Vehicle control method and device, terminal equipment, vehicle and storage medium

Abstract

Embodiments of the present application are suitable for the vehicle technical field, and provide a vehicle control method and device, terminal equipment, vehicle and storage medium. The method comprises: obtaining current driving state information of a vehicle; obtaining a current working state of a motor drive controller of the vehicle; if the current working state of the motor drive controller is a normal state, generating a target control instruction according to the driving state information, and sending the target control instruction to the motor drive controller; the target control instruction comprises a first control instruction, the first control instruction being used to instruct the motor drive controller to control a target motor to stop working and to control the target motor to be separated from a transmission shaft. If a state that the target motor has been separated from the transmission shaft returned by the motor drive controller is received, a standby instruction is generated and sent to the motor working controller to instruct the motor working controller to control the target motor to stop working. The above method can reduce energy consumption of the vehicle when driving.

Description

Technical Field

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

[0002] Typically, a four-wheel drive vehicle maintains four-wheel drive mode while driving. Specifically, a four-wheel drive vehicle includes a front motor and a rear motor. When the front motor is working, it outputs torque to the front driveshaft to drive the front wheels connected to the driveshaft. At the same time, when the rear motor is working, it also outputs torque to the rear driveshaft to drive the rear wheels connected to the driveshaft.

[0003] The advantage of four-wheel drive mode is that it can enable the vehicle to have good off-road and handling performance at any time. However, if the vehicle is driven in four-wheel drive mode all the time, it will result in higher energy consumption. Summary of the Invention

[0004] This application provides a vehicle control method, device, terminal equipment, vehicle, and storage medium, which can solve the problem of high energy consumption when the vehicle is driving in four-wheel drive mode.

[0005] In a first aspect, embodiments of this application provide a vehicle control method, the method comprising:

[0006] Obtain the vehicle's current driving status information;

[0007] Obtain the current operating status of the vehicle's motor drive controller;

[0008] If the working state is normal, a target control command is generated based on the driving status information and sent to the motor drive controller; the target control command includes a first control command, which is used to instruct the motor drive controller to control the target motor to separate from the drive shaft;

[0009] If the target motor and drive shaft are separated as reported by the motor drive controller, a standby command is generated and sent to the motor operation controller. The standby command is used to instruct the motor operation controller to stop the target motor from working.

[0010] Secondly, embodiments of this application provide a vehicle body control device, the device comprising:

[0011] The first acquisition module is used to acquire the current driving status information of the vehicle;

[0012] The second acquisition module is used to acquire the current working status of the vehicle's motor drive controller;

[0013] The first processing module is used to generate a target control command based on the driving status information if the working state is normal, and send the target control command to the motor drive controller; the target control command includes a first control command, which is used to instruct the motor drive controller to control the target motor to separate from the drive shaft;

[0014] The second processing module is used to generate a standby command and send it to the motor working controller if it receives a state from the motor drive controller that the target motor and the drive shaft have been separated. The standby command is used to instruct the motor working controller to stop the target motor from working.

[0015] Thirdly, embodiments of this application provide a vehicle, which includes a target motor, a drive shaft that can be separated from and connected to the target motor, a motor drive controller and a motor operation controller for controlling the target motor, and a vehicle control device for executing the method described in the first aspect above.

[0016] Fourthly, embodiments of this application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect above.

[0017] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0018] Sixthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the method described in the first aspect.

[0019] The beneficial effects of this application embodiment compared to the prior art are as follows: The vehicle control device can first obtain the vehicle's driving status information and the current working status of the motor drive controller. Then, when the motor drive controller is in a normal state, it generates a first control command based on the driving status information to instruct the target motor to separate from the drive shaft, and sends the first control command to the motor drive controller to instruct the motor drive controller to control the target motor to separate from the drive shaft. In this way, it can rationally select whether the target motor needs to drive the vehicle based on the driving status information, reducing the energy consumption required to drive the vehicle. Furthermore, upon receiving the status returned by the motor drive controller that the target motor and drive shaft have separated, it also generates a standby command and sends it to the motor operating controller to instruct the motor operating controller to control the target motor to stop working. Therefore, after the target motor stops working, although its internal rotor will not stop rotating immediately due to inertia and will generate a back electromotive force during rotation, the target motor is separated from the drive shaft, so it cannot transmit the reverse torque generated by the back electromotive force to the drive shaft, thereby dragging the vehicle. Based on this, when the target motor stops working, the vehicle control device does not need to apply additional current and voltage to the target motor to counteract the back electromotive force generated when the target motor stops working, thereby further reducing the energy consumption during vehicle operation. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating the implementation of a vehicle control method according to an embodiment of this application;

[0022] Figure 2 This is a schematic diagram illustrating one implementation method for generating target control commands in a vehicle control method according to an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of the structure of a vehicle body control device provided in one embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0025] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0026] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0027] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] Four-wheel drive in a four-wheel drive vehicle refers to a driving mode where the vehicle maintains four-wheel drive throughout the entire driving process, with the electric motors distributing torque to the front and rear wheels in a fixed ratio. Specifically, a four-wheel drive vehicle includes a front motor and a rear motor. When the front motor operates, it outputs torque to the front driveshaft to drive the front wheels connected to the driveshaft; simultaneously, the rear motor outputs torque to the rear driveshaft to drive the rear wheels connected to the driveshaft. In this drive mode, the vehicle can always maintain good off-road and handling performance. However, four-wheel drive mode cannot adjust torque distribution according to road conditions, resulting in higher energy consumption.

[0029] Furthermore, if the front or rear motor in the vehicle stops working, the permanent magnet synchronous motor rotor inside the motor will not immediately stop rotating. Instead, due to inertia, the rotor will generate a back electromotive force for a short period, dragging the vehicle and affecting its operation. To counteract this back electromotive force and maintain normal vehicle operation, additional current and voltage must be applied to the front or rear motor. However, this will also result in additional energy loss.

[0030] Therefore, in order to reduce energy consumption during the driving process of four-wheel drive vehicles, this application provides a vehicle control method, which can be applied to a vehicle control device. The vehicle control device can be located in a terminal device, which can be an in-vehicle terminal; this embodiment does not limit this to a specific type.

[0031] For example, the aforementioned vehicle control device can be a vehicle controller. For instance, it can be a Vehicle Control Unit (VCU). The VCU is the central control unit of the vehicle, capable of collecting various information such as the status of each motor, accelerator pedal signals, brake pedal signals, actuator and sensor signals, etc. Furthermore, based on this information, it can be responsible for functions such as normal vehicle operation, regenerative braking, network management, fault diagnosis and handling, vehicle status monitoring, and power battery energy management, which will not be described in detail here.

[0032] Please see Figure 1 , Figure 1 The following is a flowchart illustrating the implementation of a vehicle control method according to an embodiment of this application. The method includes the following steps:

[0033] S101. Obtain the current driving status information of the vehicle.

[0034] In one embodiment, the aforementioned driving status information may include various information such as vehicle speed, vehicle tilt angle, and driving mode, and is not limited thereto.

[0035] In one embodiment, vehicle speed can be acquired and displayed via a speedometer. Vehicle tilt angle is the angle between the plane containing the vehicle body and the horizontal plane. As an example and not a limitation, the plane containing the vehicle body can be the plane formed by the midpoints of the vehicle's four tires. It should be noted that when the vehicle is climbing a hill or turning, the vehicle body will tilt. At this time, the angle between the vehicle body and the vertical line of the horizontal plane can be considered as the vehicle tilt angle. Specifically, the vehicle tilt angle can be acquired using tilt sensors installed in the vehicle.

[0036] In one embodiment, the driving mode can be determined based on the vehicle's current driving force or the vehicle's current environment. The driving mode includes, but is not limited to, various modes such as Sport mode, Eco mode, and Normal mode.

[0037] In one embodiment, the vehicle control device can acquire the vehicle's current driving status information in real time, or it can acquire the vehicle's current driving status information at first preset intervals, without limitation. The first preset interval can be set according to actual circumstances.

[0038] Additionally, it should be noted that the aforementioned vehicles are typically four-wheel drive vehicles, meaning they usually have a front motor and a rear motor to control the front and rear wheels respectively.

[0039] S102. Obtain the current operating status of the vehicle's motor drive controller.

[0040] In one embodiment, the motor drive controller described above is used to control the front and rear motors in the vehicle. For example, it controls the front and / or rear motors to stop operating or to operate normally.

[0041] In one embodiment, the aforementioned operating states include a normal state and an abnormal state. It should be noted that in the normal state, the vehicle control device can execute subsequent steps S103-S104 to control the target motor. However, when the motor drive controller is in an abnormal state, the vehicle control device can stop executing the aforementioned vehicle control method and can execute a preset reminder command to alert the vehicle owner. Upon receiving the reminder, the vehicle owner can then stop the vehicle using the braking device.

[0042] It should be noted that, in this embodiment, when executing the vehicle control method described above, the motor drive controller can also acquire the connection status between the drive shaft and the target motor in real time, and when the motor drive controller is in a normal operating state, it sends a target identifier to the vehicle control device that allows the target motor to engage or disengage from the drive shaft. Upon receiving this target identifier, the vehicle control device considers the motor drive controller to be in a normal state. Otherwise, if the target identifier is not received or other non-target identifiers are received, the operating state is considered abnormal; this is not limited. The target identifier can be set according to actual conditions and is not limited thereto.

[0043] In one embodiment, the aforementioned motor drive controller may specifically be an automatic control unit (ACU) in a vehicle, which can detect its own working status in real time and send the working status to the vehicle control device in real time or at second preset intervals.

[0044] S103. If the working state is normal, a target control command is generated based on the driving state information and sent to the motor drive controller. The target control command includes a first control command, which is used to instruct the motor drive controller to control the target motor to separate from the drive shaft.

[0045] In one embodiment, the aforementioned drive shaft is a drive shaft inside the vehicle, which can drive the wheels to rotate at different angular velocities. The drive shaft can be divided into a front drive shaft coupled to the front wheels and the front motor, and a rear drive shaft coupled to the rear wheels and the rear motor.

[0046] In one embodiment, the target motor can be either a front motor or a rear motor in the vehicle, and can be preset according to actual conditions; there is no limitation on this. Typically, in actual situations, the vehicle can be driven by its rear wheels. Therefore, when controlling the separation of the target motor from the driveshaft, specifically, the front motor in the vehicle can be separated from the driveshaft. In this case, the driveshaft separated from the front motor can be considered the front driveshaft.

[0047] S104. If the target motor and drive shaft are separated as reported by the motor drive controller, a standby command is generated and sent to the motor working controller. The standby command is used to instruct the motor working controller to stop the target motor from working.

[0048] In application, the aforementioned separated state can be generated by the motor drive controller after real-time detection of the target motor. When the target motor and drive shaft are detected to be separated, this state is fed back to the vehicle control device. Subsequently, since no driving force is required from the target motor, the vehicle control device can generate a standby command and send it to the motor operation controller to control the target motor to stop working. The motor operation controller, which controls whether the target motor stops or starts working, will not be described in detail here. For example, the aforementioned motor operation controller can specifically be a motor control unit (MCU) in the vehicle.

[0049] It should be noted that the above separation decouples the target motor from the drive shaft, ensuring that the back electromotive force generated when the target motor stops operating is not transmitted to the drive shaft. In other words, when the target motor stops operating, it will not drag the vehicle or affect its operation. Therefore, the vehicle does not need to provide additional voltage and current to the target motor to counteract the aforementioned back electromotive force.

[0050] In one embodiment, the vehicle control device can first acquire the vehicle's driving status information and the current operating status of the motor drive controller. Then, when the motor drive controller is in a normal state, it generates a first control command based on the driving status information to instruct the target motor to separate from the drive shaft, and sends the first control command to the motor drive controller to instruct the motor drive controller to control the target motor to separate from the drive shaft. In this way, it can rationally select whether the target motor needs to drive the vehicle based on the driving status information, reducing the energy consumption required to drive the vehicle. Furthermore, upon receiving a return from the motor drive controller that the target motor and drive shaft have separated, it also generates a standby command and sends it to the motor operating controller to instruct the motor operating controller to control the target motor to stop working. Therefore, after the target motor stops working, although its internal rotor will not stop rotating immediately due to inertia and will generate a back electromotive force during rotation, the target motor is separated from the drive shaft, so it cannot transmit the reverse torque generated by the back electromotive force to the drive shaft, thereby dragging the vehicle. Based on this, when the target motor stops working, the vehicle control device does not need to apply additional current and voltage to the target motor to counteract the back electromotive force generated when the target motor stops working, thereby further reducing the energy consumption during vehicle operation.

[0051] In one embodiment, as described in S101 above, the driving status information includes various information such as vehicle speed and driving mode, and the driving mode includes, but is not limited to, sport mode, economy mode, and normal mode. Therefore, the target control command that may be generated is different for each mode. Based on this, in order to generate target control commands reasonably according to different driving modes and vehicle speeds to reduce vehicle energy consumption, the vehicle control device can, according to, such as Figure 2 The S201-S205 parameters generate target control commands, which are detailed below:

[0052] S201. If the vehicle body tilt angle is greater than the preset angle threshold, a second control command is generated.

[0053] In one embodiment, the aforementioned vehicle body tilt angle has already been explained in S101 above and will not be described again. It should be noted that the aforementioned second control command is used to instruct the motor drive controller to control the target motor to engage with the drive shaft.

[0054] It should be noted that upon receiving the status from the motor drive controller indicating that the target motor and drive shaft are engaged, the vehicle control device also needs to generate a working command and send it to the motor working controller. This working command instructs the motor working controller to control the target motor to generate driving force for the vehicle. The motor working controller has already been explained in S104 above and will not be described again.

[0055] In one embodiment, the aforementioned preset angle threshold can be set according to actual conditions and is not limited thereto. For example, the aforementioned vehicle tilt angle can be 7 degrees. When the vehicle tilt angle is greater than 7 degrees, it can be considered that the vehicle is either climbing a hill or starting on a hill. However, regardless of the state, the vehicle usually needs to significantly increase its speed in a short period of time. At this time, if only the non-target motor provides driving force, the driving force may not be sufficient to support the vehicle climbing a hill or starting on a hill. Based on this, the vehicle control device can generate a second control command to control the target motor to work and connect the target motor to the drive shaft, so that the driving force generated when the target motor works can be transmitted to the wheels connected to the drive shaft. In this way, the vehicle can drive normally using the four-wheel drive mode.

[0056] It should be noted that, based on the above explanation of vehicle body tilt angle, when the vehicle body tilt angle is less than or equal to a preset angle threshold, the vehicle can be considered to be traveling on a level road surface. In this case, the vehicle may be traveling on various level road surfaces, such as highways or urban areas.

[0057] However, the driving speed may vary for each type of road surface. For example, a vehicle may travel at a lower speed in the city and at a higher speed on a highway. That is, the target control commands generated may also differ depending on the vehicle speed.

[0058] Furthermore, considering the various driving modes of the vehicle described above, the vehicle will encounter various situations during operation. Therefore, the target control commands generated may differ for any given driving mode and / or vehicle speed. Specifically:

[0059] S202. If the vehicle body tilt angle is less than or equal to a preset angle threshold, a second control command is generated when the driving mode is the preset sport mode. In sport mode, the total driving force generated by the target motor and non-target motor in the vehicle is greater than the first preset driving force.

[0060] In one embodiment, the aforementioned motion mode has already been explained in S101. As a supplement, the vehicle control device can determine that the vehicle is in motion mode when it determines that the vehicle is in a highway driving environment, or is in the process of overtaking, or is in the starting phase. Typically, in motion mode, the vehicle's acceleration and speed will change significantly within a short period. For example, within a third preset time period, the acceleration change exceeds a preset acceleration threshold. Both the third preset time period and the acceleration threshold can be preset and are not limited thereto.

[0061] It should be noted that when the vehicle is in Sport mode, because the vehicle needs to travel at high speeds or significantly increase speed in a short period of time, the required driving force usually needs to be generated by both motors working simultaneously. That is, the total driving force generated by the front and rear motors is usually greater than the first preset driving force. The first preset driving force can be set according to actual conditions and is not limited thereto. It should be added that the first preset driving force needs to be significantly greater than the maximum driving force generated by a single motor (not the target motor) working.

[0062] It should be added that during driving, the non-target motor needs to be constantly operational to provide driving force to the vehicle. Therefore, after instructing the motor drive controller to engage the target motor with the drive shaft via the second control command, and instructing the motor operation controller to operate the target motor via the work command, the total driving force generated in the vehicle will include the driving force generated by both the target motor and the non-target motor.

[0063] S203. If the vehicle body tilt angle is less than or equal to a preset angle threshold, a first control command is generated when the driving mode is the preset economy mode; in economy mode, the total driving force generated by the target motor in the vehicle is less than the second preset driving force.

[0064] In one embodiment, the aforementioned economic mode has already been explained in S101. Additionally, the vehicle control device may determine that the vehicle is in economic mode when it is in an urban driving environment or a low-speed driving environment. Typically, in economic mode, the vehicle's acceleration does not change significantly.

[0065] Based on this, the vehicle control unit can assume that the aforementioned economic mode is typically a low-energy-consumption mode when the vehicle is driving. In this mode, the vehicle control unit usually controls the rotor speed of the motors at an appropriate gear to reduce unnecessary energy consumption. Furthermore, in economic mode, the driving force generated by each motor is suppressed, and even during acceleration, the acceleration will not exceed a preset acceleration.

[0066] Therefore, it can be assumed that the total driving force generated by the vehicle at this time is usually less than the second preset driving force. Based on this, it can be assumed that the vehicle only needs to use the driving force generated by one of the motors in the vehicle to drive the vehicle. That is, the vehicle control device can generate a first control command to instruct the motor drive controller to control the target motor to disengage from the drive shaft.

[0067] The second preset driving force and preset acceleration mentioned above can be set according to actual conditions, and there are no limitations on them. For example, the second preset driving force is usually less than the maximum driving force generated by a motor (not the target motor) when it is working.

[0068] S204. If the vehicle body tilt angle is less than or equal to a preset angle threshold, then when the driving mode is the preset normal mode and the vehicle speed is greater than the preset vehicle speed threshold, a second control command is generated; in normal mode, the total driving force generated by the target motor and non-target motor in the vehicle is greater than the second preset driving force and less than the first preset driving force.

[0069] In one embodiment, the aforementioned normal mode can be considered as a mode in which the total driving force of the vehicle remains constant. In this mode, the vehicle's acceleration, speed, and gear shifting are all at an intermediate level between the aforementioned sport mode and economy mode. Typically, in this normal mode, the vehicle can achieve a balance between speed and energy consumption. It can be considered that the scenarios in which the vehicle travels in normal mode are suitable for long-term constant-speed driving scenarios.

[0070] For example, the vehicle control device can determine that the vehicle is in normal mode when it determines that the vehicle is traveling at a constant speed and the duration of this constant speed travel is greater than a third preset duration. In normal mode, the total driving force required by the vehicle is greater than the second preset driving force corresponding to the economy mode, but less than the first preset driving force corresponding to the sport mode. That is, in this mode, it is usually necessary to drive the vehicle simultaneously through both of its motors. In other words, it is necessary to generate driving force by having both the target motor and the non-target motor work simultaneously.

[0071] In one embodiment, the aforementioned preset vehicle speed threshold can be set according to actual conditions, and there is no limitation thereto. It is understood that when the vehicle speed is greater than the preset vehicle speed threshold, the total driving force required by the vehicle is usually greater than the second preset driving force and less than the first preset driving force.

[0072] S205. If the vehicle body tilt angle is less than or equal to the preset angle threshold, then when the driving mode is the preset normal mode and the vehicle speed is less than or equal to the preset vehicle speed, a first control command is generated.

[0073] In one embodiment, when the vehicle body tilt angle is less than or equal to a preset angle threshold, the driving mode is a preset normal mode, and the vehicle speed is less than or equal to a preset speed threshold, the vehicle can be considered to be in a low-speed driving scenario. Typically, in low-speed driving scenarios, the driving force required by the vehicle is also relatively small. It can be considered that in the normal mode and at a speed below the preset speed threshold, the vehicle's mode is similar to the economy mode. Therefore, the vehicle can rely solely on the driving force generated by the non-target motor operating.

[0074] In one embodiment, the method by which the vehicle control device determines the driving mode has been described in S201-S205 above. As a supplement, the vehicle also typically has a driving mode selection button. The vehicle control device can determine the current driving mode of the vehicle based on the driver's operation on the corresponding selection button. That is, in this embodiment, the method for determining the various driving modes of the vehicle is not limited.

[0075] It should be noted that when the target motor is already engaged with the drive shaft, the vehicle control device can also generate a second control command and send it to the motor drive controller. In this case, the motor drive controller can ignore the second control command once it determines that the target motor is already engaged with the drive shaft. Conversely, when the target motor is already disengaged from the drive shaft, the vehicle control device can also generate a first control command and send it to the motor drive controller. Correspondingly, in this case, the motor drive controller can ignore the first control command once it determines that the target motor is disengaged from the drive shaft.

[0076] Additionally, it's important to note that after sending the target control command value to the motor drive controller, the motor drive controller, whether executing or ignoring the target control command, must also feed back the current state (engaged or disengaged) between the target motor and the drive shaft to the vehicle control unit. This allows the vehicle control unit to determine whether the target motor has been successfully controlled based on the feedback status.

[0077] In one specific embodiment, if the vehicle is currently operating in four-wheel drive mode, meaning both the front and rear motors are working simultaneously to generate driving force, the vehicle control device can acquire various driving status information in real time, including the vehicle's body tilt angle, speed, driving mode, and the operating status sent by the motor drive controller. Subsequently, if the operating status is determined to be normal, the vehicle control device can determine that the vehicle is in a climbing state when the body tilt angle exceeds a preset angle threshold, for example, when the tilt angle exceeds 7 degrees. At this time, in order to control the vehicle's normal driving, the vehicle control device can generate a second control command to instruct the motor drive controller to engage the target motor (e.g., the front motor) with the drive shaft. Since the vehicle is already in four-wheel drive mode, the motor drive controller can ignore the aforementioned second control command.

[0078] After a period of time, if the vehicle body tilt angle is detected to be less than or equal to a preset angle threshold, and the driving mode is a preset sport mode, or if the driving mode is a preset normal mode and the corresponding vehicle speed is greater than a preset speed threshold, the vehicle control device will still generate a second control command and send it to the motor drive controller. If the vehicle body tilt angle is detected to be less than or equal to a preset angle threshold, and the driving mode is a preset economy mode, or if the driving mode is a preset normal mode and the corresponding vehicle speed is greater than a preset speed threshold, the vehicle control device can generate a first control command and send it to the motor drive controller to instruct the motor drive controller to control the front motor to disengage from the drive shaft. Upon receiving a return from the motor drive controller indicating that the target motor and drive shaft have been disengaged, a standby command is generated and sent to the motor operating controller to instruct the motor operating controller to control the front motor to stop working, thereby reducing energy consumption during vehicle operation.

[0079] Please see Figure 3 , Figure 3 This is a structural block diagram of a vehicle body control device provided in an embodiment of this application. The modules included in the vehicle body control device in this embodiment are used to perform... Figure 1 and Figure 2 The steps in the corresponding embodiments. Please refer to the details. Figure 1 and Figure 2 as well as Figure 1 and Figure 2 The relevant descriptions in the corresponding embodiments are shown below. For ease of explanation, only the parts relevant to this embodiment are shown. See also... Figure 3 The vehicle body control device 300 may include: a first acquisition module 310, a second acquisition module 320, a first processing module 330, and a second processing module 340, wherein:

[0080] The first acquisition module 310 is used to acquire the current driving status information of the vehicle.

[0081] The second acquisition module 320 is used to acquire the current working status of the vehicle's motor drive controller.

[0082] The first processing module 330 is used to generate a target control instruction based on the driving status information if the working state is normal, and send the target control instruction to the motor drive controller; the target control instruction includes a first control instruction, which is used to instruct the motor drive controller to control the target motor to separate from the drive shaft.

[0083] The second processing module 340 is used to generate a standby command and send it to the motor working controller if it receives a state from the motor drive controller that the target motor and the drive shaft have been separated. The standby command is used to instruct the motor working controller to stop the target motor from working.

[0084] In one embodiment, the driving status information includes the vehicle body tilt angle; the vehicle body tilt angle is the angle between the plane where the vehicle body is located and the horizontal plane; the target control command further includes a second control command; the second control command is used to instruct the motor drive controller to control the target motor to engage with the drive shaft; the first processing module 330 is further used for:

[0085] If the vehicle body tilt angle is greater than the preset angle threshold, a second control command is generated;

[0086] The body control unit 300 also includes:

[0087] The third processing module is used to generate a working instruction and send it to the motor working controller if it receives a return from the motor drive controller indicating that the target motor and the drive shaft are engaged. The working instruction is used to instruct the motor working controller to control the target motor to work.

[0088] In one embodiment, the driving status information further includes a driving mode; the processing module 330 is also used for:

[0089] If the vehicle body tilt angle is less than or equal to a preset angle threshold, a second control command is generated when the driving mode is the preset sport mode; in sport mode, the total driving force generated by the target motor and non-target motor in the vehicle is greater than the first preset driving force.

[0090] In one embodiment, the driving status information further includes a driving mode; the processing module 330 is also used for:

[0091] If the vehicle body tilt angle is less than or equal to a preset angle threshold, a first control command is generated when the driving mode is the preset economy mode; in economy mode, the total driving force generated by the target motor in the vehicle is less than the second preset driving force.

[0092] In one embodiment, the driving status information further includes driving mode and vehicle speed; the processing module 330 is also used for:

[0093] If the vehicle body tilt angle is less than or equal to a preset angle threshold, a second control command is generated when the driving mode is the preset normal mode and the vehicle speed is greater than the preset vehicle speed threshold. In economy mode, the total driving force generated by the target motor and non-target motor in the vehicle is greater than the second preset driving force and less than the first preset driving force.

[0094] In one embodiment, the driving status information further includes driving mode and vehicle speed; the processing module 330 is also used for:

[0095] If the vehicle body tilt angle is less than or equal to a preset angle threshold, then when the driving mode is the preset normal mode and the vehicle speed is less than or equal to a preset vehicle speed, a first control command is generated.

[0096] In one embodiment, the vehicle control device 300 further includes:

[0097] If the working state is abnormal, the execution of the control method will be stopped.

[0098] When it is understood that, Figure 3 In the structural block diagram of the vehicle body control device shown, each module is used to perform... Figure 1 and Figure 2 The steps in the corresponding embodiments, and for Figure 1 and Figure 2 The steps in the corresponding embodiments have been explained in detail in the above embodiments. Please refer to them for details. Figure 1 and Figure 2 as well as Figure 1 and Figure 2 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0099] Figure 4 This is a structural block diagram of a terminal device provided in one embodiment of this application. For example... Figure 4 As shown, the terminal device 400 of this embodiment includes a processor 410, a memory 420, and a computer program 430 stored in the memory 420 and executable on the processor 410, such as a program for a vehicle control method. When the processor 410 executes the computer program 430, it implements the steps of the various embodiments of the above-described vehicle control methods, for example... Figure 1 S101 to S103 are shown. Alternatively, the processor 410 implements the above when executing the computer program 430. Figure 3 The functions of each module in the corresponding embodiments, for example, Figure 3 For details on the functions of modules 310 to 330 shown, please refer to [link / reference needed]. Figure 3 The relevant descriptions in the corresponding embodiments.

[0100] For example, the computer program 430 can be divided into one or more modules, one or more modules are stored in the memory 420 and executed by the processor 410 to implement the vehicle control method provided in the embodiments of this application. One or more modules can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 430 in the terminal device 400. For example, the computer program 430 can implement the vehicle control method provided in the embodiments of this application.

[0101] Terminal device 400 may include, but is not limited to, processor 410 and memory 420. Those skilled in the art will understand that... Figure 4This is merely an example of terminal device 400 and does not constitute a limitation on terminal device 400. It may include more or fewer components than shown, or combine certain components, or different components. For example, terminal device may also include input / output devices, network access devices, buses, etc.

[0102] The processor 410 may be a central processing unit, or it may be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0103] The memory 420 can be an internal storage unit of the terminal device 400, such as a hard disk or memory of the terminal device 400. The memory 420 can also be an external storage device of the terminal device 400, such as a plug-in hard disk, smart memory card, flash memory card, etc., equipped on the terminal device 400. Furthermore, the memory 420 can include both internal storage units and external storage devices of the terminal device 400.

[0104] This application provides a computer-readable storage medium, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the vehicle control method as described in the above embodiments.

[0105] This application provides a computer program product that, when run on a terminal device, causes the terminal device to execute the vehicle control methods described in the above embodiments.

[0106] This application provides a vehicle, which includes a target motor, a drive shaft that can be separated from and connected to the target motor, a motor drive controller and a motor operation controller for controlling the target motor, and a vehicle control device for executing the vehicle control methods in the above embodiments.

[0107] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtain the current driving status information of the vehicle; the driving status information includes the vehicle body tilt angle; the vehicle body tilt angle is the angle between the plane where the vehicle body is located and the horizontal plane. Obtain the current operating status of the vehicle's motor drive controller; If the operating state is normal, a target control command is generated based on the driving state information and sent to the motor drive controller; the target control command includes a first control command, which instructs the motor drive controller to control the target motor to separate from the drive shaft; the target control command also includes a second control command, which instructs the motor drive controller to control the target motor to engage with the drive shaft. If the target motor is received as separated from the drive shaft from the motor drive controller, a standby command is generated and sent to the motor operation controller; the standby command is used to instruct the motor operation controller to stop the target motor from working. The step of generating target control commands based on the driving status information includes: If the vehicle body tilt angle is greater than a preset angle threshold, then the second control command is generated; After sending the target control command to the motor drive controller, the method further includes: If the target motor and the drive shaft are connected as reported by the motor drive controller, a working instruction is generated and sent to the motor working controller; the working instruction is used to instruct the motor working controller to control the target motor to work.

2. The method according to claim 1, characterized in that, The driving status information also includes a driving mode; the step of generating a target control command based on the driving status information further includes: If the vehicle body tilt angle is less than or equal to the preset angle threshold, then when the driving mode is the preset sport mode, the second control command is generated; in the sport mode, the total driving force generated by the target motor and non-target motor in the vehicle is greater than the first preset driving force.

3. The method according to claim 1, characterized in that, The driving status information also includes a driving mode; the step of generating a target control command based on the driving status information further includes: If the vehicle body tilt angle is less than or equal to the preset angle threshold, then when the driving mode is the preset economy mode, the first control command is generated; in the economy mode, the total driving force generated by the target motor in the vehicle is less than the second preset driving force.

4. The method according to claim 1, characterized in that, The driving status information also includes driving mode and vehicle speed; the step of generating target control commands based on the driving status information further includes: If the vehicle body tilt angle is less than or equal to the preset angle threshold, then when the driving mode is the preset normal mode and the vehicle speed is greater than the preset vehicle speed threshold, the second control command is generated; in the normal mode, the total driving force generated by the target motor and the non-target motor in the vehicle is greater than the second preset driving force and less than the first preset driving force.

5. The method according to claim 1, characterized in that, The driving status information also includes driving mode and vehicle speed; the step of generating target control commands based on the driving status information further includes: If the vehicle body tilt angle is less than or equal to the preset angle threshold, then when the driving mode is the preset normal mode and the vehicle speed is less than or equal to the preset vehicle speed, the first control command is generated.

6. A vehicle control device, characterized in that, The device includes: The first acquisition module is used to acquire the current driving status information of the vehicle; the driving status information includes the vehicle body tilt angle; the vehicle body tilt angle is the angle between the plane where the vehicle body is located and the horizontal plane. The second acquisition module is used to acquire the current working status of the vehicle's motor drive controller; The first processing module is configured to generate a target control command based on the driving status information if the working state is normal, and send the target control command to the motor drive controller; the target control command includes a first control command, which instructs the motor drive controller to control the target motor to separate from the drive shaft; the target control command also includes a second control command, which instructs the motor drive controller to control the target motor to engage with the drive shaft; The second processing module is used to generate a standby command and send the standby command to the motor working controller if it receives a state from the motor drive controller that the target motor and the drive shaft have been separated; the standby command is used to instruct the motor working controller to control the target motor to stop working. The first processing module is also used for: If the vehicle body tilt angle is greater than a preset angle threshold, then the second control command is generated; The third processing module is used to generate a working instruction and send it to the motor working controller if it receives a status from the motor drive controller indicating that the target motor and the transmission shaft are engaged. The working instruction is used to instruct the motor working controller to control the target motor to work.

7. A vehicle, characterized in that, The vehicle is provided with a target motor, a drive shaft that can be separated from and connected to the target motor, a motor drive controller and a motor operation controller for controlling the target motor, and a vehicle control device, the vehicle control device being used to perform the method as described in any one of claims 1 to 5.

8. A terminal 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 computer program, it implements the method as described in any one of claims 1 to 5.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 5.

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