A control method of a dual-axle electric drive axle, a vehicle and a storage medium

Abstract

The application discloses a control method of a double-bridge electric drive axle, a vehicle and a storage medium. The control method of the double-bridge electric drive axle comprises the following steps: when a gear shifting request is acquired, acquiring a fitting function, a target vehicle speed and a target wheel end torque; according to the target vehicle speed and the target wheel end torque, determining a target gear matching pair and a target torque distribution coefficient based on the fitting function; the target gear matching pair comprises a target running gear of a first electric drive axle and a target running gear of a second electric drive axle, and the target torque distribution coefficient comprises a target torque distribution coefficient of the first electric drive axle and / or a target torque distribution coefficient of the second electric drive axle; and according to the target gear matching pair and the target torque distribution coefficient, controlling the first electric drive axle and the second electric drive axle to perform gear shifting. By adopting the technical scheme, the efficiency of the collaborative work of the first electric drive axle and the second electric drive axle can be improved, and the vehicle has better economic performance.

Description

Technical Field

[0001] The present invention relates to the field of drive control technology, and in particular to a control method, a vehicle and a storage medium for a dual-bridge electric drive bridge. Background Art

[0002] In order to meet the power requirements of the entire vehicle, especially medium and heavy-duty commercial vehicles, which require greater torque output, dual-axle electric drive axles are often used. That is, two electric drive axles are set in the vehicle's drive system. According to different working conditions, while meeting the power requirements of the entire vehicle, the two electric drive axles are made to work together to further improve efficiency and enable the entire vehicle to achieve better economic performance.

[0003] However, the existing dual-axle drive control only considers the coordinated work of the two electric drive axles in the dual-axle electric drive axle on the basis of power performance, lacks economic considerations and cannot fully exert the efficiency of the coordination of the dual-axle electric drive axles; at the same time, the motors and transmissions of the two electric drive axles may be different, making how to efficiently and stably control the two electric drive axles a technical problem that needs to be solved urgently. Summary of the Invention

[0004] The present invention provides a control method for a dual-bridge electric drive axle, a vehicle, and a storage medium to improve the efficiency of the coordinated operation of a first electric drive axle and a second electric drive axle in the dual-bridge electric drive axle, so that the entire vehicle can exhibit better economic performance.

[0005] According to one aspect of the present invention, a control method for a dual-bridge electric drive axle is provided, which is applied to a vehicle. The dual-bridge electric drive axle includes a first electric drive axle and a second electric drive axle, including:

[0006] When a shift request is received, a fitting function, a target vehicle speed, and a target wheel-end torque are obtained;

[0007] determining a target gear pair and a target torque distribution coefficient based on the fitting function according to the target vehicle speed and the target wheel-end torque; the target gear pair comprising a target operating gear of the first electric drive axle and a target operating gear of the second electric drive axle, and the target torque distribution coefficient comprising a target torque distribution coefficient of the first electric drive axle and / or a target torque distribution coefficient of the second electric drive axle;

[0008] The first electric drive axle and the second electric drive axle are controlled to perform gear switching according to the target gear matching pair and the target torque distribution coefficient.

[0009] Optionally, obtain the fitting function, including:

[0010] obtaining a gear matching pair set; the gear matching pair set comprises a plurality of gear matching elements; an element value of the gear matching element comprises a vehicle speed, a wheel end torque, and a gear matching pair of the first electric drive axle and the second electric drive axle;

[0011] determining a torque distribution coefficient set according to the gear matching pair set; the torque distribution coefficient set comprises a plurality of torque distribution elements corresponding to the plurality of gear matching elements one by one; an element value of the torque distribution element comprises the vehicle speed, the wheel end torque, the gear matching pair of the first electric drive axle and the second electric drive axle, and a torque distribution coefficient of the first electric drive axle and the second electric drive axle;

[0012] performing function fitting on the element value of each torque distribution element in the torque distribution coefficient set to determine the fitting function.

[0013] Optionally, obtaining the gear matching pair set comprises:

[0014] obtaining a first set and a second set; the first set comprises a plurality of first elements; an element value of the first element comprises a vehicle speed and a wheel end torque; the second set comprises a plurality of second elements; an element value of the second element comprises an operating gear of the first electric drive axle and an operating gear of the second electric drive axle;

[0015] determining a first total efficiency set corresponding to each first element according to the operating gears of each second element and the vehicle speed and the wheel end torque of the first element; the first total efficiency set comprises a plurality of first efficiency elements corresponding to the plurality of second elements one by one; an element value of the first efficiency element comprises a sum of operating efficiencies of the first electric drive axle and the second electric drive axle;

[0016] respectively determining the first efficiency element with the largest element value in each first total efficiency set as a first optimal efficiency element;

[0017] taking the second element corresponding to the first optimal efficiency element of the first total efficiency set as an optimal distribution gear element corresponding to the first total efficiency set;

[0018] taking the first element corresponding to the first total efficiency set and the optimal distribution gear element corresponding to the first total efficiency set as a first element group;

[0019] taking each element value of the first element group as an element value of the gear matching element, and taking a set composed of each gear matching element as the gear matching pair set.

[0020] Optionally, determining a torque distribution coefficient set according to the gear matching pair set comprises:

[0021] Acquire a third set; the third set includes a plurality of third elements; the element value of the third element includes the torque coordination coefficient of the first electric drive axle and the second electric drive axle;

[0022] Determining a second total efficiency set corresponding to the gear coordination element based on the torque coordination coefficient of each third element, the gear coordination pair, vehicle speed, and wheel-end torque of the gear coordination element; the second total efficiency set includes a plurality of second efficiency elements corresponding one-to-one to the plurality of third elements; an element value of the second efficiency element includes the sum of the operating efficiencies of the first electric drive axle and the second electric drive axle;

[0023] respectively determining the second efficiency element having the maximum element value in each of the second total efficiency sets as the second optimal efficiency element;

[0024] using the third element corresponding to the second best efficiency element of the second total efficiency set as the best allocation coefficient element corresponding to the second total efficiency set;

[0025] taking the optimal distribution coefficient element corresponding to the second total efficiency set and the gear coordination element corresponding to the second efficiency set as a second element group;

[0026] The value of each element of the second element group is used as the element value of the torque distribution element, and the set formed by each of the torque distribution elements is used as the torque distribution coefficient set.

[0027] Optionally, determining a second total efficiency set corresponding to the gear coordination element according to the torque coordination coefficient of each third element, and the gear coordination pair, vehicle speed, and wheel-end torque of the gear coordination element includes:

[0028] Determining, based on the vehicle speed and wheel-end torque of the gear coordination element, the motor speed of the first electric drive axle, the motor speed of the second electric drive axle, the motor torque of the first electric drive axle, and the motor torque of the second electric drive axle corresponding to the gear coordination element;

[0029] According to the motor torque and the motor speed corresponding to the gear coordination element and based on a mapping relationship in an efficiency table, the second total efficiency set corresponding to the gear coordination element is determined.

[0030] Optionally, determining the motor speed of the first electric drive axle, the motor speed of the second electric drive axle, the motor torque of the first electric drive axle, and the motor torque of the second electric drive axle corresponding to the gear coordination element according to the vehicle speed and wheel-end torque of the gear coordination element includes:

[0031] According to the vehicle speed of the gear coordination element, the motor speed of the first electric drive axle and the motor speed of the second electric drive axle are calculated based on a first formula; the first formula is:

[0032] Wherein, n is the motor speed of the first electric drive axle or the second electric drive axle, v is the vehicle speed of the gear coordination element, q is the axle speed ratio of the first electric drive axle or the second electric drive axle, and r is the wheel rolling radius;

[0033] According to the wheel end torque of the gear coordination element, the motor torque of the first electric drive axle and the motor torque of the second electric drive axle are calculated based on a second formula; the second formula is:

[0034] Among them, m is the motor torque of the first electric drive axle or the second electric drive axle, a is the distribution coefficient of the first electric drive axle or the second electric drive axle, t is the wheel end torque of the gear coordination element, and q is the axle speed ratio of the first electric drive axle or the second electric drive axle.

[0035] Optionally, obtaining the target wheel-end torque includes:

[0036] Get the accelerator pedal opening and maximum output torque;

[0037] The target wheel end torque is determined according to the accelerator pedal opening and the maximum output torque.

[0038] Optionally, controlling the first electric drive axle and the second electric drive axle to perform gear switching according to the target gear matching pair and the target torque distribution coefficient includes:

[0039] determining a first torque output control value of the first electric drive axle and a second torque output control value of the second electric drive axle respectively based on the target torque distribution coefficient;

[0040] controlling the first electric drive axle to perform a torque-down shift based on the first torque output control value until the gear position of the first electric drive axle is switched to the target operating gear position of the first electric drive axle;

[0041] The second electric drive axle is controlled to perform a torque-down shift based on the second torque output control value until the gear position of the second electric drive axle is switched to the target operating gear position of the second electric drive axle.

[0042] According to another aspect of the present invention, there is provided a vehicle comprising: a dual-bridge electric drive axle and a controller;

[0043] The dual-bridge electric drive axle includes a first electric drive axle and a second electric drive axle;

[0044] The controller is used to execute the above-mentioned dual-bridge electric drive bridge method.

[0045] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the above-mentioned control method of the dual-bridge electric drive bridge when executed.

[0046] The present invention obtains a fitting function, a target vehicle speed, and a target wheel-end torque when a gear shift request is obtained, substitutes the target vehicle speed and the target wheel-end torque into the fitting function, and calculates a corresponding target gear matching pair and a target torque distribution coefficient. Then, the target gear matching pair and the target torque distribution coefficient are adopted to control the first electric drive axle and the second electric drive axle to perform gear switching, thereby improving the efficiency of the coordinated work of the first electric drive axle and the second electric drive axle and enabling the entire vehicle to exhibit better economic performance.

[0047] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 is a flow chart of a first method for controlling a dual-bridge electric drive bridge according to an embodiment of the present invention;

[0050] Figure 2 is a flow chart of a second method for controlling a dual-bridge electric drive bridge according to an embodiment of the present invention;

[0051] Figure 3 is a flow chart of a third method for controlling a dual-bridge electric drive bridge according to an embodiment of the present invention;

[0052] Figure 4 is a flow chart of a fourth method for controlling a dual-bridge electric drive bridge according to an embodiment of the present invention;

[0053] Figure 5 is a flow chart of a fifth method for controlling a dual-bridge electric drive bridge according to an embodiment of the present invention;

[0054] Figure 6is a flow chart of a sixth method for controlling a dual-bridge electric drive bridge according to an embodiment of the present invention;

[0055] Figure 7 2 is a schematic structural diagram of a control device for a dual-bridge electric drive bridge according to an embodiment of the present invention;

[0056] Figure 8 1 is a schematic structural diagram of an electronic device for implementing the control method of a dual-bridge electric drive bridge according to an embodiment of the present invention. DETAILED DESCRIPTION

[0057] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0058] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0059] An embodiment of the present invention provides a control method for a dual-bridge electric drive axle. The method can be used to control the dual-bridge electric drive axle in a vehicle to perform gear switching. The method can be executed using a controller in the vehicle provided by an embodiment of the present invention. Figure 1 FIG. 1 is a flow chart of a first method for controlling a dual-bridge electric drive bridge according to an embodiment of the present invention. Figure 1 As shown, the method includes:

[0060] S110 : When a gear shift request is obtained, a fitting function, a target vehicle speed, and a target wheel-end torque are obtained.

[0061] The shift request can be a shift signal collected by a controller, which can be a signal indicating a change in accelerator pedal position, i.e., the driver issues a shift request by changing the accelerator pedal position. The target vehicle speed and target wheel-end torque correspond to the accelerator pedal position. Specifically, the target vehicle speed is the desired vehicle speed at the current accelerator pedal position, and the target wheel-end torque is the desired torque output to the vehicle's wheel hub at the current accelerator pedal position. Both the target vehicle speed and target wheel-end torque can be positively correlated with the accelerator pedal position, i.e., a greater accelerator pedal position increases the target vehicle speed and target wheel-end torque. The fitting function can be determined based on experimental data after extensive experimentation, and the corresponding parameters can be calculated based on the fitting function.

[0062] Specifically, when the force with which the driver steps on the accelerator pedal changes, the opening of the accelerator pedal changes. At this time, the controller can collect the shift signal. Based on the shift signal, the vehicle speed required at the accelerator pedal opening can be determined as the target vehicle speed, as well as the maximum torque required to be generated by the motors of the first electric drive axle and the second electric drive axle at the accelerator pedal opening, that is, the maximum output torque. The target wheel-end torque can be determined. For example, the target wheel-end torque can be equal to the product of the accelerator pedal opening and the maximum output torque.

[0063] S120 : Determine a target gear matching pair and a target torque distribution coefficient according to the target vehicle speed and the target wheel-end torque based on a fitting function.

[0064] The target gear pair includes a target operating gear of the first electric drive axle and a target operating gear of the second electric drive axle, and the target torque distribution coefficient includes a target torque distribution coefficient of the first electric drive axle and / or a target torque distribution coefficient of the second electric drive axle. When the first electric drive axle and the second electric drive axle are respectively operated at the target operating gear and target torque distribution coefficient in the target gear pair, a theoretical maximum total efficiency can be achieved.

[0065] Specifically, the fitting function can be determined based on a large amount of experimental data. By controlling the first and second electric drive axles of the vehicle to operate at different operating gears and different distribution coefficients to achieve a set vehicle speed and wheel-end torque, the total efficiency of the first and second electric drive axles when operating at different operating gears and different distribution coefficients can be determined. In this way, the operating gears and distribution coefficients of the first and second electric drive axles that achieve the best total efficiency can be determined. Based on the operating gears, distribution coefficients, and the set vehicle speed and wheel-end torque, the fitting parameters in the fitting function can be determined, and then a corresponding fitting function can be established based on the determined fitting parameters. In this way, after knowing the target vehicle speed and target wheel-end torque, the target vehicle speed and target wheel-end torque can be substituted into the fitting function to calculate the target gear pair and target torque distribution coefficient. This allows the target gear pair and target torque distribution coefficient to be used to control the first and second electric drive axles to switch gears, thereby maximizing the efficiency of the coordinated operation of the first and second electric drive axles.

[0066] S130 : Control the first electric drive axle and the second electric drive axle to switch gears according to the target gear matching pair and the target torque distribution coefficient.

[0067] Specifically, the target torque distribution coefficient can be the proportion of the output torque. According to the target torque distribution coefficient, the proportion of the output torque of the corresponding first electric drive axle and the second electric drive axle in the wheel-end torque can be determined, so as to control the working state of the first electric drive axle and the second electric drive axle to output the corresponding torque. At the same time, according to the torque output by the first electric drive axle and the second electric drive axle, the first electric drive axle and the second electric drive axle are controlled to perform torque reduction shifting, so that the gear position of the first electric drive axle and the second electric drive axle can be switched to the target operating gear position.

[0068] This embodiment obtains a fitting function, a target vehicle speed, and a target wheel-end torque when a gear shift request is obtained, substitutes the target vehicle speed and target wheel-end torque into the fitting function, and calculates a corresponding target gear coordination pair and a target torque distribution coefficient. Then, by adopting the target gear coordination pair and the target torque distribution coefficient, the first electric drive axle and the second electric drive axle are controlled to perform gear switching, which can improve the efficiency of the coordinated work of the first electric drive axle and the second electric drive axle and enable the entire vehicle to exhibit better economic performance.

[0069] Based on the above embodiment, this embodiment further explains how to obtain the fitting function. Figure 2 is a flow chart of a second method for controlling a dual-bridge electric drive bridge according to an embodiment of the present invention, with reference to Figure 2 , the method includes:

[0070] S200: When a gear shift request is received, a target vehicle speed and a target wheel-end torque are obtained.

[0071] S210: Obtain a gear coordination pair set.

[0072] The gear coordination pair set includes a plurality of gear coordination elements, and the element values ​​of the gear coordination elements include vehicle speed, wheel end torque, and the gear coordination pairs of the first electric drive axle and the second electric drive axle.

[0073] Exemplarily, the gear coordination pair set is recorded as {(v1, t1, s11, s21), (v1, t2, s12, s22)...}, where (v, t, s1, s2) can be a gear coordination pair element, the element values ​​of the gear coordination pair element include v, t, s1, s2, and the gear coordination pair element can indicate that the operating gear of the first electric drive axle is s1, the operating gear of the second electric drive axle is s2, the vehicle speed is v, and the wheel-end torque is t.

[0074] S220: Determine a set of torque distribution coefficients according to the set of gear coordination pairs.

[0075] Among them, the torque distribution coefficient set includes multiple torque distribution elements corresponding one-to-one to multiple gear matching elements, and the element values ​​of the torque distribution elements include vehicle speed, wheel-end torque, gear matching pairs of the first electric drive axle and the second electric drive axle, and the torque distribution coefficients of the first electric drive axle and the second electric drive axle.

[0076] Exemplarily, the torque distribution coefficient set is recorded as {(v1, t1, s11, s21, a1), (v1, t2, s12, s22, a2) ...}, where (v, t, s1, s2, a) can be a torque distribution coefficient element, and the element value of the torque distribution coefficient element includes v, t, s1, s2, a. The torque distribution coefficient element can be expressed as follows: when the first electric drive axle and the second electric drive axle use a as the torque distribution coefficient, the operating gear of the first electric drive axle is s1, and the operating gear of the second electric drive axle is s2, the vehicle speed reaches v and the wheel end torque is t. It should be noted that when the torque distribution coefficient of the first electric drive is a, the torque distribution coefficient of the second electric drive axle is (1-a), where the value range of a is [0, 1].

[0077] It can be understood that the torque distribution coefficient set can include n torque distribution coefficient elements, and the gear coordination pair set can include n gear coordination pair elements, wherein the j-th torque distribution coefficient element can be represented by Fj, and the j-th gear coordination pair element can be represented by Dj. The vehicle speed in Fj can be equal to the vehicle speed in Dj, the wheel-end torque in Fj can be equal to the wheel-end torque in Dj, the first electric drive axle gear in Fj can be equal to the first electric drive axle gear in Dj, and the second electric drive axle gear in Fj can be equal to the second electric drive axle gear in Dj.

[0078] S230 : Perform function fitting on the element value of each torque distribution element in the torque distribution coefficient set to determine a fitting function.

[0079] Among them, the function fitting method includes but is not limited to the triangulation fitting method. The element values ​​v, t, s1, and s2 in each torque distribution element in the torque distribution coefficient set are usually discrete data. Triangulation can be used to fit discrete data, and the fitting function determined by fitting each torque distribution element in the torque distribution coefficient set using the triangulation method can obtain a more accurate fitting result.

[0080] S240 : Determine a target gear matching pair and a target torque distribution coefficient according to the target vehicle speed and the target wheel-end torque based on a fitting function.

[0081] S250: Control the first electric drive axle and the second electric drive axle to switch gears according to the target gear matching pair and the target torque distribution coefficient.

[0082] This embodiment determines a torque distribution coefficient set through a gear coordination pair set, and after performing function fitting on the element values ​​of each torque distribution element in the torque distribution coefficient set, determines a fitting function, so that after obtaining the target vehicle speed and target wheel-end torque, the target vehicle speed and target wheel-end torque can be substituted into the fitting function to calculate the corresponding target gear coordination pair and target torque distribution coefficient, so that by adopting the target gear coordination pair and target torque distribution coefficient, the first electric drive axle and the second electric drive axle are controlled to perform gear switching, which can improve the efficiency of the coordinated work of the first electric drive axle and the second electric drive axle and enable the entire vehicle to exhibit better economic performance.

[0083] Based on the above embodiment, the embodiment of the present invention further explains how to obtain a gear coordination pair set. Figure 3 is a flow chart of a third method for controlling a dual-bridge electric drive bridge according to an embodiment of the present invention, with reference to Figure 3 , the method includes:

[0084] S300: When a gear shift request is received, a target vehicle speed and a target wheel-end torque are obtained.

[0085] S310: Obtain a first set and a second set.

[0086] Among them, the first set includes multiple first elements, and the element values ​​of the first elements include vehicle speed and wheel-end torque; the second set includes multiple second elements, and the element values ​​of the second elements include the operating gear of the first electric drive axle and the operating gear of the second electric drive axle.

[0087] Exemplarily, the first set can be a set of vehicle speed and wheel-end torque, recorded as {(v1, t1), (v2, t2)…}, where (v, t) can be a first element, the element value of the first element includes v, t, v is the vehicle speed, and t is the wheel-end torque; the second set can be a set of the first electric drive axle operating gear and the second electric drive axle operating gear, recorded as {(s11, s21), (s12, s22)…}, where (s1, s2) can be a second element, the element value of the second element includes s1, s2, s1 is the first electric drive axle gear, and s2 is the second electric drive axle gear.

[0088] S320: Determine a first total efficiency set corresponding to the first element according to the operating gear of each second element and the vehicle speed and wheel-end torque of the first element.

[0089] The first total efficiency set includes a plurality of first efficiency elements corresponding one-to-one to the plurality of second elements, and an element value of the first efficiency element includes the sum of the operating efficiencies of the first electric drive axle and the second electric drive axle.

[0090] Specifically, the wheel-end torque in the first element is the torque output to the vehicle wheel end by the first electric drive axle and the second electric drive axle in cooperation. At this time, based on the principle of torque equal division, it can be determined that the output torque of the first electric drive axle and the second electric drive axle are respectively half of the wheel-end torque. At this time, the set of vehicle speed and wheel-end torque of a single axle can be determined, which is recorded as {(v1, ), (v2, )……}, the output efficiency of the first electric drive axle and the second electric drive axle when they have different gear distribution conditions is determined under each element of the vehicle speed and wheel end torque set of a single drive axle, that is, the first total efficiency. The first total efficiency set can be recorded as {(v, s11,s21,e11),(v, s 12, s22, e12), ...}, where (v, s1, s2, e1) is a first efficiency element, and the element value of the first efficiency element is (v, s1, s2, e1), the element value of the first efficiency element can represent that the output torques of the first electric drive axle and the second electric drive axle are both When the operating gear position of the first electric drive axle is s1 and the operating gear position of the second electric drive axle is s2, and the vehicle speed is v, the sum of the operating efficiencies of the first electric drive axle and the second electric drive axle is e1.

[0091] It can be understood that each first element in the first set corresponds one-to-one to each first total efficiency set, that is, when the number of first elements in the first set is n, m first total efficiency sets can be determined; each second element in the second set corresponds one-to-one to each first efficiency element in the first total efficiency set, that is, when the number of second elements in the second set is m, the first efficiency element in the first total efficiency set is m; v and / or t are different in different first total efficiency sets; in the same first total efficiency set, v and t in each first efficiency element are the same, the combination of s1 and s2 is different, and there are differences in e1 between each first efficiency element.

[0092] S330 : Determine respectively the first efficiency element having the maximum element value in each first total efficiency set as the first optimal efficiency element.

[0093] Specifically, since the allocated gears of the first electric drive axle and the second electric drive axle in each first efficiency element of the same first total efficiency set are different, the first total efficiencies in each first efficiency element are different. At this time, the first total efficiencies e1 in each first efficiency element can be sorted to determine the first total efficiency with the maximum value. The first efficiency element to which the first total efficiency with the maximum value belongs is the first optimal efficiency element.

[0094] For example, {(v, s11,s21,e11),(v, s12, s22, e12), ...} is an example of the first total efficiency set. If e11 has the maximum value, the first efficiency element (v, s11, s21, e11) is determined as the first best efficiency element.

[0095] S340: Use the second element corresponding to the first best efficiency element of the first total efficiency set as the best allocated gear element corresponding to the first total efficiency set.

[0096] Specifically, since each first efficiency element in the first total efficiency set corresponds to each second element in the second set, after determining the first best efficiency element, the second element corresponding to the first best efficiency element can be determined as the best allocation gear element. For example, {(s11, s21), (s12, s22) ...} is the second set, {(v, s11,s21,e11),(v, s12, s22, e12), ...} is the first total efficiency set. When the first best efficiency element is (v, s11, s21, e11), the best allocated gear element is determined to be (s11, s21).

[0097] S350: The first element corresponding to the first total efficiency set and the optimal allocated gear element corresponding to the first total efficiency set are grouped as a first element.

[0098] Specifically, each first element in the first set can correspond to a first total efficiency set. At this time, the first element equal to the first efficiency elements v and t in the first total efficiency set is the first element corresponding to the first total efficiency set. The element value of the first element includes v and t, and the element value of the optimal gear allocation element includes s1 and s2. At this time, the first element group composed of the first element and the optimal gear allocation element includes element values ​​v, t, s1 and s2.

[0099] For example, the first set is represented by {(v1, t1), (v2, t2) ...}, the second set is represented by {(s11, s21), (s12, s22) ...}, and the first total efficiency set corresponding to the first element (v1, t1) in the first set is {(v1, s11, s21, e111), (v1, s12, s22, e112), ...}, and the first total efficiency set corresponding to the first element (v2, t2) in the first set is {(v2, s11, s21, e121), (v2, s12, s22, e122), ...}, ...; when the first total efficiency set {(v1, s11, s21, e111), (v1, s12, s22, e112), ...} is the first best efficiency element (v1, s11, s21, e11), and the first best efficiency element is (v1, s11, s21, e111) corresponds to the second element (s11, s21). At this time, the first element group composed of the first element (v1, t1) and the second element (s11, s21) is (v1, t1, s11, s21). Correspondingly, when the first total efficiency set {(v2, s11, s21, e121), (v2, s 12, s22, e122), ...} the first best efficiency element is (v2, s12, s22, e122), and the first best efficiency element is (v2, s12, s22, e12) is (s12, s22), and the first element group composed of the first element (v2, t2) and the second element (s12, s22) is (v2, t2, s12, s22).

[0100] S360, taking each element value of the first element group as an element value of a gear matching element, and taking a set composed of each gear matching element as a gear matching pair set.

[0101] Specifically, the number of the determined first element group is equal to the number of the first elements in the first set, that is, when the number of the first elements in the first set is n, the number of the determined first element group is n, and the first element group includes the vehicle speed, the wheel end torque, the operating gear of the first electric drive axle and the operating gear of the second electric drive axle, and the operating gears of the first electric drive axle and the second electric drive axle in the first element group are the operating gears when the first electric drive axle and the second electric drive axle have the maximum total efficiency, at this time, taking the first element group as the element value of the gear matching element of the gear matching pair set, the first electric drive axle and the second electric drive axle can have larger total efficiency when the parameters in the element value of the gear matching element control the first electric drive axle and the second electric drive axle to work.

[0102] For example, when the first element group composed of the first element (v1, t1) is (v1, t1, s11, s21), and the first element group composed of the first element (v2, t2) is (v2, t2, s12, s22), the gear matching pair set can be denoted as {(v1, t1, s11, s21), (v2, t2, s12, s22), …}.

[0103] S370, determining a torque distribution coefficient set according to the gear matching pair set.

[0104] S380, performing function fitting on the element value of each torque distribution element in the torque distribution coefficient set to determine a fitting function.

[0105] S390, determining a target gear matching pair and a target torque distribution coefficient based on the fitting function according to the target vehicle speed and the target wheel end torque.

[0106] S391, controlling the first electric drive axle and the second electric drive axle to perform gear shifting according to the target gear matching pair and the target torque distribution coefficient.

[0107] On the basis of the above embodiment, the embodiment of the application further describes how to obtain the torque distribution coefficient set, Figure 4 is a flow chart of a fourth control method of a double-axle electric drive axle provided by the embodiment of the application, referring to Figure 4 , the method comprises:

[0108] S400: When a gear shift request is obtained, a target vehicle speed and a target wheel-end torque are obtained.

[0109] S410: Obtain a gear coordination pair set.

[0110] S420: Obtain a third set.

[0111] The third set includes a plurality of third elements, and the element values ​​of the third elements include the torque coordination coefficients of the first electric drive axle and the second electric drive axle.

[0112] For example, the third set can be recorded as {(a11, a21), (a21, a22)...},

[0113] (a1, a2) is a third element, and the element values ​​of the third element include a1 and a2, where a1 is the torque coordination coefficient of the first electric drive axle and a2 is the torque coordination coefficient of the second electric drive axle. For example, when a1 is a, a2 is 1-a, and the value range of a is [0, 1].

[0114] S430: Determine a second total efficiency set corresponding to the gear coordination element based on the torque coordination coefficient of each third element, the gear coordination pair, the vehicle speed, and the wheel-end torque of the gear coordination element.

[0115] The second total efficiency set includes a plurality of second efficiency elements corresponding one-to-one to the plurality of third elements, and an element value of the second efficiency element includes the sum of the operating efficiencies of the first electric drive axle and the second electric drive axle.

[0116] Specifically, the third element, the torque coordination coefficient, may include the proportion of the output torque of the first electric drive axle in the total output torque, and the proportion of the output torque of the second electric drive axle in the total output torque. The total output torque may be represented by the wheel-end torque. In this case, assuming the wheel-end torque is a fixed value, the output torque of the first electric drive axle and the output torque of the second electric drive axle can be determined based on the torque coordination coefficient.

[0117] Among them, the output efficiency of the first electric drive axle and the second electric drive axle when they have different torque distribution coefficients is determined respectively under each gear coordination element (v, t, s1, s2) of the gear coordination pair set, that is, the second total efficiency, and the second total efficiency set is recorded as {(v, t, s1, s2, a11, a21, e21), (v, t, s1, s2, a12, a22, e22)...}.

[0118] It can be understood that the second efficiency elements in the second total efficiency set correspond one-to-one to the electrical elements in the third set, that is, when the third set includes p third elements, the second total efficiency set also includes p second efficiency elements, wherein the torque distribution coefficients in the corresponding third elements and second efficiency elements are the same; accordingly, each gear coordination element in the gear coordination pair set corresponds one-to-one to each second total efficiency set, that is, when the gear coordination pair set includes n gear coordination elements, n second total efficiency sets can be determined accordingly.

[0119] S440 : Determine respectively the second efficiency element having the maximum element value in each second total efficiency set as the second optimal efficiency element.

[0120] Specifically, since the torque coordination coefficients of the first electric drive axle and the second electric drive axle in each second efficiency element of the same second total efficiency set are different, the second total efficiencies in each second efficiency element are different. At this time, the second total efficiencies e2 in the second efficiency elements can be sorted to determine the second total efficiency with the maximum value. The second total efficiency element with the maximum value is the first optimal efficiency element.

[0121] For example, taking {(v, t, s1, s2, a11, a21, e21), (v, t, s1, s2, a12, a22, e22)…} as the second total efficiency set, if e21 has the maximum value, the second efficiency element (v, t, s1, s2, a11, a21, e21) including e21 can be determined as the second optimal efficiency element.

[0122] S450: Use the third element corresponding to the second best efficiency element of the second total efficiency set as the best allocation coefficient element corresponding to the second total efficiency set.

[0123] Specifically, since each second efficiency element in the second total efficiency set corresponds one-to-one to each third element in the third set, after determining the second best efficiency element, the third element corresponding to the second best efficiency element can be determined as the best allocation coefficient element. For example, let {(a11, a21), (a21, a22) ...} be the third set, and {(v, t, s1, s2, a11, a21, e21), (v, t, s1, s2, a12, a22, e22) ...} be the second total efficiency set. When the second best efficiency element is (v, t, s1, s2, a11, a21, e21), the best allocation coefficient element determined is (a11, a21).

[0124] S460: The optimal distribution coefficient element corresponding to the second total efficiency set and the gear coordination element corresponding to the second efficiency set are combined into a second element group.

[0125] Specifically, each optimal distribution coefficient element in the optimal distribution coefficient set can correspond to a second total efficiency set. At this time, the gear coordination element that is equal to the second efficiency element in the second total efficiency set is the gear coordination element corresponding to the second efficiency set. The element value of the gear coordination element includes v, t, s1 and s2, and the element value of the optimal distribution coefficient element includes a1 and a2. At this time, the second element group composed of the optimal distribution coefficient element and the gear coordination element group includes element values ​​v, t, s1, s2, a1 and a2.

[0126] For example, {(v1, t1, s11, s21), (v2, t2, s12, s22) ...} is a gear coordination pair set, {(a11, a21), (a21, a22) ...} represents an optimal allocation coefficient set, and the second total efficiency set corresponding to the gear coordination pair element (v1, t1, s11, s21) in the gear coordination pair set is {(v1, t1, s11, s21, a11, a21, e211), (v1, t1, s11, s21, a12, a22, e212)……}, and the second total efficiency set corresponding to the gear coordination element (v2, t2, s12, s22) in the gear coordination pair set is {(v2, t2, s12, s22, a11, a21, e211), (v1, t1, s11, s21, a12, a22, e222)……}, …; when the second best efficiency element in the gear coordination pair set is (v1, t1, s11, s21, a11, a21, e211), the second best efficiency element in the gear coordination pair set is (v1, t1, s11, s21, a11, a21, e211). 21, a11, a21, e211) corresponds to the optimal distribution coefficient element (a11, a21). At this time, the second element group composed of the optimal distribution coefficient element (a11, a21) and the gear coordination element (v1, t1, s11, s21) is (v1, t1, s11, s21, a11, a21); Correspondingly, when the second total efficiency set {(v2, t2, s12, s22, a11, a21, e211), (v2, t2, s12, s22, a12, a22, e222 ), …}; when the second optimal efficiency element is (v2, t2, s12, s22, a12, a22, e222), the optimal distribution coefficient element corresponding to the second optimal efficiency element (v2, t2, s12, s22, a12, a22, e222) is (a12, a22). At this time, the second element group composed of the optimal distribution coefficient element (a12, a22) and the gear coordination element (v2, t2, s12, s22) is (v2, t2, s12, s22, a12, a22).

[0127] S470: Utilize each element value of the second element group as the element value of the torque distribution element, and utilize the set formed by each torque distribution element as the torque distribution coefficient set.

[0128] Specifically, the number of determined second element groups is equal to the number of gear coordination pairs in the gear coordination pair set. That is, when the number of gear coordination elements in the gear coordination pair set is n, the number of determined second element groups is n. Furthermore, the second element group includes vehicle speed, wheel-end torque, the operating gear of the first electric drive axle and the operating gear of the second electric drive axle, the torque coordination coefficient of the first electric drive axle and the torque coordination coefficient of the second electric drive axle, and the torque coordination coefficient of the first electric drive axle and the torque coordination coefficient of the second electric drive axle in the second element group is the coordination coefficient at the maximum second overall efficiency. In this case, using the second element group as the element value of the gear coordination element in the gear coordination pair set, the first electric drive axle and the second electric drive axle can achieve a higher overall efficiency when the first electric drive axle and the second electric drive axle are controlled by the parameters in the element value of the gear coordination element.

[0129] For example, when the second element group composed of gear coordination elements (v1, t1, s11, s21) is (v1, t1, s11, s21, a11, a21), and the second element group composed of gear coordination elements (v2, t2, s12, s22) is (v2, t2, s12, s22, a12, a22), the torque distribution coefficient set is recorded as {(v1, t1, s11, s21, a11, a21), (v2, t2, s12, s22, a12, a22)…}.

[0130] S480 , performing function fitting on the element value of each torque distribution element in the torque distribution coefficient set to determine a fitting function.

[0131] S490: Determine a target gear matching pair and a target torque distribution coefficient based on the target vehicle speed, the target wheel-end torque, and a fitting function.

[0132] S491: Control the first electric drive axle and the second electric drive axle to switch gears according to the target gear matching pair and the target torque distribution coefficient.

[0133] Figure 5 is a flowchart of a fifth method for controlling a dual-bridge electric drive bridge according to an embodiment of the present invention, with reference to Figure 5 , the method comprising:

[0134] S500: When a gear shift request is obtained, a target vehicle speed and a target wheel-end torque are obtained.

[0135] S510: Obtain a gear coordination pair set.

[0136] S520: Obtain a third set.

[0137] S530. Determine, based on the vehicle speed and wheel-end torque of the gear coordination element, the motor speed of the first electric drive axle, the motor speed of the second electric drive axle, the motor torque of the first electric drive axle, and the motor torque of the second electric drive axle corresponding to the gear coordination element.

[0138] Among them, the vehicle speed and the motor speed can be in direct proportion, that is, when the required vehicle speed is large, it is necessary to control the first electric drive axle and the second electric drive axle to have a larger electrode speed; similarly, the wheel-end torque and the motor torque can also be in direct proportion, that is, when the required wheel-end torque is large, the first electric drive axle and the second electric drive axle are required to have a larger motor torque.

[0139] Optionally, determining the motor speed of the first electric drive axle, the motor speed of the second electric drive axle, the motor torque of the first electric drive axle, and the motor torque of the second electric drive axle corresponding to the gear coordination element according to the vehicle speed and wheel-end torque of the gear coordination element includes: calculating the motor speed of the first electric drive axle and the motor speed of the second electric drive axle based on a first formula according to the vehicle speed of the gear coordination element; calculating the motor torque of the first electric drive axle and the motor torque of the second electric drive axle based on a second formula according to the wheel-end torque of the gear coordination element;

[0140] The first formula is:

[0141]

[0142] Wherein, n is the motor speed of the first electric drive axle or the second electric drive axle, v is the vehicle speed of the gear coordination element, q is the axle speed ratio of the first electric drive axle or the second electric drive axle, and r is the wheel rolling radius;

[0143] Correspondingly, the second formula is:

[0144]

[0145] Among them, m is the motor torque of the first electric drive axle or the second electric drive axle, a is the distribution coefficient of the first electric drive axle or the second electric drive axle, t is the wheel end torque of the gear coordination element, and q is the axle speed ratio of the first electric drive axle or the second electric drive axle.

[0146] Specifically, the axle speed ratio is the speed ratio of the reducer on the electric drive axle, which affects the motor torque and motor speed. Since the reducers of the first and second electric drive axles may be different, the axle speed ratios of the two may be different. If the axle speed ratios of the first and second electric drive axles are different, the axle speed and motor torque of the first electric drive axle and the motor speed and motor torque of the second electric drive axle can be calculated based on the above formulas, respectively.

[0147] S540: Determine a second total efficiency set corresponding to the gear coordination element according to the motor torque and motor speed corresponding to the gear coordination element and based on a mapping relationship in the efficiency table.

[0148] Among them, the efficiency table is the electrical component efficiency MAP table and the transmission mechanical efficiency MAP table of each gear. Interpolation calculation is performed based on the motor torque, motor speed and efficiency table corresponding to the gear coordination element to determine the second total efficiency set corresponding to the gear coordination element.

[0149] S550 : Determine respectively the second efficiency element with the maximum element value in each second total efficiency set as the second optimal efficiency element.

[0150] S560: Use the third element corresponding to the second best efficiency element of the second total efficiency set as the best allocation coefficient element corresponding to the second total efficiency set.

[0151] S570: Count the optimal distribution coefficient element corresponding to the second total efficiency set and the gear coordination element corresponding to the second efficiency set as a second element group.

[0152] S580: Utilize each element value of the second element group as the element value of the torque distribution element, and utilize the set formed by each torque distribution element as the torque distribution coefficient set.

[0153] S590 : Perform function fitting on the element value of each torque distribution element in the torque distribution coefficient set to determine a fitting function.

[0154] S591. Determine a target gear matching pair and a target torque distribution coefficient based on a fitting function according to the target vehicle speed and the target wheel-end torque.

[0155] S592: Control the first electric drive axle and the second electric drive axle to switch gears according to the target gear matching pair and the target torque distribution coefficient.

[0156] The embodiment of the present invention takes into account both the efficiency of the involved parts and the efficiency of the transmission machinery based on the power transmission route, obtains the target torque distribution coefficient and the target gear matching pair based on the efficiency of the entire vehicle, and ensures the optimization of the efficiency of the coordinated cooperation of the vehicle's dual-axle electric drive axle. Figure 6 is a flowchart of a sixth method for controlling a dual-bridge electric drive bridge according to an embodiment of the present invention, with reference to Figure 6 , the method includes:

[0157] S610: When a gear shift request is obtained, a fitting function, a target vehicle speed, and a target wheel-end torque are obtained.

[0158] S620, determining a target gear matching pair and a target torque distribution coefficient based on the fitting function according to the target vehicle speed and the target wheel end torque.

[0159] S630, determining a first torque output control value of the first electric drive axle and a second torque output control value of the second electric drive axle based on the target torque distribution coefficient respectively.

[0160] Specifically, by distributing the output control values to the first electric drive axle and the second electric drive axle according to the target torque distribution coefficient, the efficiency of the cooperative work of the double-axle electric drive axle is further improved, and the vehicle has better economic performance.

[0161] S640, controlling the first electric drive axle to perform torque reduction gear shifting based on the first torque output control value until the gear of the first electric drive axle is switched to the target running gear of the first electric drive axle.

[0162] Specifically, when performing gear shifting, the first electric drive axle is controlled to perform gear shifting, and the first electric drive axle is controlled to work according to the first torque output control value, the output torque of the first electric drive axle is reduced, and the motor speed in the first electric drive axle is increased, so that the first electric drive axle can be switched from the current running gear to the target running gear of the first electric drive axle.

[0163] S650, controlling the second electric drive axle to perform torque reduction gear shifting based on the second torque output control value until the gear of the second electric drive axle is switched to the target running gear of the second electric drive axle.

[0164] Specifically, when the first electric drive axle completes gear shifting, the second electric drive axle can be controlled to perform gear shifting, and the second electric drive axle is controlled to work according to the second torque output control value, the output torque of the second electric drive axle is reduced, and the motor speed in the second electric drive axle is increased, so that the second electric drive axle can be switched from the current running gear to the target running gear of the second electric drive axle.

[0165] The embodiment of the application distributes the output control values to the first electric drive axle and the second electric drive axle according to the target torque distribution coefficient, so that the first electric drive axle performs torque reduction gear shifting first, the second electric drive axle does not perform torque reduction gear shifting, and continuously provides vehicle power output, and after the first electric drive axle completes gear shifting, the first electric drive axle continuously provides vehicle power output, and at this time the second electric drive axle performs torque reduction gear shifting, so as to realize power uninterrupted gear shifting, improve the efficiency of the cooperative work of the first electric drive axle and the second electric drive axle, and make the vehicle have better economic performance.

[0166] Based on the same inventive concept, the embodiment of the application provides a vehicle, which comprises a double-axle electric drive axle and a controller, the double-axle electric drive axle comprises a first electric drive axle and a second electric drive axle, and the controller is used to execute the method of the double-axle electric drive axle. The same places can be referred to the description above.

[0167] Based on the same inventive concept, an embodiment of the present invention provides a control device for a dual-bridge electric drive bridge, which is used to execute the control method for the dual-bridge electric drive bridge of the above embodiment. Figure 7 FIG. 1 is a schematic structural diagram of a control device for a dual-bridge electric drive bridge according to an embodiment of the present invention. Figure 7 As shown, the device includes:

[0168] The acquisition module 710 is configured to acquire a fitting function, a target vehicle speed, and a target wheel-end torque when a gear shift request is received.

[0169] The determination module 720 is configured to determine a target gear matching pair and a target torque distribution coefficient according to the target vehicle speed and the target wheel-end torque based on a fitting function.

[0170] The gear switching module 730 controls the first electric drive axle and the second electric drive axle to perform gear switching according to the target gear matching pair and the target torque distribution coefficient.

[0171] The control device of the dual-bridge electric drive bridge provided in the embodiment of the present invention can execute the control method of the dual-bridge electric drive bridge provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0172] Based on the same inventive concept, an embodiment of the present invention further provides an electronic device, Figure 8 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0173] like Figure 8As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0174] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0175] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the control method for the dual-bridge electric drive axle.

[0176] In some embodiments, the control method of the dual-bridge electric drive axle can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the dual-bridge electric drive axle described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the control method of the dual-bridge electric drive axle in any other suitable manner (e.g., by means of firmware).

[0177] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0178] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0179] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0180] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0181] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0182] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0183] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0184] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A control method for a dual-bridge electric drive axle, applied to a vehicle, wherein the dual-bridge electric drive axle comprises a first electric drive axle and a second electric drive axle, characterized in that: include: When a shift request is received, a fitting function, a target vehicle speed, and a target wheel-end torque are obtained; determining a target gear matching pair and a target torque distribution coefficient according to the target vehicle speed and the target wheel-end torque and based on the fitting function; The target gear coordination pair includes a target operating gear of the first electric drive axle and a target operating gear of the second electric drive axle, and the target torque distribution coefficient includes a target torque distribution coefficient of the first electric drive axle and / or a target torque distribution coefficient of the second electric drive axle; controlling the first electric drive axle and the second electric drive axle to perform gear switching according to the target gear matching pair and the target torque distribution coefficient; Get the fitting function, including: Acquire a gear coordination pair set; the gear coordination pair set includes a plurality of gear coordination elements; the element values ​​of the gear coordination elements include vehicle speed, wheel end torque, and the gear coordination pairs of the first electric drive axle and the second electric drive axle; Determining a torque distribution coefficient set based on the gear coordination pair set; the torque distribution coefficient set includes a plurality of torque distribution elements corresponding one-to-one to a plurality of gear coordination elements; element values ​​of the torque distribution elements include the vehicle speed, the wheel-end torque, the gear coordination pairs of the first electric drive axle and the second electric drive axle, and the torque distribution coefficients of the first electric drive axle and the second electric drive axle; Function fitting is performed on the element value of each torque distribution element in the torque distribution coefficient set to determine the fitting function.

2. The control method according to claim 1, characterized in that: Get the gear matching pair set, including: Obtain a first set and a second set; the first set includes a plurality of first elements; the element values ​​of the first elements include vehicle speed and wheel-end torque; the second set includes a plurality of second elements; the element values ​​of the second elements include the operating gear position of the first electric drive axle and the operating gear position of the second electric drive axle; Determining a first total efficiency set corresponding to each of the second elements based on the operating gear of each second element and the vehicle speed and wheel-end torque of the first element; the first total efficiency set includes a plurality of first efficiency elements corresponding one-to-one to the plurality of second elements; an element value of the first efficiency element includes the sum of the operating efficiencies of the first electric drive axle and the second electric drive axle; respectively determining the first efficiency element having the largest element value in each of the first total efficiency sets as the first optimal efficiency element; using the second element corresponding to the first best efficiency element of the first total efficiency set as the best allocated gear element corresponding to the first total efficiency set; taking the first element corresponding to the first total efficiency set and the optimally allocated gear element corresponding to the first total efficiency set as a first element group; The element values ​​of the first element group are used as the element values ​​of the gear coordination elements, and the set formed by the gear coordination elements is used as the gear coordination pair set.

3. The control method according to claim 1, wherein: Determining a set of torque distribution coefficients according to the gear matching pair set includes: Acquire a third set; the third set includes a plurality of third elements; the element value of the third element includes the torque coordination coefficient of the first electric drive axle and the second electric drive axle; Determining a second total efficiency set corresponding to the gear coordination element based on the torque coordination coefficient of each third element, the gear coordination pair, vehicle speed, and wheel-end torque of the gear coordination element; the second total efficiency set includes a plurality of second efficiency elements corresponding one-to-one to the plurality of third elements; an element value of the second efficiency element includes the sum of the operating efficiencies of the first electric drive axle and the second electric drive axle; respectively determining the second efficiency element having the maximum element value in each of the second total efficiency sets as the second optimal efficiency element; using the third element corresponding to the second best efficiency element of the second total efficiency set as the best allocation coefficient element corresponding to the second total efficiency set; taking the optimal distribution coefficient element corresponding to the second total efficiency set and the gear coordination element corresponding to the second total efficiency set as a second element group; The value of each element of the second element group is used as the element value of the torque distribution element, and the set formed by each of the torque distribution elements is used as the torque distribution coefficient set.

4. The control method according to claim 3, characterized in that: Determining a second total efficiency set corresponding to the gear coordination element according to the torque coordination coefficient of each third element, and the gear coordination pair, vehicle speed, and wheel-end torque of the gear coordination element includes: Determining, based on the vehicle speed and wheel-end torque of the gear coordination element, the motor speed of the first electric drive axle, the motor speed of the second electric drive axle, the motor torque of the first electric drive axle, and the motor torque of the second electric drive axle corresponding to the gear coordination element; According to the motor torque and the motor speed corresponding to the gear coordination element and based on a mapping relationship in an efficiency table, the second total efficiency set corresponding to the gear coordination element is determined.

5. The control method according to claim 4, characterized in that: Determining, based on the vehicle speed and wheel-end torque of the gear coordination element, the motor speed of the first electric drive axle, the motor speed of the second electric drive axle, the motor torque of the first electric drive axle, and the motor torque of the second electric drive axle corresponding to the gear coordination element, includes: According to the vehicle speed of the gear coordination element, the motor speed of the first electric drive axle and the motor speed of the second electric drive axle are calculated based on a first formula; the first formula is: , wherein n is the motor speed of the first electric drive axle or the second electric drive axle, v is the vehicle speed of the gear coordination element, q is the bridge speed ratio of the first electric drive axle or the second electric drive axle, and r is the wheel rolling radius; According to the wheel end torque of the gear coordination element, the motor torque of the first electric drive axle and the motor torque of the second electric drive axle are calculated based on a second formula; the second formula is: , where m is the motor torque of the first electric drive axle or the second electric drive axle, a is the distribution coefficient of the first electric drive axle or the second electric drive axle, t is the wheel-end torque of the gear coordination element, and q is the axle speed ratio of the first electric drive axle or the second electric drive axle.

6. The control method according to claim 1, characterized in that: Obtain target wheel end torque, including: Get the accelerator pedal opening and maximum output torque; The target wheel end torque is determined according to the accelerator pedal opening and the maximum output torque.

7. The control method according to claim 1, characterized in that: Controlling the first electric drive axle and the second electric drive axle to perform gear switching according to the target gear matching pair and the target torque distribution coefficient includes: determining a first torque output control value of the first electric drive axle and a second torque output control value of the second electric drive axle respectively based on the target torque distribution coefficient; controlling the first electric drive axle to perform torque-down shifting based on the first torque output control value until the gear position of the first electric drive axle is switched to the target operating gear position of the first electric drive axle; The second electric drive axle is controlled to perform a torque-down shift based on the second torque output control value until the gear position of the second electric drive axle is switched to the target operating gear position of the second electric drive axle.

8. A vehicle, characterized in that: include: dual-bridge electric drive axle and controller; The dual-bridge electric drive axle includes a first electric drive axle and a second electric drive axle; The controller is used to execute the method of the dual-bridge electric drive bridge according to any one of claims 1 to 7.

9. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method of the dual-bridge electric drive bridge according to any one of claims 1 to 7 is implemented.

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