Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a storage medium, the method is applied to the field of vehicles, and the method comprises the steps that when the vehicle is in a direct drive mode, a rear axle transmission is put into a neutral gear, and when the running speed of the vehicle is smaller than the critical running speed of the direct drive mode, the rear axle transmission is controlled to be put into a preset gear from the neutral gear, if the rear axle transmission does not enter the preset gear, when the running speed of the vehicle is smaller than the vehicle speed when an engine of the vehicle is close to flameout, the vehicle is controlled to be converted into an idling mode or a series mode from a direct drive mode based on the battery electric quantity of a power battery. Under the condition that the preset gear of the rear axle transmission is unavailable, through the idling mode, power loss of the vehicle can be prevented, flameout of the engine can be prevented, through the series connection mode, flameout of the engine can be prevented, the safety of the vehicle can be improved through the two modes, and meanwhile the service life of the engine can be prolonged.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle control method, device, vehicle and storage medium in the field of vehicles. Background Art

[0002] With the rapid development of the automobile industry, plug-in hybrid electric vehicles (PHEV) are becoming more and more popular due to their outstanding role in reducing energy consumption. For example, when a PHEV vehicle is in direct drive mode, the rear axle transmission can be put into neutral gear to separate the rear motor from the vehicle, preventing the rear motor from consuming the energy of the vehicle even when it is in a zero torque state. Based on this, when the vehicle exits the direct drive mode, the rear axle transmission needs to be put into first gear. However, if the first gear of the rear axle transmission is unavailable, then shifting the front axle transmission or putting it in neutral gear will cause the vehicle to lose power. Maintaining the direct drive mode will cause the engine to stall. Summary of the invention

[0003] The present application provides a vehicle control method, device, vehicle and storage medium. The method can enable the vehicle to enter idle mode when the preset gear of the rear axle transmission is unavailable, which can prevent the vehicle from losing power and preventing the engine from stalling. The vehicle enters series mode to prevent the engine from stalling. Both modes can improve the safety of the vehicle and extend the service life of the engine.

[0004] In a first aspect, a vehicle control method is provided, the method comprising: when the vehicle is traveling in a direct drive mode, if the first driving speed of the vehicle is less than a first preset speed, controlling the rear axle transmission of the vehicle to shift from a neutral position to a preset gear position; if the rear axle transmission does not enter the preset gear position, monitoring the second driving speed of the vehicle; if the second driving speed is less than the second preset speed, controlling the vehicle to switch from the direct drive mode to an idle mode or a series mode based on the battery power of the vehicle's power battery; the first preset speed is a critical speed threshold for the vehicle to exit the direct drive mode, the second preset speed is a critical speed threshold corresponding to the engine speed of the vehicle entering a stalling state, and the first preset speed is greater than the second preset speed.

[0005] Through the above technical solution, when the vehicle exits the direct drive mode but the rear axle transmission of the vehicle is not engaged in the preset gear, the second driving speed of the vehicle is monitored. If the second driving speed is less than the second preset speed, the vehicle is controlled to switch from the direct drive mode to the idle mode or the series mode based on the battery power of the vehicle's power battery. The idle mode can prevent the vehicle from losing power and the engine from stalling. The series mode can prevent the engine from stalling. Both modes can improve the safety of the vehicle and extend the service life of the engine.

[0006] In combination with the first aspect, in certain possible implementations, when the vehicle is traveling in the direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, then before the step of controlling the rear axle transmission of the vehicle to shift from the neutral position to the preset gear position, it also includes: during the driving process of the vehicle, if the third driving speed of the vehicle reaches the third preset speed, then controlling the rear axle transmission of the vehicle to shift into the neutral position, and controlling the vehicle to enter the direct drive mode, the third driving speed being the critical speed threshold for the vehicle to enter the direct drive mode.

[0007] Through the above technical solution, when the vehicle enters the direct drive mode, the rear axle transmission of the vehicle is controlled to be shifted into neutral, so that the rear motor of the vehicle is separated from the entire vehicle, preventing the rear motor from still consuming the energy of the entire vehicle in the zero torque state, thereby reducing the energy consumption of the entire vehicle.

[0008] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, if the second driving speed is less than the second preset speed, before the step of controlling the vehicle to switch from direct drive mode to idle mode or series mode based on the battery power of the vehicle's power battery, it also includes: calculating the second preset speed based on the speed ratio of the engine speed of the vehicle's engine to the wheel speed of the vehicle, the tire circumference of the vehicle, and the stall speed when the engine enters the stall state.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, if the second driving speed is less than the second preset speed, then based on the battery power of the vehicle's power battery, the step of controlling the vehicle to switch from direct drive mode to idle mode or series mode includes: if the second driving speed is less than the second preset speed, obtaining the battery power of the vehicle's power battery; if the battery power is greater than or equal to the first preset power, controlling the vehicle to switch from direct drive mode to idle mode; if the battery power is less than the first preset power, controlling the vehicle's front axle transmission to shift into neutral, and controlling the vehicle to switch from direct drive mode to series mode.

[0010] Through the above technical solution, when the battery power is greater than or equal to the first preset power, the vehicle is controlled to enter the idle mode, and the engine is in the idle state. When the vehicle accelerates, there is no need to start the engine again to prevent the vehicle from losing power. When the battery power is less than the first preset power, the vehicle is controlled to enter the series mode, and the engine will not be shut down, but will charge the power battery to prevent the battery from being over-discharged.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the vehicle is traveling in direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, then after the step of controlling the rear axle transmission of the vehicle to shift from neutral to a preset gear, it also includes: if the rear axle transmission enters the preset gear, then based on the battery power of the vehicle's power battery, controlling the vehicle to switch from direct drive mode to pure electric four-wheel drive mode or rear-wheel drive mode.

[0012] Through the above technical solution, when the rear axle transmission enters the preset gear, the vehicle is controlled to enter the pure electric four-wheel drive mode or rear-wheel drive mode that better matches the current driving speed, thereby ensuring the flexibility and intelligence of vehicle control.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, if the rear axle transmission enters a preset gear position, then based on the battery power of the vehicle's power battery, the step of controlling the vehicle to switch from a direct drive mode to a pure electric four-wheel drive mode or a rear-wheel drive mode includes: if the rear axle transmission enters a preset gear position, obtaining the battery power of the vehicle's power battery; if the battery power is greater than or equal to a second preset power, controlling the vehicle's engine to enter a shutdown state, and controlling the vehicle to switch from a direct drive mode to a pure electric four-wheel drive mode; if the battery power is less than the second preset power, controlling the vehicle's front axle transmission to shift into a neutral position, and based on the engine state of the vehicle's engine, controlling the vehicle to switch from a direct drive mode to a series mode or a pure electric rear-wheel drive mode.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, if the battery power is less than the second preset power, the front axle transmission of the vehicle is controlled to be shifted into neutral gear, and based on the engine state of the vehicle's engine, the vehicle is controlled to be converted from direct drive mode to series mode or pure electric rear drive mode. The steps include: if the battery power is less than the second preset power, the front axle transmission of the vehicle is controlled to be shifted into neutral gear; obtaining the engine state of the engine; if the engine state is in a working state, the vehicle is controlled to be converted from direct drive mode to series mode; if the engine state is in a shutdown state, the vehicle is controlled to be converted from direct drive mode to pure electric rear drive mode.

[0015] In a second aspect, a vehicle control device is provided, the device comprising:

[0016] A rear axle gear shift unit, used for controlling the rear axle transmission of the vehicle to shift from a neutral position to a preset gear position when the vehicle is traveling in a direct drive mode and if the first driving speed of the vehicle is less than a first preset speed;

[0017] A driving speed monitoring unit, for monitoring a second driving speed of the vehicle if the rear axle transmission does not enter a preset gear position;

[0018] a mode conversion unit, configured to control the vehicle to convert from a direct drive mode to an idle mode or a series mode based on a battery charge of a power battery of the vehicle if the second driving speed is less than a second preset speed;

[0019] The first preset speed is a critical speed threshold for the vehicle to exit the direct drive mode, and the second preset speed is a critical speed threshold corresponding to the engine speed of the vehicle entering the stalling speed. The first preset speed is greater than the second preset speed.

[0020] In a third aspect, a vehicle is provided, the vehicle comprising: a memory for storing executable program code;

[0021] A processor is used to call and run executable program code from a memory to execute the method in the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0022] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0023] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a system architecture diagram of a vehicle control method provided in an embodiment of the present application;

[0025] Figure 2 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0026] Figure 3 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0027] Figure 4 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0028] Figure 5 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0029] Figure 6 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0030] Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0032] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0033] See also Figure 1 , Figure 1 is a system architecture diagram of a vehicle control method provided in an embodiment of the present application. Figure 1 As shown, the vehicle control method provided in the embodiment of the present application is applicable to the driving scenario of a PHEV vehicle, which includes a front motor 10 (Front Motor Control Unit, FMCU), a front axle transmission 11, an engine 12, a rear motor 13 (P4 Rear Independent Drive Motor, P4M), a rear axle transmission 14 and a power battery 15. Among them, the front axle is a component of the front drive shaft of the vehicle power transmission, located at the front of the vehicle, and supports the front wheels of the vehicle. The front axle is used to transmit the force between the frame and the front wheels, realize the steering function and the braking function; the rear axle is a component of the rear drive shaft of the vehicle power transmission, located at the rear of the vehicle, and supports the rear wheels of the vehicle. The rear axle is used to support and connect the rear wheels, transmit power and realize the differential effect. FMCU10, P4M13 and engine 12 are all used to drive the vehicle to travel, the front axle transmission 11 is used to transmit power to the front axle of the vehicle, and the rear axle transmission 14 is used to transmit power to the rear axle of the vehicle. The power battery 15 is used to store electric energy and provide electric energy to the FMCU 10 and the P4M 13 so that the FMCU 10 and the P4M 14 drive the vehicle to travel.

[0034] This architectural feature enables PHEV models to have multiple driving modes such as pure electric mode (EV Mode), series mode, direct drive mode and idle mode. Among them, EV mode is a mode that only uses the electric energy in the vehicle's power battery to drive the vehicle's motor, thereby driving the vehicle. In EV mode, the engine is in a shutdown state and does not participate in power output. Series mode is a mode in which the engine and the motor are connected in series, the engine charges the power battery, and then the power battery provides electric energy to the motor to drive the vehicle. Direct drive mode is a mode in which the engine directly drives the vehicle. In direct drive mode, the motor may not participate in power output, or it may serve as an auxiliary power source to provide power to the vehicle together with the engine. Idle mode is a mode in which the clutch is disconnected, the engine and the vehicle are in a decoupled state, the engine itself is in an idle state, and the front axle transmission is not in neutral. The idle state is the lowest speed to maintain stable engine operation. In idle mode, if the front axle transmission is not in neutral, the FMCU provides driving power for the vehicle. The engine can also charge the power battery when it is in an idle state.

[0035] The vehicle provided in the embodiment of the present application is in direct drive mode, and the rear axle transmission is shifted into neutral gear. When the vehicle's driving speed is less than the critical driving speed of the direct drive mode, the rear axle transmission is controlled to shift from neutral gear to a preset gear. If the rear axle transmission does not enter the preset gear, the vehicle's driving speed continues to be monitored. When the vehicle's driving speed is less than the vehicle speed when the vehicle's engine is about to stall, the vehicle is controlled to switch from direct drive mode to idle mode or series mode based on the battery power of the power battery. When the preset gear of the rear axle transmission is unavailable, the idle mode can prevent the vehicle from losing power and the engine from stalling. The series mode can prevent the engine from stalling. Both modes can improve the safety of the vehicle and extend the service life of the engine.

[0036] based on Figure 1 The system architecture diagram shown below will be combined with Figure 2-Figure 5 , the vehicle control method provided in the embodiment of the present application is introduced in detail.

[0037] See also Figure 2 , Figure 2 is a flow chart of a vehicle control method provided by an embodiment of the present application. Figure 2 As shown, the method of the embodiment of the present application may include the following steps S101-S103.

[0038] S101, when the vehicle is traveling in the direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, controlling the rear axle transmission of the vehicle to shift from a neutral position to a preset gear position;

[0039] Specifically, when the vehicle is traveling in direct drive mode, the first driving speed of the vehicle is monitored. If the first driving speed of the vehicle is less than the first preset speed, it is necessary to exit the direct drive mode, and control the rear axle transmission to shift from neutral to preset gear. In order to ensure the safety of the vehicle, the preset gear is preferably a first gear. The first preset speed is the critical speed threshold when the vehicle exits the direct drive mode. Since the vehicle power is preferentially provided by the engine of the front axle of the vehicle in direct drive mode, the FMCU of the front axle can be used as an auxiliary power source to provide power to the vehicle together with the engine to improve the power output of the vehicle. When the vehicle brakes or decelerates, the FMCU can also be used as a generator to convert the kinetic energy of the vehicle into electrical energy storage, improve energy utilization, and reduce the energy consumption of the vehicle. In this case, the P4M of the rear axle of the vehicle is in a zero torque state, that is, the P4M is powered on but does not generate a driving torque, and cannot provide power to the vehicle, but there is still current passing through the P4M, and the internal components are still in working state. The friction between these components still exists, which will cause the consumption of part of the energy of the whole vehicle. In order to reduce energy consumption, when the vehicle provided in the embodiment of the present application enters the direct drive mode, the rear axle transmission of the rear axle of the vehicle is shifted into a neutral position, so that the P4M and the vehicle are disengaged, thereby reducing energy consumption. Therefore, when exiting the direct drive mode, the rear axle transmission needs to be shifted from the neutral position to the preset gear position.

[0040] S102, if the rear axle transmission has not entered the preset gear position, monitoring a second driving speed of the vehicle;

[0041] Specifically, the vehicle also includes a hybrid vehicle controller (HCU), which is the central system of the hybrid vehicle and is responsible for multiple tasks such as energy distribution, torque management and fault diagnosis. In the hybrid system of the vehicle, the HCU will send a shift request to control the gear position of the transmission. When the vehicle exits the direct drive mode, the HCU sends a shift request to the rear axle transmission through a communication protocol such as the CAN bus, so that the rear axle transmission is shifted from the neutral position to the preset gear position. However, if the vehicle has a circuit fault, a mechanical fault or a software fault, resulting in the rear axle transmission not entering the preset gear position, and the first driving speed of the vehicle is less than the first preset speed, if the front axle transmission of the front axle of the vehicle is forced to shift gears or enter the neutral position, the clutch or shift mechanism will be temporarily disconnected from the engine, and the rear axle transmission is in the neutral position, which will eventually cause the whole vehicle to lose power; if the vehicle maintains the direct drive mode, because in the system architecture of the vehicle, the engine is directly connected to the output shaft through the front axle transmission, when the driving speed of the vehicle continues to decrease, the engine may be stalled. In order to ensure the power of the vehicle and avoid engine stalling, the first preset speed for exiting the direct drive mode is lowered to the second preset speed, so the second driving speed of the vehicle is monitored. The engine speed determines the driving speed of the vehicle, and the second preset speed is the critical speed threshold corresponding to the engine stalling speed of the vehicle, and the first preset speed is greater than the second preset speed.

[0042] S103: If the second driving speed is less than the second preset speed, the vehicle is controlled to switch from the direct drive mode to the idle mode or the series mode based on the battery power of the power battery of the vehicle.

[0043] Specifically, if the second driving speed is less than the second preset speed, the direct drive mode is exited again, the battery power of the vehicle's power battery is obtained, and based on the battery power, the vehicle is controlled to be converted from the direct drive mode to the idle mode or the series mode. Since the FMCU obtains electrical energy from the power battery in the idle mode to drive the vehicle, if the battery power is greater than or equal to the first preset power, the vehicle is controlled to be converted from the direct drive mode to the idle mode. In the idle mode of the vehicle provided in the embodiment of the present application, the clutch is disconnected, so that the engine and the vehicle are in a decoupled state, the engine itself is in an idle state, and the FMCU provides power for the vehicle. The idle state is the lowest speed to maintain the stable operation of the engine, so that in the idle mode, when the user steps on the accelerator to accelerate again, there is no need to start the engine to avoid the vehicle from losing power. In the series mode, the engine can charge the power battery, so if the battery power is less than the first preset power, the vehicle is controlled to be converted from the direct drive mode to the series mode, and the front axle transmission is controlled to enter the neutral position at the same time. Since the rear axle transmission itself is in the neutral position, the vehicle stops driving, and the engine is still in a working state, and the engine charges the power battery to prevent the battery from being over-discharged.

[0044] In the embodiment of the present application, the vehicle is in direct drive mode, the rear axle transmission is put into neutral gear, when the vehicle's driving speed is less than the critical driving speed of the direct drive mode, the rear axle transmission is controlled to be put into a preset gear from neutral gear, if the rear axle transmission does not enter the preset gear, the vehicle's driving speed is continuously monitored, when the vehicle's driving speed is less than the vehicle speed when the vehicle's engine is about to stall, based on the battery power of the power battery, the vehicle is controlled to be switched from direct drive mode to idle mode or series mode. When the preset gear of the rear axle transmission is unavailable, the idle mode can prevent the vehicle from losing power and the engine from stalling, and the series mode can prevent the engine from stalling, the two modes can improve the safety of the vehicle and extend the service life of the engine.

[0045] See also Figure 3 , Figure 3 is a flow chart of a vehicle control method provided by an embodiment of the present application. Figure 3 As shown, the method of the embodiment of the present application may include the following steps S201-S206.

[0046] S201, during the driving process of the vehicle, if the third driving speed of the vehicle reaches the third preset speed, controlling the rear axle transmission of the vehicle to be shifted into a neutral position, and controlling the vehicle to enter a direct drive mode;

[0047] Specifically, during the driving process of the vehicle, the third driving speed of the vehicle is monitored. If the third driving speed reaches the third preset speed, the vehicle is controlled to enter the direct drive mode, and the rear axle transmission of the vehicle is controlled to be in neutral gear. The third preset speed is the critical speed threshold for the vehicle to enter the direct drive mode. In the direct drive mode of the vehicle provided in the embodiment of the present application, the power of the whole vehicle is preferentially provided by the engine of the front axle of the vehicle. Optionally, the FMCU of the front axle can be used as an auxiliary power source to provide power to the vehicle together with the engine to improve the power output of the vehicle. When the vehicle brakes or decelerates, the FMCU can also be used as a generator to convert the kinetic energy of the vehicle into electrical energy storage, improve energy utilization, and reduce the energy consumption of the vehicle. In this case, the P4M of the rear axle of the vehicle is in a zero torque state, that is, the P4M is powered on but does not generate a driving torque, and cannot provide power for the vehicle, but there is still current passing through the P4M, and the internal components are still in working condition. The friction between these components still exists, which will cause the consumption of part of the energy of the whole vehicle. In order to reduce energy consumption, when the vehicle provided in the embodiment of the present application enters the direct drive mode, the rear axle transmission is shifted into neutral gear, so that the P4M and the vehicle are disengaged, thereby reducing energy consumption.

[0048] S202, when the vehicle is traveling in the direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, controlling the rear axle transmission of the vehicle to shift from a neutral position to a preset gear position;

[0049] Specifically, when the vehicle is traveling in the direct drive mode, the first driving speed of the vehicle is monitored. If the first driving speed is less than the first preset speed, the vehicle is controlled to exit the direct drive mode. As can be seen from step S201, when the vehicle enters the direct drive mode, the rear axle transmission of the vehicle is also controlled to be in neutral gear. Therefore, when exiting the direct drive mode, the rear axle transmission of the vehicle is controlled to be in a preset gear position from neutral gear position. In order to ensure the safety of the vehicle, the preset gear position is preferably a first gear position. The first preset speed is a critical speed threshold when the vehicle exits the direct drive mode. The first preset speed may be the same as the third preset speed or may be different from the third preset speed.

[0050] The vehicle also includes a hybrid vehicle controller (HCU), which is the central system of the hybrid vehicle and is responsible for multiple tasks such as energy distribution, torque management and fault diagnosis. In the vehicle's hybrid system, the HCU will send a shift request to control the gear position of the transmission. When the vehicle exits the direct drive mode, the HCU sends a shift request to the rear axle transmission through a communication protocol such as the CAN bus to shift the rear axle transmission from neutral to a preset gear position.

[0051] S203, if the rear axle transmission enters a preset gear position, the vehicle is controlled to switch from a direct drive mode to a pure electric four-wheel drive mode or a rear drive mode based on the battery power of the vehicle's power battery;

[0052] Specifically, if the rear axle transmission successfully enters the preset gear, the battery power of the vehicle's power battery is obtained, and based on the battery power of the power battery, the vehicle is controlled to switch from the direct drive mode to the pure electric four-wheel drive mode or the rear-wheel drive mode. The vehicle provided in the embodiment of the present application is a four-wheel drive vehicle. According to the front axle transmission and the rear axle transmission, the driving mode can be divided into two driving modes: a four-wheel drive mode and a two-wheel drive mode. The two-wheel drive mode can be divided into a front-wheel drive mode and a rear-wheel drive mode. The four-wheel drive mode means that the front and rear wheels of the vehicle have power distribution; the front-wheel drive mode means that the power of the vehicle is mainly provided by the front wheels, and the rear wheels are in a driven state; the rear-wheel drive mode means that the power of the vehicle is mainly provided by the rear wheels, and the front wheels are in a driven state. The front axle transmission and the rear axle transmission can determine whether the vehicle is in four-wheel drive mode, front-wheel drive mode or rear-wheel drive mode. When the front axle transmission and the rear axle transmission are not in neutral, the vehicle enters the four-wheel drive mode; when the rear axle transmission is in neutral and the front axle transmission is not in neutral, the vehicle enters the front-wheel drive mode; when the front axle transmission is in neutral and the rear axle transmission is not in neutral, the vehicle enters the rear-wheel drive mode; when the front axle transmission and the rear axle transmission are both in neutral, the vehicle stops. The pure electric four-wheel drive mode is a mode in which the engine is in a shutdown state when the vehicle is in four-wheel drive mode, and the FMCU and P4M provide driving power for the vehicle. The rear-wheel drive mode includes the series mode and the pure electric rear-wheel drive mode. At this time, the vehicle's driving speed is low, which is suitable for the pure electric mode or the series mode. It should be noted that the driving modes such as the four-wheel drive mode and the two-wheel drive mode are driving modes of different dimensions, and the two can be combined arbitrarily.

[0053] S204, if the rear axle transmission has not entered the preset gear position, monitoring a second driving speed of the vehicle;

[0054] Specifically, if the vehicle has a circuit failure, mechanical failure, or software failure, resulting in the rear axle transmission not entering the preset gear position, and the first driving speed of the vehicle is less than the first preset speed, if the front axle transmission of the front axle of the vehicle is forced to shift gears or enter neutral, the clutch or shift mechanism will be temporarily disconnected from the engine, and the rear axle transmission is in neutral, which will eventually cause the entire vehicle to lose power; if the vehicle maintains direct drive mode, because the engine is directly connected to the output shaft through the front axle transmission in the vehicle's system architecture, the engine may be stalled when the vehicle's driving speed continues to decrease. In order to ensure the power of the entire vehicle and avoid engine stalling, the first preset speed for exiting the direct drive mode is lowered to the second preset speed, so the second driving speed of the vehicle is monitored. The second preset speed is the critical speed threshold corresponding to the engine speed of the vehicle entering stalling, and the first preset speed is greater than the second preset speed.

[0055] S205, calculating a second preset speed based on a speed ratio of an engine speed of an engine of the vehicle to a wheel speed of the vehicle, a tire circumference of the vehicle, and a flameout speed when the engine enters a flameout state;

[0056] Specifically, the engine speed determines the vehicle's driving speed. When calculating the second preset speed, the speed ratio i of the engine speed to the wheel speed, the radius R (m) of the vehicle tire, and the stall speed N (r / min) when the engine is close to the stall state are obtained. The tire circumference C = 2πR is obtained from the tire radius R, and the second preset speed v = 2πR×N / i (m / min), convert the speed unit of the second preset speed v into km / h, and obtain v = 2πR × N × 60 / i×100=0.377RN / i(km / h).

[0057] S206: If the second driving speed is less than the second preset speed, the vehicle is controlled to switch from the direct drive mode to the idle mode or the series mode based on the battery power of the power battery of the vehicle.

[0058] Specifically, if the second driving speed is less than the second preset speed, the direct drive mode is exited again, the battery power of the vehicle's power battery is obtained, and based on the battery power, the vehicle is controlled to be converted from the direct drive mode to the idle mode or the series mode. Since the FMCU obtains electrical energy from the power battery in the idle mode to drive the vehicle, if the battery power is greater than or equal to the first preset power, the vehicle is controlled to be converted from the direct drive mode to the idle mode. In the idle mode of the vehicle provided in the embodiment of the present application, the clutch is disconnected, so that the engine and the vehicle are in a decoupled state, the engine itself is in an idle state, and the FMCU provides power for the vehicle. The idle state is the lowest speed to maintain the stable operation of the engine, so that in the idle mode, when the user steps on the accelerator to accelerate again, there is no need to start the engine to avoid the vehicle from losing power. In the series mode, the engine can charge the power battery, so if the battery power is less than the first preset power, the vehicle is controlled to be converted from the direct drive mode to the series mode, and the front axle transmission is controlled to enter the neutral position at the same time. Since the rear axle transmission itself is in the neutral position, the vehicle stops driving, and the engine is still in a working state, and the engine charges the power battery to prevent the battery from being over-discharged.

[0059] In the embodiment of the present application, when the vehicle is in direct drive mode, the rear axle transmission is put into neutral gear. When the driving speed of the vehicle is less than the critical driving speed of the direct drive mode, the rear axle transmission is controlled to be put into a preset gear from neutral gear. If the rear axle transmission enters the preset gear, the vehicle is controlled to enter the pure electric four-wheel drive mode or rear-wheel drive mode based on the battery power of the power battery. If the rear axle transmission does not enter the preset gear, the driving speed of the vehicle continues to be monitored. When the driving speed of the vehicle is less than the speed of the vehicle when the engine of the vehicle is about to stall, the vehicle is controlled to be converted from the direct drive mode to the idle mode or the series mode based on the battery power of the power battery. When the vehicle enters the direct drive mode, the rear axle transmission of the vehicle is controlled to be put into neutral gear, so that the rear motor of the vehicle is separated from the whole vehicle, so as to prevent the rear motor from still consuming the energy of the whole vehicle in the zero torque state, thereby reducing the energy consumption of the whole vehicle. When the rear axle transmission enters the preset gear, the vehicle is controlled to enter the pure electric four-wheel drive mode or rear-wheel drive mode that better matches the current driving speed, thereby ensuring the flexibility and intelligence of vehicle control. When the preset gear of the rear axle transmission is unavailable, the engine is in idle mode and will not be stalled. When the vehicle accelerates, there is no need to restart the engine to prevent vehicle power loss. The series mode can prevent the engine from stalling and allow the engine to charge the power battery to prevent over-discharge of the battery. Both modes can improve vehicle safety and extend the service life of the engine.

[0060] See also Figure 4 , Figure 4 is a flow chart of a vehicle control method provided by an embodiment of the present application. Figure 4 As shown, the method of the embodiment of the present application may include the following steps S301-S305.

[0061] S301, during the driving process of the vehicle, if the third driving speed of the vehicle reaches the third preset speed, controlling the rear axle transmission of the vehicle to be shifted into a neutral position, and controlling the vehicle to enter a direct drive mode;

[0062] Please refer to step S201 for the specific process, which will not be described again here.

[0063] S302, when the vehicle is traveling in the direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, controlling the rear axle transmission of the vehicle to shift from a neutral position to a preset gear position;

[0064] Please refer to step S202 for the specific process, which will not be described again here.

[0065] S303, if the rear axle transmission enters a preset gear position, obtaining the battery power of the power battery of the vehicle;

[0066] S304, if the battery power is greater than or equal to the second preset power, controlling the engine of the vehicle to enter a shutdown state, and controlling the vehicle to switch from a direct drive mode to a pure electric four-wheel drive mode;

[0067] Specifically, if the battery power is greater than or equal to the second preset power, it is determined that the battery power of the vehicle is high at this time, and the engine can be shut down, and the direct drive mode is converted to the pure electric four-wheel drive mode, and the FMCU and P4M jointly provide driving power for the vehicle. The vehicle provided in the embodiment of the present application is a four-wheel drive vehicle. According to the front axle transmission and the rear axle transmission, the driving mode can be divided into two driving modes: a four-wheel drive mode and a two-wheel drive mode. The two-wheel drive mode can be divided into a front-wheel drive mode and a rear-wheel drive mode. The four-wheel drive mode means that the front and rear wheels of the vehicle have power distribution; the front-wheel drive mode means that the power of the vehicle is mainly provided by the front wheels, and the rear wheels are in a driven state; the rear-wheel drive mode means that the power of the vehicle is mainly provided by the rear wheels, and the front wheels are in a driven state. The front axle transmission and rear axle transmission can determine whether the vehicle is in four-wheel drive mode, front-wheel drive mode or rear-wheel drive mode. When the front axle transmission and the rear axle transmission are not in neutral, the vehicle enters four-wheel drive mode; when the rear axle transmission is in neutral and the front axle transmission is not in neutral, the vehicle enters front-wheel drive mode; when the front axle transmission is in neutral and the rear axle transmission is not in neutral, the vehicle enters rear-wheel drive mode; when the front axle transmission and the rear axle transmission are both in neutral, the vehicle stops. The pure electric four-wheel drive mode is a mode in which the vehicle is in four-wheel drive mode, the engine is in a shutdown state, and the FMCU and P4M provide driving power for the vehicle. At this time, the vehicle's driving speed is low and the battery power is high, which is suitable for the pure electric four-wheel drive mode.

[0068] S305, if the battery power is less than the second preset power, the front axle transmission of the vehicle is controlled to be shifted into neutral gear, and based on the engine state of the vehicle's engine, the vehicle is controlled to be converted from a direct drive mode to a series mode or a pure electric rear drive mode.

[0069] Specifically, if the battery power is less than the second preset power, the front axle transmission of the vehicle is controlled to be in neutral gear. At this time, the battery power cannot provide power for both FMCU and P4M. Therefore, the front axle transmission of the vehicle is controlled to be in neutral gear, so that the vehicle can travel in rear-wheel drive mode, and the rear wheels of the vehicle provide power. The rear-wheel drive mode includes a series mode and a pure electric rear-wheel drive mode. The series mode is a mode in which the engine of the vehicle provides power to P4M, so that P4M drives the vehicle. The pure electric rear-wheel drive mode is a mode in which P4M drives the vehicle by obtaining power from the power battery. Therefore, the engine state of the engine is obtained, and it is determined whether the vehicle enters the series mode or the pure electric rear-wheel drive mode according to the engine state. If the engine state is in a working state, the vehicle is controlled to be converted from the direct drive mode to the series mode; if the engine state is in a fault state, the vehicle is controlled to be converted from the direct drive mode to the pure electric rear-wheel drive mode. At this time, the vehicle's driving speed is low and the battery power is also low, which is suitable for the pure electric rear-wheel drive mode or the series mode. It should be noted that driving modes such as four-wheel drive mode and two-wheel drive mode are driving modes of different dimensions from driving modes such as pure electric mode, series mode and direct drive mode, and the two can be combined arbitrarily.

[0070] In the embodiment of the present application, when the vehicle is in direct drive mode, the rear axle transmission is put into neutral gear. When the vehicle's driving speed is less than the critical driving speed of the direct drive mode, the rear axle transmission is controlled to be put into a preset gear from neutral gear. If the rear axle transmission enters the preset gear, the vehicle is controlled to enter a pure electric four-wheel drive mode or a rear-wheel drive mode based on the battery power of the power battery. When the vehicle enters the direct drive mode, the rear axle transmission of the vehicle is controlled to be put into neutral gear, so that the rear motor of the vehicle is separated from the whole vehicle, so as to prevent the rear motor from still consuming the energy of the whole vehicle in the zero torque state, thereby reducing the energy consumption of the whole vehicle. When the rear axle transmission enters the preset gear, the vehicle is controlled to enter a pure electric four-wheel drive mode or a rear-wheel drive mode that better matches the current driving speed, thereby ensuring the flexibility and intelligence of vehicle control.

[0071] See also Figure 5 , Figure 5 is a flow chart of a vehicle control method provided by an embodiment of the present application. Figure 5 As shown, the method of the embodiment of the present application may include the following steps S401-S407.

[0072] S401, during the driving process of the vehicle, if the third driving speed of the vehicle reaches the third preset speed, controlling the rear axle transmission of the vehicle to be shifted into a neutral position, and controlling the vehicle to enter a direct drive mode;

[0073] Please refer to step S301 for the specific process, which will not be described again here.

[0074] S402, when the vehicle is traveling in the direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, controlling the rear axle transmission of the vehicle to shift from a neutral position to a preset gear position;

[0075] Please refer to step S302 for the specific process, which will not be described again here.

[0076] S403, if the rear axle transmission has not entered the preset gear position, monitoring a second driving speed of the vehicle;

[0077] Please refer to step S204 for the specific process, which will not be described again here.

[0078] S404, calculating a second preset speed based on a speed ratio of an engine speed of an engine of the vehicle to a wheel speed of the vehicle, a tire circumference of the vehicle, and a flameout speed when the engine enters a flameout state;

[0079] Please refer to step S205 for the specific process, which will not be described again here.

[0080] S405, if the second driving speed is less than the second preset speed, obtaining the battery power of the power battery of the vehicle;

[0081] S406, if the battery power is greater than or equal to the first preset power, controlling the vehicle to switch from the direct drive mode to the idle mode;

[0082] Specifically, since the FMCU obtains electrical energy from the power battery in idle mode to drive the vehicle, if the battery power is greater than or equal to the first preset power, it is determined that the current power battery can provide electrical energy for the FMCU, so that the FMCU provides driving power for the vehicle. Therefore, the vehicle is controlled to switch from direct drive mode to idle mode. In idle mode, the clutch is disconnected, the engine and the vehicle are in a decoupled state, the engine itself is in an idle state, and the FMCU provides power for the vehicle. The idle state is the lowest speed to maintain stable operation of the engine, so that in idle mode, when the user steps on the accelerator to accelerate again, there is no need to start the engine to avoid the vehicle losing power. It should be noted that in idle state, the engine can also charge the power battery.

[0083] S407, if the battery power is less than the first preset power, the front axle transmission of the vehicle is controlled to be in neutral gear, and the vehicle is controlled to be converted from the direct drive mode to the series drive mode.

[0084] Specifically, in the series mode, the engine can charge the power battery. Therefore, if the battery power is less than the first preset power, it is determined that the power battery cannot provide power to the FMCU, and the front axle transmission is put into neutral. Since the rear axle transmission itself is in neutral, the vehicle stops. The engine is still in operation. In order to prevent the engine from stalling, the vehicle is controlled to switch from direct drive mode to series mode, so that the engine rotates to charge the power battery and prevent the battery from being over-discharged.

[0085] In the embodiment of the present application, when the vehicle is in direct drive mode, the rear axle transmission is put into neutral gear. When the vehicle's driving speed is less than the critical driving speed of the direct drive mode, the rear axle transmission is controlled to be put into a preset gear from neutral gear. If the rear axle transmission does not enter the preset gear, the vehicle's driving speed is continuously monitored. When the vehicle's driving speed is less than the vehicle speed when the vehicle's engine is about to stall, the battery power of the power battery is obtained. If the battery power is high, the vehicle is controlled to be converted from direct drive mode to idle mode; if the battery power is low, the front axle transmission is put into neutral gear, and the vehicle is controlled to be converted from direct drive mode to series mode. When the vehicle enters the direct drive mode, the rear axle transmission of the vehicle is controlled to be put into neutral gear, so that the rear motor of the vehicle is separated from the whole vehicle, so as to prevent the rear motor from still consuming the energy of the whole vehicle in the zero torque state, thereby reducing the energy consumption of the whole vehicle. When the preset gear of the rear axle transmission is unavailable, the engine is in an idle state through the idle mode, and will not be stalled. When the vehicle accelerates, there is no need to start the engine again, so as to prevent the vehicle from losing power. The series mode can prevent the engine from stalling, allowing the engine to charge the power battery and prevent the battery from over-discharging. Both modes can improve vehicle safety and extend the service life of the engine.

[0086] based on Figure 1 The system architecture diagram will be combined with Figure 6 , the vehicle control device provided in the embodiment of the present application is introduced in detail. It should be noted that, Figure 6 The vehicle control device is used to execute the present application Figure 2-Figure 5 For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the present application. Figure 2-Figure 5 The embodiment shown.

[0087] See also Figure 6 , Figure 6 Schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. Figure 6 As shown, the vehicle control device 1 of the embodiment of the present application may include: a rear axle shifting unit 11 , a driving speed monitoring unit 12 and a mode conversion unit 13 .

[0088] The rear axle gear shift unit 11 is used to control the rear axle transmission of the vehicle to shift from a neutral position to a preset gear position when the vehicle is traveling in a direct drive mode and if the first driving speed of the vehicle is less than a first preset speed;

[0089] A driving speed monitoring unit 12, for monitoring a second driving speed of the vehicle if the rear axle transmission does not enter the preset gear position;

[0090] A mode conversion unit 13, configured to control the vehicle to convert from a direct drive mode to an idle mode or a series mode based on the battery power of a power battery of the vehicle if the second driving speed is less than a second preset speed;

[0091] The first preset speed is a critical speed threshold for the vehicle to exit the direct drive mode, and the second preset speed is a critical speed threshold corresponding to the engine speed of the vehicle entering the stalling speed. The first preset speed is greater than the second preset speed.

[0092] Optionally, the vehicle control device 1 is specifically used to control the rear axle transmission of the vehicle to shift into neutral and control the vehicle to enter direct drive mode if the third driving speed of the vehicle reaches a third preset speed during the driving process of the vehicle. The third driving speed is the critical speed threshold for the vehicle to enter the direct drive mode.

[0093] Optionally, the vehicle control device 1 is specifically used to calculate the second preset speed based on the speed ratio of the engine speed of the vehicle's engine to the wheel speed of the vehicle, the tire circumference of the vehicle, and the stall speed when the engine enters the stall state.

[0094] Optionally, the mode conversion unit 13 is specifically configured to obtain the battery power of the power battery of the vehicle if the second driving speed is less than the second preset speed;

[0095] If the battery power is greater than or equal to the first preset power, the vehicle is controlled to switch from the direct drive mode to the idle mode;

[0096] If the battery power is less than the first preset power, the front axle transmission of the vehicle is controlled to be in neutral gear, and the vehicle is controlled to be converted from the direct drive mode to the series drive mode.

[0097] Optionally, the vehicle control device 1 is specifically used to control the vehicle to switch from a direct drive mode to a pure electric four-wheel drive mode or a rear-wheel drive mode based on the battery power of the vehicle's power battery if the rear axle transmission enters a preset gear position.

[0098] Optionally, the vehicle control device 1 is specifically used to obtain the battery power of the vehicle's power battery if the rear axle transmission enters a preset gear position;

[0099] If the battery power is greater than or equal to the second preset power, the engine of the vehicle is controlled to enter a shutdown state, and the vehicle is controlled to switch from a direct drive mode to a pure electric four-wheel drive mode;

[0100] If the battery power is less than the second preset power, the front axle transmission of the vehicle is controlled to be shifted into neutral gear, and based on the engine state of the vehicle's engine, the vehicle is controlled to be switched from direct drive mode to series mode or pure electric rear drive mode.

[0101] Optionally, the vehicle control device 1 is specifically used to control the front axle transmission of the vehicle to shift into a neutral position if the battery power is less than a second preset power;

[0102] Get the engine status of the engine;

[0103] If the engine state is in working state, the vehicle is controlled to switch from direct drive mode to series drive mode;

[0104] If the engine is in shutdown mode, the vehicle is controlled to switch from direct drive mode to pure electric rear drive mode.

[0105] In the embodiment of the present application, when the vehicle is in direct drive mode, the rear axle transmission is put into neutral gear. When the driving speed of the vehicle is less than the critical driving speed of the direct drive mode, the rear axle transmission is controlled to be put into a preset gear from neutral gear. If the rear axle transmission enters the preset gear, the vehicle is controlled to enter the pure electric four-wheel drive mode or rear-wheel drive mode based on the battery power of the power battery. If the rear axle transmission does not enter the preset gear, the driving speed of the vehicle continues to be monitored. When the driving speed of the vehicle is less than the speed of the vehicle when the engine of the vehicle is about to stall, the vehicle is controlled to be converted from the direct drive mode to the idle mode or the series mode based on the battery power of the power battery. When the vehicle enters the direct drive mode, the rear axle transmission of the vehicle is controlled to be put into neutral gear, so that the rear motor of the vehicle is separated from the whole vehicle, so as to prevent the rear motor from still consuming the energy of the whole vehicle in the zero torque state, thereby reducing the energy consumption of the whole vehicle. When the rear axle transmission enters the preset gear, the vehicle is controlled to enter the pure electric four-wheel drive mode or rear-wheel drive mode that better matches the current driving speed, thereby ensuring the flexibility and intelligence of vehicle control. When the preset gear of the rear axle transmission is unavailable, the engine is in idle mode and will not be stalled. When the vehicle accelerates, there is no need to restart the engine to prevent vehicle power loss. The series mode can prevent the engine from stalling and allow the engine to charge the power battery to prevent over-discharge of the battery. Both modes can improve vehicle safety and extend the service life of the engine.

[0106] See also Figure 7 , Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0107] For example, Figure 7 As shown, the vehicle 700 includes: a processor 701 and a memory 702, wherein the processor 701 is electrically connected to the memory 702.

[0108] The processor 701 is the control center of the vehicle 700 and may include one or more processing cores. The processor 701 uses various interfaces and lines to connect various parts of the entire vehicle, and executes various functions of the vehicle and processes data by running or calling computer programs stored in the memory 702, and calling data stored in the memory 702, so as to control the vehicle 700 as a whole. Optionally, the processor 701 can be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 701 may integrate one or a combination of CPU, graphics processing unit (GPU), modem, etc. Among them, the CPU mainly processes the operating system, user pages, and applications; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 701, but may be implemented separately through a communication chip.

[0109] The memory 702 can be used to store software programs and modules, and the processor 701 executes various functional applications and data processing by running the computer programs and modules stored in the memory 702. The memory 702 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, a computer program required for at least one function, etc.; the data storage area can store data created according to the use of the vehicle 700, etc.

[0110] In addition, the memory 702 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 702 may also include a memory controller to provide the processor 701 with access to the memory 702.

[0111] In this embodiment, the processor 701 in the vehicle 700 loads instructions corresponding to the processes of one or more computer programs into the memory 702 according to the following steps, and the processor 701 runs the computer program stored in the memory 702 to implement various functions, as follows:

[0112] When the vehicle is traveling in the direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, the rear axle transmission of the vehicle is controlled to shift from a neutral position to a preset gear position;

[0113] If the rear axle transmission does not enter the preset gear, monitoring a second driving speed of the vehicle;

[0114] If the second driving speed is less than the second preset speed, the vehicle is controlled to switch from the direct drive mode to the idle mode or the series mode based on the battery power of the power battery of the vehicle;

[0115] The first preset speed is a critical speed threshold for the vehicle to exit the direct drive mode, and the second preset speed is a critical speed threshold corresponding to the engine speed of the vehicle entering the stalling speed. The first preset speed is greater than the second preset speed.

[0116] Optionally, before executing the step of controlling the rear axle transmission of the vehicle to shift from a neutral position to a preset gear position when the vehicle is traveling in the direct drive mode and if the first driving speed of the vehicle is less than a first preset speed, the processor 701 further executes:

[0117] During the driving process of the vehicle, if the third driving speed of the vehicle reaches the third preset speed, the rear axle transmission of the vehicle is controlled to be shifted into neutral gear, and the vehicle is controlled to enter the direct drive mode. The third driving speed is the critical speed threshold for the vehicle to enter the direct drive mode.

[0118] Optionally, before executing if the second driving speed is less than the second preset speed, based on the battery power of the power battery of the vehicle, controlling the vehicle to switch from the direct drive mode to the idle mode or the series mode, the processor 701 further executes:

[0119] The second preset speed is calculated based on a speed ratio of an engine speed of an engine of the vehicle to a wheel speed of the vehicle, a tire circumference of the vehicle, and a stall speed when the engine enters a stall state.

[0120] Optionally, when the processor 701 controls the vehicle to switch from the direct drive mode to the idle mode or the series mode based on the battery power of the power battery of the vehicle if the second driving speed is less than the second preset speed, the processor 701 specifically executes:

[0121] If the second driving speed is less than the second preset speed, obtaining the battery power of the power battery of the vehicle;

[0122] If the battery power is greater than or equal to the first preset power, the vehicle is controlled to switch from the direct drive mode to the idle mode;

[0123] If the battery power is less than the first preset power, the front axle transmission of the vehicle is controlled to be in neutral gear, and the vehicle is controlled to be converted from the direct drive mode to the series drive mode.

[0124] Optionally, after the processor 701 executes the following steps: when the vehicle is traveling in the direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, controlling the rear axle transmission of the vehicle to shift from neutral to a preset gear:

[0125] If the rear axle transmission enters the preset gear position, the vehicle is controlled to switch from direct drive mode to pure electric four-wheel drive mode or rear-wheel drive mode based on the battery power of the vehicle's power battery.

[0126] Optionally, when the processor 701 controls the vehicle to be converted from a direct drive mode to a pure electric four-wheel drive mode or a rear-wheel drive mode based on the battery power of the vehicle's power battery if the rear axle transmission enters a preset gear, the processor 701 specifically executes:

[0127] If the rear axle transmission enters a preset gear position, the battery power of the vehicle's power battery is obtained;

[0128] If the battery power is greater than or equal to the second preset power, the engine of the vehicle is controlled to enter a shutdown state, and the vehicle is controlled to switch from a direct drive mode to a pure electric four-wheel drive mode;

[0129] If the battery power is less than the second preset power, the front axle transmission of the vehicle is controlled to be shifted into neutral gear, and based on the engine state of the vehicle's engine, the vehicle is controlled to be switched from direct drive mode to series mode or pure electric rear drive mode.

[0130] Optionally, when the processor 701 controls the front axle transmission of the vehicle to be shifted into neutral gear if the battery power is less than the second preset power, and controls the vehicle to be switched from the direct drive mode to the series mode or the pure electric rear drive mode based on the engine state of the vehicle, the processor 701 specifically executes:

[0131] If the battery power is less than the second preset power, the front axle transmission of the vehicle is controlled to be in neutral gear;

[0132] Get the engine status of the engine;

[0133] If the engine state is in working state, the vehicle is controlled to switch from direct drive mode to series drive mode;

[0134] If the engine is in shutdown mode, the vehicle is controlled to switch from direct drive mode to pure electric rear drive mode.

[0135] In the embodiment of the present application, when the vehicle is in direct drive mode, the rear axle transmission is put into neutral gear. When the driving speed of the vehicle is less than the critical driving speed of the direct drive mode, the rear axle transmission is controlled to be put into a preset gear from neutral gear. If the rear axle transmission enters the preset gear, the vehicle is controlled to enter the pure electric four-wheel drive mode or rear-wheel drive mode based on the battery power of the power battery. If the rear axle transmission does not enter the preset gear, the driving speed of the vehicle continues to be monitored. When the driving speed of the vehicle is less than the speed of the vehicle when the engine of the vehicle is about to stall, the vehicle is controlled to be converted from the direct drive mode to the idle mode or the series mode based on the battery power of the power battery. When the vehicle enters the direct drive mode, the rear axle transmission of the vehicle is controlled to be put into neutral gear, so that the rear motor of the vehicle is separated from the whole vehicle, so as to prevent the rear motor from still consuming the energy of the whole vehicle in the zero torque state, thereby reducing the energy consumption of the whole vehicle. When the rear axle transmission enters the preset gear, the vehicle is controlled to enter the pure electric four-wheel drive mode or rear-wheel drive mode that better matches the current driving speed, thereby ensuring the flexibility and intelligence of vehicle control. When the preset gear of the rear axle transmission is unavailable, the engine is in idle mode and will not be stalled. When the vehicle accelerates, there is no need to restart the engine to prevent vehicle power loss. The series mode can prevent the engine from stalling and allow the engine to charge the power battery to prevent over-discharge of the battery. Both modes can improve vehicle safety and extend the service life of the engine.

[0136] It should be understood that the device provided in the embodiment of the present application is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0137] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes, etc.

[0138] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0139] In addition, the device provided in the embodiment of the present application may specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiment.

[0140] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0141] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0142] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0143] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0144] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0145] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle is traveling in the direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, the rear axle transmission of the vehicle is controlled to shift from a neutral position to a preset gear position; If the rear axle transmission does not enter the preset gear position, monitoring a second driving speed of the vehicle; If the second driving speed is less than a second preset speed, based on the battery power of the power battery of the vehicle, controlling the vehicle to switch from the direct drive mode to an idle mode or a series mode; The first preset speed is a critical speed threshold for the vehicle to exit the direct drive mode, and the second preset speed is a critical speed threshold corresponding to a stall speed of the vehicle's engine, and the first preset speed is greater than the second preset speed.

2. The method according to claim 1, characterized in that: When the vehicle is traveling in the direct drive mode, if the first traveling speed of the vehicle is less than the first preset speed, before controlling the rear axle transmission of the vehicle to shift from the neutral position to the preset gear position, the method further includes: During the driving process of the vehicle, if the third driving speed of the vehicle reaches the third preset speed, the rear axle transmission of the vehicle is controlled to be shifted into neutral gear, and the vehicle is controlled to enter the direct drive mode. The third driving speed is the critical speed threshold for the vehicle to enter the direct drive mode.

3. The method according to claim 1, characterized in that If the second driving speed is less than a second preset speed, before controlling the vehicle to switch from the direct drive mode to the idle mode or the series mode based on the battery power of the power battery of the vehicle, the method further includes: A second preset speed is calculated based on a speed ratio of an engine speed of an engine of the vehicle to a wheel speed of the vehicle, a tire circumference of the vehicle, and a stall speed when the engine enters a stall state.

4. The method according to claim 1, characterized in that: If the second driving speed is less than a second preset speed, based on the battery power of the power battery of the vehicle, controlling the vehicle to switch from the direct drive mode to an idle mode or a series mode includes: If the second driving speed is less than a second preset speed, obtaining the battery power of the power battery of the vehicle; If the battery power is greater than or equal to a first preset power, controlling the vehicle to switch from the direct drive mode to an idle mode; If the battery power is less than the first preset power, the front axle transmission of the vehicle is controlled to be in neutral gear, and the vehicle is controlled to be converted from the direct drive mode to the series drive mode.

5. The method according to claim 1, characterized in that When the vehicle is traveling in the direct drive mode, if the first traveling speed of the vehicle is less than the first preset speed, after controlling the rear axle transmission of the vehicle to shift from neutral to a preset gear, the method further includes: If the rear axle transmission enters the preset gear position, the vehicle is controlled to be converted from the direct drive mode to the pure electric four-wheel drive mode or the rear-wheel drive mode based on the battery power of the power battery of the vehicle.

6. The method according to claim 5, characterized in that If the rear axle transmission enters the preset gear position, the vehicle is controlled to be converted from the direct drive mode to a pure electric four-wheel drive mode or a rear-wheel drive mode based on the battery power of the power battery of the vehicle, including: If the rear axle transmission enters the preset gear position, obtaining the battery power of the power battery of the vehicle; If the battery power is greater than or equal to a second preset power, the engine of the vehicle is controlled to enter a shutdown state, and the vehicle is controlled to be converted from the direct drive mode to a pure electric four-wheel drive mode; If the battery power is less than a second preset power, the front axle transmission of the vehicle is controlled to be shifted into neutral, and based on the engine state of the vehicle's engine, the vehicle is controlled to be converted from the direct drive mode to the series mode or the pure electric rear drive mode.

7. The method according to claim 6, characterized in that If the battery power is less than a second preset power, the front axle transmission of the vehicle is controlled to be in neutral gear, and based on the engine state of the engine of the vehicle, the vehicle is controlled to be converted from the direct drive mode to the series mode or the pure electric rear drive mode, including: If the battery power is less than a second preset power, controlling the front axle transmission of the vehicle to shift into a neutral position; obtaining an engine state of the engine; If the engine state is in the working state, controlling the vehicle to switch from the direct drive mode to the series drive mode; If the engine state is a fault state, the vehicle is controlled to be converted from the direct drive mode to a pure electric rear drive mode.

8. A vehicle control device, characterized in that: The device comprises: A rear axle gear shift unit, used for controlling the rear axle transmission of the vehicle to shift from a neutral position to a preset gear position when the vehicle is traveling in a direct drive mode and if the first driving speed of the vehicle is less than a first preset speed; a driving speed monitoring unit, for monitoring a second driving speed of the vehicle if the rear axle transmission does not enter the preset gear position; a mode conversion unit, configured to control the vehicle to convert from the direct drive mode to an idle mode or a series mode based on the battery power of the power battery of the vehicle if the second driving speed is less than a second preset speed; The first preset speed is a critical speed threshold for the vehicle to exit the direct drive mode, and the second preset speed is a critical speed threshold corresponding to a stall speed of the vehicle's engine, and the first preset speed is greater than the second preset speed.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program code, and when the computer program code is executed, the method according to any one of claims 1 to 7 is implemented.

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