A double electric drive bridge slip torque distribution method, device, system, VCU and medium

Abstract

The application discloses a double-electric-drive-bridge slip torque distribution method, device, system, VCU and medium. The method comprises the following steps: acquiring a steering wheel steering angle, an accelerator pedal opening degree and a vehicle speed; determining an electric-drive-bridge driving mode according to the steering wheel steering angle, the accelerator pedal opening degree and the vehicle speed; wherein the electric-drive-bridge driving mode comprises a double-electric-drive-bridge driving mode, a first electric-drive-bridge driving mode and a second electric-drive-bridge driving mode; in the double-electric-drive-bridge driving mode, a first target torque distribution mode is determined according to the slip rates of the electric-drive-bridges; in the first electric-drive-bridge driving mode, a second target torque distribution mode is determined according to the slip rate of the first electric-drive-bridge; and in the second electric-drive-bridge driving mode, a third target torque distribution mode is determined according to the slip rate of the second electric-drive-bridge. The scheme realizes the vehicle limited slip function in different driving modes, and prevents problems such as poor driving experience and tail sliding caused by the step change of power output.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of torque distribution, and in particular to a method, device, VCU, system, and medium for distributing slip torque of a dual electric drive axle. Background Art

[0002] With the deepening development of vehicle electrification, electric drive axles, particularly for 6×4 vehicles, have become a key development direction in the commercial vehicle transformation. Dual electric drive axle systems installed on medium and heavy-duty commercial vehicles must address torque distribution in various slip scenarios to improve driving safety and comfort.

[0003] At present, the torque distribution of the dual electric drive axle system in different slipping scenarios is unreasonable, resulting in poor slipping effect, and at the same time causing problems such as poor driving experience and tail-swinging. Summary of the Invention

[0004] The present invention provides a dual electric drive axle slip torque distribution method, device, system, VCU and medium, thereby realizing the vehicle limited slip function and preventing problems such as poor driving experience and tail swing caused by step changes in power output.

[0005] In a first aspect, an embodiment of the present invention provides a method for distributing slip torque of a dual electric drive axle, the method comprising:

[0006] Get the steering wheel angle, accelerator pedal opening and vehicle speed;

[0007] Determining an electric drive axle drive mode according to the steering wheel steering angle, the accelerator pedal opening and the vehicle speed; wherein the electric drive axle drive mode includes a dual electric drive axle drive mode, a first electric drive axle drive mode and a second electric drive axle drive mode;

[0008] In the dual electric drive axle driving mode, a first target torque distribution mode is determined according to the slip ratio of each electric drive axle;

[0009] In the first electric drive axle driving mode, determining a second target torque distribution mode according to the first electric drive axle slip ratio;

[0010] In the second electric drive axle driving mode, the third target torque distribution mode is determined according to the second electric drive axle slip ratio.

[0011] In a second aspect, an embodiment of the present invention further provides a dual electric drive axle slip torque distribution device, wherein the device comprises:

[0012] Acquisition module, used to obtain steering wheel angle, accelerator pedal opening and vehicle speed;

[0013] a mode determination module, configured to determine an electric drive axle drive mode according to the steering wheel angle, the accelerator pedal opening, and the vehicle speed; wherein the electric drive axle drive mode includes a dual electric drive axle drive mode, a first electric drive axle drive mode, and a second electric drive axle drive mode;

[0014] A first distribution mode module is used to determine a first target torque distribution mode according to the slip ratio of each electric drive axle in the dual electric drive axle driving mode;

[0015] A second distribution mode module is used to determine a second target torque distribution mode according to the first electric drive axle slip ratio in the first electric drive axle driving mode;

[0016] The third distribution mode module is used to determine a third target torque distribution mode according to the second electric drive axle slip rate in the second electric drive axle driving mode.

[0017] In a third aspect, an embodiment of the present invention further provides a dual electric drive axle slip torque distribution system, the system comprising: a non-drive axle, a first electric drive axle, a second electric drive axle, an EBS module, a steering wheel angle sensor, a pedal opening travel switch, a vehicle speed sensor, an output shaft speed sensor, and a vehicle controller for executing the dual electric drive axle slip torque distribution method described in the first aspect above;

[0018] The output shaft speed sensor is arranged on the transmission shaft of the first electric drive axle, and is used to monitor and transmit the axial speed between the two drive wheels of the first electric drive axle to the vehicle controller;

[0019] The EBS module includes four speed sensors and a limited slip control unit; the four speed sensors are respectively arranged on the two drive wheels of the non-drive axle and the two drive wheels of the second electric drive axle, respectively monitoring and sending the wheel speeds of the two drive wheels of the non-drive wheels and the two drive wheels of the second electric drive axle to the vehicle controller;

[0020] The vehicle controller determines the slip rate of the first electric drive axle according to the axial speed and the two driving wheel speeds of the non-driving wheel;

[0021] The vehicle controller determines the slip rate of the second electric drive axle according to the wheel speeds of the two drive wheels of the non-drive wheel and the wheel speeds of the two drive wheels of the second electric drive axle;

[0022] The steering wheel angle sensor monitors and sends the two non-driving wheel angles to the vehicle controller; the pedal opening travel switch monitors and sends the pedal opening to the vehicle controller; the vehicle speed sensor detects and sends the vehicle speed to the vehicle controller in real time;

[0023] The vehicle controller is further configured to obtain a steering wheel steering angle, an accelerator pedal opening, and a vehicle speed; determine an electric drive axle drive mode according to the steering wheel steering angle, the accelerator pedal opening, and the vehicle speed; wherein the electric drive axle drive mode includes a dual electric drive axle drive mode, a first electric drive axle drive mode, and a second electric drive axle drive mode; in the dual electric drive axle drive mode, a first target torque distribution mode is determined according to the slip rate of each electric drive axle, and is output to the limited slip control unit and the first electric drive axle respectively so that the limited slip control unit performs anti-slip on the second electric drive axle and the first electric drive axle. The drive axle directly prevents slip; in the first electric drive axle driving mode, the second target torque distribution mode is determined according to the slip rate of each electric drive axle, and is output to the limited slip control unit and the first electric drive axle respectively so that the limited slip control unit can prevent slip of the second electric drive axle and the first electric drive axle can directly prevent slip; in the second electric drive axle driving mode, the third target torque distribution mode is determined according to the slip rate of each electric drive axle, and is output to the limited slip control unit and the first electric drive axle respectively so that the limited slip control unit can prevent slip of the second electric drive axle and the first electric drive axle can directly prevent slip.

[0024] In a fourth aspect, an embodiment of the present invention further provides a VCU, which includes a memory, a controller, and a computer program stored in the memory and runnable on a processor, and is characterized in that when the processor executes the program, the dual electric drive axle slip torque distribution method as described in the first aspect is implemented.

[0025] In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the dual electric drive axle slip torque distribution method as described in the first aspect.

[0026] In an embodiment of the present invention, a steering wheel steering angle, an accelerator pedal opening and a vehicle speed are obtained; an electric drive axle driving mode is determined according to the steering wheel steering angle, the accelerator pedal opening and the vehicle speed; wherein the electric drive axle driving mode includes a dual electric drive axle driving mode, a first electric drive axle driving mode and a second electric drive axle driving mode; in the dual electric drive axle driving mode, a first target torque distribution mode is determined according to the slip rate of each electric drive axle; in the first electric drive axle driving mode, a second target torque distribution mode is determined according to the slip rate of the first electric drive axle; in the second electric drive axle driving mode, a third target torque distribution mode is determined according to the slip rate of the second electric drive axle, thereby realizing the vehicle limited slip function in different driving modes, and selecting different target torque distribution modes in different driving modes to prevent problems such as poor driving experience and tail swinging caused by step changes in power output in different driving modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1This is a flow chart of a dual electric drive axle slip torque distribution method provided by an embodiment of the present invention;

[0028] Figure 2 1 is a schematic structural diagram of a dual electric drive axle slip torque distribution system provided by an embodiment of the present invention;

[0029] Figure 3 This is a flow chart of another dual electric drive axle slip torque distribution method provided by an embodiment of the present invention;

[0030] Figure 4 1 is a schematic structural diagram of a dual electric drive axle slip torque distribution device provided by an embodiment of the present invention;

[0031] Figure 5 This is a schematic structural diagram of a VCU provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0033] Figure 1 This is a flow chart of a dual electric drive axle slip torque distribution method provided by an embodiment of the present invention. This embodiment is applicable to dual electric drive axle torque distribution methods in different slip scenarios. This method can be executed by a dual electric drive axle slip torque distribution device, such as Figure 1 As shown, the specific steps include:

[0034] S110, obtaining a steering wheel angle, an accelerator pedal opening, and a vehicle speed;

[0035] Among them, this solution is applied to the dual electric drive axle slip torque distribution system. Figure 2 FIG. 1 is a structural diagram of a dual electric drive axle slip torque distribution system provided by an embodiment of the present invention. Figure 2 As shown, the system includes a non-driven axle 10, a first electric drive axle 20, a second electric drive axle 30, an EBS module 40, a steering wheel angle sensor 50, a pedal opening travel switch 60, a vehicle speed sensor 70, an output shaft speed sensor 80 and a vehicle controller 90;

[0036] The output shaft speed sensor 80 is disposed on the transmission shaft of the first drive axle 20 to monitor the axial speed between the two drive wheels of the first electric drive axle and transmit the axial speed between the two drive wheels of the first electric drive axle to the vehicle controller 90. The vehicle controller 90 can determine the slip rate of the first electric drive axle based on the axial speed between the two drive wheels of the first electric drive axle and the wheel speeds of the two non-drive wheels.

[0037] The EBS module 40 includes four speed sensors 41 and a limited slip control unit 42. The four speed sensors are respectively arranged on the two drive wheels of the non-drive axle 10 and the two drive wheels of the second electric drive axle 30, respectively monitoring the wheel speeds of the two non-drive wheels and the wheel speeds of the two drive wheels of the second electric drive axle, and transmitting the wheel speeds of the two non-drive wheels and the wheel speeds of the two drive wheels of the second electric drive axle to the vehicle controller 90. The vehicle controller 90 can determine the slip rate of the second electric drive axle based on the wheel speeds of the two non-drive wheels and the wheel speeds of the two drive wheels of the second electric drive axle.

[0038] The steering wheel angle sensor 50 monitors the two non-driven wheel angles, i.e., the steering wheel steering angle; the pedal travel switch 60 monitors the pedal travel; the vehicle speed sensor 70 detects the vehicle speed in real time and transmits the steering wheel angle, pedal travel, and vehicle speed to the vehicle controller 90; the vehicle controller 90 can also obtain and calculate the vehicle driving torque based on the steering wheel angle, pedal travel, and vehicle speed;

[0039] The vehicle controller 90 outputs different instructions to the limited slip control unit 42 and the first electric drive axle according to the slip ratio of each electric drive axle. The limited slip control unit 42 thereby limits the slip of the second electric drive axle 30; the first electric drive axle 20 thereby directly prevents slip.

[0040] S120, determining an electric drive axle drive mode based on a steering wheel angle, an accelerator pedal opening, and a vehicle speed; wherein the electric drive axle drive mode includes a dual electric drive axle drive mode, a first electric drive axle drive mode, and a second electric drive axle drive mode;

[0041] Among them, the vehicle controller can obtain and calculate the vehicle driving torque based on the steering wheel steering angle, pedal opening and vehicle speed. When the steering wheel steering angle is greater than the preset steering angle, the accelerator pedal opening is greater than the preset opening, and the vehicle speed is greater than the preset speed, the vehicle driving torque is large, and the dual electric drive axle driving mode is determined. The dual electric drive axle driving mode means that the vehicle driving torque is jointly provided by the dual electric axles; when the steering wheel steering angle is less than the preset steering angle, the accelerator pedal opening is less than the preset opening, and the vehicle speed is greater than the preset speed, the vehicle driving torque is small, and the first electric drive axle driving mode or the second electric drive axle driving mode is determined; that is, the vehicle driving torque is provided by any one electric axle alone.

[0042] S130: In the dual electric drive axle driving mode, determining a first target torque distribution mode according to the slip ratio of each electric drive axle;

[0043] Among them, each electric drive axle slip rate includes a first electric drive axle slip rate and a second electric drive axle slip rate; first electric drive axle slip rate = |first electric drive axle axial speed - (non-drive axle left wheel speed + non-drive axle right wheel speed) / 2| / (non-drive axle left wheel speed + non-drive axle right wheel speed) / 2; second electric drive axle slip rate = |(second electric drive axle left wheel speed + second electric drive axle right wheel speed) / 2 - (non-drive axle left wheel speed + non-drive axle right wheel speed) / 2| / (non-drive axle left wheel speed + non-drive axle right wheel speed) / 2;

[0044] In this embodiment, the slip rate of each electric drive axle can be determined by the collected values ​​of four speed sensors and the output shaft speed sensor; the first target torque distribution method is a method of distributing the target driving torque of the dual electric drive axles according to the slip rate of each electric drive axle in the dual electric drive axle driving mode; the vehicle controller outputs the first target torque distribution method to the limited slip control unit and the first electric drive axle, and the limited slip control unit thereby limits the slip of the second electric drive axle; the first electric drive axle thereby directly prevents slip, so that under the first target torque distribution method, the vehicle limited slip function in different slip scenarios in the dual electric drive axle driving mode can be realized, while ensuring the power output of the dual electric drive axles, and preventing problems such as poor driving experience and tail-swinging caused by step changes in power output in the dual electric drive axle driving mode.

[0045] S140: Under the first electric drive axle driving mode, determine a second target torque distribution mode according to the first electric drive axle slip ratio;

[0046] Among them, the first electric drive axle driving mode is a mode in which the driving torque of the whole vehicle is driven by the first electric drive axle alone, and the second electric drive axle is not driven; the second target torque distribution method is a method of distributing the target driving torque of the dual electric drive axles according to the slip rate of the first electric drive axle in the first electric drive axle driving mode; the whole vehicle controller outputs the second target torque distribution method to the limited slip control unit and the first electric drive axle, and the limited slip control unit thereby limits the slip of the second electric drive axle; the first electric drive axle thereby directly prevents slip, so that under the second target torque distribution method, the vehicle limited slip function in different slip scenarios in the first electric drive axle driving mode can be realized, while preventing problems such as poor driving experience and tail-swinging caused by the step change in power output of the first electric drive axle driving mode.

[0047] S150 : In the second electric drive axle driving mode, determine a third target torque distribution method according to the second electric drive axle slip ratio.

[0048] The second electric drive axle drive mode is a mode in which the vehicle's drive torque is driven solely by the second electric drive axle, with the first electric drive axle not driven. The third target torque distribution method is a method in which, in the second electric drive axle drive mode, the target drive torque of the dual electric drive axles is distributed according to the slip ratio of the second electric drive axle. The vehicle controller outputs the third target torque distribution method to the limited slip control unit and the first electric drive axle, which then limits the slip of the second electric drive axle. The first electric drive axle then directly prevents slip. In this way, the third target torque distribution method can achieve the vehicle's limited slip function in different slip scenarios in the second electric drive axle drive mode, while preventing problems such as poor driving experience and tail-swing caused by the step change in power output in the second electric drive axle drive mode. It is understandable that the first target torque distribution method, the second target torque distribution method, and the third target torque distribution method are different in different electric drive axle drive modes.

[0049] This solution implements the vehicle limited slip function in different driving modes, and at the same time selects different target torque distribution methods in different driving modes to prevent problems such as poor driving experience and tail-swinging caused by step changes in power output in different driving modes.

[0050] Optionally, based on the above embodiment, each target torque distribution method is further refined. Figure 3 This is a flow chart of another dual electric drive axle slip torque distribution method provided by an embodiment of the present invention. Figure 3 As shown, the method includes the following steps:

[0051] S210, obtaining a steering wheel angle, an accelerator pedal opening, and a vehicle speed;

[0052] S220, determining an electric drive axle drive mode according to a steering wheel angle, an accelerator pedal opening, and a vehicle speed; wherein the electric drive axle drive mode includes a dual electric drive axle drive mode, a first electric drive axle drive mode, and a second electric drive axle drive mode;

[0053] S230 : In the dual electric drive axle driving mode, determine a first target torque distribution method according to the first electric drive axle slip ratio and the second electric drive axle slip ratio.

[0054] Among them, in the dual electric drive axle driving mode, the first target torque distribution mode is determined according to the slip rate of each electric drive axle, specifically:

[0055] In the dual electric drive axle drive mode, when the slip rate of the first electric drive axle is less than the preset threshold, and the slip rate of the second electric drive axle is less than the preset threshold, the target torque of the first electric drive axle and the target torque of the second electric drive axle are both half of the vehicle torque; at this time, neither the first electric drive axle nor the second electric drive axle slips, and the vehicle controller determines that the target torque of the first electric drive axle and the target torque of the second electric drive axle are both half of the vehicle torque, so that the vehicle driving torque is evenly distributed between the first electric drive axle and the second electric drive axle, and the drive balance can be achieved.

[0056] In the dual electric drive axle drive mode, when the slip rate of the first electric drive axle is greater than the preset threshold value and the slip rate of the second electric drive axle is less than the preset threshold value, the target torque of the first electric drive axle is 0, and the target torque of the second electric drive axle is the total vehicle torque and the actual torque of the first electric drive axle; specifically, at this time, the first electric drive axle slips and the second electric drive axle does not slip, and the vehicle controller determines that the target torque of the first electric drive axle is 0, and the actual torque of the first electric drive axle gradually decreases to 0 according to a certain step length, so that the first electric drive axle can achieve anti-slip; the vehicle controller also determines that the target torque of the second electric drive axle is the difference between the total vehicle torque and the actual torque of the first electric drive axle, and the actual torque of the second electric drive axle gradually increases to the total vehicle torque and the actual torque of the first electric drive axle according to a certain step length; in this way, the anti-slip function and protection of the first electric drive axle are realized, and the power output of the two drive axles is achieved;

[0057] In the dual electric drive axle driving mode, when the slip rate of the first electric drive axle is less than the preset threshold and the slip rate of the second electric drive axle is greater than the preset threshold, the target torque of the first electric drive axle is half of the vehicle torque; a limited slip instruction is sent to the limited slip control unit in the EBS module to make the target torque of the second electric drive axle (1-current second electric drive axle slip rate) * vehicle torque; until the current second electric drive axle slip rate is less than the preset threshold, the target torque of the second electric drive axle is half of the vehicle torque; specifically, at this time the first electric drive axle does not slip, and the second electric drive axle slips. Since the limited slip control unit in the EBS module responds to the instruction of the vehicle controller, the target torque of the second electric drive axle is (1- The current second electric drive axle slip rate) * vehicle torque, that is, the target torque of the second electric drive axle at the next moment can be determined by the current second electric drive axle slip rate. When it is detected that the slip rate of the second electric drive axle at the next moment is still greater than the preset threshold, the target torque of the second electric drive axle at the next moment can be determined. Until the slip rate of the second electric drive axle at the next moment is less than the preset threshold, the second electric drive axle exits slipping, and the target torque of the second electric drive axle is half of the vehicle torque; and the vehicle controller can control the target torque of the first electric drive axle to be half of the vehicle torque, which can meet the driving torque demand of the vehicle and prevent problems such as poor driving experience and tail-swinging caused by step changes in power output.

[0058] In the dual electric drive axle drive mode, when the slip rate of the first electric drive axle is greater than the preset threshold, the slip rate of the second electric drive axle is greater than the preset threshold, the target torque of the first electric drive axle is 0, and the target torque of the second electric drive axle is (1-the current slip rate of the second electric drive axle) * the vehicle torque; until the current slip rate of the second electric drive axle is less than the preset threshold, the target torque of the second electric drive axle is the vehicle torque; specifically, at this time the first electric drive axle is slipping, the second electric drive axle is slipping, and the vehicle controller controls the target torque of the first electric drive axle to be 0, so that the actual torque of the first electric drive axle is gradually reduced to 0 according to a certain step size, so that the first electric drive axle can achieve anti-slip; at the same time, the EBS module has limited slip The control unit responds to the instruction of the vehicle controller, and the target torque of the second electric drive axle is (1-the current second electric drive axle slip rate) * the vehicle torque, that is, the target torque of the second electric drive axle at the next moment can be determined by the current second electric drive axle slip rate. When it is detected that the slip rate of the second electric drive axle at the next moment is still greater than the preset threshold, the target torque of the second electric drive axle at the next moment can be determined. Until the slip rate of the second electric drive axle at the next moment is less than the preset threshold, the second electric drive axle exits slipping, and the target torque of the second electric drive axle is the vehicle torque. This can also meet the driving torque requirements of the vehicle and prevent problems such as poor driving experience and tail-swinging caused by step changes in power output.

[0059] S240: In the first electric drive axle driving mode, when the first electric drive axle slip ratio is greater than a preset threshold, the first electric drive axle target torque is 0, and the second electric drive axle target torque is the difference between the vehicle torque and the actual torque of the first electric drive axle;

[0060] Among them, in the first electric drive axle driving mode, when the slip rate of the first electric drive axle is greater than the preset threshold, the first electric drive axle slips, and the vehicle controller directly controls the target torque of the first electric drive axle to 0, and the actual torque of the first electric drive axle gradually decreases to 0 in a certain step size, so that the first electric drive axle can achieve anti-slip; the vehicle controller simultaneously determines the target torque of the second electric drive axle as the difference between the vehicle torque and the actual torque of the first electric drive axle, and the actual torque of the second electric drive axle gradually increases to the vehicle torque and the actual torque of the first electric drive axle in a certain step size; in this way, the anti-slip function and protection of the first electric drive axle are realized, and the power output of the two drive axles is achieved.

[0061] S250: In the second electric drive axle driving mode, when the second electric drive axle slip ratio is greater than a preset threshold, responding to the EBS command so that the second electric drive axle target torque is the product of (1-the current second electric drive axle slip ratio) and the vehicle torque; until the current second electric drive axle slip ratio is less than the preset threshold, the second electric drive axle target torque is the vehicle torque;

[0062] Among them, in the second electric drive axle driving mode, when the second electric drive axle slips, the vehicle controller sends an instruction to the limited slip control unit in the EBS module to make the second electric drive axle target torque be (1-current second electric drive axle slip rate) * vehicle torque; that is, the second electric drive axle target torque at the next moment can be determined by the current second electric drive axle slip rate, and when it is detected that the second electric drive axle slip rate at the next moment is still greater than the preset threshold, the second electric drive axle target torque at the next moment can be determined, until the second electric drive axle slip rate at the next moment is less than the preset threshold, the second electric drive axle exits slipping, and the second electric drive axle target torque is the vehicle torque, which can also meet the vehicle drive torque requirements and prevent problems such as poor driving experience and tail swinging caused by step changes in power output.

[0063] In some embodiments, in the second electric drive axle drive mode, a third target torque distribution method is determined based on the slip ratio of each electric drive axle. Specifically, in the second electric drive axle drive mode, when the second electric drive axle slip ratio is greater than a preset threshold, the vehicle controller sends a command to the limited slip control unit in the EBS module to set the target torques of the second electric drive axles to (1-current second electric drive axle slip ratio) * vehicle torque. Until the current second electric drive axle slip ratio is less than the preset threshold, the second electric drive axle target torque is half of the vehicle torque, and the first electric drive axle target torque is half of the vehicle torque. That is, when the second electric drive axle stops slipping, the second electric drive axle target torque can also be half of the vehicle torque, and the first electric drive axle target torque is half of the vehicle torque. This can still meet the vehicle's drive torque requirements and prevent problems such as poor driving experience and tail-swing caused by step changes in power output.

[0064] This embodiment implements the vehicle limited slip function in different slip scenarios by refining the target torque distribution methods under different driving modes, while preventing problems such as poor driving experience and tail-swinging caused by step changes in power output.

[0065] An embodiment of the present invention also provides a dual electric drive axle slip torque distribution device; the dual electric drive axle slip torque distribution device can execute the dual electric drive axle slip torque distribution method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. Figure 4 : is a structural diagram of a dual electric drive axle slip torque distribution device provided by an embodiment of the present invention; Figure 4 As shown, the device includes:

[0066] Acquisition module 01 is used to obtain the steering wheel angle, accelerator pedal opening and vehicle speed;

[0067] A mode determination module 02 is configured to determine an electric drive axle drive mode according to the steering wheel angle, the accelerator pedal opening, and the vehicle speed; wherein the electric drive axle drive mode includes a dual electric drive axle drive mode, a first electric drive axle drive mode, and a second electric drive axle drive mode;

[0068] A first distribution mode module 03 is used to determine a first target torque distribution mode according to the slip ratio of each electric drive axle in the dual electric drive axle driving mode;

[0069] A second distribution mode module 04 is configured to determine a second target torque distribution mode according to the first electric drive axle slip ratio in the first electric drive axle driving mode;

[0070] The third distribution mode module 05 is used to determine a third target torque distribution mode according to the second electric drive axle slip ratio in the second electric drive axle driving mode.

[0071] The embodiment of the present invention also provides a dual electric drive axle slip torque distribution system, referring to Figure 2 The dual electric drive axle slip torque distribution system includes a non-drive axle 10, a first electric drive axle 20, a second electric drive axle 30, an EBS module 40, a steering wheel angle sensor 50, a pedal opening travel switch 60, a vehicle speed sensor 70, an output shaft speed sensor 80 and a vehicle controller 90; the output shaft speed sensor 80 is arranged on the transmission shaft of the first drive axle 20, and is used to monitor and send the axial speed between the two drive wheels of the first electric drive axle 20 to the vehicle controller; the EBS module 40 includes four speed sensors 41 and a limited slip control unit 42; the four speed sensors 41 are respectively arranged on the two drive wheels of the non-drive axle 10 and the two drive wheels of the second electric drive axle 30, and respectively monitor and send the wheel speeds of the two drive wheels of the non-drive wheel 10 and the two drive wheels of the second electric drive axle 30 to the vehicle controller 90;

[0072] The vehicle controller 90 determines the slip ratio of the first electric drive axle based on the axial rotation speed and the two drive wheel speeds of the non-drive wheels; the vehicle controller 90 determines the slip ratio of the second electric drive axle based on the two drive wheel speeds of the non-drive wheels and the two drive wheel speeds of the second electric drive axle; the steering wheel angle sensor 50 monitors and transmits the two non-drive wheel angles to the vehicle controller 90; the pedal travel switch 60 monitors and transmits the pedal travel to the vehicle controller 90; the vehicle speed sensor 70 detects and transmits the vehicle speed to the vehicle controller 90 in real time;

[0073] The vehicle controller 90 is further configured to obtain a steering wheel angle, an accelerator pedal opening, and a vehicle speed; and determine an electric drive axle drive mode based on the steering wheel angle, the accelerator pedal opening, and the vehicle speed. The electric drive axle drive modes include a dual electric drive axle drive mode, a first electric drive axle drive mode, and a second electric drive axle drive mode. In the dual electric drive axle drive mode, a first target torque distribution mode is determined based on the slip ratio of each electric drive axle, and is output to the limited-slip control unit and the first electric drive axle, respectively, so that the limited-slip control unit causes the second electric drive axle to prevent slipping and the first electric drive axle to prevent slipping directly. In the first electric drive axle drive mode, a second target torque distribution mode is determined based on the slip ratio of the first electric drive axle, and is output to the limited-slip control unit and the first electric drive axle, respectively, so that the limited-slip control unit causes the second electric drive axle to prevent slipping and the first electric drive axle to prevent slipping directly. In the second electric drive axle drive mode, a third target torque distribution mode is determined based on the slip ratio of the second electric drive axle, and is output to the limited-slip control unit and the first electric drive axle, respectively, so that the limited-slip control unit causes the second electric drive axle to prevent slipping and the first electric drive axle to prevent slipping directly. Since the system includes a vehicle controller that executes the dual electric drive axle slip torque distribution method of the above embodiment, it also has the beneficial effects of the above embodiment, which will not be described here.

[0074] Figure 5 A schematic diagram of the structure of a VCU provided in an embodiment of the present invention is shown in FIG. Figure 5 As shown, the VCU includes a processor 100, a memory 101, an input device 102, and an output device 103; the number of processors 100 in the VCU can be one or more. Figure 5 In the figure, a processor 100 is taken as an example; the processor 100, memory 101, input device 102 and output device 103 in the VCU can be connected via a bus or other means. Figure 5 The bus connection is taken as an example.

[0075] Memory 101, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the dual electric drive axle slip torque distribution method in the embodiments of the present invention. Processor 100 executes the software programs, instructions, and modules stored in memory 101 to execute various VCU functional applications and data processing, thereby implementing the dual electric drive axle slip torque distribution method described above.

[0076] The memory 101 can include a program storage area and a data storage area. The program storage area can store an operating system and applications required for at least one function. The data storage area can store data created according to use of the terminal, etc. In addition, the memory 101 can include a high-speed random access memory, and can further include a non-volatile memory such as at least one of a magnetic disk storage device, a flash memory device, or other non-volatile solid state memory device. In some examples, the memory 101 can further include a memory disposed remotely with respect to the processor 100, which can be connected to the VCU through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0077] The input device 102 can be used to receive inputted digital or character information, and to generate key signal inputs related to user settings and function controls of the VCU. The output device 103 can include a display device such as a display screen.

[0078] The embodiment of the present application also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to perform a double electric drive axle slip torque distribution method, the method comprising:

[0079] Obtaining a steering wheel steering angle, an accelerator pedal opening degree, and a vehicle speed;

[0080] Determining an electric drive axle driving mode according to the steering wheel steering angle, the accelerator pedal opening degree, and the vehicle speed; wherein the electric drive axle driving mode includes a double electric drive axle driving mode, a first electric drive axle driving mode, and a second electric drive axle driving mode;

[0081] In the double electric drive axle driving mode, determining a first target torque distribution mode according to a size of a slip rate of each electric drive axle;

[0082] In the first electric drive axle driving mode, determining a second target torque distribution mode according to a size of a first electric drive axle slip rate;

[0083] In the second electric drive axle driving mode, determining a third target torque distribution mode according to a size of a second electric drive axle slip rate.

[0084] Of course, the computer executable instructions of the storage medium provided by the embodiment of the present application are not limited to the method operations described above, and can also perform related operations in the double electric drive axle slip torque distribution method provided by any embodiment of the present application.

[0085] Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary universal hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product in essence or in the form of a part of the prior art that makes a contribution. The computer software product can be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a FLASH memory, a hard disk, or an optical disk, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present application.

[0086] It is worth noting that in the above embodiments of the search device, each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy mutual differentiation, and do not limit the protection scope of the present application.

[0087] Note that the above are only preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A dual electric drive axle slip torque distribution method, characterized in that: include: Get the steering wheel angle, accelerator pedal opening and vehicle speed; Determining an electric drive axle drive mode according to the steering wheel steering angle, the accelerator pedal opening and the vehicle speed; wherein the electric drive axle drive mode includes a dual electric drive axle drive mode, a first electric drive axle drive mode and a second electric drive axle drive mode; In the dual electric drive axle driving mode, a first target torque distribution mode is determined according to the slip ratio of each electric drive axle; In the dual electric drive axle driving mode, the first target torque distribution mode is determined according to the slip ratio of each electric drive axle, specifically: In the dual electric drive axle driving mode, when the slip ratio of the first electric drive axle is less than a preset threshold value, and the slip ratio of the second electric drive axle is less than the preset threshold value, the target torque of the first electric drive axle and the target torque of the second electric drive axle are both half of the vehicle torque; In the dual electric drive axle drive mode, when the slip ratio of the first electric drive axle is greater than the preset threshold and the slip ratio of the second electric drive axle is less than the preset threshold, the target torque of the first electric drive axle is 0, and the target torque of the second electric drive axle is the difference between the vehicle torque and the actual torque of the first electric drive axle; In the dual electric drive axle drive mode, when the slip ratio of the first electric drive axle is less than the preset threshold and the slip ratio of the second electric drive axle is greater than the preset threshold, the target torque of the first electric drive axle is half of the vehicle torque; a limited slip instruction is issued to the limited slip control unit in the EBS module so that the target torque of the second electric drive axle is the product of (1-the difference between the current slip ratios of the second electric drive axle) and the vehicle torque; until the current slip ratio of the second electric drive axle is less than the preset threshold, the target torque of the second electric drive axle is half of the vehicle torque; In the dual electric drive axle drive mode, when the slip ratio of the first electric drive axle is greater than the preset threshold, and the slip ratio of the second electric drive axle is greater than the preset threshold, the target torque of the first electric drive axle is 0, and a limited slip instruction is issued to the limited slip control unit in the EBS module so that the target torque of the second electric drive axle is the product of (1-the difference between the current slip ratios of the second electric drive axle) and the vehicle torque; until the current slip ratio of the second electric drive axle is less than the preset threshold, the target torque of the second electric drive axle is the vehicle torque; In the first electric drive axle driving mode, determining a second target torque distribution mode according to the first electric drive axle slip ratio; In the second electric drive axle driving mode, the third target torque distribution mode is determined according to the second electric drive axle slip ratio.

2. The dual electric drive axle slip torque distribution method according to claim 1, characterized in that: Determining the electric drive axle driving mode according to the steering wheel angle, accelerator pedal opening and vehicle speed includes: When the steering wheel steering angle is greater than the preset steering angle, the accelerator pedal opening is greater than the preset opening and the vehicle speed is greater than the preset speed range, the dual electric drive axle drive mode is determined; when the steering wheel steering angle is less than the preset steering angle, the accelerator pedal opening is less than the preset opening and the vehicle speed is less than the preset speed range, the first electric drive axle drive mode, or the first electric drive axle drive mode is determined.

3. The dual electric drive axle slip torque distribution method according to claim 1, characterized in that: In the first electric drive axle driving mode, the second target torque distribution mode is determined according to the first electric drive axle slip ratio, specifically: In the first electric drive axle driving mode, when the first electric drive axle slip rate is greater than a preset threshold, the first electric drive axle target torque is 0, and the second electric drive axle target torque is the difference between the vehicle torque and the actual torque of the first electric drive axle.

4. The dual electric drive axle slip torque distribution method according to claim 1, characterized in that: In the second electric drive axle driving mode, the third target torque distribution mode is determined according to the second electric drive axle slip ratio, specifically: In the second electric drive axle driving mode, when the second electric drive axle slip ratio is greater than a preset threshold, a limited slip instruction is sent to the limited slip control unit in the EBS module so that the target torque of the second electric drive axle is the product of (1-the current second electric drive axle slip ratio) and the vehicle torque; until the current second electric drive axle slip ratio is less than the preset threshold, the second electric drive axle target torque is the vehicle torque.

5. The dual electric drive axle slip torque distribution method according to claim 1, characterized in that: In the second electric drive axle driving mode, the third target torque distribution mode is determined according to the slip ratio of each electric drive axle, specifically: In the second electric drive axle driving mode, when the second electric drive axle slip ratio is greater than a preset threshold, a limited slip instruction is issued to the limited slip control unit in the EBS module so that the target torque of the second electric drive axle is the product of (1-the current second electric drive axle slip ratio) and the vehicle torque; until the current second electric drive axle slip ratio is less than the preset threshold, the target torque of the second electric drive axle is half of the vehicle torque; The target torque of the second electric drive axle is half of the total vehicle torque.

6. A dual electric drive axle slip torque distribution device, characterized in that: The dual electric drive axle slip torque distribution method as claimed in claim 1; The dual electric drive axle slip torque distribution device includes: Acquisition module, used to obtain steering wheel angle, accelerator pedal opening and vehicle speed; a mode determination module, configured to determine an electric drive axle drive mode according to the steering wheel angle, the accelerator pedal opening, and the vehicle speed; wherein the electric drive axle drive mode includes a dual electric drive axle drive mode, a first electric drive axle drive mode, and a second electric drive axle drive mode; A first distribution mode module is used to determine a first target torque distribution mode according to the slip ratio of each electric drive axle in the dual electric drive axle driving mode; A second distribution mode module is configured to determine a second target torque distribution mode according to the slip ratio of each electric drive axle in the first electric drive axle driving mode; The third distribution mode module is used to determine a third target torque distribution mode according to the slip ratio of each electric drive axle under the second electric drive axle driving mode.

7. A dual electric drive axle slip torque distribution system, characterized in that: include: The vehicle comprises a non-drive axle, a first electric drive axle, a second electric drive axle, an EBS module, a steering wheel angle sensor, a pedal opening travel switch, a vehicle speed sensor, an output shaft speed sensor, and a vehicle controller for executing the dual electric drive axle slip torque distribution method according to any one of claims 1 to 5; The output shaft speed sensor is arranged on the transmission shaft of the first electric drive axle, and is used to monitor and transmit the axial speed between the two drive wheels of the first electric drive axle to the vehicle controller; The EBS module includes four speed sensors and a limited slip control unit; the four speed sensors are respectively arranged on the two non-driven wheels of the non-driven axle and the two driven wheels of the second electric drive axle, respectively monitoring and sending the wheel speeds of the two non-driven wheels of the non-driven axle and the two driven wheels of the second electric drive axle to the vehicle controller; The vehicle controller determines the slip rate of the first electric drive axle according to the axial speed and the wheel speeds of the two non-driving wheels; The vehicle controller determines the slip rate of the second electric drive axle according to the wheel speeds of the two non-drive wheels of the non-drive wheels and the wheel speeds of the two drive wheels of the second electric drive axle; The steering wheel angle sensor monitors and sends the two non-driving wheel angles to the vehicle controller; the pedal opening travel switch monitors and sends the pedal opening to the vehicle controller; the vehicle speed sensor detects and sends the vehicle speed to the vehicle controller in real time; The vehicle controller is further used to obtain a steering wheel steering angle, an accelerator pedal opening and a vehicle speed; determine an electric drive axle drive mode according to the steering wheel steering angle, the accelerator pedal opening and the vehicle speed; wherein the electric drive axle drive mode includes a dual electric drive axle drive mode, a first electric drive axle drive mode and a second electric drive axle drive mode; in the dual electric drive axle drive mode, a first target torque distribution mode is determined according to the slip rate of each electric drive axle, and is output to the limited slip control unit and the first electric drive axle respectively so that the limited slip control unit performs anti-slip on the second electric drive axle and the first electric drive axle the first electric drive axle is directly prevented from slipping; in the first electric drive axle driving mode, the second target torque distribution mode is determined according to the slip rate of the first electric drive axle, and is output to the limited slip control unit and the first electric drive axle respectively so that the limited slip control unit can prevent slipping of the second electric drive axle and the first electric drive axle can directly prevent slipping; in the second electric drive axle driving mode, the third target torque distribution mode is determined according to the slip rate of the second electric drive axle, and is output to the limited slip control unit and the first electric drive axle respectively so that the limited slip control unit can prevent slipping of the second electric drive axle and the first electric drive axle can directly prevent slipping.

8. A VCU comprising a memory, a controller, and a computer program stored in the memory and executable on a processor, wherein: When the processor executes the program, the dual electric drive axle slip torque distribution method as described in any one of claims 1-5 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the dual electric drive axle slip torque distribution method as described in any one of claims 1 to 5 is implemented.

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