Vehicle control method and device, electronic equipment and vehicle

Abstract

The application provides a vehicle control method and device, electronic equipment and vehicle. The method comprises: in response to receiving fault information of a rear axle shift controller, generating a corresponding rear axle gear control instruction and a corresponding engine control instruction according to the fault information; sending the rear axle gear control instruction to the rear axle shift controller to make the rear axle shift controller adjust the rear axle gear; and sending the engine control instruction to an engine controller to make the engine controller adjust the running state of the engine. The driving torque output by the rear axle motor and the driving torque output by the engine are combined to provide vehicle power, the driving force provided by the rear axle under fault conditions is fully utilized, the engine driving force is reduced or avoided under the premise of ensuring driving safety and the hardware safety of the rear axle shift controller, and the energy utilization efficiency of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle control method, device, electronic equipment, and vehicle. Background Technology

[0002] In hybrid vehicles, when the rear axle shift controller malfunctions due to hardware or software issues, it will disable the rear axle motor's drive torque output. As a result, the rear axle cannot provide driving force to the vehicle, leading to a decrease in overall vehicle traction. To prevent this decrease, the engine will be started to maintain the vehicle's power performance. However, even with a partial malfunction in the rear axle shift controller, the rear axle can still provide some driving force. If the rear axle motor's drive torque output is disabled in this situation, it will result in a loss of rear axle driving force, reducing the vehicle's energy efficiency. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a vehicle control method, device, electronic equipment and vehicle to solve the problems of rear axle drive force loss and low vehicle energy utilization when the rear axle shift controller fails.

[0004] To achieve the above objectives, the first aspect of this application provides a vehicle control method, comprising:

[0005] In response to receiving fault information from the rear axle shift controller, corresponding rear axle gear control commands and corresponding engine control commands are generated based on the fault information.

[0006] The rear axle gear control command is sent to the rear axle shift controller so that the rear axle shift controller adjusts the rear axle gear; the engine control command is sent to the engine controller so that the engine controller adjusts the engine's operating state.

[0007] Optionally, the fault information includes a gear position indicator and gear position availability information, and the rear axle gear control command includes a gear shift prohibition command;

[0008] Based on the fault information, corresponding rear axle gear control commands are generated, including:

[0009] In response to the gear position flag being empty and the gear position availability information indicating that the target gear position is available, a gear shift prohibition command is generated to prevent the rear axle shift controller from shifting; a target drive torque is determined based on the target gear position to enable the rear axle motor to output the target drive torque.

[0010] Optionally, the fault information includes gear shifting information; the rear axle gear control command includes a neutral shift command;

[0011] Based on the fault information, corresponding rear axle gear control commands are generated, including:

[0012] In response to the gear shifting information being an upshift or downshifting fault, a neutral shift command is generated so that when the rear axle gear controller receives an upshift or downshifting request, it shifts the current gear of the rear axle to neutral.

[0013] Optionally, the fault information includes gear shifting information; the rear axle gear control command includes a gear shifting prohibition command;

[0014] Based on the fault information, corresponding rear axle gear control commands are generated, including:

[0015] In response to the gear shifting information indicating a shifting fault, a shifting prohibition command is generated to prevent the rear axle shift controller from shifting.

[0016] Optionally, the fault information includes gear shifting information and gear availability information; the rear axle gear control command includes a gear shift prohibition command;

[0017] Based on the fault information, corresponding rear axle gear control commands are generated, including:

[0018] In response to the gear shifting information indicating a shifting fault and the gear availability information indicating a gear unavailable, a shifting prohibition command is generated to prevent the rear axle shift controller from shifting.

[0019] Optionally, the fault information includes the rear axle drive torque, and the engine control command includes an engine stop command; generating corresponding engine control commands based on the fault information includes:

[0020] In response to the rear axle drive torque being zero, an engine stop command is generated to keep the engine running.

[0021] Optionally, in response to receiving fault information from the rear axle shift controller, the method further includes:

[0022] Generate a drive torque limiting command and determine the target drive torque based on the fault information;

[0023] The drive torque limiting command and the target drive torque are sent to the front axle controller and the rear axle controller respectively, so that the front axle controller controls the front axle motor to output the front axle drive torque, and the rear axle controller controls the rear axle motor to output the rear axle drive torque, and the sum of the front axle drive torque and the rear axle drive torque does not exceed the target drive torque.

[0024] A second aspect of this application also provides a vehicle control device, comprising:

[0025] The instruction generation module is configured to, in response to receiving fault information from the rear axle shift controller, generate corresponding rear axle gear control instructions and corresponding engine control instructions based on the fault information.

[0026] The instruction sending module is configured to send the rear axle gear control instruction to the rear axle shift controller so that the rear axle shift controller adjusts the rear axle gear; and to send the engine control instruction to the engine controller so that the engine controller adjusts the operating state of the engine.

[0027] A third aspect of this application also provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor, when executing the computer program, implements the method as described in the first aspect.

[0028] This application also provides a vehicle that includes electronic equipment as described in the third aspect.

[0029] As can be seen from the above, the vehicle control method, device, electronic equipment, and vehicle provided in this application include: in response to receiving fault information from the rear axle shift controller, generating corresponding rear axle gear control commands and corresponding engine control commands based on the fault information. Receiving fault information indicates that the rear axle shift controller has malfunctioned, and the overall vehicle power performance may be affected. The fault information can determine the fault type of the rear axle shift controller, and different rear axle gear control commands and engine control commands can be generated according to different fault types. This achieves the goal of generating refined control commands based on the fault type of the rear axle shift controller. The rear axle gear control command is sent to the rear axle shift controller so that the rear axle shift controller executes the rear axle gear control command, thereby adjusting the rear axle gear and thus regulating the output drive torque of the rear axle motor; the engine control command is sent to the engine controller so that the engine controller executes the engine control command, adjusting the engine's operating state, that is, regulating the output drive torque of the engine can be achieved through the engine control command. The combined drive torque from the rear axle motor and the engine provides power to the vehicle. It makes full use of the drive force provided by the rear axle in case of failure, and reduces or avoids the engine providing drive force while ensuring driving safety and the safety of the rear axle shift controller hardware, thereby improving the vehicle's energy efficiency. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic flowchart of a vehicle control method according to an embodiment of this application;

[0032] Figure 2 This is a flowchart illustrating the method for executing drive torque limiting commands according to an embodiment of this application;

[0033] Figure 3 This is a schematic diagram of the vehicle control device according to an embodiment of this application;

[0034] Figure 4 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0036] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0037] The powertrain of a hybrid vehicle includes a four-wheel-drive hybrid system. The architecture of this system is a P2+P4 architecture. The P2 motor is the front axle drive motor, primarily responsible for starting the engine, generating electricity, providing power assist, and energy recovery. The P4 motor is the rear axle drive motor, primarily providing power assist to the rear axle. The battery supplies power to the P4 motor, enabling it to output rear axle drive torque. The engine drives the P2 motor, which in turn outputs front axle drive torque. During rear axle shifting, the vehicle controller sends a shift request to the rear axle shift controller. Upon receiving this request, the rear axle shift controller controls the rear transmission to shift to neutral. Then, the rear axle shift controller adjusts the speed of the P4 motor. Once the P4 motor reaches the target speed, the rear axle shift controller controls the rear transmission to shift from neutral to the target gear, completing the rear axle shift.

[0038] However, when the rear axle shift controller malfunctions due to hardware or software issues, it will prevent the rear axle motor from outputting drive torque, thus preventing the rear axle from providing driving force to the vehicle and resulting in a decrease in overall vehicle driving force. To avoid this decrease in driving force, the engine will be started to maintain the vehicle's power performance. However, when the rear axle shift controller experiences a partial malfunction, such as a software failure, it can still provide some driving force to the vehicle even when the rear axle gears are available. If the rear axle motor is prevented from outputting drive torque in this case, it will cause a loss of rear axle driving force and reduce the vehicle's energy efficiency. In view of this, this application proposes a vehicle control method that prioritizes the use of rear axle driving force when the rear axle shift controller malfunctions but does not affect the rear axle driving force output, reducing or avoiding engine starting to provide assistance to the vehicle and improving overall vehicle energy efficiency.

[0039] The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0040] This application proposes a vehicle control method applied to a vehicle control unit (VCU), referencing... Figure 1 This includes the following steps:

[0041] Step 102: In response to receiving fault information from the rear axle shift controller (Actuator Control Unit, ACU), generate corresponding rear axle gear control commands and corresponding engine control commands based on the fault information.

[0042] Specifically, when the sensor detects a fault in the rear axle shift controller, it sends fault information to the vehicle controller. This fault information characterizes the fault type or severity of the rear axle shift controller. Based on this information, the vehicle controller can determine the current fault type or severity. The fault information can be represented by strings, numbers, or letters, with different identifiers representing different fault types or severity levels. By pre-associating different fault information identifiers with corresponding vehicle control strategies based on actual vehicle driving data, the vehicle controller can promptly determine the vehicle control strategy based on the fault information identifiers when a fault occurs in the rear axle shift controller, improving the vehicle's response speed.

[0043] Furthermore, the vehicle control strategy includes rear axle gear control commands and engine control commands. Rear axle gear control commands adjust the gears of the rear axle transmission, while engine control commands adjust the engine's operating state, such as adjusting engine speed or torque. Different rear axle gear control commands and engine control commands can be generated based on different fault information. This achieves fine-grained control of the vehicle in the event of a rear axle shift controller failure, enriching the vehicle control strategy and avoiding the use of a single control strategy, such as disabling the rear axle motor to output drive torque and providing driving force to the vehicle only through the front axle. Even when the fault type of the rear axle shift controller does not affect the use of rear axle gears, in this embodiment, the rear axle transmission gear control can still be achieved through rear axle gear control commands, ensuring that the rear axle can still provide driving force to the vehicle under fault conditions. This avoids or reduces rear axle power loss, thereby reducing or decreasing the assistance provided by the engine, improving vehicle energy utilization, and ensuring overall vehicle power performance.

[0044] Step 104: Send the rear axle gear control command to the rear axle shift controller so that the rear axle shift controller adjusts the rear axle gear; send the engine control command to the engine controller so that the engine controller adjusts the engine's operating state.

[0045] Specifically, after the vehicle controller generates rear axle gear control commands and engine control commands, it sends these commands to the rear axle gear controller and the engine, respectively. The rear axle gear controller then executes the rear axle gear control commands to adjust the rear axle transmission gears, ensuring the rear axle motor outputs the corresponding drive torque to provide sufficient driving force to the vehicle. This reduces the engine's output of assist torque and improves overall vehicle energy efficiency. The engine executes engine control commands, providing real-time assist torque to the vehicle when rear axle drive force is insufficient, ensuring overall vehicle power performance.

[0046] Based on steps 102 to 104 above, the vehicle control method provided in this embodiment includes: in response to receiving fault information from the rear axle shift controller, generating corresponding rear axle gear control commands and corresponding engine control commands according to the fault information. Receiving fault information indicates that the current rear axle shift controller has malfunctioned, and the overall vehicle power performance may be affected. The fault information can determine the fault type of the rear axle shift controller, and different rear axle gear control commands and engine control commands can be generated according to different fault types. This achieves the generation of refined control commands based on the fault type of the rear axle shift controller. The rear axle gear control command is sent to the rear axle shift controller so that the rear axle shift controller executes the rear axle gear control command. The rear axle gear control command can adjust the rear axle gear, thereby controlling the output drive torque of the rear axle motor. The engine control command is sent to the engine controller so that the engine controller executes the engine control command, adjusting the engine's operating state, that is, the engine control command can control the output drive torque of the engine. The combined drive torque from the rear axle motor and the engine provides power to the vehicle. It makes full use of the drive force provided by the rear axle in case of failure, and reduces or avoids the engine providing drive force while ensuring driving safety and the safety of the rear axle shift controller hardware, thereby improving the vehicle's energy efficiency.

[0047] The following embodiments describe in detail the rear axle gear control commands and engine control commands corresponding to different fault types.

[0048] In some embodiments, the fault information includes a gear position flag and gear position availability information, and the rear axle gear control command includes a gear shift prohibition command;

[0049] Based on the fault information, corresponding rear axle gear control commands are generated, including:

[0050] In response to the gear position flag being empty and the gear position availability information indicating that the target gear position is available, a gear shift prohibition command is generated to prevent the rear axle shift controller from shifting; a target drive torque is determined based on the target gear position to enable the rear axle motor to output the target drive torque.

[0051] Specifically, the fault information includes gear position indicator and gear availability information. The gear position indicator represents the current gear of the rear axle transmission. For example, a gear position indicator of 0 indicates neutral, 1 indicates 1st gear, and 2 indicates 2nd gear. The gear availability information represents the currently available gears in the transmission. Due to a fault in the rear axle gear controller, some gears are unavailable. The gear availability information can determine the currently usable gears. Gears not included in the gear availability information are the faulty gears and are currently unusable.

[0052] When the gear position flag received by the vehicle controller is empty, it indicates a potential software malfunction in the rear axle gear position controller, preventing it from recognizing or sending the current gear position of the rear axle transmission. The vehicle controller cannot determine the current gear position of the rear axle transmission, even though the actual current gear is 2nd or close to 2nd. In this case, a shift-prohibit command is generated to prevent damage to the rear axle shift controller's hardware caused by performing a shift without knowing the current gear position. Simultaneously, if the gear availability information indicates that the target gear is available, it means the target gear is fault-free and can be used normally. The rear axle motor can output the drive torque corresponding to the target gear. The corresponding target drive torque is then calculated based on the target gear and sent to the rear axle motor controller, which then controls the rear axle motor to output the target drive torque, providing rear axle drive force to the vehicle. For example, the target gear can be 2nd. When the gear availability information determines that 2nd gear of the rear axle transmission is available, the corresponding control strategy is executed based on the gear ratio, vehicle speed, torque, etc., to control the vehicle's movement.

[0053] It should be noted that in this embodiment, although the rear axle shift controller malfunctions, it does not affect the output of the rear axle drive force. Therefore, the rear axle drive force is used first to provide power to the vehicle, avoiding any loss of power to the rear axle. In this case, there is no need to start the engine to provide assist torque to the vehicle, reducing the likelihood of engine starting and lowering energy consumption and emissions. Correspondingly, the engine control command can be empty, meaning the engine maintains its current operating state. Furthermore, not starting the engine avoids the NVH (Noise, Vibration, Harshness) problems caused by suddenly starting the engine while the vehicle is in motion, improving the user's driving comfort.

[0054] The energy control method in this embodiment, when the fault information indicates that the gear position flag is empty and the target gear is available, protects the rear axle shift controller by prohibiting shifting, and prioritizes the use of rear axle drive force by determining the rear axle drive torque output by the rear axle motor according to the target gear, thereby improving the energy utilization rate of the whole vehicle.

[0055] In some embodiments, the fault information includes gear shifting information; the rear axle gear control command includes a neutral shift command;

[0056] Based on the fault information, corresponding rear axle gear control commands are generated, including:

[0057] In response to the gear shifting information being an upshift or downshifting fault, a neutral shift command is generated so that when the rear axle gear controller receives an upshift or downshifting request, it shifts the current gear of the rear axle to neutral.

[0058] Specifically, fault information includes gear shifting information, which indicates the gear shifting status, such as whether a fault occurred when shifting from 1st to 2nd gear. If the gear shifting information received by the vehicle controller indicates an upshift or downshift fault, it means that the rear axle transmission cannot upshift or downshift from the current gear, but can shift to neutral. In this case, the vehicle controller generates a neutral shift command. This command is sent to the rear axle shift controller. When the vehicle requests an upshift or downshift, the rear axle shift controller controls the rear axle transmission to shift from the current gear to neutral to avoid hardware damage during upshifts or downshifts. Once the rear axle transmission is in neutral, the rear axle no longer provides driving force to the vehicle. To prevent a decrease in vehicle power, an engine control command is generated, including an engine stop command. If the engine is already running, it is controlled to continue running; if the engine is not running, it is controlled to start and maintain continuous operation. The engine provides driving force to the vehicle, ensuring continuous vehicle power.

[0059] The energy control method in this embodiment, when the fault information is an upshift or downshift fault, switches to neutral to protect the rear axle shift controller hardware from damage, and starts the engine to provide assist torque to the vehicle to compensate for the driving force lost by the rear axle, maintain the continuity of the vehicle's power, and meet the user's driving needs.

[0060] In some embodiments, the fault information includes gear shifting information; the rear axle gear control command includes a gear shifting prohibition command;

[0061] Based on the fault information, corresponding rear axle gear control commands are generated, including:

[0062] In response to the gear shifting information indicating a shifting fault, a shifting prohibition command is generated to prevent the rear axle shift controller from shifting.

[0063] Specifically, the fault information includes gear shifting information, which indicates the gear shifting status, such as whether a fault occurred when shifting from 1st to 2nd gear. If the gear shifting information received by the vehicle controller indicates a shifting fault, it means that the transmission cannot shift from the current gear to any other gear. Therefore, the vehicle controller generates a shift prohibition command to prevent hardware damage to the rear axle shift controller caused by performing a shift. It should be noted that in this embodiment, although the rear axle shift controller malfunctions, the current gear of the rear axle transmission has not changed. Therefore, the rear axle can still provide a certain amount of driving force, which does not affect the output of the rear axle driving force. Thus, the rear axle driving force is used first to provide power to the vehicle, avoiding power loss to the rear axle. At this time, there is no need to start the engine to provide assist torque to the vehicle, reducing the probability of engine starting and reducing energy consumption and pollution emissions. Correspondingly, the engine control command can be empty, that is, the engine maintains its current operating state. At the same time, not starting the engine can also avoid NVH (Noise, Vibration, Harshness) problems caused by suddenly starting the engine during vehicle operation, improving the user's driving comfort.

[0064] The energy control method in this embodiment protects the rear axle shift controller hardware from damage by prohibiting shifting when the fault information is a shifting fault. When the rear axle still has driving force output, the rear axle driving force is used first to improve the vehicle's energy utilization rate.

[0065] In some embodiments, the fault information includes gear shifting information and gear availability information; the rear axle gear control command includes a gear shift prohibition command;

[0066] Based on the fault information, corresponding rear axle gear control commands are generated, including:

[0067] In response to the gear shifting information indicating a shifting fault and the gear availability information indicating a gear unavailable, a shifting prohibition command is generated to prevent the rear axle shift controller from shifting.

[0068] Specifically, fault information includes gear shifting information and gear availability information. Gear shifting information indicates the gear shifting status, such as whether a fault occurred when shifting from 1st to 2nd gear. Gear availability information indicates the currently available gears in the transmission. Due to a fault in the rear axle shift controller, some gears are unavailable. The gear availability information can determine the currently usable gears. Gears not included in the gear availability information are the faulty gears and are currently unusable. When the vehicle controller receives fault information indicating a shifting fault and an unavailable gear, it means the transmission cannot shift from the current gear to any other gear, and all gears in the rear axle transmission are unusable. In this case, the vehicle controller generates a shift prohibition command to avoid hardware damage to the rear axle shift controller caused by attempting to shift gears. Since all gears in the rear axle transmission are unusable at this time, the rear axle cannot provide power assistance to the vehicle, resulting in a decrease in overall vehicle power. To maintain overall vehicle power, the engine needs to be started to provide power assistance, generating an engine control command. Engine control commands include engine stop command. If the engine is already running, the engine will continue to operate; if the engine is not running, the engine will start and remain running. The engine provides driving force to the vehicle, ensuring continuous power supply.

[0069] The energy control method in this embodiment protects the rear axle shift controller hardware from damage by prohibiting shifting when the fault information is a shifting fault and the gear is unavailable. It also provides assist torque to the vehicle by starting the engine to compensate for the driving force lost by the rear axle, maintains the vehicle's power continuity, and meets the user's driving needs.

[0070] The foregoing embodiments described the conditions for generating rear axle gear control commands. When the vehicle's power performance decreases, the engine needs to be started to maintain the vehicle's power performance. The following specific embodiments describe the conditions for generating engine control commands.

[0071] In some embodiments, the fault information includes rear axle drive torque, and the engine control command includes an engine stop command; generating corresponding engine control commands based on the fault information includes:

[0072] In response to the rear axle drive torque being zero, an engine stop command is generated to keep the engine running.

[0073] Specifically, the fault information also includes the rear axle drive torque, which represents the drive torque output by the rear axle motor, providing driving force to the vehicle. When the real-time rear axle drive torque received by the vehicle controller is zero, an engine control command is generated. This command includes an engine stop command, which is used to start the engine to provide assist torque to the vehicle, thus maintaining its power performance. If the engine is already running, it is controlled to continue operating; if it is not running, it is controlled to start and maintain continuous operation. This vehicle control method can, in cases of insufficient vehicle power, start the engine in a timely manner to provide assist torque, ensuring overall vehicle power performance and meeting the user's driving needs.

[0074] To further ensure driving safety, the vehicle controller limits the vehicle speed after receiving fault information to prevent excessive speed and potential safety hazards when the rear axle shift controller malfunctions. The speed limiting method is described below through specific embodiments.

[0075] In some embodiments, reference Figure 2 In response to receiving a fault message from the rear axle shift controller, the following is also included:

[0076] Step 202: Generate a drive torque limit command and determine the target drive torque based on the fault information.

[0077] Step 204: Send the drive torque limiting command and the target drive torque to the front axle controller and the rear axle controller respectively, so that the front axle controller controls the front axle motor to output the front axle drive torque, and the rear axle controller controls the rear axle motor to output the rear axle drive torque, and the sum of the front axle drive torque and the rear axle drive torque does not exceed the target drive torque.

[0078] Specifically, in this embodiment, the vehicle speed is limited by restricting the drive torque. After receiving the fault information, the vehicle controller generates a drive torque limiting command to limit the vehicle speed in the event of a fault. The target drive torque can be determined based on the fault level in the fault information. Different fault types can be pre-associated with fault levels, classifying fault types into different fault levels. The higher the fault level, the lower the target drive torque, and the lower the corresponding vehicle speed. The lower the fault level, the higher the target drive torque, and the higher the corresponding vehicle speed. For example, when the fault information includes a number of times the gear has been disengaged exceeding a preset number, the fault level is level 1, and the vehicle controller does not respond; when the fault information includes a gear position flag that is empty and the gear position availability information indicates that the target gear is available, the fault level is level 2; when the fault information includes a gear shifting information indicating an upshift or downshift fault, the fault level is level 3; when the fault information includes a gear shifting information indicating a gear shifting fault, the fault level is level 4; and when the fault information includes a gear shifting information indicating a gear shifting fault and the gear position availability information indicates that the gear is unavailable, the fault level is level 5.

[0079] After determining the target drive torque, the vehicle outputs the target drive torque to reduce speed. Since the vehicle's drive torque includes both front and rear axle drive torque, the target drive torque is sent to the front and rear axle controllers respectively, ensuring that the front axle motor outputs its front drive torque and the rear axle motor outputs its rear drive torque, with the sum of the front and rear drive torques not exceeding the target drive torque. If a malfunction in the rear axle shift controller prevents the rear axle from providing drive force, the front axle drive torque must not exceed the target drive torque. This method, by limiting the vehicle speed when the rear axle shift controller malfunctions, further ensures driving safety.

[0080] It should be noted that the method in this embodiment can be executed by a single device, such as a computer or server. The method can also be applied in a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method in this embodiment, and the multiple devices will interact with each other to complete the method described.

[0081] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0082] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a vehicle control device.

[0083] refer to Figure 3 The vehicle control device includes:

[0084] The instruction generation module 302 is configured to generate corresponding rear axle gear control instructions and corresponding engine control instructions in response to receiving fault information from the rear axle shift controller.

[0085] The instruction sending module 304 is configured to send the rear axle gear control instruction to the rear axle shift controller so that the rear axle shift controller adjusts the rear axle gear; and to send the engine control instruction to the engine controller so that the engine controller adjusts the operating state of the engine.

[0086] In some embodiments, the fault information includes a gear position flag and gear position availability information, and the rear axle gear control command includes a gear shift prohibition command; the command generation module 302 is further configured to generate the gear shift prohibition command in response to the gear position flag being empty and the gear position availability information being a target gear position available, so as to prevent the rear axle shift controller from shifting; and to determine a target drive torque based on the target gear position so as to cause the rear axle motor to output the target drive torque.

[0087] In some embodiments, the fault information includes gear shifting information; the rear axle gear control command includes a neutral shift command; the command generation module 302 is further configured to generate the neutral shift command in response to the gear shifting information being an upshift or downshift fault, so that when the rear axle gear controller receives an upshift or downshift request, it will switch the current gear of the rear axle to neutral.

[0088] In some embodiments, the fault information includes gear shifting information; the rear axle gear control command includes a gear shifting prohibition command; the command generation module 302 is further configured to generate the gear shifting prohibition command in response to the gear shifting information being a gear shifting fault, so as to prevent the rear axle gear shift controller from shifting.

[0089] In some embodiments, the fault information includes gear shifting information and gear availability information; the rear axle gear control command includes a gear shift prohibition command; the command generation module 302 is further configured to generate the gear shift prohibition command in response to the gear shifting information indicating a gear shifting fault and the gear availability information indicating a gear unavailable, so as to prohibit gear shifting by the rear axle shift controller.

[0090] In some embodiments, the fault information includes the rear axle drive torque, and the engine control command includes an engine stop command; the command generation module 302 is further configured to generate the engine stop command in response to the rear axle drive torque being zero, so as to keep the engine running continuously.

[0091] In some embodiments, upon receiving fault information from the rear axle shift controller, the instruction generation module 302 is further configured to generate a drive torque limiting instruction and determine a target drive torque based on the fault information; the drive torque limiting instruction and the target drive torque are then sent to the front axle controller and the rear axle controller, respectively, so that the front axle controller controls the front axle motor to output front axle drive torque, and the rear axle controller controls the rear axle motor to output rear axle drive torque, and the sum of the front axle drive torque and the rear axle drive torque does not exceed the target drive torque. For ease of description, the above apparatus is described by dividing it into various modules according to their functions. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

[0092] The apparatus of the above embodiments is used to implement the corresponding vehicle control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0093] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle control method described in any of the above embodiments.

[0094] Figure 4 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0095] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0096] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0097] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0098] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0099] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0100] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0101] The electronic devices described above are used to implement the corresponding vehicle control methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0102] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to execute the vehicle control method as described in any of the above embodiments.

[0103] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0104] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the vehicle control method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0105] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0106] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0107] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0108] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, include: In response to receiving fault information from the rear axle shift controller, corresponding rear axle gear control commands and corresponding engine control commands are generated based on the fault information. The rear axle gear control command is sent to the rear axle shift controller so that the rear axle shift controller adjusts the rear axle gear; the engine control command is sent to the engine controller so that the engine controller adjusts the engine's operating state. The fault information includes the gear position indicator and gear position availability information, and the rear axle gear control command includes a gear shift prohibition command. Based on the fault information, corresponding rear axle gear control commands are generated, including: In response to the gear position flag being empty and the gear position availability information indicating that the target gear position is available, the gear shift prohibition command is generated to prevent the rear axle shift controller from shifting gears. The target drive torque is determined based on the target gear, so that the rear axle motor outputs the target drive torque.

2. The method according to claim 1, characterized in that, The fault information includes gear shifting information; the rear axle gear control command includes a neutral shift command. Based on the fault information, corresponding rear axle gear control commands are generated, including: In response to the gear shifting information being an upshift or downshifting fault, a neutral shift command is generated so that when the rear axle gear controller receives an upshift or downshifting request, it shifts the current gear of the rear axle to neutral.

3. The method according to claim 1, characterized in that, The fault information includes gear shifting information; the rear axle gear control command includes a gear shifting prohibition command. Based on the fault information, corresponding rear axle gear control commands are generated, including: In response to the gear shifting information indicating a shifting fault, a shifting prohibition command is generated to prevent the rear axle shift controller from shifting.

4. The method according to claim 1, characterized in that, The fault information includes gear shifting information and gear availability information; the rear axle gear control command includes a gear shift prohibition command. Based on the fault information, corresponding rear axle gear control commands are generated, including: In response to the gear shifting information indicating a shifting fault and the gear availability information indicating a gear unavailable, a shifting prohibition command is generated to prevent the rear axle shift controller from shifting.

5. The method according to any one of claims 1-4, characterized in that, The fault information includes the rear axle drive torque, and the engine control command includes the engine stop command. Based on the fault information, corresponding engine control commands are generated, including: In response to the rear axle drive torque being zero, an engine stop command is generated to keep the engine running.

6. The method according to any one of claims 1-4, characterized in that, Following the receipt of a fault message from the rear axle shift controller, the following is also included: Generate a drive torque limiting command and determine the target drive torque based on the fault information; The drive torque limiting command and the target drive torque are sent to the front axle controller and the rear axle controller respectively, so that the front axle controller controls the front axle motor to output the front axle drive torque, and the rear axle controller controls the rear axle motor to output the rear axle drive torque, and the sum of the front axle drive torque and the rear axle drive torque does not exceed the target drive torque.

7. A vehicle control device, characterized in that, include: The instruction generation module is configured to, in response to receiving fault information from the rear axle shift controller, generate corresponding rear axle gear control instructions and corresponding engine control instructions based on the fault information. The instruction sending module is configured to send the rear axle gear control instruction to the rear axle shift controller so that the rear axle shift controller adjusts the rear axle gear; and to send the engine control instruction to the engine controller so that the engine controller adjusts the operating state of the engine. The fault information includes the gear position indicator and gear position availability information, and the rear axle gear control command includes a gear shift prohibition command. Based on the fault information, corresponding rear axle gear control commands are generated, including: In response to the gear position flag being empty and the gear position availability information indicating that the target gear position is available, the gear shift prohibition command is generated to prevent the rear axle shift controller from shifting gears. The target drive torque is determined based on the target gear, so that the rear axle motor outputs the target drive torque.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1 to 6.

9. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 8.

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