Vehicle control method and device and vehicle

Abstract

The invention discloses a vehicle control method and device and a vehicle, and belongs to the technical field of vehicles. The control method of the vehicle comprises the steps that under the condition that the vehicle runs, the first wheel speed of at least one driven wheel and the second wheel speed of each driving wheel are obtained; based on the difference degree between each second wheel speed and the first wheel speed, determining a target wheel in a slipping state from the plurality of driving wheels; controlling the target wheel to enter an intermittent braking mode for transmitting the driving force to the other one of the two driving wheels except the target wheel when the target wheel is in the braking state; and under the condition that the other driving wheel drives the vehicle to move, the target wheel is controlled to exit the intermittent braking mode. According to the control method of the vehicle, the wheels on the two sides of the vehicle can move, and then the vehicle is helped to get out of trouble; the wheel speed of the wheel can be automatically detected, the working mode of the wheel can be controlled, manual operation of a driver is not needed, and the driving safety of the driver is improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a vehicle control method, device and vehicle. Background Art

[0002] For pure electric tractors with electric drive axle power configuration, the compact structure of the electric drive axle makes it difficult for pure electric tractors to have enough space to arrange the differential lock structure. For electric drive axle tractors without differential locks, they are often unable to get out of trouble and drive in slipping scenarios, causing inconvenience to the normal operation of the vehicle. In the related art, there is a method of manually reducing the speed of the vehicle to output greater torque to help the vehicle get out of trouble, but this method may cause the vehicle to be unable to get out of trouble due to the driver's failure to operate or improper operation, and frequent manual operation is required, thus affecting the driver's driving safety. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a vehicle control method, device and vehicle, which enables the wheels on both sides of the vehicle to move, thereby helping the vehicle to get out of trouble; the wheel speed can be automatically detected and the working mode of the wheel can be controlled without the driver's manual operation, thereby improving the driver's driving safety.

[0004] In a first aspect, the present application provides a control method for a vehicle, wherein the vehicle comprises a driven wheel pair and at least one set of driving wheel pairs, wherein the driven wheel pair comprises two driven wheels, and each set of the driving wheel pair comprises two driving wheels; the method comprises:

[0005] When the vehicle is moving, obtaining a first wheel speed of at least one of the driven wheels and a second wheel speed of each of the driving wheels;

[0006] determining a target wheel in a slipping state from among the plurality of driving wheels based on a difference between each of the second wheel speeds and the first wheel speed;

[0007] Controlling the target wheel to enter an intermittent braking mode, so as to transmit the driving force to another driving wheel of the two driving wheels except the target wheel during the period when the target wheel is in a braking state, wherein the other driving wheel and the target wheel are located at two ends of the same axle;

[0008] In a case where the vehicle is driven to move based on the other driving wheel, the target wheel is controlled to exit the intermittent braking mode.

[0009] According to the vehicle control method provided in the embodiment of the present application, by comparing the difference between the wheel speed of the driving wheel and the wheel speed of the driven wheel, the driving wheel in a slipping state can be determined, and the slipping driving wheel can be controlled to enter an intermittent braking mode, so that the driving wheel can be in a low-speed but not locked state, thereby transmitting power to the wheel with a high adhesion rate to rotate it, so that the wheels on both sides of the vehicle can move, thereby helping the vehicle to get out of trouble; the wheel speed can be automatically detected and the working mode of the wheel can be controlled without the driver's manual operation, thereby improving the driver's driving safety.

[0010] A vehicle control method according to an embodiment of the present application, wherein controlling the target wheel to enter an intermittent braking mode comprises:

[0011] In a case where the target wheel includes a plurality of drive wheels respectively located at two ends of the same axle, controlling the plurality of drive wheels to alternately enter the intermittent braking mode;

[0012] In a case where the target wheel includes a driving wheel located at only one end of the same axle, the driving wheel located at only one end of the same axle is controlled to enter the intermittent braking mode.

[0013] A vehicle control method according to an embodiment of the present application, wherein the control of the driving wheel located at the only end of the same axle to enter the intermittent braking mode comprises:

[0014] In a cycle of the intermittent braking mode, controlling the driving wheel located at only one end of the same axle to enter a braking mode;

[0015] After controlling the driving wheel located at the only end of the same axle to enter the braking mode for a first period of time, controlling the driving wheel located at the only end of the same axle to exit the braking mode.

[0016] A vehicle control method according to an embodiment of the present application, wherein the controlling the plurality of driving wheels to alternately enter the intermittent braking mode comprises:

[0017] In a cycle of alternately entering the intermittent braking mode, controlling a first driving wheel among the multiple driving wheels to enter a braking mode, and controlling a second driving wheel among the multiple driving wheels to maintain an unchanged working mode;

[0018] After controlling the first driving wheel to enter the braking mode for a first time period, controlling the first driving wheel to exit the braking mode, and controlling the second driving wheel to enter the braking mode;

[0019] After controlling the second driving wheel to enter the braking mode for a first time period, controlling the second driving wheel to exit the braking mode.

[0020] In a vehicle control method according to an embodiment of the present application, a cycle of the intermittent braking mode includes a first duration and a release duration, the first duration is shorter than the release duration, the first duration is the duration during which the target wheel enters the braking mode within a cycle of the intermittent braking mode, and the release duration is the duration during which the target wheel enters the non-braking mode within a cycle of the intermittent braking mode.

[0021] In a vehicle control method according to an embodiment of the present application, controlling the target wheel to exit the intermittent braking mode comprises:

[0022] In the process of controlling the target wheel to enter the intermittent braking mode, obtaining a new second wheel speed of the target wheel in a non-braking state;

[0023] The target wheel is controlled to exit the intermittent braking mode based on a difference between the new second wheel speed and the first wheel speed.

[0024] A vehicle control method according to an embodiment of the present application, in which the number of the at least one set of driving wheel pairs is two, and the two driving wheels on the same axle are respectively connected to the motor through driving half shafts, controlling the target wheel to enter the intermittent braking mode includes:

[0025] Controlling the motors corresponding to each group of driving wheel pairs to rotate at the same speed;

[0026] The target wheel is controlled to enter the intermittent braking mode.

[0027] In a second aspect, the present application provides a control device for a vehicle, the vehicle comprising a driven wheel pair and at least one set of driving wheel pairs, the driven wheel pair comprising two driven wheels, and each set of the driving wheel pair comprising two driving wheels; the device comprising:

[0028] A first processing module, configured to obtain, when the vehicle is moving, a first wheel speed of at least one of the driven wheels and a second wheel speed of each of the driving wheels;

[0029] a second processing module, configured to determine a target wheel in a slipping state from the plurality of driving wheels based on a difference between each of the second wheel speeds and the first wheel speed;

[0030] a third processing module, configured to control the target wheel to enter an intermittent braking mode, so as to transmit a driving force to another driving wheel of the two driving wheels except the target wheel, the other driving wheel and the target wheel being located at two ends of the same axle during the period when the target wheel is in a braking state;

[0031] The fourth processing module is used to control the target wheel to exit the intermittent braking mode based on the other driving wheel driving the vehicle to move.

[0032] According to the control device of the vehicle provided in the embodiment of the present application, by comparing the difference between the wheel speed of the driving wheel and the wheel speed of the driven wheel, the driving wheel in a slipping state can be determined, and the slipping driving wheel can be controlled to enter an intermittent braking mode, so that the driving wheel can be in a low-speed but not locked state, thereby transmitting power to the wheel with a high adhesion rate to make it rotate, so that the wheels on both sides of the vehicle can move, thereby helping the vehicle to get out of trouble; the wheel speed can be automatically detected and the working mode of the wheel can be controlled without the driver's manual operation, thereby improving the driver's driving safety.

[0033] In a third aspect, the present application provides a vehicle, comprising:

[0034] A driven wheel pair, the driven wheel pair comprising two driven wheels;

[0035] At least one set of driving wheel pairs, each set of driving wheel pairs comprising two driving wheels;

[0036] A controller is connected to each of the driven wheels and each of the driving wheels, and is used to control the driving of the vehicle based on the vehicle control method as described in the first aspect.

[0037] According to the vehicle provided in the embodiment of the present application, by comparing the difference between the wheel speed of the driving wheel and the wheel speed of the driven wheel, the driving wheel in a slipping state can be determined, and the slipping driving wheel can be controlled to enter an intermittent braking mode, so that the driving wheel can be in a low-speed but not locked state, thereby transmitting power to the wheel with a high adhesion rate to make it rotate, so that the wheels on both sides of the vehicle can move, thereby helping the vehicle to get out of trouble; the wheel speed can be automatically detected and the working mode of the wheel can be controlled without the driver's manual operation, thereby improving the driver's driving safety.

[0038] In a vehicle according to one embodiment of the present application, the at least one set of driving wheel pairs is two in number.

[0039] In a fourth aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle control method as described in the first aspect above is implemented.

[0040] In a fifth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle control method as described in the first aspect above is implemented.

[0041] In a sixth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the vehicle control method as described in the first aspect above.

[0042] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0043] By comparing the difference between the wheel speed of the driving wheel and the wheel speed of the driven wheel, the driving wheel in a slipping state can be determined, and the slipping driving wheel can be controlled to enter the intermittent braking mode, so that the driving wheel can be in a low-speed but not locked state, thereby transmitting power to the wheel with a high adhesion rate to make it rotate, so that the wheels on both sides of the vehicle can move, thereby helping the vehicle to get out of trouble; the wheel speed can be automatically detected and the working mode of the wheel can be controlled without the driver's manual operation, thereby improving the driver's driving safety.

[0044] Furthermore, when both sides of the coaxial wheels are in a slipping state, the driving wheel on one side is controlled to enter unilateral braking, and then the driving wheel on the other side is controlled to enter unilateral braking, and the unilateral intermittent braking of the left and right wheels is alternately controlled. While limiting the wheel slippage, it also ensures that the wheels have a low-speed driving speed, which can effectively help the vehicle get out of trouble.

[0045] Furthermore, for vehicles with dual drive axles, when wheel slip is detected, the motor corresponding to the drive axle is controlled to maintain a synchronous speed, and the drive speed synchronization of the dual drive axles can be achieved without a physical mechanical inter-axle differential lock, thereby helping to control the slipping wheel to enter an intermittent braking mode.

[0046] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0048] Figure 1 It is one of the flowcharts of the vehicle control method provided in the embodiment of the present application;

[0049] Figure 2 This is the second flow chart of the vehicle control method provided in the embodiment of the present application;

[0050] Figure 3 is a schematic diagram of the principle of a vehicle control method provided in an embodiment of the present application;

[0051] Figure 4is a system schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0052] Figure 5 is a schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0053] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0055] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0056] The vehicle control method, vehicle control device, electronic device and readable storage medium provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0057] Among them, the vehicle control method can be applied to a terminal, and can be specifically executed by hardware or software in the terminal.

[0058] The terminal includes, but is not limited to, a portable communication device such as a mobile phone or tablet computer with a touch-sensitive surface (e.g., a touch screen display and / or a touch pad). It should also be understood that in some embodiments, the terminal may not be a portable communication device, but a desktop computer with a touch-sensitive surface (e.g., a touch screen display and / or a touch pad).

[0059] In the following various embodiments, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, a mouse and a joystick.

[0060] The vehicle control method provided in the embodiment of the present application can be executed by an electronic device or a functional module or functional entity in the electronic device that can implement the vehicle control method. The electronic devices mentioned in the embodiment of the present application include but are not limited to mobile phones, tablet computers, computers, cameras, wearable devices, etc. The vehicle control method provided in the embodiment of the present application is described below using an electronic device as an example of the execution subject.

[0061] like Figure 1 As shown, the vehicle control method includes: step 110, step 120, step 130 and step 140.

[0062] It should be noted that the vehicle includes a plurality of wheels, and the plurality of wheels can be configured into at least one set of wheel pairs.

[0063] The vehicle may include a driven wheel pair and at least one set of drive wheel pairs.

[0064] The driven wheel pair is a wheel pair that is not directly driven by a transmission or a motor, and the driven wheel pair can rotate based on driving inertia, gravity or driving force of other wheels.

[0065] The driven wheel set includes two driven wheels.

[0066] The driving wheel pair is a wheel pair directly driven by an engine or an electric motor, and is used to provide driving force to the vehicle.

[0067] Each set of driving wheel pairs includes two driving wheels.

[0068] The number of at least one set of wheel pairs may be one set or more sets.

[0069] The vehicle control method provided in the embodiment of the present application can control the vehicle driving by simulating the differential lock function.

[0070] Step 110: When the vehicle is moving, obtain a first wheel speed of at least one driven wheel and a second wheel speed of each driving wheel;

[0071] In this step, a wheel speed sensor can be set on each wheel to measure the wheel speed; or the wheel speed can be read based on the vehicle's anti-lock brake system (ABS) or electronic brake system (EBS); or the wheel speed can be calculated based on a global positioning system and an inertial measurement unit, or other methods can be used to measure the wheel speed, which can be based on user selection and is not limited in this application.

[0072] Taking the measurement of wheel speed based on a wheel speed sensor as an example, the wheel speed sensor may be an electromagnetic induction sensor, which measures the wheel speed by sensing the change in magnetic field generated when the wheel rotates.

[0073] The wheel speed of each wheel can be collected through the ABS or EBS bridge control module, and the wheel speed signal of each wheel can be sent to the vehicle controller.

[0074] The first wheel speed is the wheel speed of the driven wheel, and the second wheel speed is the wheel speed of the driving wheel.

[0075] The first wheel speed of at least one driven wheel (eg, one wheel of the front axle) and the second wheel speeds of all driving wheels (eg, two wheels of the rear axle) may be acquired by sensors.

[0076] The driven wheels are used for steering the vehicle. When the vehicle slips due to poor road conditions (for example, the wheels are in an idling state), the driven wheels will not slip, and the first wheel speed of the driven wheels is the actual rotation speed of the vehicle.

[0077] In the case where the vehicle includes two sets of driving wheel pairs, the wheel speeds of the wheels of the center axle and the rear axle may be acquired.

[0078] Step 120: determining a target wheel in a slipping state from a plurality of driving wheels based on the difference between each second wheel speed and the first wheel speed;

[0079] In this step, for each driving wheel, the difference between its second wheel speed and the first wheel speed of the driven wheel can be calculated. For example, the difference can be calculated by comparing the wheel speeds of the two, or the difference between the two can be determined comprehensively by considering factors such as vehicle speed and acceleration.

[0080] The wheel speed difference threshold can be set to determine whether the drive wheels are in a slipping state.

[0081] The wheel speed difference threshold can be adjusted based on factors such as vehicle type or road conditions.

[0082] In some embodiments, step 120 may include:

[0083] When the difference between the second wheel speed and the first wheel speed is greater than the wheel speed difference threshold, the driving wheel corresponding to the second wheel speed is determined as the target wheel.

[0084] In this embodiment, the target wheel is a wheel in a slipping state among the multiple driving wheels.

[0085] The number of the target wheels may be one or more.

[0086] When the wheel slips, the friction between the wheel and the ground is small and the adhesion rate of the wheel is small, resulting in a higher wheel speed of the wheel in the slipping state.

[0087] The slip ratio of the driving wheel corresponding to the second wheel speed may be acquired based on the second wheel speed and the first wheel speed, and then it is determined whether the driving wheel is in a slipping state based on the slip ratio and the wheel speed difference threshold.

[0088] The slip ratio may be obtained based on a ratio of a difference between the second wheel speed and the first wheel speed to the first wheel speed.

[0089] like Figure 3 As shown, the horizontal axis is the slip rate S, and the vertical axis is the adhesion coefficient φ. When the slip rate of the driving wheel is between 10% and 30%, or less than 10%, it can be determined that the driving wheel is not in a slipping state. When the slip rate of the driving wheel is greater than 30%, the lateral adhesion coefficient and the longitudinal adhesion coefficient of the driving wheel are both low, and it can be determined that the driving wheel is in a slipping state.

[0090] like Figure 5 As shown, in the case where the vehicle includes a front axle, a middle axle and a rear axle, the front axle wheels are driven wheels, the middle axle wheels and the rear axle wheels are driving wheels, and the VCU (vehicle control unit) can receive the wheel speed signals of each wheel sent by the bridge control module, and then compare the differences between the middle axle wheel speed signal, the rear axle wheel speed signal and the front axle wheel speed signal respectively to determine whether the drive axle wheels are in a slipping state.

[0091] For example, when the slip rate corresponding to the left wheel of the middle bridge is 60%, it can be determined that the left wheel of the middle bridge is in a slipping state.

[0092] Step 130: Control the target wheel to enter an intermittent braking mode, so as to transmit the driving force to the other driving wheel of the two driving wheels except the target wheel while the target wheel is in a braking state.

[0093] The braking force can be applied to the target wheel for a period of time, then released and the process repeated.

[0094] When the braking force is applied to the target wheel for a period of time, that is, when the target wheel is in a braking state, the driving force of the engine will be fully or partially transmitted to the other driving wheel of the two driving wheels at both ends of the same axle.

[0095] During the intermittent braking process, the wheel speed of the target wheel and the overall state of the vehicle can be monitored in real time. For example, when the wheel speed of the target wheel drops to a certain threshold, the intermittent braking can be reduced or stopped; when the wheel speed of the target wheel continues to increase, the parameters of the intermittent braking can be adjusted, etc.

[0096] The parameters of intermittent braking (such as braking duration, release duration, braking force, etc.) can be adjusted and optimized according to actual conditions.

[0097] For example, in the case where the vehicle includes a 6S4M ABS or EBS system, the 6S4M braking system can realize the wheel speed collection of each wheel individually and independent braking of a single side wheel. For example, in the case that the left driving wheel of the middle bridge of the vehicle slips, the left driving wheel of the middle bridge can be independently controlled to enter the intermittent braking mode.

[0098] Step 140: When the vehicle is driven to move based on another driving wheel, control the target wheel to exit the intermittent braking mode.

[0099] In this step, after the other driving wheel obtains sufficient driving force, the other driving wheel will start to rotate and drive the vehicle to move. With the rotation of the other driving wheel and the movement of the vehicle, the target wheel will gradually regain its grip, and the target wheel can be controlled to exit the intermittent braking mode, and eventually both sides of the wheels can move, thereby achieving escape.

[0100] According to the vehicle control method provided in the embodiment of the present application, by comparing the difference between the wheel speed of the driving wheel and the wheel speed of the driven wheel, the driving wheel in a slipping state can be determined, and the slipping driving wheel can be controlled to enter an intermittent braking mode, so that the driving wheel can be in a low-speed but not locked state, thereby transmitting power to the wheel with a high adhesion rate to rotate it, so that the wheels on both sides of the vehicle can move, thereby helping the vehicle to get out of trouble; the wheel speed can be automatically detected and the working mode of the wheel can be controlled without the driver's manual operation, thereby improving the driver's driving safety.

[0101] In some embodiments, step 130 may include:

[0102] In the case where the target wheel includes a plurality of driving wheels respectively located at two ends of the same axle, controlling the plurality of driving wheels to alternately enter an intermittent braking mode;

[0103] In the case where the target wheels include a driving wheel located at only one end of the same axle, the driving wheel located at only one end of the same axle is controlled to enter an intermittent braking mode.

[0104] In this embodiment, wheels are connected at both ends of the same axle. When the target wheels include multiple drive wheels located at both ends of the same axle, that is, when the wheels on both sides of the same axle are slipping, the two drive wheels can be controlled to alternately enter the intermittent braking mode.

[0105] For example, the wheel that slips first may be controlled to enter the intermittent braking mode, and if the wheel is not in the braking mode, the wheel that slips later may be controlled to enter the intermittent braking mode until the vehicle is in a non-slip state.

[0106] In the case where the target wheel is a driving wheel located at only one end of the same axle, the wheel can be controlled to enter the intermittent braking mode individually.

[0107] For example, when the vehicle includes a set of driving wheel pairs (a set of driving wheel pairs includes driving wheel a and driving wheel b), when it is determined that the target wheel is driving wheel a, driving wheel a can be controlled to enter the intermittent braking mode alone;

[0108] When it is determined that the target wheels are the driving wheel a and the driving wheel b, the driving wheel a and the driving wheel b may be controlled to alternately enter the intermittent braking mode.

[0109] When the vehicle includes two sets of drive wheel pairs (a center axle drive wheel pair and a rear axle drive wheel pair), when it is determined that the target wheel is the left drive wheel in the center axle drive wheel pair and the left drive wheel in the rear axle drive wheel pair, the left drive wheel in the center axle drive wheel pair and the left drive wheel in the rear axle drive wheel pair can be controlled to enter the intermittent braking mode separately.

[0110] In some embodiments, a cycle of the intermittent braking mode includes a first duration and a release duration.

[0111] In this embodiment, the first duration is shorter than the release duration.

[0112] The first duration is the duration during which the target wheel enters the braking mode within a cycle of the intermittent braking mode.

[0113] The release duration is the duration during which the target wheel enters the non-braking mode within a cycle of the intermittent braking mode.

[0114] For example, the first duration may be 0.3s or 0.5s, or other durations; the release duration may be 1.3s or 1.5s, or other durations, which may be user-defined and is not limited in this application.

[0115] In some embodiments, controlling the drive wheels at only one end of the same axle to enter the intermittent braking mode may include:

[0116] In a cycle of the intermittent braking mode, the driving wheel at only one end of the same axle is controlled to enter the braking mode;

[0117] After the driving wheel at the only end of the same axle is controlled to enter the braking mode for a first period of time, the driving wheel at the only end of the same axle is controlled to exit the braking mode.

[0118] In this embodiment, one cycle of the intermittent braking mode includes the time from when the driving wheel is controlled to enter the braking mode to when it enters the braking mode next time.

[0119] The first time duration is shorter than a time duration of a cycle of the intermittent braking mode.

[0120] like Figure 2As shown, in the case of slippage of the drive wheel on one side (e.g. Figure 5 If the left or right wheel of the center rear axle slips, or the left or right wheel of the center axle slips), the unilateral braking on the corresponding side can be activated, and the driving wheel is controlled to brake for the first duration (t1). After the driving wheel enters the braking mode t1, the brake can be released, that is, the driving wheel is controlled to exit the braking mode. After releasing for t2 duration, the driving wheel is controlled to enter the unilateral braking mode and enter the next cycle of the intermittent braking mode, and unilateral braking is performed according to the braking time of t1 and the release time of t2 respectively.

[0121] In some embodiments, controlling the plurality of driving wheels to alternately enter the intermittent braking mode may include:

[0122] In a cycle of alternately entering the intermittent braking mode, controlling a first driving wheel among the multiple driving wheels to enter the braking mode, and controlling a second driving wheel among the multiple driving wheels to maintain an unchanged working mode;

[0123] After controlling the first driving wheel to enter the braking mode for a first time period, controlling the first driving wheel to exit the braking mode, and controlling the second driving wheel to enter the braking mode;

[0124] After the second driving wheel is controlled to enter the braking mode for a first time period, the second driving wheel is controlled to exit the braking mode.

[0125] In this embodiment, a cycle of alternately entering the intermittent braking mode includes the time from when the first driving wheel is controlled to enter the braking mode to when the first driving wheel is controlled to enter the braking mode next time.

[0126] The first driving wheel may be the driving wheel that is in a slipping state first, and the second driving wheel may be the driving wheel that is in a slipping state later.

[0127] The first driving wheel and the second driving wheel are located at both ends of the same axle.

[0128] The first driving wheel may be controlled to enter the braking mode first, and the working mode of the second driving wheel may be kept unchanged.

[0129] After the first driving wheel is continuously braked for a first time period, the first driving wheel is controlled to release the brake, and then the second driving wheel is controlled to enter the intermittent braking mode, that is, the second driving wheel can be controlled to enter the braking mode, and after continuously braking for a first time period, the second driving wheel is controlled to release the brake.

[0130] After the second driving wheel exits the braking mode, the first driving wheel may be controlled to enter the braking mode again, that is, to start the next cycle of alternately entering the braking mode.

[0131] like Figure 2As shown, it is possible to determine whether the wheel on the other side is slipping within the time t2 when the brake of the first driving wheel is released. If the wheel on the other side is slipping, the unilateral braking of the wheel on the other side (the second driving wheel) is activated. After the second driving wheel enters the unilateral braking time t1, the second driving wheel can be controlled to release the brake, and then the first driving wheel can be controlled to enter the braking mode again, and this process is repeated multiple times until it is determined that the wheels on both sides are in a non-slip state.

[0132] In the process of unilaterally braking the wheels on both sides, it is necessary to avoid the wheels on both sides entering the braking mode at the same time, so as to effectively avoid the drive motor from being blocked.

[0133] According to the vehicle control method provided in the embodiment of the present application, when both coaxial wheels are in a slipping state, the driving wheel on one side is controlled to enter unilateral braking, and then the driving wheel on the other side is controlled to enter unilateral braking, and the unilateral intermittent braking of the left and right wheels is alternately controlled. While limiting the wheel slippage, it is also ensured that the wheels have a low-speed driving speed, which can effectively help the vehicle get out of trouble.

[0134] In some embodiments, obtaining the first wheel speed of at least one driven wheel and the second wheel speed of each driving wheel may include:

[0135] Get the vehicle's speed;

[0136] When the driving speed is less than the target threshold, a first wheel speed of at least one driven wheel and a second wheel speed of each driving wheel are acquired.

[0137] In this embodiment, a speed sensor, such as a wheel speed sensor or a GPS sensor, may be installed on the vehicle.

[0138] The data of the speed sensor is read by the vehicle's electronic control unit or a dedicated data acquisition device, and the current driving speed of the vehicle is calculated based on the sensor data.

[0139] The target threshold may be set based on actual needs, may be a fixed value, or may be dynamically adjusted according to other conditions.

[0140] When the driving speed is less than the target threshold, the wheel speed of each wheel may be acquired.

[0141] like Figure 2 As shown, it can be determined first whether the module for implementing the differential lock function is in the on state and whether the vehicle's driving speed is less than 10km / h. When the differential lock function switch is in the on state and the vehicle's driving speed is less than 10km / h, the wheel speed of each wheel is obtained, otherwise the electronic differential lock function is not executed.

[0142] like Figure 2As shown, in some embodiments, step 140 may include:

[0143] In the process of controlling the target wheel to enter the intermittent braking mode, obtaining a new second wheel speed of the target wheel in a non-braking state;

[0144] Based on the difference between the new second wheel speed and the first wheel speed, the target wheel is controlled to exit the intermittent braking mode.

[0145] In this embodiment, when the target wheel is controlled to exit the braking mode, the wheel speed of the target wheel can be monitored in real time.

[0146] When the difference between the new second wheel speed of the target wheel and the first wheel speed is within a set threshold range, the target wheel can be controlled to exit the intermittent braking mode, that is, the differential lock function can be exited.

[0147] The new slip ratio of the target wheel can be calculated based on the new second wheel speed and the first wheel speed of the target wheel, such as Figure 3 As shown, when the new slip ratio of the target wheel is 20%, it can be determined that the target wheel is not in a slipping state, and the target wheel can be controlled to exit the intermittent braking mode.

[0148] According to the vehicle control method provided in the embodiment of the present application, the wheel speed of the target wheel is monitored in real time, and when it is determined that the target wheel is not in a slipping state, the target wheel is controlled to exit the intermittent braking mode, thereby avoiding the vehicle remaining in the intermittent braking mode when getting out of trouble, thereby improving driving safety.

[0149] In some embodiments, when the number of at least one set of driving wheel pairs is two, and two driving wheels on the same axle are respectively connected to the motor through driving half shafts, step 130 may include:

[0150] Control the motors corresponding to each set of driving wheel pairs to rotate at the same speed;

[0151] Control the target wheel to enter intermittent braking mode.

[0152] In this embodiment, when the number of at least one set of driving wheel pairs is two, the vehicle may be a three-axle pure electric electric drive axle heavy-duty tractor.

[0153] like Figure 5 An example of a three-axle vehicle is provided, wherein at least one set of driving wheel pairs includes a center axle wheel pair and a rear axle wheel pair, wherein the two driving wheels of the center axle can be connected to the motor M1 via a driving half-shaft, and the two driving wheels of the rear axle can be connected to the motor M2 via a driving half-shaft.

[0154] When wheel slip on one or both sides is detected and the differential lock function has been activated, the vehicle controller can control the mid-axle motor and the rear-axle motor to keep the speed synchronized to realize the inter-axle differential lock function.

[0155] According to the vehicle control method provided in the embodiment of the present application, for a vehicle with dual drive shafts, when wheel slippage is detected, the motor corresponding to the drive shaft is controlled to maintain a synchronous speed, so that the drive speed synchronization of the dual drive axles can be achieved without a physical mechanical inter-axle differential lock, thereby helping to control the wheels in a slipping state to enter an intermittent braking mode.

[0156] The following is an example of a three-axle pure electric drive axle heavy-duty tractor. Figure 2 The control process of the vehicle control method provided in the embodiment of the present application is generally described.

[0157] When the module for realizing the differential lock function has been turned on and the vehicle's driving speed is less than 10km / h, the next step of wheel speed judgment is entered, otherwise the electronic differential lock function is not entered.

[0158] After the electronic differential lock function is activated, the vehicle controller (VCU) can receive the wheel speed signals of each wheel sent by the bridge control module, and then compare the wheel speed differences of the middle axle wheel speed signal, the rear axle wheel speed signal and the front axle wheel speed signal to determine whether the drive axle wheels are in a slipping state.

[0159] When it is determined that a wheel on one side is slipping, for example, when the driving wheel on the left side of the middle bridge is slipping, the unilateral braking of the driving wheel on the left side of the middle bridge can be activated, and the braking time of the driving wheel is controlled to be t1, and then the brake is released, and after the release time t2, the control is controlled to enter the unilateral braking again, and the unilateral braking is performed according to the braking time t1 and the release time t2 respectively, so as to realize the speed limit of the wheel on the slipping side. If it is determined that there is no wheel slipping, the electronic differential lock function will not be entered.

[0160] When the driving wheel on the right side of the middle bridge is also in a slipping state, the driving wheel on the right side of the middle bridge can be controlled to perform unilateral braking according to the time of t1 braking and t2 release, and the driving wheels on both sides are controlled not to be in the braking state at the same time.

[0161] When a wheel is detected without slipping, the vehicle is successfully freed and the electronic differential lock function can be exited.

[0162] The control device of the vehicle provided in the present application is described below. The control device of the vehicle described below and the control method of the vehicle described above can be referenced to each other.

[0163] The vehicle control method provided in the embodiment of the present application can be executed by a vehicle control device. In the embodiment of the present application, the vehicle control device provided in the embodiment of the present application is described by taking the vehicle control method executed by the vehicle control device as an example.

[0164] An embodiment of the present application also provides a vehicle control device.

[0165] like Figure 4 As shown, the control device of the vehicle comprises a driven wheel pair and at least one driving wheel pair, the driven wheel pair comprises two driven wheels, and each driving wheel pair comprises two driving wheels; the device comprises: a first processing module 410, a second processing module 420, a third processing module 430 and a fourth processing module 440.

[0166] A first processing module 410 is used to obtain a first wheel speed of at least one driven wheel and a second wheel speed of each driving wheel when the vehicle is in a driving state;

[0167] A second processing module 420 is used to determine a target wheel in a slipping state from the plurality of driving wheels based on the difference between each second wheel speed and the first wheel speed;

[0168] The third processing module 430 is used to control the target wheel to enter the intermittent braking mode, so as to transmit the driving force to the other driving wheel of the two driving wheels except the target wheel during the period when the target wheel is in the braking state, and the other driving wheel and the target wheel are located at two ends of the same axle;

[0169] The fourth processing module 440 is used to control the target wheel to exit the intermittent braking mode when the vehicle is driven to move by another driving wheel.

[0170] According to the control device of the vehicle provided in the embodiment of the present application, by comparing the difference between the wheel speed of the driving wheel and the wheel speed of the driven wheel, the driving wheel in a slipping state can be determined, and the slipping driving wheel can be controlled to enter an intermittent braking mode, so that the driving wheel can be in a low-speed but not locked state, thereby transmitting power to the wheel with a high adhesion rate to make it rotate, so that the wheels on both sides of the vehicle can move, thereby helping the vehicle to get out of trouble; the wheel speed can be automatically detected and the working mode of the wheel can be controlled without the driver's manual operation, thereby improving the driver's driving safety.

[0171] In some embodiments, the third processing module 430 may also be used to:

[0172] In the case where the target wheel includes a plurality of driving wheels respectively located at two ends of the same axle, controlling the plurality of driving wheels to alternately enter an intermittent braking mode;

[0173] In the case where the target wheels include a driving wheel located at only one end of the same axle, the driving wheel located at only one end of the same axle is controlled to enter an intermittent braking mode.

[0174] In some embodiments, the third processing module 430 may also be used to:

[0175] In a cycle of the intermittent braking mode, the driving wheel at only one end of the same axle is controlled to enter the braking mode;

[0176] After the driving wheel at the only end of the same axle is controlled to enter the braking mode for a first period of time, the driving wheel at the only end of the same axle is controlled to exit the braking mode.

[0177] In some embodiments, the third processing module 430 may also be used to:

[0178] In a cycle of alternately entering the intermittent braking mode, controlling a first driving wheel among the multiple driving wheels to enter the braking mode, and controlling a second driving wheel among the multiple driving wheels to maintain an unchanged working mode;

[0179] After controlling the first driving wheel to enter the braking mode for a first time period, controlling the first driving wheel to exit the braking mode, and controlling the second driving wheel to enter the braking mode;

[0180] After the second driving wheel is controlled to enter the braking mode for a first time period, the second driving wheel is controlled to exit the braking mode.

[0181] In some embodiments, the third processing module 430 can also be used to determine that a cycle of an intermittent braking mode includes a first duration and a release duration, the first duration is less than the release duration, the first duration is the duration during which the target wheel enters the braking mode within a cycle of an intermittent braking mode, and the release duration is the duration during which the target wheel enters the non-braking mode within a cycle of an intermittent braking mode.

[0182] In some embodiments, the fourth processing module 440 may also be used to:

[0183] In the process of controlling the target wheel to enter the intermittent braking mode, obtaining a new second wheel speed of the target wheel in a non-braking state;

[0184] Based on the difference between the new second wheel speed and the first wheel speed, the target wheel is controlled to exit the intermittent braking mode.

[0185] In some embodiments, when the number of at least one set of driving wheel pairs is two, and two driving wheels on the same axle are respectively connected to the motor through driving half shafts, the third processing module 430 may also be used to:

[0186] Control the motors corresponding to each set of driving wheel pairs to rotate at the same speed;

[0187] Control the target wheel to enter intermittent braking mode.

[0188] The control device of the vehicle in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or other devices other than a terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc., and can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0189] The vehicle control device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an IOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0190] The vehicle control device provided in the embodiment of the present application can achieve Figures 1 to 3 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0191] In some embodiments, Figure 6 As shown, an embodiment of the present application also provides an electronic device 600, including a processor 601, a memory 602, and a computer program stored in the memory 602 and executable on the processor 601. When the program is executed by the processor 601, each process of the above-mentioned vehicle control method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0192] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0193] The present application also provides a vehicle, comprising: a driven wheel pair, at least one set of driving wheel pairs and a controller.

[0194] In this embodiment, the driven wheel pair includes two driven wheels.

[0195] The driven wheel pair is a wheel pair that is not directly driven by a transmission or a motor, and the driven wheel pair can rotate based on driving inertia, gravity or driving force of other wheels.

[0196] Each set of driving wheel pairs includes two driving wheels.

[0197] The driving wheel pair is a wheel pair directly driven by an engine or an electric motor, and is used to provide driving force to the vehicle.

[0198] like Figure 5 As shown, the controller VCU can be connected to each driven wheel and each driving wheel, and the controller is used to control the vehicle driving based on the vehicle control method described in any of the above embodiments.

[0199] In some embodiments, a vehicle may include a bridge control module.

[0200] In this embodiment, the bridge control module can be connected to each driven wheel, each driving wheel and the controller.

[0201] The bridge control module can collect the wheel speed information of each wheel and send the wheel speed information of each wheel to the controller.

[0202] The bridge control module can also receive a unilateral braking request for the driving wheel issued by the controller, and control the driving wheel to enter unilateral braking based on the unilateral braking request.

[0203] In some embodiments, the number of at least one set of driving wheel pairs is two.

[0204] In this embodiment, if Figure 5 As shown, the two sets of driving wheel pairs may include a mid-axle wheel pair and a rear-axle wheel pair.

[0205] A motor M1 is provided between the wheel pairs of the middle axle, and a motor M2 is provided between the wheel pairs of the rear axle.

[0206] When it is determined that the driving wheels are in a slipping state, the mid-axle motor M1 and the rear-axle motor M2 can be controlled to keep the speed synchronized based on the vehicle controller, and then the wheels in the slipping state can be controlled to enter the intermittent braking mode.

[0207] According to the vehicle provided in the embodiment of the present application, by comparing the difference between the wheel speed of the driving wheel and the wheel speed of the driven wheel, the driving wheel in a slipping state can be determined, and the slipping driving wheel can be controlled to enter an intermittent braking mode, so that the driving wheel can be in a low-speed but not locked state, thereby transmitting power to the wheel with a high adhesion rate to make it rotate, so that the wheels on both sides of the vehicle can move, thereby helping the vehicle to get out of trouble; the wheel speed can be automatically detected and the working mode of the wheel can be controlled without the driver's manual operation, thereby improving the driver's driving safety.

[0208] On the other hand, the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the various processes of the above-mentioned vehicle control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0209] On the other hand, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the various processes of the above-mentioned vehicle control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0210] On the other hand, an embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned vehicle control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0211] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0212] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0213] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution can be essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0214] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle control method, characterized in that: The vehicle comprises a driven wheel pair and at least one set of driving wheel pairs, wherein the driven wheel pair comprises two driven wheels, and each set of driving wheel pairs comprises two driving wheels; the method comprises: When the vehicle is moving, obtaining a first wheel speed of at least one of the driven wheels and a second wheel speed of each of the driving wheels; determining a target wheel in a slipping state from among the plurality of driving wheels based on a difference between each of the second wheel speeds and the first wheel speed; Controlling the target wheel to enter an intermittent braking mode, so as to transmit the driving force to another driving wheel of the two driving wheels except the target wheel during the period when the target wheel is in a braking state, wherein the other driving wheel and the target wheel are located at two ends of the same axle; In a case where the vehicle is driven to move based on the other driving wheel, the target wheel is controlled to exit the intermittent braking mode.

2. The vehicle control method according to claim 1, characterized in that: The controlling the target wheel to enter the intermittent braking mode comprises: In a case where the target wheel includes a plurality of drive wheels respectively located at two ends of the same axle, controlling the plurality of drive wheels to alternately enter the intermittent braking mode; In a case where the target wheel includes a driving wheel located at only one end of the same axle, the driving wheel located at only one end of the same axle is controlled to enter the intermittent braking mode.

3. The vehicle control method according to claim 2, characterized in that: The controlling the driving wheel at the only end of the same axle to enter the intermittent braking mode comprises: In a cycle of the intermittent braking mode, controlling the driving wheel located at only one end of the same axle to enter a braking mode; After controlling the driving wheel located at the only end of the same axle to enter the braking mode for a first period of time, controlling the driving wheel located at the only end of the same axle to exit the braking mode.

4. The vehicle control method according to claim 2, characterized in that: The controlling the plurality of driving wheels to alternately enter the intermittent braking mode comprises: In a cycle of alternately entering the intermittent braking mode, controlling a first driving wheel among the multiple driving wheels to enter a braking mode, and controlling a second driving wheel among the multiple driving wheels to maintain an unchanged working mode; After controlling the first driving wheel to enter the braking mode for a first time period, controlling the first driving wheel to exit the braking mode, and controlling the second driving wheel to enter the braking mode; After controlling the second driving wheel to enter the braking mode for a first time period, controlling the second driving wheel to exit the braking mode.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: A cycle of the intermittent braking mode includes a first duration and a release duration, the first duration is smaller than the release duration, the first duration is the duration during which the target wheel enters the braking mode within a cycle of the intermittent braking mode, and the release duration is the duration during which the target wheel enters the non-braking mode within a cycle of the intermittent braking mode.

6. The vehicle control method according to any one of claims 1 to 4, characterized in that: The controlling the target wheel to exit the intermittent braking mode comprises: In the process of controlling the target wheel to enter the intermittent braking mode, obtaining a new second wheel speed of the target wheel in a non-braking state; The target wheel is controlled to exit the intermittent braking mode based on a difference between the new second wheel speed and the first wheel speed.

7. The vehicle control method according to any one of claims 1 to 4, characterized in that: When the number of the at least one set of driving wheel pairs is two, and two driving wheels on the same axle are respectively connected to the motor through driving half shafts, controlling the target wheel to enter the intermittent braking mode includes: Controlling the motors corresponding to each group of driving wheel pairs to rotate at the same speed; The target wheel is controlled to enter the intermittent braking mode.

8. A vehicle control device, characterized in that: The vehicle comprises a driven wheel pair and at least one set of driving wheel pairs, wherein the driven wheel pair comprises two driven wheels, and each set of driving wheel pairs comprises two driving wheels; the device comprises: A first processing module, configured to obtain, when the vehicle is moving, a first wheel speed of at least one of the driven wheels and a second wheel speed of each of the driving wheels; a second processing module, configured to determine a target wheel in a slipping state from the plurality of driving wheels based on a difference between each of the second wheel speeds and the first wheel speed; a third processing module, configured to control the target wheel to enter an intermittent braking mode, so as to transmit a driving force to another driving wheel of the two driving wheels except the target wheel, the other driving wheel and the target wheel being located at two ends of the same axle during the period when the target wheel is in a braking state; The fourth processing module is used to control the target wheel to exit the intermittent braking mode based on the other driving wheel driving the vehicle to move.

9. A vehicle, characterized in that: include: A driven wheel pair, the driven wheel pair comprising two driven wheels; At least one set of driving wheel pairs, each set of driving wheel pairs comprising two driving wheels; A controller, wherein the controller is connected to each of the driven wheels and each of the driving wheels, and the controller is used to control the driving of the vehicle based on the vehicle control method as described in any one of claims 1-7.

10. The vehicle according to claim 9, characterized in that The number of the at least one set of driving wheel pairs is two.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the vehicle control method as described in any one of claims 1 to 7 is implemented.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle control method as described in any one of claims 1 to 7 is implemented.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 7 is implemented.

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