, and determine the friction loss torque corresponding to the wheel on the steering deviation side based on the yaw torque.

[0150] Specifically, in response to the current driving state being a steering deviation state, the planetary gear control device obtains the yaw torque of both wheels based on the driving state of both wheels. Based on the yaw torque of both wheels, it obtains the torque difference between the wheel on the steering deviation side and the wheel on the non-steering deviation side, and calculates the additional friction loss torque that the sun gear clutch corresponding to the wheel on the steering deviation side should be loaded with based on this torque difference.

[0151] In this embodiment:

[0152] Torque difference = Mz*2 / tw*R, where Mz is the yaw torque, tw is the wheel track between the two wheels, and R is the tire radius of the wheel.

[0153] Frictional loss torque = Mz*2 / tw*R / gRS. Here, yaw torque is the lateral torque generated by the different actual yaw velocities of the two wheels when the target vehicle is turning or deviating.

[0154] This embodiment provides a vehicle control method that, when determining the friction loss torque required by the sun gear clutch when the output torque of the wheel on the steering deviation side matches the current driving state, acquires the yaw torque of both wheels under steering deviation conditions and determines the friction loss torque corresponding to the wheel on the steering deviation side based on the yaw torque. Since the wheel on the steering deviation side is at risk of slippage under steering deviation conditions, there is a risk of outputting torque that does not match the current driving state. Therefore, by acquiring the yaw torque of both wheels under steering deviation conditions, the torque difference between the wheel on the steering deviation side and the wheel on the steering deviation side can be determined based on the yaw torque, and then the friction loss torque can be calculated, thereby accurately determining the friction loss torque required by the sun gear clutch corresponding to the wheel on the steering deviation side.

[0155] Figure 6 A flowchart of a vehicle control method provided in another embodiment, such as Figure 6 As shown, the vehicle control method provided in this embodiment further refines the current driving state based on any of the above embodiments, and further refines the determination of the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state. In this embodiment, the current driving state is a wheel slippage state. When determining the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state, the method includes the following steps:

[0156] Step 501: Obtain the speed difference of the wheel on the slipping side based on the wheel slipping state.

[0157] Here, wheel slippage refers to the state in which the target vehicle steers or deviates under abnormal conditions. For example, it could be the state in which one wheel of the target vehicle is stuck in mud, snow, or other extreme conditions.

[0158] Specifically, after obtaining the current driving state of the target vehicle, in response to the current driving state being a wheel slippage state, the speed of the driving wheel and the speed of the driven wheel corresponding to the wheel slippage side are obtained, and the speed difference between the driving wheel speed and the driven wheel speed is calculated, thereby obtaining the speed difference of the wheel on the slippage side based on the wheel slippage state.

[0159] Step 502: Determine whether the rotational speed of the wheel on the slipping side is abnormal based on the speed difference of the wheel on the slipping side.

[0160] Specifically, after obtaining the speed difference of the wheel on the slipping side, it is determined whether the speed difference exceeds a preset value. If it does, it is determined that the speed of the wheel on the slipping side is abnormal; if it does not exceed the preset value, it is determined that the speed of the wheel on the slipping side is normal.

[0161] The preset difference can be stored in the planetary gear control device in advance, and the specific value can be set according to the performance of the target vehicle.

[0162] Step 503: In response to the abnormal wheel speed on the slipping side, determine the corresponding sun gear clutch torque and planetary carrier brake torque to be adjusted for both wheels based on the wheel slippage state. The method is similar to steps 301-303, and will not be described in detail here.

[0163] The vehicle control method provided in this embodiment addresses a wheel slippage state during current driving. When determining the required adjustment torque for the sun gear clutch and planetary carrier brake for at least one wheel based on the current driving state, the method obtains the speed difference of the slipping wheel based on the wheel slippage state. It then determines whether the speed of the slipping wheel is abnormal based on this speed difference. If the speed of the slipping wheel is abnormal, the method determines the required adjustment torque for the sun gear clutch and planetary carrier brake for both wheels based on the wheel slippage state. Since a large speed difference may occur on one side of the wheel during wheel slippage, obtaining the speed difference on the slipping wheel and determining its magnitude allows for assessment of whether the speed of the slipping wheel is abnormal. If abnormal, the required adjustment torque for the sun gear clutch and planetary carrier brake for both wheels can be accurately determined using the corresponding drive torques during wheel slippage.

[0164] As an optional embodiment, in Figure 5 Based on the illustrated embodiment, when controlling the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel, step 204 includes the following steps:

[0165] Step 204d1: Input the torque of the sun gear clutch to be adjusted corresponding to the wheel on the slipping side to the corresponding sun gear clutch, determine the friction loss torque required by the sun gear clutch when the output torque of the wheel on the slipping side matches the current driving state, and control the sun gear clutch braking according to the sun gear clutch torque to be adjusted with the additional friction loss torque.

[0166] The method is similar to step 204b1, and will not be repeated here. In this embodiment, in response to controlling the braking of the sun gear clutch according to the adjusted sun gear clutch torque based on the additional friction loss torque, the sun gear clutch corresponding to the wheel on the slipping side is controlled to be in a closed state.

[0167] Specifically, when determining the friction loss torque required by the sun gear clutch when the output torque of the wheel on the slipping side matches the current driving state, in response to the current driving state being a wheel slipping state, it is determined that the slip ratio generated by the wheel on the slipping side is large. Therefore, based on the slip ratio generated by the wheel on the slipping side, it is determined that an additional friction loss torque needs to be applied to the sun gear clutch corresponding to the wheel on the slipping side in order to control the slip ratio of the wheel on the slipping side within the range that matches the current driving state.

[0168] Among them, slip ratio is the proportion of the slip component of the wheel on the slipping side during driving.

[0169] Step 204d2: Input the torque of the sun gear clutch to be adjusted corresponding to the non-slipping wheel to the corresponding sun gear clutch, and control the sun gear clutch braking according to the torque of the sun gear clutch to be adjusted.

[0170] The method is similar to step 204b2, and will not be repeated here. In this embodiment, in response to controlling the braking of the sun gear clutch according to the torque of the sun gear clutch to be adjusted, the sun gear clutch corresponding to the non-wheel slippage side is controlled to be in a closed state.

[0171] Step 204d3: Input the torque of the planetary carrier brake to be adjusted corresponding to both wheels to the planetary carrier brake, and control the planetary carrier brake to brake according to the torque of the planetary carrier brake to be adjusted. The method is similar to step 204a3, and will not be repeated here. In response to controlling the planetary carrier brake to brake according to the torque of the planetary carrier brake to be adjusted, control the planetary carrier brakes corresponding to both wheels to be in the open state.

[0172] It should be noted that, since the sun gear clutches corresponding to both wheels are closed and the planetary carrier brakes are open when the wheels are slipping, in response to controlling the braking of the sun gear clutches and planetary carrier brakes, for the slipping side, torque is transmitted to both wheels based on the sun gear clutch torque to be adjusted, which is calculated based on the additional friction loss torque. For the non-slipping side, torque is transmitted to both wheels based on the sun gear clutch torque to be adjusted. The method is similar to step 204c3 and will not be repeated here.

[0173] The vehicle control method provided in this embodiment, when controlling the torque output of both wheels according to the torque to be adjusted for the sun gear clutch and the torque to be adjusted for the planetary carrier brake corresponding to at least one wheel, inputs the torque to be adjusted for the sun gear clutch corresponding to the wheel on the slipping side to the corresponding sun gear clutch, determines the friction loss torque required for the sun gear clutch when the output torque of the wheel on the slipping side matches the current driving state, and controls the sun gear clutch braking according to the torque to be adjusted for the sun gear clutch with additional friction loss torque; inputs the torque to be adjusted for the sun gear clutch corresponding to the non-slipping side to the corresponding sun gear clutch, and controls the sun gear clutch braking according to the torque to be adjusted for the sun gear clutch; inputs the torque to be adjusted for the planetary carrier brake corresponding to both wheels to the planetary carrier brake, and controls the planetary carrier brake braking according to the torque to be adjusted for the planetary carrier brake. This method is effective because the torque to be adjusted for the sun gear clutch and the torque to be adjusted for the planetary carrier brake corresponding to both wheels under the wheel slipping state are determined. Therefore, by further determining the friction loss torque required by the sun gear clutch corresponding to the wheel on the slipping side when the output torque of both wheels matches the current driving state, the additional friction loss torque of the sun gear clutch corresponding to the wheel on the slipping side can be input to the sun gear clutch corresponding to the wheel on the slipping side, and the torque of the sun gear clutch corresponding to the wheel on the non-slipping side can be input to the sun gear clutch corresponding to the wheel on the non-slipping side. Furthermore, by inputting the torque of the planetary carrier brake corresponding to both wheels to the planetary carrier brake corresponding to both wheels, the target vehicle can be driven according to the torque required by both wheels, thereby achieving torque vector control under wheel slippage conditions and enabling the target vehicle to drive stably under wheel slippage conditions.

[0174] Figure 7 A flowchart of a vehicle control method provided in another embodiment, such as Figure 7 As shown, the vehicle control method provided in this embodiment further refines the current driving state based on any of the above embodiments, and further refines the determination of the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state. In this embodiment, the current driving state is a brake backup state. When determining the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state, the method includes the following steps:

[0175] Step 601: Determine the reverse drive torque corresponding to both wheels based on the brake backup status.

[0176] The reverse drive torque is the torque that is opposite to the direction of the drive torque. For example, if the drive torque is the torque that drives the vehicle, then the reverse drive torque is the torque that regenerates the vehicle.

[0177] It is understandable that the brake backup state is the state when the braking system fails, so the prerequisite for achieving this state is that the target vehicle has decelerated to a stop.

[0178] Specifically, after obtaining the current driving state of the target vehicle, if the current driving state is in the brake backup state, then after receiving the electrical signal sent by the differential, the differential is controlled to input the reverse drive torque to the sun gear of both wheels according to the brake backup state, thereby obtaining the reverse drive torque corresponding to both wheels in the brake backup state.

[0179] Step 602: Determine the sun gear clutch torque to be adjusted for both wheels based on the reverse drive torque corresponding to both wheels.

[0180] It should be noted that since the target vehicle is decelerated to a stop in the brake backup state, the torque output by the two wheels of the target vehicle when entering the brake backup state is the same as the torque output before the brake backup state. Accordingly, the torque of the sun gear clutch to be adjusted corresponding to the two wheels is the torque applied to the sun gear clutch before the brake backup state.

[0181] In this embodiment, after obtaining the reverse drive torque corresponding to both wheels, the torque of the sun gear clutch to be adjusted, which was loaded onto the sun gear clutch before the braking backup state, is obtained. When determining the torque of the sun gear clutch to be adjusted corresponding to both wheels based on the reverse drive torque corresponding to both wheels: CS.Brk.Tq=(drag.InpTq+Ex.CS.Brk.Tq)*gRS, where drag.InpTq is the reverse drive torque input to both sun gears in the braking backup state, and Ex.CS.Brk.Tq is the torque of the sun gear clutch to be adjusted loaded onto the sun gear clutch before the braking backup state, that is, the torque that both wheels should output in the braking backup state. After determining the torque of the sun gear clutch to be adjusted, the torque of the sun gear clutch to be adjusted is obtained.

[0182] Step 603: Calculate the planetary carrier brake torque corresponding to both wheels based on the clutch torque of the sun gear corresponding to the wheels to be adjusted.

[0183] In this embodiment, after obtaining the sun gear clutch torque to be adjusted corresponding to both wheels, the planetary carrier brake torque to be adjusted corresponding to both wheels is determined based on the sun gear clutch torque to be adjusted corresponding to both wheels. The method is similar to step 303 and will not be repeated here. After determining the planetary carrier brake torque to be adjusted, the planetary carrier brake torque to be adjusted is obtained.

[0184] The vehicle control method provided in this embodiment is in a brake backup state. When determining the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state, the method determines the reverse drive torque corresponding to both wheels based on the brake backup state; determines the torque of the sun gear clutch corresponding to both wheels to be adjusted based on the reverse drive torque corresponding to both wheels; and calculates the torque of the planetary carrier brake corresponding to both wheels to be adjusted based on the torque of the sun gear clutch corresponding to both wheels to be adjusted. Since the planetary gear control device can control the reverse drive torque input by the differential to both wheels, when the target vehicle is in a brake backup state, by obtaining the reverse drive torque corresponding to both wheels based on the brake backup state, the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to both wheels to be adjusted can be determined based on the reverse drive torque corresponding to both wheels, thereby accurately determining the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to both wheels to be adjusted in the brake backup state.

[0185] As an optional embodiment, in Figure 7 Based on the illustrated embodiment, when controlling the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel, step 204 includes the following steps:

[0186] Step 204e1: Input the torque of the sun gear clutch to be adjusted corresponding to both wheels to the sun gear clutch, determine the friction loss torque required by the sun gear clutch when the output torque of both wheels matches the braking backup state, and control the sun gear clutch braking according to the sun gear clutch torque to be adjusted with additional friction loss torque.

[0187] It should be noted that since the target vehicle is decelerating to a stop in the braking backup state, the torque to be adjusted for the planetary carrier brakes corresponding to both wheels in the braking backup state is the same torque applied to the planetary carrier brakes before the braking backup state. As new torques to be adjusted for the sun gear clutches are continuously determined based on the reverse drive torque, new torques to be adjusted for the planetary carrier brakes are also continuously determined. Compared to the torque applied to the planetary carrier brakes before the braking backup state, these new torques show a gradually decreasing trend. Therefore, additional friction loss torque needs to be applied to the sun gear clutches corresponding to both wheels to compensate for the insufficient braking caused by the reduced torque.

[0188] Specifically, after calculating the planetary carrier brake torque corresponding to both wheels based on the torque of the sun gear clutch to be adjusted corresponding to both wheels, the additional friction loss torque that needs to be applied to the sun gear clutch corresponding to both wheels is calculated, and this friction loss torque is added to the torque of the sun gear clutch corresponding to both wheels. The sun gear clutch braking is controlled according to the adjusted sun gear clutch torque with added friction loss torque. In response to controlling the sun gear clutch braking according to the adjusted sun gear clutch torque with added friction loss torque, the sun gear clutches corresponding to both wheels are controlled to be in the open state.

[0189] Step 204e2: Input the torque of the planetary carrier brake to be adjusted corresponding to both wheels into the planetary carrier brake, and control the planetary carrier brake to brake according to the torque of the planetary carrier brake to be adjusted. The method is similar to step 204a2, and will not be described again here. In response to controlling the planetary carrier brake to brake according to the torque of the planetary carrier brake to be adjusted, control the planetary carrier brake to be in the closed state.

[0190] It should be noted that, since the sun gear clutch is in the open state and the planetary carrier brake is in the closed state, in response to controlling the sun gear clutch and the planetary carrier brake, torque is transmitted to both wheels according to the torque of the planetary carrier brake to be adjusted. Specifically, when transmitting torque to both wheels according to the torque of the planetary carrier brake to be adjusted, after the planetary carrier brakes corresponding to both wheels obtain the torque of the planetary carrier brake to be adjusted for both wheels, the torque is transmitted through the reaction torque sensors corresponding to both planetary carriers, controlling the two wheels to travel in the opposite direction, and controlling the wheels to switch to a speed matching the torque of the planetary carrier brake to be adjusted for both wheels and start operating.

[0191] The vehicle control method provided in this embodiment, when controlling the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel, inputs the torque of the sun gear clutch to be adjusted corresponding to both wheels to the sun gear clutch, determines the friction loss torque required by the sun gear clutch when the output torque of both wheels matches the braking backup state, and controls the sun gear clutch braking according to the torque of the sun gear clutch to be adjusted with the additional friction loss torque; inputs the torque of the planetary carrier brake to be adjusted corresponding to both wheels to the planetary carrier brake, and controls the planetary carrier brake braking according to the torque of the planetary carrier brake to be adjusted. Since the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to both wheels in the braking backup state are determined, by determining the friction loss torque required by the sun gear clutch corresponding to both wheels when the output torque of both wheels matches the current driving state, the torque of the sun gear clutch to be adjusted with the additional friction loss torque corresponding to both wheels can be input to the sun gear clutch corresponding to both wheels. By inputting the torque of the planetary carrier brake corresponding to the two wheels to the planetary carrier brake corresponding to the drive wheel, the insufficient braking can be compensated, so that the target vehicle can be driven according to the torque required by the two wheels, thereby realizing torque vector control in the braking backup state and enabling the target vehicle to drive stably in the braking backup state.

[0192] As an optional embodiment, based on the above embodiment, when determining the friction loss torque required by the sun gear clutch corresponding to the torque output of both wheels matching the braking backup state, step 204e1 includes the following steps:

[0193] Obtain the reverse drive torque corresponding to both wheels, and determine the friction loss torque corresponding to both wheels based on the reverse drive torque.

[0194] Specifically, the reverse drive torque corresponding to both wheels is obtained, thereby obtaining the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted under the action of the reverse drive torque, and the friction loss torque is determined based on the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted.

[0195] In this embodiment:

[0196] CS.Brk.Tq=(drag.InpTq+Ex.CS.Brk.Tq)*gRS;

[0197] CG.Brk.Tq=(1+gRS)*GS.Brk.Tq.

[0198] The vehicle control method provided in this embodiment, when determining the required friction loss torque of the sun gear clutch corresponding to the torque output of both wheels that matches the braking backup state, obtains the corresponding reverse drive torque of both wheels and determines the corresponding friction loss torque of both wheels based on the reverse drive torque. Since there is a risk of vehicle back-drag due to insufficient braking of both wheels in the braking backup state, by obtaining the corresponding reverse drive torque of both wheels, the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to both wheels can be further obtained. Therefore, the friction loss torque can be calculated based on the corresponding reverse drive torque of both wheels, enabling accurate determination of the required friction loss torque of the sun gear clutch corresponding to both wheels.

[0199] Figure 8 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application, as shown below. Figure 8 As shown, the vehicle control device provided in this embodiment is located in the planetary gear control device. The vehicle control device 80 provided in this embodiment includes: an acquisition module 81, a determination module 82, and a control module 83.

[0200] The acquisition module 81 is used to acquire the current driving state of the target vehicle; the determination module 82 is used to determine the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel based on the current driving state; and the control module 83 is used to control the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel, so that the torque output of both wheels of the target vehicle under the drive of a single motor matches the current driving state.

[0201] The vehicle control device provided in this embodiment can perform... Figure 2 The implementation principles and technical effects of the methods shown are similar, and will not be repeated here.

[0202] Optionally, the current driving state is normal driving state.

[0203] Accordingly, the determining module 82, when determining the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel to be adjusted based on the current driving state, is specifically used for:

[0204] The driving torque corresponding to both wheels is obtained under normal driving conditions. The driving torque is the torque input by the differential to both wheels to drive the vehicle. The driving torque corresponding to both wheels is used to determine the torque of the sun gear clutch to be adjusted for both wheels. The torque of the planetary carrier brake to be adjusted for both wheels is calculated based on the torque of the sun gear clutch to be adjusted for both wheels.

[0205] Optionally, the determining module 82, when calculating the torque of the planetary carrier brake corresponding to both wheels based on the torque of the sun gear clutch corresponding to both wheels, is specifically used for:

[0206] The torque calculation formula is as follows: CG.Brk.Tq = (1 + gRS) * GS.Brk.Tq. Where: gRS is the gear ratio between the ring gear and the sun gear, GS.Brk.Tq is the torque of the sun gear clutch on both sides of the current driving state, and CG.Brk.Tq is the torque of the planetary carrier brake on both sides of the current driving state.

[0207] Optionally, when the control module 83 controls the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel, it is specifically used for:

[0208] Input the torque of the sun gear clutch corresponding to the two wheels to be adjusted to the sun gear clutch, and control the sun gear clutch braking according to the torque of the sun gear clutch to be adjusted; input the torque of the planetary carrier brake corresponding to the two wheels to be adjusted to the planetary carrier brake, and control the planetary carrier brake braking according to the torque of the planetary carrier brake to be adjusted.

[0209] Optionally, the current driving state is a U-turn.

[0210] Accordingly, the determining module 82, when determining the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel to be adjusted based on the current driving state, is specifically used for:

[0211] Obtain the driving torque corresponding to both wheels based on the stationary U-turn state; determine the sun gear clutch torque and planetary carrier brake torque to be adjusted corresponding to the reverse side wheel based on the driving torque corresponding to the reverse side wheel; determine the sun gear clutch torque and planetary carrier brake torque to be adjusted corresponding to the drive side wheel based on the driving torque corresponding to the drive side wheel.

[0212] Optionally, when the control module 83 controls the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel, it is specifically used for:

[0213] Input the torque of the sun gear clutch to be adjusted corresponding to the reversing side wheel to the corresponding sun gear clutch, determine the friction loss torque required by the sun gear clutch when the output torque of the reversing side wheel matches the current driving state, and control the sun gear clutch braking according to the sun gear clutch torque to be adjusted with the additional friction loss torque; input the torque of the sun gear clutch to be adjusted corresponding to the driving side wheel to the corresponding sun gear clutch, and control the sun gear clutch braking according to the sun gear clutch torque to be adjusted; input the torque of the planetary carrier brake to be adjusted corresponding to both side wheels to the planetary carrier brake, and control the planetary carrier brake braking according to the planetary carrier brake torque to be adjusted.

[0214] Optionally, when determining the friction loss torque required by the sun gear clutch to match the torque output of the reversing side wheel with the current driving state, the control module 83 is specifically used for:

[0215] Obtain the driving torque corresponding to the reversing side wheel, and determine the friction loss torque corresponding to the reversing side wheel based on the driving torque.

[0216] Optionally, the current driving state is a steering deviation state.

[0217] Accordingly, when the control module 83 controls the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel, it is specifically used for:

[0218] The torque to be adjusted for the sun gear clutch corresponding to the wheel on the side of steering deviation is input to the corresponding sun gear clutch. The friction loss torque required for the sun gear clutch when the output torque of the wheel on the side of steering deviation matches the current driving state is determined, and the sun gear clutch braking is controlled according to the sun gear clutch torque to be adjusted with the additional friction loss torque. The torque to be adjusted for the sun gear clutch corresponding to the wheel on the non-steering deviation side is input to the corresponding sun gear clutch, and the sun gear clutch braking is controlled according to the sun gear clutch torque to be adjusted. The torque to be adjusted for the planetary carrier brake corresponding to both wheels is input to the planetary carrier brake, and the planetary carrier brake braking is controlled according to the planetary carrier brake torque to be adjusted.

[0219] Optionally, when determining the friction loss torque required by the sun gear clutch to match the torque output of the steering deviation wheel with the current driving state, the control module 83 is specifically used for:

[0220] Obtain the yaw torque of both wheels under steering deviation conditions, and determine the friction loss torque corresponding to the wheel on the steering deviation side based on the yaw torque.

[0221] Optionally, the current driving state is a wheel slippage state.

[0222] Accordingly, when determining the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted for at least one side of the wheels based on the current driving state, the determining module 82 is specifically used for:

[0223] The speed difference of the wheel on the slipping side is obtained based on the wheel slipping state; the speed difference of the wheel on the slipping side is used to determine whether the speed of the wheel on the slipping side is abnormal; in response to the abnormal speed of the wheel on the slipping side, the torque of the sun gear clutch and the torque of the planetary carrier brake to be adjusted are determined according to the wheel slipping state.

[0224] Optionally, when the control module 83 controls the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel, it is specifically used for:

[0225] Input the torque of the sun gear clutch to be adjusted corresponding to the wheel on the slipping side to the corresponding sun gear clutch, determine the friction loss torque required by the sun gear clutch when the output torque of the wheel on the slipping side matches the current driving state, and control the sun gear clutch braking according to the sun gear clutch torque to be adjusted with the additional friction loss torque; input the torque of the sun gear clutch to be adjusted corresponding to the wheel on the non-slipping side to the corresponding sun gear clutch, and control the sun gear clutch braking according to the sun gear clutch torque to be adjusted; input the torque of the planetary carrier brake to be adjusted corresponding to both wheels to the planetary carrier brake, and control the planetary carrier brake braking according to the planetary carrier brake torque to be adjusted.

[0226] Optionally, the current driving state is brake backup state.

[0227] Accordingly, the determining module 82, when determining the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel to be adjusted based on the current driving state, is specifically used for:

[0228] Determine the reverse drive torque corresponding to both wheels based on the brake backup status; determine the sun gear clutch torque to be adjusted corresponding to both wheels based on the reverse drive torque corresponding to both wheels; calculate the planetary carrier brake torque to be adjusted corresponding to both wheels based on the sun gear clutch torque to be adjusted corresponding to both wheels.

[0229] Optionally, when the control module 83 controls the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel, it is specifically used for:

[0230] Input the torque of the sun gear clutch corresponding to both wheels to be adjusted to the sun gear clutch, determine the friction loss torque required by the sun gear clutch when the output torque of both wheels matches the braking backup state, and control the sun gear clutch braking according to the sun gear clutch torque to be adjusted with the additional friction loss torque; input the torque of the planetary carrier brake corresponding to both wheels to be adjusted to the planetary carrier brake, and control the planetary carrier brake braking according to the planetary carrier brake torque to be adjusted.

[0231] Optionally, when determining the friction loss torque required by the sun gear clutch corresponding to the torque output of both wheels matching the braking backup state, the control module 83 is specifically used for:

[0232] Obtain the reverse drive torque corresponding to both wheels, and determine the friction loss torque corresponding to both wheels based on the reverse drive torque.

[0233] The vehicle control method provided in this embodiment can be executed. Figures 3 to 7 The specific implementation principles and technical effects of any of the method embodiments shown are similar, and will not be repeated here.

[0234] Figure 9 This is a schematic diagram of the structure of a planetary gear control device provided in an embodiment of this application, as shown below. Figure 9 As shown, the planetary gear control device 90 provided in this embodiment includes a processor 91 and a memory 92 that is communicatively connected to the processor.

[0235] The memory 92 stores computer-executed instructions; the processor 91 executes the computer-executed instructions stored in the memory to implement the vehicle control method provided in any of the above embodiments. Related explanations can be understood by referring to the relevant descriptions and effects corresponding to the steps in the accompanying drawings, and will not be elaborated upon here.

[0236] The program may include program code, which includes computer-executable instructions. Memory 91 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device.

[0237] In this embodiment, the memory 92 and the processor 91 are connected via a bus. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 9 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0238] This application also provides a computer-readable storage medium storing computer-executable instructions. When executed by a processor, these instructions are used to implement the vehicle control method provided in any of the above embodiments. For example, the computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, or optical data storage device.

[0239] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the vehicle control method provided in any of the above embodiments.

[0240] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0241] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0242] It should be understood that the above-described device embodiments are merely illustrative, and the device of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, or integrated into another system, or some features may be ignored or not executed.

[0243] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0244] When integrated units / modules are implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, an AI processor can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, storage units can be any suitable magnetic or magneto-optical storage medium, such as resistive random access memory (RRAM), dynamic random access memory (DRAM), static random access memory (SRAM), enhanced dynamic random access memory (EDRAM), high-bandwidth memory (HBM), hybrid memory cube (HMC), etc.

[0245] If the integrated unit / module is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, 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 memory 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 application. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0246] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0247] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that, The target vehicle includes a single motor, a motor output shaft reduction mechanism, a preset differential, a planetary gear control device, and two planetary gear transmission assemblies. The planetary gear control device is electrically connected to the differential and each planetary gear transmission assembly. The planetary gear control device and each planetary gear transmission assembly are located at the rear end of the differential. The motor is connected to the differential through the motor output shaft reduction mechanism. Each planetary gear transmission assembly is mechanically connected to the wheel on the corresponding side. Each planetary gear transmission assembly includes a planetary gear transmission mechanism, a sun gear clutch, and a planet carrier brake. The method includes: Obtain the current driving status of the target vehicle; Based on the current driving state, determine the sun gear clutch torque to be adjusted and the planetary carrier brake torque to be adjusted for at least one side of the wheel; The torque output of both wheels is controlled according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel, so that the target vehicle outputs torque on both wheels that matches the current driving state under the drive of a single motor.

2. The method according to claim 1, characterized in that, The current driving state is the normal driving state; The step of determining the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state includes: The driving torque corresponding to both wheels is obtained according to the normal driving state, and the driving torque is the torque of the vehicle driven by the differential input to both wheels. The torque of the sun gear clutch to be adjusted for both sides of the wheels is determined based on the driving torque corresponding to the two sides of the wheels. The torque of the planetary carrier brake corresponding to the two wheels to be adjusted is calculated based on the torque of the sun gear clutch corresponding to the two wheels to be adjusted.

3. The method according to claim 2, characterized in that, The step of calculating the planetary carrier brake torque corresponding to both wheels based on the clutch torque of the sun gear corresponding to the wheels to be adjusted includes: The torque of the planetary carrier brake corresponding to the two wheels to be adjusted is calculated according to the following torque calculation formula: CG.Brk.Tq=(1+gRS)*GS.Brk.Tq, where: gRS is the gear ratio between the ring gear and the sun gear, GS.Brk.Tq is the sun gear clutch torque to be adjusted corresponding to the wheels on both sides under the current driving state, and CG.Brk.Tq is the planetary carrier brake torque to be adjusted corresponding to the wheels on both sides under the current driving state.

4. The method according to claim 2, characterized in that, The control of the torque output by both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel includes: The torque of the sun gear clutch to be adjusted corresponding to the two wheels is input to the sun gear clutch, and the sun gear clutch is controlled to brake according to the torque of the sun gear clutch to be adjusted; The torque of the planetary carrier brake corresponding to the two wheels to be adjusted is input to the planetary carrier brake, and the planetary carrier brake is controlled to brake according to the torque of the planetary carrier brake to be adjusted.

5. The method according to claim 1, characterized in that, The current driving state is a U-turn in place; The step of determining the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state includes: The driving torque corresponding to both wheels is obtained based on the in-situ U-turn state; The torque of the sun gear clutch and the torque of the planetary carrier brake to be adjusted are determined based on the driving torque corresponding to the wheel on the reversing side. The torque of the sun gear clutch and the torque of the planetary carrier brake to be adjusted are determined based on the driving torque corresponding to the driving wheel.

6. The method according to claim 5, characterized in that, The control of the torque output by both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel includes: The torque of the sun gear clutch to be adjusted corresponding to the reversing side wheel is input to the corresponding sun gear clutch. The friction loss torque required by the sun gear clutch when the output torque of the reversing side wheel matches the current driving state is determined, and the sun gear clutch is controlled to brake according to the sun gear clutch torque to be adjusted with the additional friction loss torque. The torque of the sun gear clutch to be adjusted corresponding to the drive-side wheel is input to the corresponding sun gear clutch, and the sun gear clutch is controlled to brake according to the torque of the sun gear clutch to be adjusted. The torque of the planetary carrier brake corresponding to the two wheels to be adjusted is input to the planetary carrier brake, and the planetary carrier brake is controlled to brake according to the torque of the planetary carrier brake to be adjusted.

7. The method according to claim 6, characterized in that, The friction loss torque required by the sun gear clutch when determining the torque output of the reversing side wheel to match the current driving state includes: Obtain the driving torque corresponding to the reversing side wheel, and determine the friction loss torque corresponding to the reversing side wheel based on the driving torque.

8. The method according to claim 1, characterized in that, The current driving state is a steering deviation state; The control of the torque output by both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel includes: The torque of the sun gear clutch to be adjusted corresponding to the wheel on the side of steering deviation is input to the corresponding sun gear clutch. The friction loss torque required by the sun gear clutch when the output torque of the wheel on the side of steering deviation matches the current driving state is determined, and the sun gear clutch is controlled to brake according to the sun gear clutch torque to be adjusted with additional friction loss torque. The torque of the sun gear clutch to be adjusted corresponding to the non-steering deviation side wheel is input to the corresponding sun gear clutch, and the sun gear clutch is controlled to brake according to the torque of the sun gear clutch to be adjusted. The torque of the planetary carrier brake corresponding to the two wheels to be adjusted is input to the planetary carrier brake, and the planetary carrier brake is controlled to brake according to the torque of the planetary carrier brake to be adjusted.

9. The method according to claim 8, characterized in that, The frictional loss torque required by the sun gear clutch when determining the torque output of the wheel on the steering deviation side to match the current driving state includes: The yaw torque of both wheels under the steering deviation state is obtained, and the friction loss torque corresponding to the wheel on the steering deviation side is determined based on the yaw torque.

10. The method according to claim 1, characterized in that, The current driving state is a wheel slippage state; The step of determining the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheels based on the current driving state includes: The speed difference of the wheel on the slipping side is obtained based on the wheel slipping state; Determine whether the rotational speed of the wheel on the slipping side is abnormal based on the speed difference of the wheel on the slipping side. In response to an abnormal wheel speed on the slipping side, the torque of the sun gear clutch and the torque of the planetary carrier brake to be adjusted for the two wheels are determined according to the wheel slipping state.

11. The method according to claim 10, characterized in that, The control of the torque output by both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel includes: Input the torque of the sun gear clutch to be adjusted corresponding to the wheel on the slipping side to the corresponding sun gear clutch, determine the friction loss torque required by the sun gear clutch when the output torque of the wheel on the slipping side matches the current driving state, and control the sun gear clutch braking according to the sun gear clutch torque to be adjusted with the additional friction loss torque. Input the torque of the sun gear clutch to be adjusted corresponding to the wheel on the non-slipping side to the corresponding sun gear clutch, and control the sun gear clutch braking according to the torque of the sun gear clutch to be adjusted; The torque of the planetary carrier brake corresponding to the two wheels to be adjusted is input to the planetary carrier brake, and the planetary carrier brake is controlled to brake according to the torque of the planetary carrier brake to be adjusted.

12. The method according to claim 1, characterized in that, The current driving state is in brake backup state; The step of determining the torque of the sun gear clutch and the torque of the planetary carrier brake corresponding to at least one wheel to be adjusted based on the current driving state includes: The reverse drive torque corresponding to both wheels is determined based on the brake backup status. The torque of the sun gear clutch to be adjusted for the two wheels is determined based on the reverse drive torque corresponding to the two wheels. The torque of the planetary carrier brake corresponding to the two wheels to be adjusted is calculated based on the torque of the sun gear clutch corresponding to the two wheels to be adjusted.

13. The method according to claim 12, characterized in that, The control of the torque output by both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel includes: The torque of the sun gear clutch to be adjusted corresponding to the two wheels is input to the sun gear clutch. The friction loss torque required by the sun gear clutch when the output torque of the two wheels matches the braking backup state is determined. The sun gear clutch braking is controlled according to the sun gear clutch torque to be adjusted with additional friction loss torque. The torque of the planetary carrier brake corresponding to the two wheels to be adjusted is input to the planetary carrier brake, and the planetary carrier brake is controlled to brake according to the torque of the planetary carrier brake to be adjusted.

14. The method according to claim 13, characterized in that, The friction loss torque required by the sun gear clutch when determining the torque output of both wheels to match the braking backup state includes: Obtain the reverse drive torque corresponding to the two wheels, and determine the friction loss torque corresponding to the two wheels based on the reverse drive torque.

15. A vehicle control device, characterized in that, The target vehicle includes a single motor, a motor output shaft reduction mechanism, a preset differential, a planetary gear control device, and two planetary gear transmission assemblies. The planetary gear control device is electrically connected to the differential and each planetary gear transmission assembly. The planetary gear control device and each planetary gear transmission assembly are located at the rear end of the differential. The motor is connected to the differential through the motor output shaft reduction mechanism. Each planetary gear transmission assembly is mechanically connected to the wheel on the corresponding side. Each planetary gear transmission assembly includes a planetary gear transmission mechanism, a sun gear clutch, and a planet carrier brake. The device is located in the planetary gear control equipment, and the device includes: The acquisition module is used to acquire the current driving status of the target vehicle; The determination module is used to determine the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one side of the wheel based on the current driving state. The control module is used to control the torque output of both wheels according to the torque of the sun gear clutch to be adjusted and the torque of the planetary carrier brake to be adjusted corresponding to at least one wheel, so that the target vehicle outputs torque on both wheels that matches the current driving state under the drive of a single motor.

16. A planetary gear control device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 14.

17. A target vehicle, characterized in that, include: A single motor, a motor output shaft reduction mechanism, a preset differential, two sets of planetary gearboxes, and the planetary gearbox control device as described in claim 16; The planetary gear control device is electrically connected to the differential and each planetary gear transmission assembly. The planetary gear control device and each planetary gear transmission assembly are added to the rear end of the differential. The motor is connected to the differential through a motor output shaft reduction mechanism. Each planetary gear transmission assembly is mechanically connected to the wheel on the corresponding side. Each planetary gearbox assembly includes a planetary gearbox transmission mechanism, a sun gear clutch, and a planet carrier brake.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 14.

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