Four-wheel drive vehicle simulation system and method

Abstract

The embodiment of the application discloses a four-wheel drive vehicle simulation system and method, and belongs to the technical field of vehicle simulation. The system comprises a logic control module and a vehicle simulation module. The logic control module is used for generating a logic control signal in a first driving mode based on a first driving mode in which a simulation vehicle is located, and the logic control signal is used for controlling a driving state of the simulation vehicle. The logic control module is also used for transmitting the logic control signal in the first driving mode to the vehicle simulation module. The vehicle simulation module is used for simulating a driving process of the simulation vehicle in the first driving mode based on a four-wheel drive power system. The vehicle simulation module is used for generating vehicle driving data based on the logic control signal in the first driving mode, and the vehicle driving data is used for reflecting a driving performance of the simulation vehicle in the first driving mode. Through the setting, simulation test of the four-wheel drive vehicle in different driving modes is realized, and the comprehensiveness of the simulation test is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicle simulation, in particular to a four-wheel drive vehicle simulation system and method. BACKGROUND

[0002] Compared with two-wheel drive vehicles, four-wheel drive vehicles can provide stronger power, better stability and better grip, and are generally recognized by consumers in the market. At present, more and more manufacturers have begun to join the research and development process of four-wheel drive vehicles.

[0003] In the research and development process of four-wheel drive vehicles, a large amount of simulation analysis work needs to be carried out to obtain sufficient vehicle driving data in the early stage of research and development of four-wheel drive vehicles. Reliable vehicle driving data helps to reduce the development workload in the later stage, and provides data and theoretical support for the design and selection of four-wheel drive vehicles.

[0004] In related technologies, the simulation flexibility of the four-wheel drive vehicle simulation system is low, and the four-wheel drive vehicle simulation system needs to be further improved. SUMMARY

[0005] Embodiments of the present application provide a four-wheel drive vehicle simulation system and method, which can be used to solve the problem of low simulation flexibility of the four-wheel drive vehicle simulation system in related technologies. The technical solutions are as follows:

[0006] According to an aspect of an embodiment of the present application, a four-wheel drive vehicle simulation system is provided, the system comprising a logic control module and a vehicle simulation module;

[0007] The logic control module is configured to generate a logic control signal in a first driving mode based on the first driving mode in which the simulation vehicle is located, and the logic control signal is used to control the driving state of the simulation vehicle;

[0008] The logic control module is further configured to transmit the logic control signal in the first driving mode to the vehicle simulation module, and the vehicle simulation module is configured to simulate the driving process of the simulation vehicle in the first driving mode based on a four-wheel drive power system;

[0009] The vehicle simulation module is configured to generate vehicle driving data based on the logic control signal in the first driving mode, and the vehicle driving data is used to reflect the driving performance of the simulation vehicle in the first driving mode.

[0010] According to an aspect of an embodiment of the present application, a four-wheel drive vehicle simulation method is provided, the method being applied to a four-wheel drive vehicle simulation system, the system comprising a logic control module and a vehicle simulation module, and the method comprising:

[0011] The logic control module generates a logic control signal in the first driving mode based on a first driving mode in which the simulation vehicle is located, and the logic control signal is used to control a driving state of the simulation vehicle.

[0012] The logic control module transmits the logic control signal in the first driving mode to a vehicle simulation module, and the vehicle simulation module is used to simulate a driving process of the simulation vehicle in the first driving mode based on a four-wheel driving power system.

[0013] The vehicle simulation module generates vehicle driving data based on the logic control signal in the first driving mode, and the vehicle driving data is used to reflect a driving performance of the simulation vehicle in the first driving mode.

[0014] According to an aspect of the embodiments of the present application, a computer readable storage medium is provided, and the storage medium stores a computer program, and the computer program is used to be executed by a processor to implement the four-wheel vehicle simulation method.

[0015] According to an aspect of the embodiments of the present application, a computer device is provided, and the computer device comprises a processor and a memory, and the memory stores a computer program, and the computer program is loaded and executed by the processor to implement the four-wheel vehicle simulation method.

[0016] According to an aspect of the embodiments of the present application, a computer program product is provided, and when the computer program product is run on a computer device, the computer device executes the four-wheel vehicle simulation method.

[0017] The technical scheme provided by the embodiments of the present application can bring the following beneficial effects:

[0018] Through the four-wheel vehicle simulation system provided by the embodiments of the present application, the driving conditions of the simulation vehicle in at least one driving mode can be simulated, and the vehicle driving data in different driving modes is obtained through simulation in the development process of the four-wheel vehicle, and reliable data support is provided for the development of the four-wheel vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 is a schematic diagram of the four-wheel vehicle simulation system provided by an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of a system architecture provided by an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of a four-wheel drive vehicle simulation system provided by another embodiment of the present application;

[0023] Figure 4 is a schematic diagram of a power switching control unit provided by an embodiment of the present application;

[0024] Figure 5 is a schematic diagram of a logic control signal generation logic in an economy driving mode provided by an embodiment of the present application;

[0025] Figure 6 is a structural schematic diagram of a vehicle simulation module provided by an embodiment of the present application;

[0026] Figure 7 is a flowchart of a four-wheel drive vehicle simulation method provided by an embodiment of the present application;

[0027] Figure 8 is a schematic diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0028] The system architecture and business scenarios described in the embodiments of the present application are to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of system architecture and the appearance of new business scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0029] Figure 1 is a schematic diagram of a four-wheel drive vehicle simulation system provided by an embodiment of the present application. As shown in Figure 1 , the four-wheel drive vehicle simulation system is provided with a simulation vehicle module and a logic control module. The vehicle simulation module is used to simulate the driving process of the four-wheel drive vehicle, and the logic control module is used to send a logic control signal to the simulation vehicle based on the target driving mode in which the simulation vehicle is located during the simulation test process.

[0030] The simulation vehicle simulates the driving process in the target driving mode by means of the logic control signal, and generates vehicle driving data in the target driving mode. In order to provide reference data for the development process of the four-wheel drive vehicle based on these vehicle driving data.

[0031] Optionally, the vehicle simulation module is configured to represent a dynamic model of the four-wheel drive vehicle. The dynamic model of the four-wheel drive vehicle refers to a parameterized modeling of each real component in the four-wheel drive vehicle, and the obtained vehicle dynamic model. During the simulation test process, the vehicle simulation module can simulate the vehicle posture and dynamics. The four-wheel drive vehicle refers to a vehicle that is powered by both front and rear motors during driving. In contrast to the four-wheel drive vehicle, the two-wheel drive vehicle refers to a vehicle that is powered only by the front motor or only by the rear motor during driving.

[0032] The logic control module is composed of multiple simulation logic circuits, each of which is configured to generate a logic control signal with different functions. During the simulation test process, there is signal transmission between the vehicle simulation module and the logic control module. Through coordinated control between the logic control module and the vehicle simulation module, the simulation test of the four-wheel drive vehicle is realized. For example, the logic control module transmits the logic control signal to the simulation vehicle module through the signal output interface, so that the vehicle simulation module simulates the vehicle driving process under different driving modes based on the logic control signal.

[0033] In the vehicle simulation system proposed in this application, the logic control module can generate logic control signals suitable for different driving modes. The types of driving modes include at least one of the economic driving mode and the power driving mode. During the simulation test process, the vehicle simulation system supports the test personnel to switch between the power driving mode and the economic driving mode in real time, making the simulation simulation process of the four-wheel drive vehicle more flexible.

[0034] Please refer to Figure 2 which shows a schematic diagram of the system architecture provided by an embodiment of the present application. The system architecture can include a computer device 10 and a server 20.

[0035] In one example, the four-wheel drive vehicle simulation method is completed by the computer device 10. The vehicle simulation module and the logic control module included in the vehicle simulation system are both controlled by the computer device 10. Optionally, the computer device 10 sends a driving mode notification signal to the logic control module in the case of receiving a target driving mode, so that the logic control module generates a logic control signal corresponding to the target driving mode based on the driving mode notification signal; the vehicle simulation module performs simulation calculation according to the logic control signal corresponding to the target driving mode to generate vehicle driving data. The computer device 10 collects the vehicle driving data.

[0036] In this example, the entire vehicle simulation system is controlled by the computer device, which helps to set up the vehicle simulation system according to the research and development needs during the vehicle research and development process. The vehicle driving data obtained by simulation simulation provides reliable reference data for the research and development process of the four-wheel drive vehicle corresponding to the research and development needs.

[0037] In another example, the four-wheel drive vehicle simulation method is assisted by the computer device 10 and the server 20, such as based on the wireless communication between the computer device 10 and the server 20, the simulation process of the four-wheel drive vehicle is completed. The computer device 10 can control the vehicle simulation module, the server 20 can control the logic control module, the computer device 10 sends a simulation request to the server 20, and the simulation request is used to request the simulation of the vehicle driving in the target driving mode. The server 20 controls the logic control module to generate the logic control signal in the target driving mode, and sends the logic control signal in the target driving mode to the computer device 10, so that the vehicle simulation module receives the logic control signal based on the target driving mode, and performs the vehicle simulation simulation.

[0038] In addition, the computer device 10 also sends the driving signal generated by the vehicle simulation module to the server 20, so that the logic control signal generates the logic control signal of the next moment based on the driving signal.

[0039] In this example, different computer devices are used to control different vehicle simulation modules, and the same logic control module is used to generate the logic control signal in the target driving mode for different vehicle simulation modules, which realizes the reuse of the logic control module. At the same time, only the vehicle simulation module needs to be designed and adjusted in the vehicle development process, reducing the workload of the vehicle development process.

[0040] In order to make the purpose, technical scheme and advantages of the present application more clear, the four-wheel drive vehicle simulation system provided by the present application will be further described in detail below with reference to the accompanying drawings.

[0041] Please refer to Figure 3 which shows the schematic diagram of the four-wheel drive vehicle simulation system provided by another embodiment of the present application, and the system includes a logic control module and a vehicle simulation module.

[0042] During the simulation process, the logic control module and the vehicle simulation module influence each other. Optionally, the logic control module instructs the vehicle simulation module to simulate the vehicle driving process in the corresponding driving mode through a logic control signal, and the vehicle simulation module provides a driving signal of the simulation vehicle to the logic control signal, so that the logic control module generates a new logic control signal in real time based on the driving signal of the simulation vehicle. The driving signal includes but is not limited to: a vehicle speed signal of the simulation vehicle, and a total torque signal of the simulation vehicle. The vehicle speed signal of the simulation vehicle is used to represent the simulation vehicle speed being simulated, and the total torque signal of the simulation vehicle is used to represent the total torque output by the simulation vehicle, that is, the driving power of the simulation vehicle. For example, the vehicle simulation module sends the simulated vehicle speed signal and total torque signal at the first time to the logic control module, and the logic control module generates a logic control signal according to the vehicle speed signal and the total torque signal at the first time, and adjusts the vehicle speed signal and the total torque signal of the simulation vehicle at the second time through the logic control signal. The second time is the next time after the first time.

[0043] Next, the running logic of the four-wheel drive vehicle simulation system is introduced.

[0044] The logic control module is configured to generate a logic control signal in a first driving mode based on a first driving mode in which the simulation vehicle is located, and the logic control signal is used to control the driving state of the simulation vehicle.

[0045] In some embodiments, the simulation vehicle is used to simulate the driving of a real vehicle in a simulation environment, and the simulation vehicle is implemented by relying on a vehicle dynamics model obtained by modeling the real vehicle. Optionally, during the simulation test, the simulation vehicle is used to simulate the driving of the real vehicle in different driving environments.

[0046] For example, the real vehicle corresponding to the simulation vehicle is a four-wheel drive vehicle, and the vehicle simulation module is provided with a front motor simulation unit and a rear motor simulation unit. That is, the required power of the simulation vehicle during the simulation driving process is calculated by the front motor simulation unit and the rear motor simulation unit. For example, during the simulation driving process of the simulation vehicle, the total torque of the simulation vehicle is equal to the vector superposition of the front wheel torque provided by the front motor simulation unit and the rear wheel torque provided by the rear motor simulation unit. In one example, the simulation vehicle is used to simulate a four-wheel drive electric vehicle, and the vehicle simulation module is provided with a battery simulation unit for simulating the output power of the battery in the real four-wheel drive vehicle.

[0047] In some embodiments, the first driving mode is a driving mode that the simulation vehicle is simulating in the simulation test process. The first driving mode has the same meaning as the target driving mode in the above embodiments, and the purpose of the simulation test process is to simulate the driving performance of a real vehicle in different driving modes. The driving mode refers to the driving mode of the real vehicle during driving. The change of the driving mode will cause the change of the performance of the real vehicle during driving, such as power and endurance.

[0048] Different driving modes are suitable for different vehicle driving environments. Therefore, during the design of the vehicle, simulation tests need to be carried out respectively for different driving modes, so that the real vehicle designed and developed later can perform well in different driving modes, and the competitiveness of the product can be improved.

[0049] Optionally, the type of the driving mode includes but is not limited to at least one of the following: an economic driving mode and a power driving mode. The economic driving mode is a driving mode mainly for saving energy. The power driving mode is a driving mode that prioritizes power output. That is, the power driving mode can provide stronger driving force, and the economic driving mode can help reduce the energy consumption of the vehicle. Exemplarily, the first driving mode is the economic driving mode, or the first driving mode is the power driving mode.

[0050] In some embodiments, the first driving mode is pre-set. For example, the logic control module obtains a mode indication signal, determines the first driving mode based on the mode indication signal, and the logic control module generates a logic control signal in the first driving mode based on the first driving mode in which the simulation vehicle is located.

[0051] In some embodiments, the first driving mode in which the simulation vehicle is located dynamically changes during the simulation test process. For example, the simulation vehicle is in the economic driving mode in a first time period, and the simulation vehicle is in the power driving mode in a second time period, wherein the first time period and the second time period do not overlap. The first time period and the second time period are specified by a test personnel.

[0052] Optionally, the switching time of the driving mode in which the simulation vehicle is located is pre-set. For example, it is pre-set to switch the driving mode of the simulation vehicle from the economic driving mode to the power driving mode at a certain switching time. The four-wheel drive vehicle simulation system obtains the switching time, and before the switching time, the logic control module generates a logic control instruction in the economic driving mode. After the switching time, the logic control module generates a logic control instruction in the power driving mode.

[0053] Optionally, the driving mode in which the simulation vehicle is located changes in real time. For example, the four-wheel drive vehicle simulation system switches the driving mode in which the simulation vehicle is located based on a mode change indication. Illustratively, in the case where the candidate driving modes include a power driving mode and an economic driving mode, the mode change indication is identified by a 1-bit signal, wherein "1" represents the economic driving mode and "0" represents the power driving mode. The mode change indication is sent by the test personnel to the four-wheel drive vehicle simulation system through the computer device during the simulation test.

[0054] In some embodiments, the logic control module includes at least two branches, and the at least two branches are respectively used to generate a logic control signal in an economic driving mode and to generate a logic control signal in a power driving mode. Optionally, in the case where the driving mode changes, the branch corresponding to the changed driving mode is used to generate the logic control signal applicable to the changed driving mode. Illustratively, the logic control module is implemented by an analog circuit set in the simulation software, and an analog switch is set in the analog circuit, which is used to control the corresponding branch to generate a logic control instruction in the first driving mode based on the first driving mode. For specific description of the logic control module, please refer to the following description.

[0055] In some embodiments, the logic control signal in the first driving mode is used to control the vehicle driving mode of the vehicle simulation module. Optionally, the type of the logic control signal includes at least one of the following: a torque-related logic control signal and an energy consumption-related logic control signal. The torque-related logic control signal is used to control the power of the simulation vehicle during driving, and the energy consumption-related logic control signal is used to control the energy recovery of the simulation vehicle during driving.

[0056] Illustratively, the logic control signal in the first driving mode includes at least one of the following: a torque control signal of the simulation vehicle, a torque limit signal, a speed ratio signal, an energy recovery control signal, etc. For specific content of the logic control signal in the first driving mode, please refer to the following embodiments.

[0057] The logic control module is also used to transmit the logic control signal in the first driving mode to the vehicle simulation module, and the vehicle simulation module is used to simulate the driving process of the simulation vehicle based on the four-wheel drive power system in the first driving mode.

[0058] In some embodiments, the vehicle simulation module is used to simulate the driving process of the simulation vehicle during the simulation test. Optionally, the vehicle simulation module is used to calculate the vehicle speed, power consumption, etc. during the driving process of the simulation vehicle based on a vehicle dynamics model. For specific description of the vehicle simulation module, please refer to the following embodiments.

[0059] Optionally, the vehicle simulation module comprises a vehicle control unit, the vehicle control unit is configured to calculate a total torque signal of the simulation vehicle according to a vehicle speed signal of the simulation vehicle, driving test signals in the vehicle simulation module, and the logic control signal in the first driving mode, and the driving performance of the simulation vehicle is calculated based on the total torque signal by other simulation units in the vehicle simulation module. The driving test information comprises at least one of the following: gear signal, acceleration signal, deceleration signal.

[0060] Optionally, the vehicle control unit comprises a vehicle dynamics model, and the vehicle dynamics model comprises a dynamics model for calculating the torque of the simulation vehicle.

[0061] Optionally, there is signal transmission between the vehicle control unit and the logic control module, and the logic control module transmits the logic control signal in the first driving mode to the vehicle control unit. For example, the logic control module sends the logic control signal in the first driving mode to the vehicle control unit, and the vehicle control unit calculates various parameters of the simulation vehicle during driving based on the logic control signal in the first driving mode.

[0062] In the four-wheel drive vehicle simulation system provided in the embodiments of the present application, the signal interaction between the vehicle simulation module and the logic control module is mainly via the vehicle control unit. In the simulation test process, the vehicle simulation module and the logic control module are decoupled from each other, and changes in some simulation units of the vehicle simulation module during the debugging process do not need to be synchronized with the modification of the logic control module, which helps to improve the efficiency of vehicle simulation test and development.

[0063] In some embodiments, the logic control module comprises a plurality of signal generation units, and different signal generation units are configured to generate different types of logic control signals. After the first driving mode is switched, the logic control signals generated by the signal generation units will change. For specific content, please refer to the embodiments below.

[0064] The vehicle simulation module is configured to generate vehicle driving data based on the logic control signal in the first driving mode, and the vehicle driving data is used to reflect the driving performance of the simulation vehicle in the first driving mode.

[0065] In some embodiments, the vehicle simulation module comprises at least one simulation unit corresponding to a real component, and there is signal transmission between the plurality of simulation units. Optionally, the simulation units in the vehicle simulation module comprise at least one of the following: vehicle simulation unit, driver simulation unit, vehicle control unit, front motor simulation unit, rear motor simulation unit, front reducer simulation unit, rear reducer simulation unit, battery simulation unit, and energy recovery simulation unit. The functions of the above simulation units are described in the embodiments below.

[0066] Each simulation unit performs a corresponding simulation calculation process to generate vehicle driving data.

[0067] Optionally, the vehicle driving data is related to a first driving mode, and the type of the vehicle driving data to be collected is different in different driving modes. For example, in a power driving mode, the vehicle driving data includes the acceleration of the simulated vehicle; in an economic driving mode, the vehicle driving data includes the power consumption, endurance performance, etc. of the simulated vehicle.

[0068] In summary, the four-wheel drive vehicle simulation system provided by the embodiments of the present application can simulate the driving of the simulated vehicle in at least one driving mode, and can obtain vehicle driving data in different driving modes through simulation during the development of the four-wheel drive vehicle, thereby providing reliable data support for the development of the four-wheel drive vehicle.

[0069] The logic control module in the four-wheel drive vehicle simulation system will be described below.

[0070] In some embodiments, the logic control module includes a switching logic unit and at least one signal generation unit; the switching logic unit is configured to generate a working signal corresponding to a first driving mode, the working signal corresponding to the first driving mode being used to indicate the working state of the at least one signal generation unit; and each signal generation unit in the at least one signal generation unit is configured to generate a logic control signal in the first driving mode based on the working signal corresponding to the first driving mode.

[0071] In some embodiments, there is signal transmission between the switching logic unit and the at least one signal generation unit, and the switching logic unit is configured to send the working signal corresponding to the first driving mode to each signal generation unit respectively. Optionally, a signal transmission line is arranged between the switching logic unit and each signal generation unit, and the working signal corresponding to the first driving mode is transmitted to each signal generation unit through the signal transmission line.

[0072] For example, in the case where the first driving mode is changed, the switching logic unit sends the working signal corresponding to the changed first driving mode to each signal generation unit, so that the signal generation unit internally generates the working signal corresponding to the changed first driving mode; and then the signal generation unit continues to generate the working signal corresponding to the first driving mode of this type. For example, in the case where the first driving mode is not changed, the switching logic unit does not repeatedly send the working signal corresponding to the first driving mode to the signal generation unit.

[0073] For example, the switching logic unit sends the working signal corresponding to the first driving mode to the at least one signal instruction generation unit every first time interval. The first time interval is pre-set. For example, the first time interval is equal to 5 seconds.

[0074] In some embodiments, the working signal corresponding to the first driving mode is used to represent the first driving mode. Optionally, the working signal corresponding to the first driving mode is represented by a 1-bit 0 / 1 signal, wherein "1" represents the working signal corresponding to the power driving mode, and "0" represents the working signal corresponding to the economic driving mode.

[0075] Optionally, the working signal corresponding to the first driving mode is used to adjust the working state of the signal generation unit, so as to generate the logic control signal in the first driving mode. For example, the working state of a certain signal generation unit includes at least one of the following: whether the control unit generates a logic control signal, and which branch of the signal generation unit is in use.

[0076] For example, for the first type of signal generation unit, when the working signal corresponding to the economic driving mode is received, the first type of signal generation unit generates the logic control signal in the economic driving mode; and when the working signal corresponding to the power driving mode is received, the first type of signal generation unit does not generate the logic control signal.

[0077] For example, for the second type of signal generation unit, when the working signal corresponding to the economic driving mode is received, the first branch of the second type of signal generation unit is in use, and the logic control signal in the economic driving mode is generated; and when the working signal corresponding to the power driving mode is received, the second branch of the second type of signal generation unit is in use, and the logic control signal in the power driving mode is generated.

[0078] For example, the logic control module includes both the first type of signal generation unit and the second type of signal generation unit. For specific contents of the first type of signal generation unit and the second type of signal generation unit, please refer to the following description.

[0079] By using one working signal corresponding to one driving mode to uniformly control the working group state of all signal generation units, it is helpful to improve the switching speed of the working state of each signal generation unit in the switching logic control module after the driving mode is switched in the simulation test. Compared with setting an independent working signal for each signal generation unit, it is helpful to simplify the logic complexity of the switching logic unit.

[0080] In some embodiments, the signal generation unit includes a power switching control unit, and the power switching control unit is configured to generate a torque control signal for indicating the simulation vehicle in the first driving mode according to the working signal corresponding to the first driving mode.

[0081] Torque is a parameter related to the driving performance of a vehicle, and torque determines the rotation speed of the wheels. When other parameters remain unchanged, the greater the torque, the greater the energy consumption of the vehicle and the stronger the power of the vehicle; the smaller the torque, the smaller the energy consumption of the vehicle and the weaker the power of the vehicle. Generally, torque is provided by at least one of the front motor and the rear motor in the real vehicle.

[0082] Optionally, the front motor simulation unit and the rear motor simulation unit, hereinafter also referred to as front / rear motor simulation unit, are provided in the four-wheel drive vehicle simulation. The output torque of the front / rear motor in the real vehicle in the first driving mode is calculated by the front / rear motor simulation unit, so that the acceleration, endurance performance and other data of the real vehicle in the first driving mode can be calculated in the simulation process.

[0083] In some embodiments, the power switching control unit is configured to generate a torque control signal in the first driving mode, and the torque control signal is configured to indicate the input torque of the motor simulation unit in the simulation vehicle. The torque control signal is also referred to as a torque request signal. Optionally, the torque control signal generated by the power switching control unit is directly transmitted to the front / rear motor simulation unit in the vehicle simulation module; or, the torque control signal is first transmitted to the vehicle control unit, and the vehicle control unit integrates the torque control signal and other information to provide the input torque to the front / rear motor simulation unit. The power switching control unit belongs to the first type of signal generation unit in the above embodiments.

[0084] In some embodiments, the front motor simulation unit and the rear motor simulation unit correspond to different torque control signals, and the power switching control unit generates corresponding torque control signals for the front / rear motor simulation unit. Optionally, the power switching control unit is configured to implement torque signal generation logic corresponding to the front / rear motor simulation unit, and specific details are described below.

[0085] Optionally, in the economic driving mode, the input torque of the front / rear motor simulation unit is distributed according to a proportional coefficient; in the power driving mode, the front / rear motor simulation unit outputs according to the maximum torque. That is, when the first driving mode is the economic driving mode, the power switching control unit divides the total torque of the simulation vehicle in proportion to obtain the torque control signals corresponding to the front / rear motor simulation unit. In the power driving mode, the power switching control unit determines the input torque of the front / rear motor simulation unit based on the total torque of the simulation vehicle, so as to obtain the torque control signals corresponding to the front / rear motor simulation unit.

[0086] The torque control signal generated by the power switching control unit makes the driving torque of the simulation vehicle meet the driving mode being simulated, which helps to collect correct vehicle driving data in the simulation process and provides reference information for the later development process.

[0087] In some embodiments, the power switching control unit comprises a working signal receiving subunit, a first torque signal generating subunit and a second torque signal generating subunit; the working signal receiving subunit is configured to control one of the first torque signal generating subunit and the second torque signal generating subunit to be in an active state and the other to be in an inactive state based on a working signal corresponding to the first driving mode.

[0088] In some embodiments, there are signal transmission paths between the first torque signal generating subunit and the front / rear motor simulation unit respectively; and there are signal transmission paths between the second torque signal generating subunit and the front / rear motor simulation unit respectively, so as to transmit the corresponding torque control signals to the front / rear motor simulation unit respectively after the torque control signals are generated. Through this arrangement, the time interval for the front / rear motor simulation unit to receive the torque control signals respectively is shortened, and the waiting time of the front / rear motor simulation unit before simulation calculation based on the torque control signals is reduced, thereby improving the efficiency of simulation.

[0089] In some embodiments, the type of the first driving mode comprises at least one of the following: a first sub-mode and a second sub-mode, the energy consumption of the first sub-mode is lower than that of the second sub-mode, and the working signal receiving subunit comprises a first analog switch arranged between the first torque signal generating subunit and the second torque signal generating subunit.

[0090] Optionally, the first sub-mode is an economic driving mode, and the second sub-mode is a power driving mode. For specific explanations of the driving modes, please refer to the above embodiments.

[0091] Optionally, the first analog switch is a single-throw double-throw analog switch, and the first analog switch controls one of the first torque signal generating subunit and the second torque signal generating subunit to be in an active state and the other to be in an inactive state based on a working signal corresponding to the first driving mode.

[0092] Illustratively, the first analog switch is configured to control the first torque signal generating subunit to be in an active state and the second torque signal generating subunit to be in an inactive state when receiving a working signal corresponding to the economic driving mode.

[0093] Illustratively, the first analog switch is further configured to control the second torque signal generating subunit to be in an active state and the first torque signal generating subunit to be in an inactive state when receiving a working signal corresponding to the power driving mode.

[0094] For example, in the case that the first analog switch receives a working signal corresponding to the economic driving mode, the first analog switch connects the signal transmission path between the first torque signal generation subunit and the front / rear motor simulation unit, and disconnects the signal transmission path between the second torque signal generation subunit and the front / rear motor simulation unit, so that the front / rear motor simulation unit receives the torque control signal in the economic driving mode. For another example, in the case that the first analog switch receives a working signal corresponding to the power driving mode, the first analog switch connects the signal transmission path between the second torque signal generation subunit and the front / rear motor simulation unit, and disconnects the signal transmission path between the first torque signal generation subunit and the front / rear motor simulation unit, so that the front / rear motor simulation unit receives the torque control signal in the power driving mode.

[0095] In some embodiments, the first torque signal generation subunit is configured to acquire a total torque signal of the simulation vehicle and a front / rear motor driving ratio; and generate a first torque control signal and a second torque control signal based on the total torque signal of the simulation vehicle and the front / rear motor driving ratio.

[0096] The first torque control signal is used to represent the input torque of the front motor simulation unit in the economic driving mode, and the second torque control signal is used to represent the input torque of the rear motor simulation unit in the power driving mode.

[0097] In some embodiments, the total torque signal of the simulation vehicle is used to represent the total power provided by the simulation vehicle. Optionally, the total torque signal of the simulation vehicle is generated by a vehicle control unit in the simulation vehicle. In the simulation process, the vehicle control unit dynamically updates the calculation of the total torque signal of the simulation vehicle. The total torque signal of the simulation vehicle is used to indicate load control.

[0098] For example, a controller is arranged in the vehicle control unit, which is capable of generating the total torque signal of the simulation vehicle according to a vehicle speed signal, a driving test signal and the like. After generating the total torque signal of the simulation vehicle, the vehicle control unit transmits the total torque signal of the simulation vehicle to the power switching control unit, so that the power switching control unit generates the torque control signals corresponding to the front / rear motor simulation units respectively based on the total torque signal of the simulation vehicle.

[0099] In some embodiments, the front / rear motor driving ratio is used to represent the proportion of the input torque of the front motor simulation unit in the total torque signal of the simulation vehicle, and the proportion of the input torque of the rear motor simulation unit in the total torque signal of the simulation vehicle.

[0100] Optionally, the front-rear motor driving ratio is pre-set in the first torque signal generation subunit, and the front-rear motor driving ratio is obtained through simulation test. For example, another driving simulation system is set up, the endurance of the simulation vehicle under different front-rear motor driving ratios is recorded, the front-rear motor driving ratio with the strongest endurance is determined, and the front-rear motor driving ratio is pre-set in the first torque signal generation subunit.

[0101] For example, the front-rear motor driving ratio is a:b, and a and b are positive numbers. For example, a = 30% and b = 70%, and the first torque control signal = total torque signal of the simulation vehicle * 30%, and the second torque control signal = total torque signal of the simulation vehicle * 70%.

[0102] In some embodiments, the second torque signal generation subunit is configured to obtain a total torque, a vehicle speed signal, and a torque recovery request signal of the simulation vehicle; and generate a third torque control signal and a fourth torque control signal based on the total torque, the vehicle speed signal, and the torque recovery request signal of the simulation vehicle.

[0103] For example, the third torque control signal is used to represent the input torque of the front motor simulation unit in the power driving mode, and the fourth torque control signal is used to represent the input torque of the rear motor simulation unit in the power driving mode.

[0104] In some embodiments, the vehicle speed signal of the simulation vehicle is used to represent the simulation driving speed of the simulation vehicle. Optionally, the vehicle speed signal is generated by a vehicle simulation unit in the vehicle simulation module. For example, the vehicle simulation unit transmits the vehicle speed signal to the whole vehicle control unit, and the whole vehicle control unit transmits the vehicle speed signal to the power switching control unit.

[0105] In some embodiments, the torque recovery request signal is used to indicate the negative torque consumed by the electric quantity recovery process during the driving of the simulation vehicle. Optionally, the torque recovery request signal is generated by another signal generation unit in the logic control module, and the another signal generation unit transmits the torque recovery request information to the second torque signal generation subunit. For example, the torque recovery request signal includes a front motor recovery request signal and a rear motor recovery request signal, and details are described in the following embodiments.

[0106] Figure 4 FIG. 1 is a schematic diagram of a power switching control unit according to an embodiment of the present application.

[0107] As shown in FIG. 1, the power switching control unit includes a first torque signal generation subunit 100, a second torque signal generation subunit 200, a power driving mode determination unit 300, a power driving mode control unit 400, a power driving mode switching unit 500, a power driving mode feedback unit 600, and a power driving mode display unit 700. Figure 4As shown, the first analog switches 410 and 412 determine the communication direction based on the working signal K1 corresponding to the first driving mode, so that one of the first torque signal generation subunit 420 and the second torque signal generation subunit 430 is in use state, and the other is in inactive state. In the case that the first torque signal generation subunit 420 is in working state, the first torque control signal and the second torque control signal are generated by the front and rear motor drive proportion Table and the total torque signal M of the simulation vehicle.

[0108] In the case that the second torque signal generation subunit 430 is in working state, the third torque control signal and the fourth torque control signal are generated by the total torque M of the simulation vehicle, the vehicle speed signal V, the front motor recovery request signal G and the rear motor recovery request signal N. Figure 4 The meanings of various signals in the above embodiments are shown in Table 1.

[0109] Table 1: Signal code and meaning mapping table in power switching control unit

[0110]

[0111] By setting the torque signal generation unit corresponding to the economic driving mode and the torque signal generation unit corresponding to the power driving mode in the power switching control unit, the logic control module can generate torque control signals corresponding to different driving modes respectively, which is helpful to simulate the power and economy of the vehicle and realize effective simulation of the four-wheel drive vehicle.

[0112] In some embodiments, the signal generation unit further comprises at least one of the following: a speed ratio control unit, a torque feedback control unit and an energy recovery control unit; the speed ratio control unit is configured to generate a speed ratio signal of the simulation vehicle for controlling the transmission ratio of the simulation vehicle in the first driving mode when the working signal corresponding to the first driving mode satisfies a first condition; the torque feedback control unit is configured to generate a maximum torque limit signal of the simulation vehicle based on the torque limit signal and the speed signal of the front and rear motors of the simulation vehicle when the working signal corresponding to the first driving mode satisfies the first condition; the energy recovery control unit is configured to generate an energy recovery control signal for controlling the energy recovery of the simulation vehicle when the working signal corresponding to the first driving mode satisfies the first condition; wherein the first condition is related to the type of the first driving mode.

[0113] Optionally, the speed ratio control unit, the torque feedback control unit and the energy recovery control unit are all configured to generate a logic control signal related to energy consumption.

[0114] In some embodiments, the first condition is used to limit the type of the first driving mode. Optionally, the first condition comprises that the first driving mode is an economy driving mode. That is, in the case that the first driving mode is the economy driving mode, the ratio control unit, the torque feedback control unit and the energy recovery unit generate corresponding logic control signals respectively; in the case that the first driving mode is not the economy driving mode (such as a power driving mode), the ratio control unit, the torque feedback control unit and the energy recovery unit do not generate logic control signals. That is, the ratio control unit, the torque feedback control unit and the energy recovery unit belong to the second type of signal generation units in the above embodiments.

[0115] In some embodiments, the logic control signal related to energy consumption is used to control the energy recovery of the front motor simulated by the simulation vehicle, or to control the energy recovery of the rear motor simulated by the simulation vehicle. Optionally, the simulation of the energy recovery process of the front motor and the simulation of the energy recovery process of the rear motor can be completed by the ratio control unit, the torque feedback control unit and the energy recovery control unit. The motor type signal is indicated to the logic control circuit by the test personnel, and the logic control module generates the logic control signal in the energy recovery process of the front motor or the logic control signal in the energy recovery process of the rear motor through the motor type signal. For specific settings, please refer to the embodiments below.

[0116] In some embodiments, the ratio control unit comprises at least one of a first ratio control subunit and a second ratio control subunit. The first ratio control subunit is used to generate a ratio signal of the front motor simulation unit, and the ratio signal of the front motor simulation unit is used to control the transmission ratio of the front motor simulation unit; the second ratio control subunit is used to generate a ratio signal of the rear motor simulation unit, and the ratio signal of the rear motor simulation unit is used to control the transmission ratio of the rear motor simulation unit.

[0117] Exemplarily, the ratio control unit comprises a second simulation switch, and the second simulation switch is used to selectively generate one of the ratio signal of the front motor simulation unit and the ratio signal of the rear motor simulation unit.

[0118] In some embodiments, the torque limit signal and the speed signal of the front and rear motors of the simulation vehicle comprise the torque limit signal and the speed signal of the front motor simulation unit, and the torque limit signal and the speed signal of the rear motor simulation unit.

[0119] In some embodiments, the torque feedback control unit comprises a first torque feedback control subunit and a second torque feedback control subunit. The first torque feedback control subunit is used to generate a maximum torque limit signal of the front motor simulation unit, and the second torque feedback control subunit is used to generate a maximum torque limit signal of the rear motor simulation unit.

[0120] Since the rotational speeds of the front motor simulation unit and the rear motor simulation unit can be different, by respectively setting the first torque feedback control subunit and the second torque feedback control subunit, independent maximum torque limit signals can be generated for the front / rear motor simulation units, which helps to improve the authenticity of the simulation test process in the process of simulating the real vehicle driving state.

[0121] In some embodiments, the energy recovery control signal includes at least one of the following: a motor speed signal, a torque recovery request signal of the front motor simulation unit (i.e., a front motor torque recovery request signal), a torque recovery request signal of the rear motor simulation unit (i.e., a rear motor torque recovery request signal), an energy recovery size control coefficient, a motor speed signal, etc.

[0122] Optionally, the energy recovery control unit includes a speed control subunit for generating a motor speed signal based on the rotational speed signal of the front motor simulation unit and the rotational speed signal of the rear motor simulation unit, and sending the motor speed control signal to the vehicle control unit in the vehicle simulation module. Exemplarily, the motor speed signal includes at least one of the following: a motor speed signal of the front motor simulation unit and a motor speed signal of the rear motor simulation unit.

[0123] Optionally, the energy recovery control unit includes a torque recovery subunit for generating a torque recovery request signal of the front motor simulation unit or a torque recovery request signal of the rear motor simulation unit based on the torque output signal and the vehicle speed signal of the simulation vehicle, wherein the vehicle speed signal of the simulation vehicle and the torque recovery signal come from the vehicle simulation module.

[0124] Exemplarily, the vehicle simulation module is provided with an energy recovery control simulation unit for calculating the electric energy generated by the reverse driving click through the wheel rotation in the process of simulating the sliding or braking of the simulation vehicle, so as to calculate the electric quantity that can be recovered in the process of sliding or braking. The energy recovery control simulation unit generates a torque output signal and transmits the torque output signal to the torque recovery subunit. The torque recovery signal is used to represent the torque that needs to be consumed in the process of electric quantity recovery. The vehicle speed signal of the simulation vehicle is transmitted to the torque recovery subunit by the vehicle simulation unit in the simulation vehicle.

[0125] Optionally, the energy recovery control unit includes an energy recovery coefficient determination subunit for generating an energy recovery size control coefficient. Exemplarily, the front motor simulation unit and the rear motor simulation unit have different recovery size control coefficients respectively.

[0126] In the simulation test process, if the simulation vehicle is in the economic driving mode, the energy recovery related logical signals are generated by the speed ratio control unit, the torque feedback control unit and the energy recovery control unit in the logical control module, so that the vehicle simulation module can simulate the energy consumption data in the economic driving mode, which helps to improve the comprehensiveness of the vehicle driving data obtained in the simulation test process.

[0127] In some embodiments, the speed ratio control unit includes a second analog switch, and the energy recovery control unit includes a third analog switch; the second analog switch is configured to control the speed ratio control unit to generate a speed ratio signal of a front motor simulation unit of the simulation vehicle or a speed ratio signal of a rear motor simulation unit of the simulation vehicle based on a motor type signal; the third analog switch is configured to control the energy recovery control unit to generate an energy recovery control signal related to the front motor simulation unit or an energy recovery control signal related to the rear motor simulation unit based on the motor type signal; and the motor type signal is configured to indicate a motor simulation unit in the simulation vehicle that needs to simulate the energy recovery process.

[0128] In some embodiments, the second analog switch is configured to instruct the speed ratio control unit to generate a speed ratio signal related to a target motor based on the motor type signal; and the target motor corresponds to the motor simulation unit in the simulation vehicle that needs to simulate the energy recovery process. The target motor can be a front motor, i.e., the front motor simulation unit is configured to simulate the motor, or the target motor can be a rear motor, i.e., the rear motor simulation unit is configured to simulate the motor.

[0129] Optionally, the motor type signal is represented by a 1-bit 0 / 1 signal, where 0 indicates that the target motor is a front motor, and 1 indicates that the target motor is a rear motor.

[0130] Optionally, in the case where the target motor is a front motor, the second analog switch controls a first signal generation path in the motor simulation unit to be connected, so as to generate the speed ratio signal of the front motor simulation unit; and in the case where the target motor is a rear motor, the second analog switch controls a second signal generation path in the motor simulation unit to be connected, so as to generate the speed ratio signal of the rear motor simulation unit.

[0131] For example, the speed ratio signal of the front motor simulation unit and the speed ratio signal of the rear motor simulation unit are pre-set in the speed ratio control unit, and after receiving the motor type signal, the speed ratio control unit outputs the pre-set speed ratio control signal according to the motor type signal.

[0132] In some embodiments, the third analog switch is configured to instruct each subunit in the energy control unit to generate a logical control signal related to the target motor based on the motor type signal.

[0133] In some embodiments, at least one third analog switch is included in the energy recovery control unit. Optionally, a third analog switch is included in the rotation speed control subunit, a third analog switch is included in the torque recovery subunit, and a third analog switch is included in the energy recovery coefficient determination subunit.

[0134] Figure 5 is a logic control signal generation logic diagram in the economy driving mode provided by an embodiment of the present application.

[0135] As shown in Figure 5 , the speed ratio control unit 510, the torque feedback control unit 530 and the energy recovery control unit 550. The second analog switch 513 is included in the speed ratio control unit 510. The rotation speed control subunit 552, the torque recovery subunit 554 and the energy recovery coefficient determination subunit 556 are included in the energy recovery control unit 550, wherein the third analog switch a is included in the rotation speed control subunit 552, the third analog switches b1 and b2 are included in the torque recovery subunit 554, and the third analog switch c is included in the energy recovery coefficient determination subunit 556.

[0136] In the simulation test process, if energy recovery is performed on the front motor of the simulation vehicle in the economy driving mode, K1 is equal to 0; if energy recovery is performed on the rear motor of the simulation vehicle in the power driving mode, K1 is equal to 1.

[0137] In the case where K1 is equal to 1, the second analog switch 513 included in the speed ratio control unit 510 keeps the upper passage connected, and the speed ratio signal of the rear motor simulation unit is generated. The rotation speed control subunit 552 generates the motor rotation speed signal I based on the rotation speed signal J of the rear motor simulation unit.

[0138] In the case where K1 is equal to 0, the second analog switch 513 included in the speed ratio control unit 510 keeps the lower passage connected, and the speed ratio signal of the rear motor simulation unit is generated. The rotation speed control subunit 552 generates the motor rotation speed signal I based on the rotation speed signal U of the front motor simulation unit. Figure 5 The signal meanings are shown in Table 2. Table 2: Signal code and meaning mapping table in the speed ratio control unit, the torque feedback control unit and the energy recovery control unit

[0139]

[0140]

[0141] In some embodiments, the vehicle simulation module includes: a whole vehicle control unit, a driver simulation control unit, a vehicle simulation control unit, a front motor simulation unit, a rear motor simulation unit, a front speed reducer simulation unit, a rear speed reducer simulation unit and a front and rear torque control unit.

[0142] Figure 6 is a structural schematic diagram of a vehicle simulation module provided by an embodiment of the present application. Various units in the vehicle simulation system are as shown. Figure 6

[0143] In some embodiments, the driver simulation unit is configured to provide the vehicle speed signal at the first time and the driving test signal to the vehicle control unit, the driving test signal being configured to simulate the driver's decision on the vehicle speed during the driving process of the simulation vehicle.

[0144] The driving test signal includes at least one of the acceleration signal, the brake signal, and the gear signal, wherein the acceleration signal is configured to represent the accelerator pedal depth of the simulation vehicle at the current time, the brake signal is configured to represent the brake pedal depth of the simulation vehicle at the current time, and the gear signal is configured to represent the gear of the simulation vehicle at the current time. Illustratively, the driver simulation unit is implemented by a driving test software, and the test personnel inputs the driving test signal in the driving test software.

[0145] Optionally, in order to keep the vehicle speed signal of the simulation vehicle stable during the simulation test process, the driver simulation unit is configured to implement the stable vehicle speed signal by a proportional integral differential (PID) adjustment mode. The driver simulation unit transmits the driving test signal to the vehicle control unit.

[0146] The vehicle simulation unit is configured to simulate the vehicle state of the real vehicle corresponding to the simulation vehicle, and simulate the power output based on the driving torque signals of the front and rear motors at the first time to generate the vehicle speed signal at the first time.

[0147] Optionally, the vehicle simulation unit is configured to simulate the basic parameter state of the vehicle. The basic parameter state includes at least one of the following: tire information, vehicle weight information, vehicle resistance curve information, tire rotational inertia, and vehicle operation mode. The vehicle simulation unit is configured to more realistically reproduce the actual state of the real vehicle.

[0148] The vehicle control unit is configured to generate the driving torque signal of the front and rear motor simulation units and the torque recovery request signal of the front and rear decelerator simulation units based on the vehicle speed signal, the driving test signal, and the logic control signal in the first driving mode. That is, the driving torque signal is the driving torque in the front and rear motor simulation units. Figure 6

[0149] In some embodiments, the vehicle control unit is configured to implement torque protection on the front and rear motor simulation units based on the acceleration signal, the brake signal, the speed ratio signal, the motor speed signal, and the vehicle speed signal. The vehicle control unit is further configured to complete the energy feedback control of the electric vehicle according to the vehicle speed signal, the brake signal, and other signals. ​​

[0150] In addition, the vehicle control unit is further configured to expand the look-up table to output the battery discharge power at different temperatures and different states of charge (SOC) of the battery according to the different battery temperatures and the different states of charge (SOC) of the battery input by the battery simulation unit, and transmit the battery discharge power at different temperatures and different states of charge (SOC) of the battery to the vehicle simulation unit through the power transmission system, so that the vehicle simulation unit determines the power output behavior of the simulation vehicle. The power transmission system refers to a mechanical transmission system in the simulation vehicle.

[0151] The front motor simulation unit and the rear motor simulation unit are configured to generate the output torque data of the second time based on the drive torque signals of the front and rear motor simulation units.

[0152] In some embodiments, the front / rear motor simulation unit is configured to simulate the drive motor of the power execution unit of the real vehicle. The main simulation parameters of the front / rear motor simulation unit include at least one of the motor torque, the motor power, and the motor efficiency. The front / rear motor simulation unit outputs the corresponding torque information to the front / rear reducer simulation unit by receiving the torque input by the vehicle control unit and the logic control signal in the first driving mode (such as the motor speed signal and the torque signal in the above embodiments).

[0153] The front reducer simulation unit and the rear reducer simulation unit are configured to generate the drive torque signals of the front and rear motors of the simulation vehicle at the second time based on the driving test signals and the torque recovery request signals of the front and rear reducer simulation units.

[0154] In some embodiments, the vehicle simulation module further includes a battery simulation unit and an energy recovery control simulation unit. The battery simulation unit is configured to simulate the power driving of the simulation vehicle and transmit the electrical signal to the front and rear motor simulation units. The battery simulation unit is further configured to send the state of charge signal of the battery to the energy recovery control unit. The energy recovery control unit is configured to generate the torque recovery signal based on the state of charge signal of the battery.

[0155] In some embodiments, the battery simulation unit is configured to simulate the power output of the electric vehicle. The main simulation parameters of the motor simulation unit include at least one of the series and parallel number of the battery, the current, the voltage, the internal resistance, and the open circuit voltage of the battery. The battery simulation unit drives the motor through the circuit interface and the power output power supply to realize energy output and energy feedback. The battery simulation unit is further configured to transmit the different states of charge of the battery to the vehicle control unit.

[0156] In some embodiments, the energy recovery control simulation unit is mainly used to calculate and transmit the recovery torque of the energy recovery.

[0157] In some embodiments, the vehicle simulation module further comprises a vehicle accessory system simulation unit for simulating the power consumption of power-consuming accessories on the electric vehicle, such as vehicle headlights, water pumps, fans, etc.

[0158] The following is an embodiment of the four-wheel drive vehicle simulation method provided by the present application, which can be applied to execute the system embodiment of the present application. For details not disclosed in the method embodiment of the present application, please refer to the system embodiment of the present application.

[0159] Please refer to Figure 7 which shows the flowchart of the four-wheel drive vehicle simulation method provided by an embodiment of the present application. The system comprises a logic control module and a vehicle simulation module;

[0160] Step 710, the logic control module generates a logic control signal in the first driving mode based on the first driving mode in which the simulation vehicle is located, and the logic control signal is used to control the driving state of the simulation vehicle.

[0161] Step 720, the logic control module transmits the logic control signal in the first driving mode to the vehicle simulation module, and the vehicle simulation module is used to simulate the driving process of the simulation vehicle based on the four-wheel drive power system in the first driving mode.

[0162] Step 730, the vehicle simulation module generates vehicle driving data based on the logic control signal in the first driving mode, and the vehicle driving data is used to reflect the driving performance of the simulation vehicle in the first driving mode.

[0163] In some embodiments, the logic control module comprises a switching logic unit and at least one signal generation unit.

[0164] Step 710, the logic control module generates a logic control signal in the first driving mode based on the first driving mode in which the simulation vehicle is located, and the logic control signal is used to control the driving state of the simulation vehicle.

[0165] Step 720, the logic control module transmits the logic control signal in the first driving mode to the vehicle simulation module, which can be implemented as sending the logic control signal in the first driving mode to the vehicle simulation module.

[0166] In some embodiments, the signal generating unit comprises a power switching control unit, sub-step 712, comprising: sub-step 712-a, the power switching control unit generates a torque control signal for indicating the simulation vehicle in the first driving mode according to the working signal corresponding to the first driving mode.

[0167] In some embodiments, the power switching control unit comprises a working signal receiving sub-unit, a first torque signal generating sub-unit and a second torque signal generating sub-unit; sub-step 712-a can be implemented as: the working signal receiving sub-unit controls one of the first torque signal generating sub-unit and the second torque signal generating sub-unit to be in an active state and the other to be in an inactive state based on the working signal corresponding to the first driving mode; the first torque signal generating sub-unit obtains the total torque of the simulation vehicle and the front-rear wheel drive ratio; generates the first torque control signal and the second torque control signal based on the total torque of the simulation vehicle and the front-rear wheel drive ratio; the second torque signal generating sub-unit obtains the total torque of the simulation vehicle, the vehicle speed signal and the torque recovery request signal; generates the third torque control signal and the fourth torque control signal based on the total torque of the simulation vehicle, the vehicle speed signal and the torque recovery request signal.

[0168] In some embodiments, the type of the first driving mode comprises at least one of the following: a first sub-mode and a second sub-mode, the energy consumption of the first sub-mode is lower than that of the second sub-mode, the working signal receiving sub-unit comprises a first analog switch arranged between the first torque signal generating sub-unit and the second torque signal generating sub-unit; the method further comprises: the first analog switch controls the first torque signal generating sub-unit to be in an active state and the second torque signal generating sub-unit to be in an inactive state when receiving the working signal corresponding to the economic driving mode; the first analog switch controls the second torque signal generating sub-unit to be in an active state and the first torque signal generating sub-unit to be in an inactive state when receiving the working signal corresponding to the power driving mode.

[0169] In some embodiments, the signal generating unit further comprises at least one of a speed ratio control unit, a torque feedback control unit, and an energy recovery control unit; and step 710 further comprises: sub-step 714, the speed ratio control unit generates a speed ratio signal of the simulation vehicle in a case where the working signal corresponding to the first driving mode satisfies a first condition, the speed ratio signal being used to control a corresponding relationship between torque and speed of the simulation vehicle during driving of the simulation vehicle in the first driving mode; sub-step 716, the torque feedback control unit generates a total torque limit signal of the simulation vehicle based on torque limit signals and rotational speed signals of front and rear motors of the simulation vehicle in a case where the working signal corresponding to the first driving mode satisfies the first condition; and sub-step 718, the energy recovery control unit generates an energy recovery control signal used to control energy recovery of the simulation vehicle in a case where the working signal corresponding to the first driving mode satisfies the first condition; wherein the first condition is related to a type of the first driving mode.

[0170] In some embodiments, the speed ratio control unit comprises a second analog switch, and the energy recovery control unit comprises a third analog switch; the second analog switch is used to control the speed ratio control unit to generate a speed ratio signal of the front motor simulation unit of the simulation vehicle or a speed ratio signal of the rear motor simulation unit of the simulation vehicle based on a motor type signal; the third analog switch is used to control the energy recovery control unit to generate an energy recovery control signal related to the front motor simulation unit or an energy recovery control signal related to the rear motor simulation unit based on the motor type signal; wherein the motor type signal is used to indicate a motor simulation unit in the simulation vehicle that needs to simulate an energy recovery process.

[0171] In some embodiments, the vehicle simulation module comprises: a vehicle control unit, a driver simulation control unit, a vehicle simulation control unit, a front motor simulation unit, a rear motor simulation unit, a front reducer simulation unit, and a rear reducer simulation unit; and step 730 comprises the following sub-steps: the vehicle simulation control unit simulates a vehicle state of a real vehicle corresponding to the simulation vehicle and calculates a vehicle speed signal of the simulation vehicle; the driver simulation control unit provides the vehicle speed signal and a driving test signal to the vehicle control unit, the driving test signal being used to simulate driving decisions of a driver during a simulation test; the vehicle control unit generates a total torque signal of the simulation vehicle and a torque recovery request signal based on the vehicle speed signal, the driving test signal, and a logic control signal in the first driving mode; the front motor simulation unit and the rear motor simulation unit generate an output torque signal of a next time based on the driving torque signal; and the front reducer simulation unit and the rear reducer simulation unit generate an actual torque signal of the next time based on the driving test signal and the torque recovery request signal.

[0172] In some embodiments, the vehicle simulation module further comprises: a battery simulation unit and an energy recovery control simulation unit; the battery simulation unit simulates power driving of the vehicle, and transmits an electric signal to the front and rear motor simulation unit; the battery simulation unit sends a battery state of charge signal to the energy recovery control unit; the energy recovery control unit generates a torque recovery signal based on the battery state of charge signal.

[0173] It should be noted that the method and system embodiments provided by the above embodiments belong to the same concept, and the specific implementation process is detailed in the system embodiments, which will not be repeated here.

[0174] Please refer to Figure 8 which shows a structural block diagram of a computer device 800 provided by an embodiment of the present application. The computer device 800 can be the computer device introduced above, which is used to implement the four-wheel vehicle simulation method described above.

[0175] Generally, the computer device 800 includes a processor 801 and a memory 802.

[0176] The processor 801 can include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 801 can be implemented in at least one of the hardware forms of a DSP (Digital Signal Processing), a FPGA (Field Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 801 can also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit). The coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 801 can be integrated with a GPU (Graphics Processing Unit). The GPU is used to render and draw the content required to be displayed by the display screen. In some embodiments, the processor 801 can further include an AI (Artificial Intelligence) processor. The AI processor is used to process machine learning related computing operations.

[0177] The memory 802 can include one or more computer readable storage media that can be non-transitory. The memory 802 can also include a high-speed random access memory, and a non-volatile memory such as one or more disk storage devices, flash storage devices.

[0178] Those skilled in the art can understand that,Figure 8 The structure shown in the figure does not constitute a limitation on the computer device 800, and can include more or fewer components than shown, or combine certain components, or have a different arrangement of components.

[0179] In an example embodiment, a computer device is also provided, which includes a processor and a memory having a computer program stored therein. The computer program is configured to be executed by one or more processors to implement the four-wheel vehicle simulation method described above.

[0180] In an example embodiment, a computer readable storage medium is also provided, which has a computer program stored therein, the computer program, when executed by a processor of a computer device, implements the four-wheel vehicle simulation method described above.

[0181] Optionally, the computer readable storage medium described above can be a ROM (Read-Only Memory), a RAM (Random Access Memory), a CD-ROM (Compact Disc Read-Only Memory), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0182] In an example embodiment, a computer program product is also provided, which, when executed on a computer device, causes the computer device to perform the four-wheel vehicle simulation method described above.

[0183] It should be understood that "multiple" referred to herein means two or more. "And / or", which describes the association relationship of associated objects, means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. The character " / " generally represents that the associated objects before and after it are in an "or" relationship. In addition, the step numbers described herein only exemplarily show a possible execution order between steps, and in some other embodiments, the above steps can also be executed in a different order from the numbering order, such as simultaneously executing two steps with different numbers, or executing two steps with different numbers in an order opposite to the illustration, and the embodiments of the present application do not limit this.

[0184] The above only describes example embodiments of the present application and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A four-wheel drive vehicle simulation system, characterized by, The system comprises a logic control module and a vehicle simulation module, the logic control module comprises: a switching logic unit and at least one signal generation unit, the signal generation unit comprises a power switching control unit, the power switching control unit comprises a working signal receiving subunit, a first torque signal generation subunit and a second torque signal generation subunit; The logic control module is used for generating a logic control signal in the first driving mode based on the first driving mode in which the simulation vehicle is located, and the logic control signal is used for controlling the driving state of the simulation vehicle; The logic control module is also used for transmitting the logic control signal in the first driving mode to the vehicle simulation module, and the vehicle simulation module is used for simulating the driving process of the simulation vehicle in the first driving mode based on the four-wheel drive power system; The vehicle simulation module is used for generating vehicle driving data based on the logic control signal in the first driving mode, and the vehicle driving data is used for reflecting the driving performance of the simulation vehicle in the first driving mode; The working signal receiving subunit is used for controlling one of the first torque signal generation subunit and the second torque signal generation subunit to be in an active state and the other to be in an inactive state based on the working signal corresponding to the first driving mode; The first torque signal generation subunit is used for obtaining a total torque signal of the simulation vehicle and a front-rear motor drive ratio; and generating a first torque control signal and a second torque control signal based on the total torque signal of the simulation vehicle and the front-rear motor drive ratio; The second torque signal generation subunit is used for obtaining a total torque signal of the simulation vehicle, a vehicle speed signal and a torque recovery request signal; and generating a third torque control signal and a fourth torque control signal based on the total torque signal of the simulation vehicle, the vehicle speed signal and the torque recovery request signal.

2. The system of claim 1, wherein, The switching logic unit is used for generating a working signal corresponding to the first driving mode, and the working signal corresponding to the first driving mode is used for indicating the working state of the at least one signal generation unit; Each of the at least one signal generation unit is used for generating a logic control signal in the first driving mode based on the working signal corresponding to the first driving mode.

3. The system of claim 2, wherein, The power switching control unit is used for generating a torque control signal for indicating the simulation vehicle in the first driving mode according to the working signal corresponding to the first driving mode.

4. The system of claim 1, wherein, The type of the first driving mode comprises at least one of the following: a first sub-mode and a second sub-mode, the energy consumption of the first sub-mode is lower than that of the second sub-mode, and the working signal receiving subunit comprises a first analog switch arranged between the first torque signal generation subunit and the second torque signal generation subunit; The first analog switch is used for controlling the first torque signal generation subunit to be in an active state and the second torque signal generation subunit to be in an inactive state when the working signal corresponding to the first sub-mode is received. The first analog switch is further configured to control the second torque signal generation subunit to be in an active state and the first torque signal generation subunit to be in an inactive state when the working signal corresponding to the second sub-mode is received.

5. The system of claim 2, wherein, The signal generation unit further comprises at least one of a speed ratio control unit, a torque feedback control unit, and an energy recovery control unit. The speed ratio control unit is configured to generate a speed ratio signal of the simulation vehicle for controlling a transmission ratio of the simulation vehicle in the first driving mode when the working signal corresponding to the first driving mode satisfies a first condition. The torque feedback control unit is configured to generate a maximum torque limit signal of the simulation vehicle based on torque limit signals and speed signals of front and rear motors of the simulation vehicle when the working signal corresponding to the first driving mode satisfies the first condition. The energy recovery control unit is configured to generate an energy recovery control signal for controlling energy recovery of the simulation vehicle when the working signal corresponding to the first driving mode satisfies the first condition. The first condition is related to a type of the first driving mode.

6. The system of claim 5, wherein, The speed ratio control unit comprises a second analog switch, and the energy recovery control unit comprises a third analog switch. The second analog switch is configured to control the speed ratio control unit to generate a speed ratio signal of a front motor simulation unit of the simulation vehicle or a speed ratio signal of a rear motor simulation unit of the simulation vehicle based on a motor type signal. The third analog switch is configured to control the energy recovery control unit to generate an energy recovery control signal for the front motor simulation unit or an energy recovery control signal for the rear motor simulation unit based on the motor type signal. The motor type signal is used to indicate a motor simulation unit in the simulation vehicle that needs to simulate an energy recovery process.

7. The system according to any one of claims 1 to 6, characterized in that, The vehicle simulation module comprises a whole vehicle control unit, a driver simulation unit, a vehicle simulation unit, a front motor simulation unit, a rear motor simulation unit, a front reducer simulation unit, and a rear reducer simulation unit. The vehicle simulation unit is configured to simulate a vehicle state of a real vehicle corresponding to the simulation vehicle and calculate a vehicle speed signal of the simulation vehicle. The driver simulation unit is configured to provide the vehicle speed signal and a driving test signal for simulating driving decisions of a driver in a simulation test to the whole vehicle control unit. The whole vehicle control unit is configured to generate a driving torque signal and a torque recovery request signal of the simulation vehicle based on the vehicle speed signal, the driving test signal, and a logic control signal in the first driving mode. The front motor simulation unit and the rear motor simulation unit are configured to generate output torque signals at a next time based on the driving torque signal. The front reducer simulation unit and the rear reducer simulation unit are configured to generate actual torque signals at the next time based on the driving test signal and the torque recovery request signal.

8. The system of claim 7, wherein, The vehicle simulation module further comprises a battery simulation unit and an energy recovery control simulation unit; The battery simulation unit is configured to simulate power driving of the simulation vehicle and transmit an electric signal to the front motor simulation unit and the rear motor simulation unit; The battery simulation unit is further configured to send a battery state of charge signal to the energy recovery control simulation unit; The energy recovery control simulation unit is configured to generate a torque recovery signal based on the battery state of charge signal.

9. A four-wheel drive vehicle simulation method characterized by comprising: The method is applied to a four-wheel drive vehicle simulation system, the system comprising a logic control module and a vehicle simulation module, the logic control module comprising a switching logic unit and at least one signal generation unit, the signal generation unit comprising a power switching control unit, the power switching control unit comprising a working signal receiving subunit, a first torque signal generation subunit and a second torque signal generation subunit, the method comprising: The logic control module generates a logic control signal in a first driving mode based on the first driving mode in which the simulation vehicle is located, the logic control signal being used to control the driving state of the simulation vehicle; The logic control module transmits the logic control signal in the first driving mode to the vehicle simulation module, the vehicle simulation module being configured to simulate the driving process of the simulation vehicle in the first driving mode based on the four-wheel drive power system; The vehicle simulation module generates vehicle driving data based on the logic control signal in the first driving mode, the vehicle driving data reflecting the driving performance of the simulation vehicle in the first driving mode; The working signal receiving subunit controls one of the first torque signal generation subunit and the second torque signal generation subunit to be in an active state and the other to be in an inactive state based on the working signal corresponding to the first driving mode; The first torque signal generation subunit obtains a total torque signal of the simulation vehicle and a front-rear motor driving ratio; based on the total torque signal of the simulation vehicle and the front-rear motor driving ratio, the first torque signal generation subunit generates a first torque control signal and a second torque control signal; The second torque signal generation subunit obtains a total torque signal of the simulation vehicle, a vehicle speed signal and a torque recovery request signal; based on the total torque signal of the simulation vehicle, the vehicle speed signal and the torque recovery request signal, the second torque signal generation subunit generates a third torque control signal and a fourth torque control signal.

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