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

Abstract

This invention discloses a vehicle control method, device, equipment, and storage medium, comprising: acquiring current vehicle driving information; determining resistance information based on the driving information; determining the total output torque demand based on the driving resistance information; and controlling the current vehicle according to the total output torque demand; wherein the current vehicle is a dual-electric drive axle four-motor system. Using this method, the output torque demand of the dual-electric drive axle four-motor system is obtained through driving information, and the actuator and its torque magnitude are determined based on the torque demand. This achieves the effects of balancing drivability and power, reducing shift frequency, reducing shift shock, reducing shift time, and eliminating power interruption during shifting.

Description

Technical Field

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

[0002] For multi-speed, four-motor electric vehicles, a reasonable shift control method can reduce the frequency of shifts, decrease the longitudinal impact of shifts, and improve driving comfort. Meanwhile, shift time and seamless power transitions are also important indicators of driving comfort. Before the transmission executes a shift, the drive motor controller sends a torque reduction and zero-load command to the drive motor, which is responsible for executing it. The greater the torque reduction, the longer the shift time and the greater the longitudinal impact. Therefore, we aim to avoid shifts as much as possible. When unavoidable, we want the torque reduction to be as small as possible. However, the smaller the torque load before a shift, the worse the overall vehicle power, resulting in sluggish acceleration from a standstill. Therefore, we must also meet the driver's acceleration expectations, which correspond to the magnitude of acceleration.

[0003] Existing technologies for power-interrupted gear shifting control of independently driven electric vehicles can only achieve power interruption, and cannot reduce the shifting frequency, shifting impact, or shifting time while meeting the driver's acceleration expectations. Summary of the Invention

[0004] This invention provides a vehicle control method, device, equipment, and storage medium. By obtaining the output torque requirement of the four-motor system with dual electric drive axles through driving information, and determining the actuator and the torque of the actuator based on the torque requirement, it can achieve the effects of balancing drivability and power, reducing shift frequency, reducing shift shock, reducing shift time, and shifting without power interruption.

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

[0006] Obtain current vehicle driving information;

[0007] Based on the driving information, resistance information is determined;

[0008] The total output torque requirement is determined based on the driving resistance information.

[0009] The current vehicle is controlled according to the total output torque requirement; the current vehicle is a dual-electric drive axle four-motor system.

[0010] Secondly, embodiments of the present invention also provide a vehicle control device, the device comprising:

[0011] The information acquisition module is used to acquire current vehicle driving information;

[0012] A resistance information determination module is used to determine resistance information based on the driving information;

[0013] A torque determination module is used to determine the total output torque requirement based on the driving resistance information.

[0014] The vehicle control module is used to control the current vehicle according to the total output torque requirement; the current vehicle is a dual-electric drive axle four-motor system.

[0015] Thirdly, embodiments of this disclosure also provide an electronic device, the electronic device comprising:

[0016] One or more processors;

[0017] Storage device for storing one or more programs.

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle control method provided in the embodiments of this disclosure.

[0019] Fourthly, embodiments of this disclosure also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the vehicle control method provided in embodiments of this disclosure.

[0020] This invention discloses a vehicle control method, device, equipment, and storage medium. The method includes: acquiring current vehicle driving information; determining resistance information based on the driving information; determining the total output torque demand based on the driving resistance information; and controlling the current vehicle according to the total output torque demand. The current vehicle is a dual-electric drive axle four-motor system. Using this method, the output torque demand of the dual-electric drive axle four-motor system is obtained through driving information, and the actuator and its torque magnitude are determined based on the torque demand. This achieves the effects of balancing drivability and power, reducing shift frequency, reducing shift shock, reducing shift time, and eliminating power interruption during shifting. Attached Figure Description

[0021] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0022] Figure 1 A flowchart of a vehicle control method provided in an embodiment of this disclosure;

[0023] Figure 2 This is an example diagram illustrating the relationship between throttle opening and acceleration provided in an embodiment of this disclosure;

[0024] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present disclosure;

[0025] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0026] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0027] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0028] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0029] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0030] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0031] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0032] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0033] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the software or hardware, such as the electronic device, application, server, or storage medium performing the operations of this disclosed technical solution, based on the prompt message.

[0034] As an optional but non-limiting implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0035] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0036] It is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and related provisions.

[0037] Example 1

[0038] Figure 1 This is a flowchart of a vehicle control method provided in an embodiment of the present disclosure. This embodiment of the present disclosure is applicable to situations where vehicle control is provided. The method can be executed by a vehicle control device, which is located on a client side and can be implemented in the form of software and / or hardware. Optionally, it can be implemented by an electronic device, such as a mobile terminal, a PC, or a server.

[0039] like Figure 1 As shown in the embodiments of this disclosure, a vehicle control method may specifically include the following steps:

[0040] S110, Obtain current vehicle driving information.

[0041] Current vehicle driving information includes: current vehicle information, accelerator pedal opening and road slope; vehicle information includes vehicle weight, vehicle drag coefficient, vehicle frontal area and vehicle rolling resistance coefficient.

[0042] In this embodiment, the current vehicle driving information can be the vehicle currently being driven by the driver. This driving information includes vehicle information, the accelerator pedal opening controlled by the driver, and road-related information. The accelerator pedal opening can be the degree to which the driver depresses the accelerator pedal.

[0043] S120, Determine resistance information based on driving information.

[0044] In this embodiment, the resistance information can be the sum of resistance encountered during driving. This resistance information includes driving resistance, air resistance, gradient resistance, and acceleration resistance.

[0045] Specifically, driving resistance is determined based on vehicle weight and road slope; air resistance is determined based on vehicle drag coefficient, vehicle frontal area, and road slope; slope resistance is determined based on vehicle weight and road slope; acceleration resistance is determined based on vehicle weight and accelerator pedal opening; and resistance information is determined based on driving resistance, air resistance, slope resistance, and acceleration resistance.

[0046] Based on the above embodiments, determining the resistance information based on the driving information specifically involves the following steps:

[0047] a1) Determine the driving resistance based on vehicle weight and road slope.

[0048] Specifically, the formula for determining driving resistance based on vehicle weight and road gradient is as follows:

[0049] F f =mgfcosα

[0050] Among them, F f This is the rolling resistance, f is the tire rolling resistance coefficient, and g is the acceleration due to gravity, taken as 9.8 m / s². 2 α is the slope angle.

[0051] b1) Determine air resistance based on vehicle drag coefficient, vehicle frontal area, and road slope.

[0052] Specifically, the formula for determining air resistance based on the vehicle's drag coefficient, frontal area, and road slope is as follows:

[0053]

[0054] Among them, F w It is air resistance, C D denoted as the vehicle's drag coefficient; A represents the frontal area.

[0055] c1) Determine ramp resistance based on vehicle weight and road slope.

[0056] Specifically, the formula for determining slope resistance based on vehicle weight and road gradient is as follows:

[0057] F i =mgsinα

[0058] Among them, F i It is the slope resistance.

[0059] d1) Determine acceleration resistance based on vehicle weight and accelerator pedal opening.

[0060] Specifically, the formula for determining acceleration resistance based on vehicle weight and accelerator pedal opening is as follows:

[0061] F j =δma

[0062] Among them, F j δ is the acceleration resistance, δ is the rotational mass conversion factor, and a is the acceleration.

[0063] e1) Determine the resistance information based on driving resistance, air resistance, slope resistance, and acceleration resistance.

[0064] Specifically, the formula for determining resistance information based on driving resistance, air resistance, gradient resistance, and acceleration resistance is as follows:

[0065] F t =F f +F w +F i +F j

[0066] Based on the above embodiments, determining the acceleration resistance based on vehicle weight and accelerator pedal opening involves the following steps:

[0067] d11) Determine vehicle acceleration information based on accelerator pedal opening.

[0068] Figure 2 This is an example diagram illustrating the relationship between throttle opening and acceleration provided in an embodiment of this disclosure. Figure 2 As shown: The curve representing the vehicle acceleration information 'a' obtained based on the accelerator pedal opening degree when the driver presses the accelerator pedal.

[0069] d12) Determine acceleration resistance based on vehicle weight and vehicle acceleration information.

[0070] Acceleration resistance is determined based on vehicle weight and acceleration information.

[0071] S130: Determine the total output torque requirement based on driving resistance information.

[0072] Specifically, the total output torque requirement can be the total torque output by the system. The formula is as follows:

[0073]

[0074] in, R is the total output torque required, and r is the tire rolling radius.

[0075] S140: Control the current vehicle according to the total output torque requirement.

[0076] The current vehicle uses a dual-electric drive axle four-motor system. This system includes a first motor, a second motor, a third motor, and a fourth motor; the second and fourth motors are single-stage geared motors; and the first and third motors include multi-speed gearboxes.

[0077] The output torque of each motor is determined based on the total required output torque. The formula is as follows:

[0078]

[0079] Among them, i M1 i M2 i M3 i M4 The speed ratios of the reducers or multi-gearboxes corresponding to the first, second, third, and fourth motors are known values; η M1 η M2 η M3 η M4 The efficiency of the transmission system from the motor end to the wheel edge is a known value. The output torques of the first, second, third, and fourth motors are respectively. The method for determining gear shift control is as follows:

[0080] Based on the above embodiments, controlling the current vehicle according to the total output torque demand involves the following steps:

[0081] a2) When the total output torque demand meets the first preset condition, the current vehicle selects the second motor drive and does not perform a gear shift operation; wherein, the first preset condition is less than or equal to the maximum output torque demand of the second motor.

[0082] Specifically, if At this point, the second motor drives the vehicle independently, and there is no need to shift gears.

[0083] b2) When the total output torque demand is subject to the second preset condition, the current vehicle selects the second motor and the fourth motor for driving and does not perform a gear shifting operation; wherein, the second preset condition is less than or equal to the sum of the maximum output torque demand of the second motor and the fourth motor, and greater than the maximum output torque demand of the second motor.

[0084] Specifically, if At this time, the vehicle is driven by the second and fourth motors, and there is no need to shift gears.

[0085] c2) When the total output torque demand is subject to the third preset condition, the current vehicle selects the second motor, the fourth motor and the first motor for driving and performs a gear shifting operation; wherein, the third preset condition is less than or equal to the sum of the maximum output torque demand of the second motor, the fourth motor and the first motor, and greater than the sum of the maximum output torque demand of the second motor and the fourth motor.

[0086] Specifically, if At this point, the drive is provided by the second motor, the fourth motor, and the first motor, and a gear shift is required. Before the gear shift, the second motor outputs torque. Fourth motor output torque M1 output torque: During gear shifting, the torque of the first motor is set to zero, while the torque of the second and fourth motors is reduced to zero respectively. Output torque: The first motor and multi-speed gearbox complete the shifting and disengaging operations, and the first motor resumes torque output.

[0087] Using this method: the torque output of the first motor is minimized, the torque zeroing amplitude during gear shifting is minimized, and the longitudinal impact of gear shifting is minimized; during gear shifting, the torque of the first motor is zero, while the second and fourth motors output torque, so there is no power interruption in the vehicle; during gear shifting, the second and fourth motors output peak torque at the current vehicle speed, so the speed drop is minimized, and the impact of gear shifting on speed stability is minimized; the torque borne by the first motor before and after gear shifting is minimized, reducing the torque unloading and loading time of the multi-gearbox motors and shortening the gear shifting time.

[0088] d2) When the total output torque demand meets the fourth preset condition, the current vehicle selects the second motor, fourth motor, first motor, and third motor for driving and performs a gear shift operation; wherein, the fourth preset condition is less than or equal to the sum of the maximum output torque demand of the second motor, fourth motor, first motor, and third motor, and greater than the sum of the maximum output torque demand of the second motor, fourth motor, and first motor.

[0089] Specifically, if At this point, the system is driven by the second, fourth, first, and third motors, and a gear shift is required. Before the gear shift, the second motor outputs torque. Fourth motor output torque The output torque of the first and third motors During gear shifting, the first and third motors use a sequential shifting method. The first motor shifts first, at which point its torque is set to zero. The second, third, and fourth motors then shift sequentially. Torque output: The first motor completes the shifting operation of the multi-speed gearbox, and the first motor resumes torque output. After the first motor finishes shifting, the third motor shifts, at which point the torque of the third motor is set to zero. The first, second, and fourth motors then... Torque output: The third motor completes the shifting and disengaging operations of the multi-speed gearbox, and then the third motor resumes torque output. The advantages of this shifting method are as follows: ① The torque output borne by the first and third motors is minimized, resulting in the smallest torque zeroing range during shifting and the least longitudinal impact during shifting; ② Sequential shifting: the first motor's torque is zeroed, while the second, third, and fourth motors output torque, and vice versa, preventing power interruption; ③ Sequential shifting ensures all three motors are always operating, with the second and fourth motors outputting peak torque at the current vehicle speed, minimizing speed drop and reducing the impact of shifting on speed stability; ④ Minimizing the torque borne by the first and third motors before and after shifting reduces the torque unloading and loading time of the multi-speed gearbox motors, shortening shifting time.

[0090] in, This indicates that the first motor, second motor, third motor, and fourth motor operate at a vehicle speed of v. x At that time, the peak torque that the motor can output, i M1 This indicates the first motor corresponds to the first gear ratio of the gearbox, i M2 Indicates the speed ratio of the reducer corresponding to the second motor, i M3 This indicates the first gear ratio of the gearbox corresponding to the third motor, i M4 This indicates the speed ratio of the reducer corresponding to the fourth motor.

[0091] This invention discloses a vehicle control method, comprising: acquiring current vehicle driving information; determining resistance information based on the driving information; determining the total output torque demand based on the driving resistance information; and controlling the current vehicle according to the total output torque demand; wherein the current vehicle is a dual-electric drive axle four-motor system. Using this method, the output torque demand of the dual-electric drive axle four-motor system is obtained through driving information, and the actuator and its torque magnitude are determined based on the torque demand. This achieves the effects of balancing drivability and power, reducing shift frequency, reducing shift shock, reducing shift time, and eliminating power interruption during shifting.

[0092] Example 2

[0093] Figure 3 A schematic diagram of a vehicle control device is also provided as an embodiment of the present invention. This device is installed at the client end, such as... Figure 3 The device includes: an information acquisition module 210, a resistance information determination module 220, a torque determination module 230, and a vehicle control module 240.

[0094] Information acquisition module 210 is used to acquire current vehicle driving information;

[0095] The resistance information determination module 220 is used to determine resistance information based on the driving information;

[0096] The torque determination module 230 is used to determine the total output torque requirement based on the driving resistance information.

[0097] The vehicle control module 240 is used to control the current vehicle according to the total output torque requirement; the current vehicle is a dual-electric drive axle four-motor system.

[0098] The technical solution provided in this disclosure uses the following method: by obtaining the output torque requirement of the four-motor system of the dual electric drive axle through driving information, and determining the actuator and the magnitude of the actuator torque based on the torque requirement, it can achieve the effects of balancing drivability and power, reducing shift frequency, reducing shift shock, reducing shift time, and shifting without power interruption.

[0099] Furthermore, the information acquisition module 210 can be used for:

[0100] The current vehicle driving information includes: current vehicle information, accelerator pedal opening and road slope; the vehicle information includes vehicle weight, vehicle drag coefficient, vehicle frontal area and vehicle rolling resistance coefficient.

[0101] Furthermore, the resistance information determination module 220 can be used for:

[0102] The driving resistance is determined based on the vehicle weight and the road gradient;

[0103] Air resistance is determined based on the vehicle's drag coefficient, the vehicle's frontal area, and the road slope.

[0104] The slope resistance is determined based on the vehicle weight and the road gradient.

[0105] Acceleration resistance is determined based on the vehicle weight and the accelerator pedal opening.

[0106] Resistance information is determined based on the driving resistance, air resistance, slope resistance, and acceleration resistance.

[0107] Furthermore, the resistance information determination module 220 can also be used for:

[0108] The vehicle acceleration information is determined based on the accelerator pedal opening.

[0109] Acceleration resistance is determined based on the vehicle weight and vehicle acceleration information.

[0110] Furthermore, the vehicle control module 240 can also be used for:

[0111] The dual-motor drive axle four-motor system includes: a first motor, a second motor, a third motor, and a fourth motor; the second motor and the fourth motor are single-stage reduction motors; the first motor and the third motor include multi-speed gearboxes.

[0112] Furthermore, the vehicle control module 240 can also be used for:

[0113] When the total output torque demand meets the first preset condition, the current vehicle selects the second motor for driving and does not perform a gear shifting operation; wherein, the first preset condition is less than or equal to the maximum output torque demand of the second motor;

[0114] When the total output torque demand is subject to the second preset condition, the current vehicle selects the second motor and the fourth motor for driving and does not perform a gear shifting operation; wherein, the second preset condition is less than or equal to the sum of the maximum output torque demand of the second motor and the fourth motor, and greater than the maximum output torque demand of the second motor;

[0115] When the total output torque demand is subject to a third preset condition, the current vehicle selects the second motor, the fourth motor, and the first motor for driving and performs a gear shifting operation; wherein, the third preset condition is less than or equal to the sum of the maximum output torque demand of the second motor, the fourth motor, and the first motor, and greater than the sum of the maximum output torque demand of the second motor and the fourth motor;

[0116] When the total output torque requirement meets the fourth preset condition, the current vehicle selects the second motor, the fourth motor, the first motor, and the third motor for driving and performs a gear shift operation; wherein, the fourth preset condition is less than or equal to the sum of the maximum output torque requirements of the second motor, the fourth motor, the first motor, and the third motor, and greater than the sum of the maximum output torque requirements of the second motor, the fourth motor, and the first motor.

[0117] Furthermore, the vehicle control module 240 can also be used for:

[0118] The current vehicle's drive structure includes a front electric drive axle and a rear electric drive axle; the first motor and the second motor are combined to form the front electric drive axle; the three motors and the fourth motor are combined to form the rear electric drive axle.

[0119] Example 3

[0120] Figure 4A schematic diagram of the structure of an electronic device 10 that can be used to implement embodiments of the present invention is provided. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0121] like Figure 4 The electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0122] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0123] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle control methods.

[0124] In some embodiments, the vehicle control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

[0125] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0126] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0127] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0128] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0129] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0130] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0131] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0132] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, include: Obtain current vehicle driving information; Based on the driving information, determine the driving resistance information; The total output torque requirement is determined based on the driving resistance information. The vehicle is controlled according to the total output torque requirement. The current vehicle is a dual-electric drive axle four-motor system; The dual-electric drive axle four-motor system includes: a first motor, a second motor, a third motor, and a fourth motor; the second motor and the fourth motor are single-stage reduction motors; the first motor and the third motor include multi-speed gearboxes; The step of controlling the current vehicle based on the total output torque demand includes: When the total output torque demand meets the first preset condition, the current vehicle selects the second motor for driving and does not perform a gear shifting operation; wherein, the first preset condition is less than or equal to the maximum output torque demand of the second motor; When the total output torque demand meets the second preset condition, the current vehicle selects the second motor and the fourth motor for driving and does not perform a gear shifting operation; wherein, the second preset condition is less than or equal to the sum of the maximum output torque demand of the second motor and the fourth motor, and greater than the maximum output torque demand of the second motor; When the total output torque demand meets the third preset condition, the current vehicle selects the second motor, the fourth motor, and the first motor for driving and performs a gear shift operation; wherein, the third preset condition is less than or equal to the sum of the maximum output torque demand of the second motor, the fourth motor, and the first motor, and greater than the sum of the maximum output torque demand of the second motor and the fourth motor; When the total output torque demand meets the fourth preset condition, the current vehicle selects the second motor, the fourth motor, the first motor, and the third motor for driving and performs a gear shift operation; wherein, the fourth preset condition is less than or equal to the sum of the maximum output torque demand of the second motor, the fourth motor, the first motor, and the third motor, and greater than the sum of the maximum output torque demand of the second motor, the fourth motor, and the first motor.

2. The method according to claim 1, characterized in that, The current vehicle driving information includes: current vehicle information, accelerator pedal opening and road slope; the vehicle information includes vehicle weight, vehicle drag coefficient, vehicle frontal area and vehicle rolling resistance coefficient.

3. The method according to claim 1, characterized in that, The current vehicle's drive structure includes a front electric drive axle and a rear electric drive axle; the first motor and the second motor are combined to form the front electric drive axle; the three motors and the fourth motor are combined to form the rear electric drive axle.

4. A vehicle control device, characterized in that, include: The information acquisition module is used to acquire current vehicle driving information; A resistance information determination module is used to determine driving resistance information based on the driving information; A torque determination module is used to determine the total output torque requirement based on the driving resistance information. The vehicle control module is used to control the current vehicle according to the total output torque requirement; the current vehicle is a dual-electric drive axle four-motor system. The vehicle control module is further configured to: The dual-electric drive axle four-motor system includes: a first motor, a second motor, a third motor, and a fourth motor; the second motor and the fourth motor are single-stage reduction motors; the first motor and the third motor include multi-speed gearboxes; When the total output torque demand meets the first preset condition, the current vehicle selects the second motor for driving and does not perform a gear shifting operation; wherein, the first preset condition is less than or equal to the maximum output torque demand of the second motor; When the total output torque demand meets the second preset condition, the current vehicle selects the second motor and the fourth motor for driving and does not perform a gear shifting operation; wherein, the second preset condition is less than or equal to the sum of the maximum output torque demand of the second motor and the fourth motor, and greater than the maximum output torque demand of the second motor; When the total output torque demand meets the third preset condition, the current vehicle selects the second motor, the fourth motor, and the first motor for driving and performs a gear shift operation; wherein, the third preset condition is less than or equal to the sum of the maximum output torque demand of the second motor, the fourth motor, and the first motor, and greater than the sum of the maximum output torque demand of the second motor and the fourth motor; When the total output torque demand meets the fourth preset condition, the current vehicle selects the second motor, the fourth motor, the first motor, and the third motor for driving and performs a gear shift operation; wherein, the fourth preset condition is less than or equal to the sum of the maximum output torque demand of the second motor, the fourth motor, the first motor, and the third motor, and greater than the sum of the maximum output torque demand of the second motor, the fourth motor, and the first motor.

5. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle control method of any one of claims 1-3.

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