Vehicle control system, vehicle control method, and vehicle

Abstract

The invention discloses a control system of a vehicle, a control method of the vehicle and the vehicle. The control system of the vehicle comprises a power device; the braking device is suitable for being arranged at a wheel; the power device is in transmission connection with the wheels or the brake device through the switching device; wherein the switching device has a first working state and a second working state, and when the switching device is in the first working state, power of the power device is transmitted to the braking device through the switching device; and when the switching device is in the second working state, the power of the power device is transmitted to the wheels through the switching device. According to the control system of the vehicle, the braking device and the wheels are in transmission connection with the power device through the switching device, so that the power device can provide driving force for the wheels and the braking device, the same power device can perform fusion control on driving and braking, and the integration degree of the control system of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a vehicle control system, a vehicle control method and a vehicle. Background Art

[0002] In the existing technology, the braking system and the drive system are crucial to the safe driving, motion control and autonomous driving of the vehicle. With the promotion of electrification and intelligence, in-wheel motor drive and wire-controlled braking have become the trend of future automobile development.

[0003] In the existing joint control system, the wheel hub motor drive and electronic brake are generally equipped with high-voltage motors and low-voltage motors for control respectively, which have the problems of large space occupation, difficult layout and high cost. In addition, the electronic brake is driven by a low-voltage motor, which is prone to insufficient braking force, cannot meet development requirements, and affects the user experience. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present invention is to provide a vehicle control system, which enables the power device to provide driving force to the wheels and the brake device by connecting the brake device and the wheels to the power device through a switching device, thereby realizing the integrated control of the drive and the brake by the same power device, and improving the integration level of the vehicle control system.

[0005] Another object of the present invention is to provide a vehicle control method.

[0006] Another object of the present invention is to provide a vehicle comprising the above-mentioned vehicle control system or the above-mentioned vehicle control method.

[0007] According to the first aspect of the present invention, the control system of the vehicle comprises: a power unit; a braking device, which is suitable for being arranged at the wheel; and a switching device, through which the power unit is transmission-connected to the wheel or the braking device; wherein the switching device has a first working state and a second working state, and when the switching device is in the first working state, the power of the power unit is transmitted to the braking device through the switching device; when the switching device is in the second working state, the power of the power unit is transmitted to the wheel through the switching device.

[0008] According to the control system of the vehicle in the embodiment of the present invention, by connecting the braking device and the wheels to the power device through a switching device, the power device can provide driving force to the wheels and the braking device, thereby realizing the integrated control of driving and braking by the same power device, thereby improving the degree of integration of the vehicle's control system.

[0009] According to some embodiments of the present invention, the switching device includes: a first coupling mechanism, which is connected to the braking device; and a second coupling mechanism, which is connected to the power device; wherein, when the switching device is in the first working state, the power of the power device is transmitted to the braking device through the first coupling mechanism; and when the switching device is in the second working state, the power of the power device is transmitted to the wheels through the second coupling mechanism.

[0010] According to some embodiments of the present invention, the first coupling mechanism and / or the second coupling mechanism is a clutch.

[0011] According to some embodiments of the present invention, a first transmission mechanism is provided between the first coupling mechanism and the braking device, and when the switching device is in the first working state, the first coupling mechanism is transmission connected to the braking device through the first transmission mechanism; a second transmission mechanism is provided between the second coupling mechanism and the wheel, and when the switching device is in the second working state, the second coupling mechanism is transmission connected to the wheel through the second transmission mechanism.

[0012] According to some embodiments of the present invention, the first transmission mechanism includes a first driving gear and a first driven gear, the first driving gear is connected to the first coupling mechanism, and the first driven gear is connected to the braking device.

[0013] According to some embodiments of the present invention, the control system further comprises: a transmission member, and the first driven gear is connected to the braking device via the transmission member.

[0014] According to some embodiments of the present invention, the second transmission device includes a second driving gear and a second driven gear, the second driving gear is connected to the second coupling mechanism, and the second driven gear is suitable for connecting to the wheel.

[0015] According to some embodiments of the present invention, the control system further comprises: a rotating shaft, and the second driven gear is connected to the wheel via the rotating shaft.

[0016] According to some embodiments of the present invention, the switching device further has a third working state. When the switching device is in the third working state, the power of the wheel is transmitted to the braking device through the switching device.

[0017] According to some embodiments of the present invention, the switching device includes: a first coupling mechanism, which is connected to the braking device; and a second coupling mechanism, which is connected to the power device; when the switching device is in the third working state, the power of the wheel is transmitted to the braking device via the second coupling mechanism and the first coupling mechanism.

[0018] According to some embodiments of the present invention, the switching device is disposed between the power device and the wheel; or, the power device is disposed between the switching device and the wheel.

[0019] According to some embodiments of the present invention, the control system of the vehicle further includes: a control device connected to at least one of the braking device, the switching device and the power device.

[0020] A vehicle control method according to a second aspect of the present invention includes the following steps: Controlling the power device of the control system to work, when the switching device is switched to the first working state, the power of the power device is transmitted to the braking device through the switching device, and the control system is a control system of a vehicle according to the above-mentioned first aspect of the embodiment of the present invention; The power device is controlled to work, and when the switching device is switched to the second working state, the power of the power device is transmitted to the wheels through the switching device.

[0021] According to some embodiments of the present invention, the vehicle control method comprises the following steps: Obtaining a longitudinal control request torque T of the vehicle; If the longitudinal control request torque T is less than 0, the power device is controlled to work, the switching device is switched to the first working state, and the power of the power device is transmitted to the braking device through the switching device; If the longitudinal control request torque T is greater than or equal to 0, the power device is controlled to operate, the switching device is switched to the second operating state, and the power of the power device is transmitted to the wheels through the switching device.

[0022] According to some embodiments of the present invention, if the longitudinal control request torque T is less than 0, the power device is controlled to work, the switching device is switched to the first working state, and the power of the power device is transmitted to the braking device through the switching device, including: if the longitudinal control request torque T is less than 0, the power device is controlled to output a positive torque, the first coupling mechanism is engaged with the first driving gear, and the second coupling mechanism is disconnected from the second driving gear; According to some embodiments of the present invention, if the longitudinal control request torque T is greater than or equal to 0, the power device is controlled to operate and the switching device is switched to the second operating state, and the power of the power device is transmitted to the wheels through the switching device, including: if the longitudinal control request torque T is greater than or equal to 0, the power device is controlled to output a positive torque, the second coupling mechanism engages with the second driving gear, and the first coupling mechanism is disconnected from the first driving gear.

[0023] According to some embodiments of the present invention, if the longitudinal control request torque T is less than 0, controlling the power device to output a positive torque, engaging the first coupling mechanism with the first driving gear, and disconnecting the second coupling mechanism from the second driving gear comprises: if the longitudinal control request torque T is less than 0, transmitting the positive torque to the brake device via the first coupling mechanism, the first driving gear, the first driven gear and the transmission member, so that the brake device provides braking force to the wheel; According to some embodiments of the present invention, if the longitudinal control request torque T is greater than or equal to 0, the power device is controlled to output a positive torque, the second coupling mechanism is engaged with the second driving gear, and the connection between the first coupling mechanism and the first driving gear is disconnected, including: if the longitudinal control request torque T is greater than or equal to 0, the positive torque is transmitted to the wheels via the second coupling mechanism, the second driving gear, the second driven gear and the rotating shaft to provide driving force to the wheels.

[0024] According to some embodiments of the present invention, when the longitudinal control request torque T is less than 0, the vehicle control method further includes: If the longitudinal control request torque T is greater than the maximum reverse torque T0 of the power device, the power device is controlled to work and the switching device is switched to the second working state, wherein the power device outputs reverse torque; If the longitudinal control request torque T is less than or equal to the maximum reverse torque T0 of the power device, the power device is controlled to operate and the switching device is switched to the first operating state, wherein the power device outputs positive torque.

[0025] According to some embodiments of the present invention, if the longitudinal control request torque T is greater than the maximum reverse torque T0 of the power device, controlling the power device to work and switching the switching device to the second working state includes: if the longitudinal control request torque T is less than 0 and greater than the maximum reverse torque T0, controlling the power device to output reverse torque, the second coupling mechanism is engaged with the second driving gear, and disconnecting the first coupling mechanism from the first driving gear; According to some embodiments of the present invention, if the longitudinal control request torque T is less than or equal to the maximum reverse torque T0 of the power device, controlling the power device to operate and the switching device to switch to the first operating state includes: if the longitudinal control request torque T is less than 0 and less than or equal to the maximum reverse torque T0, controlling the power device to output forward torque, the first coupling mechanism engages with the first driving gear, and disconnecting the second coupling mechanism from the second driving gear.

[0026] According to some embodiments of the present invention, if the longitudinal control request torque T is less than 0 and greater than the maximum reverse torque T0, the power device is controlled to output a reverse torque, the second coupling mechanism is engaged with the second driving gear, and the first coupling mechanism is disconnected from the first driving gear, comprising: if the longitudinal control request torque T is less than 0 and greater than the maximum reverse torque T0, the power device outputs a reverse torque, and the reverse torque is transmitted to the wheel via the second coupling mechanism, the second driving gear, the second driven gear and the rotating shaft to provide braking force to the wheel; According to some embodiments of the present invention, if the longitudinal control request torque T is less than 0 and less than or equal to the maximum reverse torque T0, the power device is controlled to output a positive torque, the first coupling mechanism is engaged with the first driving gear, and the second coupling mechanism is disconnected from the second driving gear, including: if the longitudinal control request torque T is less than 0 and less than or equal to the maximum reverse torque T0, the power device outputs a positive torque, and the positive torque is transmitted to the braking device via the first coupling mechanism, the first driving gear, the first driven gear and the transmission member, so that the braking device provides braking force to the wheels.

[0027] According to some embodiments of the present invention, the vehicle control method further includes: If the power device fails and the longitudinal control request torque T is greater than or equal to 0, controlling the switching device to switch to the fourth working state; If the power device fails and the longitudinal control request torque T is less than 0, controlling the switching device to switch to the third working state; If the power device is not failed and the longitudinal control request torque T is less than 0, controlling the switching device to switch to the first working state; If the power device is not failed and the longitudinal control request torque T is greater than or equal to 0, the switching device is controlled to switch to the second working state.

[0028] According to some embodiments of the present invention, if the power device fails and the longitudinal control request torque T is greater than or equal to 0, controlling the switching device to switch to the fourth working state includes: if the power device fails and the longitudinal control request torque T is greater than or equal to 0, controlling the disconnection of the first coupling mechanism and the first driving gear, and disconnecting the connection of the second coupling mechanism and the second driving gear; According to some embodiments of the present invention, if the power device fails and the longitudinal control request torque T is less than 0, controlling the switching device to switch to the third working state includes: if the power device fails and the longitudinal control request torque T is less than 0, controlling the first coupling mechanism to engage with the first driving gear, and controlling the second coupling mechanism to engage with the second driving gear.

[0029] According to some embodiments of the present invention, if the power device fails and the longitudinal control request torque T is greater than or equal to 0, controlling to disconnect the first coupling mechanism from the first driving gear and disconnect the second coupling mechanism from the second driving gear includes: if the power device fails and the longitudinal control request torque T is greater than or equal to 0, the vehicle coasts; According to some embodiments of the present invention, if the power device fails and the longitudinal control request torque T is less than 0, controlling the first coupling mechanism to engage with the first driving gear and the second coupling mechanism to engage with the second driving gear includes: if the power device fails and the longitudinal control request torque T is less than 0, the torque of the wheel is transmitted to the braking device via the rotating shaft, the second driven gear, the second driving gear, the second coupling mechanism, the first driving gear, the first driven gear and the transmission member, so that the braking device provides braking force to the wheel.

[0030] The vehicle according to the third aspect of the present invention comprises the control system of the vehicle according to the first aspect of the present invention, or the control method of the vehicle according to the second aspect of the present invention.

[0031] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 is a schematic diagram of a control system of a vehicle according to an embodiment of the present invention; Figure 2 is a schematic diagram of a control system of a vehicle according to an embodiment of the present invention; Figure 3 is a schematic diagram of a vehicle according to an embodiment of the present invention; Figure 4 is a flow chart of a vehicle control method according to an embodiment of the present invention; Figure 5 is a flow chart of a vehicle control method according to another embodiment of the present invention; Figure 6 is a flow chart of a vehicle control method according to yet another embodiment of the present invention.

[0034] Description of reference numerals: 100. Vehicle control system; 10. Braking device; 20. Switching device; 21. First coupling mechanism; 22. Second coupling mechanism; 30. Power device; 31. Output shaft; 40. Control device; 50. First transmission mechanism; 51. First driving gear; 52. First driven gear; 60. Second transmission mechanism; 61. Second driving gear; 62. Second driven gear; 70. Transmission member; 80. Wheel; 81. Rotating shaft; 82. Brake disc; 200. Vehicle. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Figure 1-Figure 3 A control system 100 of a vehicle 200 according to an embodiment of the first aspect of the present invention will be described.

[0036] like Figure 1-Figure 3 As shown, a control system 100 of a vehicle 200 according to an embodiment of the first aspect of the present invention includes: a braking device 10, a switching device 20 and a power device 30.

[0037] Specifically, the braking device 10 is suitable for being arranged at the wheel 80 , and the power device 30 is transmission-connected to the wheel 80 or the braking device 10 via the switching device 20 .

[0038] Among them, the switching device 20 has a first working state and a second working state. When the switching device 20 is in the first working state, the power of the power device 30 is transmitted to the wheel 80 through the switching device 20; when the switching device 20 is in the second working state, the power of the power device 30 is transmitted to the braking device 10 through the switching device 20.

[0039] For example, in Figure 1 In the example, by configuring the switching device 20 to be switchable between the first working state and the second working state, when the switching device 20 is in the second working state, the power device 30 provides driving force for the wheel 80, and the driving force is transmitted to the wheel 80 via the switching device 20, driving the vehicle 200 to travel normally. When the switching device 20 is in the first working state, the power device 30 provides driving force for the braking device 10, and the driving force is transmitted to the braking device 10 via the switching device 20 to brake the wheel 80. The state switching of the switching device 20 allows the power device 30 to satisfy the driving of the wheel 80 and provide the driving force to the braking device 10 to achieve braking, thereby improving the integration level of the control system 100 of the vehicle 200.

[0040] Moreover, compared with the combined control system in the prior art, the wheel 80 driving and braking of the braking device 10 of the present application only require the same power device 30 to provide driving force, thereby realizing the integrated control of driving and braking by a single power device 30, improving the structural compactness of the control system 100 of the vehicle 200, reducing the installation space of the control system 100, facilitating the layout of the control system 100 of the vehicle 200 and reducing costs.

[0041] It should be noted that the power device 30 may be a high voltage motor and the brake device 10 may be an electronic brake, which is not specifically limited in the present embodiment. The high voltage motor can solve the problem of insufficient power when the existing low voltage motor drives the brake device 10, thereby improving the reliability of the control system 100 of the vehicle 200.

[0042] According to the control system 100 of the vehicle 200 according to the embodiment of the present invention, by connecting the braking device 10 and the wheel 80 to the power device 30 through the switching device 20, the power device 30 can provide driving force to the wheel 80 and the braking device 10, thereby realizing the integrated control of driving and braking by the same power device 30, thereby improving the integration and structural compactness of the control system 100 of the vehicle 200, facilitating the layout of the control system 100 of the vehicle 200 and reducing the cost.

[0043] According to some embodiments of the present invention, the control system 100 of the vehicle 200 further includes: a control device 40 connected to at least one of the braking device 10 , the switching device 20 and the power device 30 .

[0044] The control device 40 and the power device 30 are connected in a three-phase wiring manner (such as Figure 1 As shown); or, the control device 40 and the brake device 10, the switching device 20 and the power device 30 may also adopt an electrical signal connection mode (i.e., a communication connection mode) or a data bus connection mode (i.e., the control device 40 and the brake device 10, the switching device 20 and the power device 30 perform data exchange through the data bus system of the vehicle 200). This application does not impose specific restrictions on this.

[0045] For example, in Figure 1 and Figure 3 In the example, the control device 40 is arranged on one side of the brake device 10, the switching device 20 and the power device 30. When the control system is applied to the vehicle 200, the brake device 10, the switching device 20 and the power device 30 can be four, respectively arranged at the four wheels 80, and the control device 40 can be one to control the four switching devices 20 at the same time, which can reduce the number of components on the vehicle 200 and reduce the cost.

[0046] In some embodiments, the control device 40 is used to receive the driver's longitudinal motion (driving direction of the vehicle 200) request torque, the current state information of the power device 30 (torque, speed and three-phase current, etc.), the current state information of the switching device 20 (engagement state of the switching device 20, etc.) and the current state information of the braking device 10 (clamping force, displacement stroke and wheel speed, etc.). Among them, the clamping force refers to the magnitude of the force applied by the braking device 10 on the wheel 80, and the displacement stroke refers to the moving distance or stroke of some components (such as brake pads, pistons, etc.) in the braking device 10.

[0047] In some embodiments, when the control device 40 receives a driving torque instruction, the control device 40 controls the switching device 20 to enter a second working state, the control device 40 controls the switching device 20 to disconnect from the power device 30 and the braking device 10, and makes the power device 30 and the wheel 80 connected through the switching device 20, the control device 40 controls the power device 30 to connect the three-phase current, and outputs the requested torque to the wheel 80, driving the wheel 80 to rotate.

[0048] In some embodiments, when the control device 40 receives a braking torque instruction, the control device 40 controls the switching device 20 to enter a first working state, the control device 40 controls the power device 30 to disconnect from the wheel 80, and makes the power device 30 and the braking device 10 connected through the switching device 20, the control device 40 controls the power device 30 to connect the three-phase current, and outputs the requested torque to the braking device 10, so that the braking device 10 brakes the wheel 80.

[0049] With such arrangement, the control device 40 judges and determines the required torque of the vehicle 200 , controls the power device 30 to drive the wheels 80 to rotate or drives the braking device 10 to brake, thereby realizing the control of various motion states of the vehicle 200 .

[0050] Specifically, the switching device 20 includes: a first coupling mechanism 21 and a second coupling mechanism 22. The first coupling mechanism 21 is connected to the power device 30. The second coupling mechanism 22 is connected to the power device 30.

[0051] When the switching device 20 is in the first working state, the power of the power device 30 is transmitted to the braking device 10 through the first coupling mechanism 21 ; when the switching device 20 is in the second working state, the power of the power device 30 is transmitted to the wheel 80 through the second coupling mechanism 22 .

[0052] It should be noted that the first coupling mechanism 21 and the second coupling mechanism 22 may be connected to the output shaft 31 of the power device 30. The first coupling mechanism 21 and / or the second coupling mechanism 21 is a clutch.

[0053] In some embodiments, a first transmission mechanism 50 is provided between the first coupling mechanism 21 and the braking device 10 . When the switching device 20 is in the first working state, the first coupling mechanism 21 is transmission-connected to the braking device 10 via the first transmission mechanism 50 .

[0054] In some embodiments, a second transmission mechanism 60 is provided between the second coupling mechanism 22 and the wheel 80 . When the switching device 20 is in the second working state, the second coupling mechanism 22 is connected to the wheel 80 through the second transmission mechanism 60 .

[0055] Among them, when the switching device 20 is in the first working state, the connection between the second coupling mechanism 22 and the second transmission mechanism 60 is disconnected, and the connection between the first coupling mechanism 21 and the first transmission mechanism 50 is connected; when the switching device 20 is in the second working state, the connection between the first coupling mechanism 21 and the first transmission mechanism 50 is disconnected, and the connection between the second coupling mechanism 22 and the second transmission mechanism 60 is connected.

[0056] Reference Figure 1 and Figure 2 In some embodiments, the power device 30 is disposed on one side of the switching device 20, the first coupling mechanism 21 is sleeved on the outside of the second coupling mechanism 22, the first transmission mechanism 50 is disposed between the first coupling mechanism 21 and the power device 30, and the space between the first coupling mechanism 21 and the power device 30 is fully utilized, and the second transmission mechanism 60 is disposed between the second coupling mechanism 22 and the wheel 80, and the space between the second coupling mechanism 22 and the wheel 80 is fully utilized, thereby improving the overall structural compactness of the control system 100 of the vehicle 200.

[0057] In some embodiments, when the switching device 20 is in the first working state, the power of the power device 30 is transmitted to the first coupling mechanism 21 through the output shaft 31, and the power of the first coupling mechanism is transmitted to the brake device 10 through the first transmission mechanism 50, so that the brake device 10 brakes the wheel 80; when the switching device 20 is in the second working state, the power of the power device 30 is transmitted to the second coupling mechanism 22 through the output shaft 31, and the power of the second coupling mechanism 22 is transmitted to the wheel 80 through the second transmission mechanism 60, so that the wheel 80 is driven. By connecting the first transmission mechanism 50 with the first coupling mechanism 21 and the second transmission mechanism 60 with the second coupling mechanism 22, the control of the brake device 10 and the wheel 80 is realized, so that the switching device 20 can smoothly switch between the second working state and the first working state, improve the braking performance and driving performance of the control system 100 of the vehicle 200, and ensure that the vehicle 200 can operate reliably in different operating modes.

[0058] Furthermore, the first transmission mechanism 50 includes a first driving gear 51 and a first driven gear 52 , which are meshed with each other. The first driving gear 51 is disposed on the output shaft 31 of the power device 30 and connected to the first coupling mechanism 21 , and the first driven gear 52 is connected to the braking device 10 .

[0059] The first driving gear 51 can be installed on the output shaft 31 of the power device 30 by key connection (flat key, wedge key, spline, etc.) or interference fit. The first driving gear 51 can be directly connected to the first coupling mechanism 21, or can be connected to the first coupling mechanism 21 by an intermediate shaft, spline, elastic coupling or flange. This application does not impose specific restrictions on this.

[0060] In some embodiments, the control system 100 of the vehicle 200 further includes a transmission member 70, and the first driven gear 52 is connected to the brake device 10 via the transmission member 70. Optionally, the transmission member 70 may be a transmission shaft.

[0061] For example, in Figure 2 In the example, the transmission member 70 is arranged parallel to the output shaft 31 of the power unit 30, and the transmission member 70 is arranged on one side of the power unit 30, which makes full use of the circumferential installation space of the power unit 30 and further improves the structural compactness of the control system 100 of the vehicle 200.

[0062] In some embodiments, when the switching device 20 is in the first working state, the power of the power device 30 is first transmitted to the switching device 20. Since the first coupling mechanism 21 in the switching device 20 is engaged with the first driving gear 51, the first coupling mechanism 21 drives the first driving gear 51 to rotate, so that the first driving gear 51 can transmit the power to the first driven gear 52, and the first driven gear 52 transmits the power to the transmission member 70, and the transmission member 70 then transmits the power to the braking device 10, so that the braking device 10 brakes the wheel 80.

[0063] Thus, by providing the first driven gear 52 and the first driving gear 51, the efficiency and stability of power transmission are improved, which helps to more accurately control the braking process. Moreover, through the connection of the transmission member 70, the transmission process is smoother, and the reliability of the control system 100 of the vehicle 200 is enhanced.

[0064] Furthermore, the second transmission mechanism 60 includes a second driving gear 61 and a second driven gear 62, the second driving gear 61 and the second driven gear 62 are meshed, the second driving gear 61 can be arranged on the output shaft 31 of the power device 30 and connected to the second coupling mechanism 22, and the second driven gear 62 is suitable for connecting to the wheel 80.

[0065] The second driving gear 61 can be installed on the output shaft 31 of the power device 30 by key connection (flat key, wedge key, spline, etc.) or interference fit. The second driving gear 61 can be directly connected to the second coupling mechanism 22, or can be connected to the second coupling mechanism 22 by an intermediate shaft, spline, elastic coupling or flange. This application does not impose specific restrictions on this.

[0066] For example, in Figure 2 In the example, the second driving gear 61 is disposed between the power device 30 and the first driving gear 51 , which occupies a smaller space, further improving the structural compactness of the control system 100 of the vehicle 200 .

[0067] In some embodiments, the control system 100 of the vehicle 200 further includes a rotating shaft 81 , and the second driven gear 62 is connected to the wheel 80 via the rotating shaft 81 .

[0068] For example, in Figure 2 In the example, the rotating shaft 81 and the output shaft 31 can be coaxially arranged, and the second driven gear 62 is directly connected to the rotating shaft 81, which occupies less space and further improves the structural compactness of the control system 100 of the vehicle 200.

[0069] In some embodiments, when the switching device 20 is in the second working state, the power of the power device 30 is first transmitted to the switching device 20. Since the second coupling mechanism 22 in the switching device 20 is engaged with the second driving gear 61, the second coupling mechanism 22 drives the second driving gear 61 to rotate, so that the second driving gear 61 can transmit power to the second driven gear 62, and the second driven gear 62 transmits power to the rotating shaft 81, so that the rotating shaft 81 drives the wheel 80 to rotate. The transmission mode of the second driven gear 62 and the second driving gear 61 improves the efficiency and stability of power transmission, and helps to control the driving process more accurately. Moreover, the second driven gear 62 is directly connected to the rotating shaft 81, which shortens the path of power transmission and further enhances the efficiency and reliability of the control system 100 of the vehicle 200.

[0070] According to some embodiments of the present invention, the switching device 20 also has a third working state, and when the switching device 20 is in the third working state, the power of the wheel 80 is transmitted to the braking device 10 through the switching device 20. In a specific implementation, when the switching device 20 is in the third working state, the power of the wheel 80 is transmitted to the braking device 10 via the second coupling mechanism 22 and the first coupling mechanism 21.

[0071] Specifically, when the power device 30 fails, the switching device 20 will be in the third working state, and the first coupling mechanism 21 and the second coupling mechanism 22 are both in the engaged state. At this time, the first coupling mechanism 21 is engaged with the first driving gear 51, and the second coupling mechanism 22 is engaged with the second driving gear 61, so as to utilize the power of the wheel 80 itself to achieve braking of the wheel 80.

[0072] In some embodiments, when the power device 30 fails, the switching device 20 automatically switches to the third working state, at which time the wheel 80 drives the rotating shaft 81 to rotate, the rotating shaft 81 drives the second driven gear 62 to rotate, the second driven gear 62 transmits power to the second driving gear 61, the second driving gear 61 transmits power to the second coupling mechanism 22, and the first coupling mechanism 22 drives the first coupling mechanism 21 to rotate around the output shaft 31 of the power device 30, the first coupling mechanism 21 drives the first driving gear 51 to rotate, and transmits power to the transmission member 70 through the first driven gear 52, and the transmission member 70 then transmits power to the brake device 10, so that the brake device 10 brakes the wheel 80. In this way, when the power device 30 fails, the control system 100 of the vehicle 200 can still brake the wheel 80, thereby improving the driving safety of the vehicle 200.

[0073] According to some embodiments of the present invention, Figure 3As shown, the switching device 20 is disposed between the power device 30 and the wheel 80 . The arrangement of the switching device 20 fully utilizes the installation space between the power device 30 and the wheel 80 , further improving the structural compactness of the control system 100 of the vehicle 200 .

[0074] In other embodiments, Figure 2 As shown, the first transmission mechanism 50, the second transmission mechanism 60 and the power device 30 are arranged between the switching device 20 and the wheel 80 (or the brake disc 82), making full use of the lateral installation space of the wheel 80 and further improving the structural compactness of the control system 100 of the vehicle 200.

[0075] In some embodiments, Figure 3 As shown, there are four wheels 80, each wheel 80 is equipped with a power device 30, a switching device 20 and a braking device 10, and each wheel 80 is provided with a brake disc 82, and the braking device 10 is connected to the brake disc 82. There is one control device 40, and the control device 40 is connected to the power device 30, the switching device 20 and the braking device 10 equipped on each wheel 80.

[0076] For example, when the vehicle 200 is in a straight-line driving condition, the switching device 20 switches to the second working state, and the control device 40 controls the power device 30 to provide driving force. At this time, the driving force is transmitted to the four wheels 80 via the second coupling mechanism 22, the second transmission mechanism 60 and the rotating shaft 81, so that the four wheels 80 rotate synchronously. When the vehicle 200 is in a deceleration condition or a parking condition, the switching device 20 switches to the first working state, and the control device 40 controls the power device 30 to provide driving force. At this time, the driving force is transmitted to the brake device 10 via the first coupling mechanism 21, the first transmission mechanism 50 and the transmission member 70, and the brake device 10 outputs a braking torque to the four wheels 80, so that the vehicle 200 decelerates or stops.

[0077] In some embodiments, when the vehicle 200 is in a differential driving condition, the switching devices 20 equipped with different wheels 80 can be configured in different working states, and the control device 40 can adjust the power distribution of each wheel 80 according to actual power requirements, so that different wheels 80 can rotate differentially as needed.

[0078] According to some embodiments of the present invention, Figure 3 As shown, if the number of the control device 40 is one, the control device 40 is connected to the power device 30, the switching device 20 and the braking device 10 equipped with each wheel 80. At this time, the power device 30, the switching device 20 and the braking device 10 equipped with each wheel 80 are respectively located on the corresponding wheel 80, and the control device 40 can be arranged at the center of the four wheels 80, so as to synchronously receive data from each component in real time and synchronously control each component.

[0079] In other embodiments, Figure 1 As shown, the number of control devices 40, brake devices 10, switching devices 20 and power devices 30 is the same. In this case, the control device 40 can be arranged on one side of the brake device 10, the switching device 20 and the power device 30. This arrangement reduces the complexity of wiring between the control device 40 and various components, and reduces the risk of signal interference caused by complex wiring.

[0080] like Figure 4 As shown, the control method of the vehicle 200 according to the second embodiment of the present invention comprises the following steps: The power device 30 of the control system 100 works, and when the switching device 20 switches to the first working state, the power of the power device 30 is transmitted to the braking device 10 through the switching device 20. That is, when the switching device 20 is in the first working state, the power device 30 and the braking device 10 are connected by transmission through the switching device 20.

[0081] The power device is controlled to work, and when the switching device 20 is switched to the second working state, the power of the power device 30 is transmitted to the wheel 80 through the switching device 20. That is, when the switching device 20 is in the second working state, the power device 30 and the wheel 80 are connected by the switching device 20.

[0082] It should be noted that in Figure 4-Figure 6 In the embodiment, the power device 30 is a high voltage motor, and the EMB (Electromechanical Brake) is the brake device 10 .

[0083] When it is necessary to brake the wheel 80, the switching device 20 can be switched to the first working state, and the output torque of the power device 30 can be transmitted to the braking device 10 via the switching device 20, so that the braking device 10 brakes the wheel 80; when it is necessary to drive the wheel 80, the switching device 20 can be switched to the second working state, and the output torque of the power device 30 can be transmitted to the wheel 80 via the switching device 20 to provide driving force for the wheel 80.

[0084] According to the control method of the vehicle 200 of the embodiment of the present invention, by adopting the above steps, the working states of the power device 30 and the switching device 20 can be flexibly controlled according to the needs of the driver, so that the switching device 20 can switch between the first working state and the second working state, ensuring that the vehicle 200 operates stably under various working conditions and improving the driving safety of the vehicle 200.

[0085] like Figure 4 As shown, according to some embodiments of the present invention, the vehicle control method includes the following steps: Obtaining the longitudinal control request torque T of the vehicle 200 (referring to the torque value calculated and requested by the control system 100 according to the driver's demand, driving conditions and other factors in the longitudinal control of the vehicle 200, which plays an important role in regulating the longitudinal movement of the vehicle 200 such as acceleration and braking); If the longitudinal control request torque T is less than 0, the power device 30 of the control system 100 is controlled to work, the switching device 20 is switched to the first working state, and the power of the power device 30 is transmitted to the braking device 10 through the switching device 20; If the longitudinal control request torque T is greater than or equal to 0, the power device 30 is controlled to work and the switching device 20 is switched to the second working state, and the power of the power device 30 is transmitted to the wheel 80 through the switching device 20.

[0086] In some embodiments, when the longitudinal control request torque T is less than 0, it is determined that the wheel 80 needs to be braked. At this time, the control device 40 controls the switching device 20 to switch to the first working state, and the output torque of the power device 30 is transmitted to the braking device 10 to brake the wheel 80; when the longitudinal control request torque T is greater than or equal to 0, it is determined that the wheel 80 needs to be driven. At this time, the control device 40 controls the switching device 20 to switch to the second working state, and the output torque of the power device 30 is transmitted to the wheel 80.

[0087] Therefore, by adopting the above steps, accurate judgment and control response can be made in real time according to the driver's operation request torque, and according to whether the longitudinal control request torque T is less than 0, the working state of the power unit 30 and the switching device 20 can be flexibly controlled to achieve the switching of the switching device 20 between the first working state and the second working state, thereby ensuring the stable operation of the vehicle 200 under various working conditions and improving the driving safety of the vehicle 200.

[0088] Further, if the longitudinal control request torque T is less than 0, the power device 30 is controlled to output a positive torque, the first coupling mechanism 21 is engaged with the first driving gear 51, and the second coupling mechanism 22 is disconnected from the second driving gear 61; If the longitudinal control request torque T is greater than or equal to 0, the power device 30 is controlled to output positive torque, the second coupling mechanism 22 is engaged with the second driving gear 61 , and the first coupling mechanism 21 is disconnected from the first driving gear 51 .

[0089] It should be noted that in Figure 4-Figure 6 In the figure, C1 is the first coupling mechanism 21 , and C2 is the second coupling mechanism 22 .

[0090] Specifically, if the longitudinal control request torque T is less than 0, that is, it is determined that the wheel 80 needs to be braked, the positive torque of the power device 30 is transmitted to the brake device 10 via the first coupling mechanism 21, the first driving gear 51, the first driven gear 52 and the transmission member 70, so that the brake device 10 provides braking force to the wheel 80, thereby achieving braking of the vehicle 200; If the longitudinal control request torque T is greater than or equal to 0, that is, it is determined that the wheel 80 needs to be driven, the positive torque of the power device 30 is transmitted to the wheel 80 via the second coupling mechanism 22, the second driving gear 61, the second driven gear 62 and the rotating shaft 81 to provide driving force for the wheel 80.

[0091] Therefore, by adopting the above steps, accurate judgment and control response can be made in real time according to the driver's operation request torque, and according to whether the requested torque T is less than 0, the working states of the power device 30, the first coupling mechanism 21 and the second coupling mechanism 22 can be flexibly controlled to realize the switching of the switching device 20 between the first working state and the second working state, thereby ensuring the stable operation of the vehicle 200 under various working conditions and improving the driving safety of the vehicle 200.

[0092] Furthermore, if Figure 5 As shown, when the longitudinal control request torque T is less than 0, the control method of the vehicle 200 further includes: If the longitudinal control request torque T is greater than the maximum reverse torque T0 of the power device 30, the power device 30 is controlled to work and the switching device 20 is switched to the second working state, wherein the power device 30 outputs a reverse torque. It should be noted that the maximum reverse torque T0 refers to the maximum reverse torsional torque value that the power device 30 can generate under specific conditions, that is, when the power device 30 is in the reverse operation state, the maximum braking torque that the power device 30 can achieve is T0.

[0093] If the longitudinal control request torque T is less than or equal to the maximum reverse torque T0 of the power device 30 , the power device 30 is controlled to operate and the switching device 20 is switched to the first operating state, wherein the power device 30 outputs a positive torque.

[0094] In some embodiments, when the longitudinal control request torque T is less than 0 and greater than the maximum reverse torque T0, the vehicle 200 is in a condition requiring reverse driving force, such as reversing, downhill, parking, etc. At this time, since the wheel 80 rotates forward, the switching device 20 is switched to the second working state, so that the power device 30 outputs reverse torque and transmits it to the wheel 80, so as to provide a larger reverse torque to the wheel 80, and change the state of the wheel 80, which helps to maintain good controllability and stability when the vehicle 200 needs a larger reverse power (such as reversing, downhill, etc.). Moreover, for example, when the vehicle 200 is driving downhill, the gravitational potential energy of the vehicle 200 is gradually converted into kinetic energy. Under the action of the reverse torque, the power device 30 can convert part of the kinetic energy of the vehicle 200 into electrical energy, realizing energy recovery and improving energy utilization.

[0095] In other embodiments, when the longitudinal control request torque T is less than 0 and less than or equal to the maximum reverse torque T0, the torque demand of the vehicle 200 is relatively small (such as braking, coasting deceleration, etc.), and the switching device 20 is switched to the first working state, so that the power device 30 outputs a positive torque, which is transmitted to the braking device 10 through the torque of the power device 30, so that the braking device 10 outputs a braking torque, and the braking torque of the braking device 10 is transmitted to the wheel 80 to brake the wheel 80, thereby ensuring that the vehicle 200 can stop quickly and smoothly.

[0096] Furthermore, if the longitudinal control request torque T is less than 0 and greater than the maximum reverse torque T0, the second coupling mechanism 22 is controlled to engage with the second driving gear 61, and the first coupling mechanism 21 is disconnected from the first driving gear 51; If the longitudinal control request torque T is less than 0 and less than or equal to the maximum reverse torque T0, the first coupling mechanism 21 is controlled to engage with the first driving gear 51 and the second coupling mechanism 22 is disconnected from the second driving gear 61.

[0097] In some embodiments, when the longitudinal control request torque T is less than 0 and greater than the maximum reverse torque T0, the power device 30 outputs a reverse torque, which is transmitted to the wheel 80 via the second coupling mechanism 22, the second driving gear 61, the second driven gear 62 and the rotating shaft 81 to provide braking force to the wheel 80. In this way, both braking of the vehicle 200 and energy recovery are achieved.

[0098] In some embodiments, when the longitudinal control request torque T is less than 0 and less than or equal to the maximum reverse torque T0, the power device 30 outputs a positive torque, which is transmitted to the brake device 10 via the first coupling mechanism 21, the first driving gear 51, the first driven gear 52 and the transmission member 70, so that the brake device 10 provides braking force to the wheel 80. In this way, the power device 30 can be prevented from consuming excessive energy, while ensuring that the vehicle 200 can stop quickly and smoothly.

[0099] In some embodiments, the control method of the vehicle 200 further includes: If the power device 30 fails and the longitudinal control request torque T is greater than or equal to 0, the control switching device 20 is switched to the fourth working state (the fourth working state may be a decoupled state, that is, the first coupling mechanism 21 and the second coupling mechanism 22 are both in a disconnected state); If the power device 30 fails and the longitudinal control request torque T is less than 0, the control switching device 20 switches to the third working state; If the power device 30 is not failed and the longitudinal control request torque T is less than 0, the control switching device 20 is switched to the first working state; If the power device 30 is not failed and the longitudinal control request torque T is greater than or equal to 0, the control switching device 20 is switched to the second working state.

[0100] In some embodiments, when the power unit 30 fails, if the longitudinal control request torque T is greater than or equal to 0, that is, the vehicle 200 still needs forward driving force, the control switching device 20 is controlled to switch to the fourth working state, so that the vehicle 200 can continue to glide by inertia.

[0101] In other embodiments, when the power unit 30 fails, if the longitudinal control request torque T is less than 0, the wheel 80 needs to be braked. At this time, the control switching device 20 switches to the third working state, and the wheel 80 is braked by the power of the wheel 80 itself, thereby slowing down or stopping the vehicle 200.

[0102] When the power device 30 is not failed, it is determined whether the longitudinal control request torque T is greater than or equal to 0, so as to understand the working condition of the vehicle 200 according to the determination result, thereby controlling the switching device 20 to meet the user's usage requirements.

[0103] With such a configuration, by timely determining whether the power device 30 has failed and taking corresponding control measures according to different situations, the safety of the vehicle 200 can be ensured in emergency situations, thereby further improving the adaptability and reliability of the control system 100 of the vehicle 200.

[0104] According to some embodiments of the present invention, if the power device 30 fails and the longitudinal control request torque T is greater than or equal to 0, the first coupling mechanism 21 is controlled to be disconnected from the first driving gear 51, and the second coupling mechanism 22 is controlled to be disconnected from the second driving gear 61; If the power device 30 fails and the longitudinal control request torque T is less than 0, the first coupling mechanism 21 is controlled to engage with the first driving gear 51 , and the second coupling mechanism 22 is controlled to engage with the second driving gear 61 .

[0105] In some embodiments, if the power unit 30 fails and the longitudinal control request torque T is greater than or equal to 0, that is, the vehicle 200 still requires driving force, the first coupling mechanism 21 is controlled to disconnect from the first driving gear 51, and the second coupling mechanism 22 is controlled to disconnect from the second driving gear 61, so that the vehicle 200 can continue to glide by inertia.

[0106] In other embodiments, if the power device 30 fails and the longitudinal control request torque T is less than 0, the wheel 80 needs to be braked. At this time, the torque of the wheel 80 is transmitted to the brake device 10 via the rotating shaft 81, the second driven gear 62, the second driving gear 61, the second coupling mechanism 22, the first driving gear 51, the first driven gear 52 and the transmission member 70, so that the brake device 10 provides braking force to the wheel 80. In other words, when the power device 30 fails, the power of the wheel 80 can be used to brake the wheel 80.

[0107] The vehicle 200 according to the third aspect of the present invention comprises the control system 100 of the vehicle 200 according to the first aspect of the present invention, or the control method of the vehicle 200 according to the second aspect of the present invention.

[0108] According to the vehicle 200 of the embodiment of the present invention, by adopting the control system 100 of the above-mentioned vehicle 200, or adopting the control method of the above-mentioned vehicle 200, the reliability and efficiency of the power control of the vehicle 200 are improved, the structural compactness of the vehicle 200 is improved, which is beneficial to improving the driving safety of the vehicle 200.

[0109] Other structures and operations of the vehicle 200 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0110] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0111] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0112] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0113] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle control system, characterized in that: include: Power plant; A brake device, wherein the brake device is suitable for being arranged at a wheel; as well as A switching device, through which the power device is drivingly connected to the wheel or the brake device; In which, the switching device has a first working state and a second working state. When the switching device is in the first working state, the power of the power device is transmitted to the braking device through the switching device; when the switching device is in the second working state, the power of the power device is transmitted to the wheels through the switching device.

2. The vehicle control system according to claim 1, characterized in that: The switching device comprises: a first coupling mechanism, the first coupling mechanism being connected to the power device; a second coupling mechanism, the second coupling mechanism being connected to the power device; Wherein, when the switching device is in the first working state, the power of the power device is transmitted to the braking device through the first coupling mechanism; when the switching device is in the second working state, the power of the power device is transmitted to the wheels through the second coupling mechanism.

3. The vehicle control system according to claim 2, characterized in that: The first coupling mechanism and / or the second coupling mechanism is a clutch.

4. The vehicle control system according to claim 2, characterized in that: A first transmission mechanism is provided between the first coupling mechanism and the braking device, and when the switching device is in the first working state, the first coupling mechanism is transmission-connected to the braking device through the first transmission mechanism; A second transmission mechanism is provided between the second coupling mechanism and the wheel. When the switching device is in the second working state, the second coupling mechanism is transmission-connected to the wheel through the second transmission mechanism.

5. The vehicle control system according to claim 4, characterized in that: The first transmission mechanism includes a first driving gear and a first driven gear, the first driving gear is connected to the first coupling mechanism, and the first driven gear is connected to the braking device.

6. The vehicle control system according to claim 5, characterized in that: The control system of the vehicle further includes: A transmission member, wherein the first driven gear is connected to the braking device through the transmission member.

7. The vehicle control system according to claim 5, characterized in that: The second transmission device includes a second driving gear and a second driven gear, the second driving gear is connected to the second coupling mechanism, and the second driven gear is suitable for connecting to the wheel.

8. The vehicle control system according to claim 7, characterized in that: The control system of the vehicle further includes: A rotating shaft, wherein the second driven gear is connected to the wheel via the rotating shaft.

9. The vehicle control system according to claim 1, characterized in that: The switching device also has a third working state, When the switching device is in the third working state, the power of the wheel is transmitted to the braking device through the switching device.

10. The vehicle control system according to claim 9, characterized in that: The switching device comprises: a first coupling mechanism, the first coupling mechanism being connected to the power device; a second coupling mechanism, the second coupling mechanism being connected to the power device; When the switching device is in the third working state, the power of the wheel is transmitted to the braking device via the second coupling mechanism and the first coupling mechanism.

11. The vehicle control system according to any one of claims 1 to 10, characterized in that: The switching device is arranged between the power device and the wheels; Alternatively, the power device is arranged between the switching device and the wheels.

12. The vehicle control system according to any one of claims 1 to 10, characterized in that: The control system of the vehicle further includes: A control device is connected to at least one of the braking device, the switching device and the power device.

13. A vehicle control method, characterized in that: The following steps are involved: Controlling the operation of a power device of the control system, when the switching device is switched to the first working state, the power of the power device is transmitted to the braking device through the switching device, and the control system is a control system of the vehicle according to any one of claims 1 to 12; The power device is controlled to work, and when the switching device is switched to the second working state, the power of the power device is transmitted to the wheels through the switching device.

14. The vehicle control method according to claim 13, characterized in that: The controlling of the power device of the control system to work, when the switching device is switched to the first working state, the power of the power device is transmitted to the braking device through the switching device; controlling the power device to work, when the switching device is switched to the second working state, the power of the power device is transmitted to the wheel through the switching device comprises: Obtaining a longitudinal control request torque T of the vehicle; If the longitudinal control request torque T is less than 0, the power device is controlled to work, the switching device is switched to the first working state, and the power of the power device is transmitted to the braking device through the switching device; If the longitudinal control request torque T is greater than or equal to 0, the power device is controlled to operate, the switching device is switched to the second operating state, and the power of the power device is transmitted to the wheels through the switching device.

15. The vehicle control method according to claim 14, characterized in that: If the longitudinal control request torque T is less than 0, controlling the power device to work, switching the switching device to the first working state, and transmitting the power of the power device to the braking device through the switching device comprises: If the longitudinal control request torque T is less than 0, the power device is controlled to output a positive torque, the first coupling mechanism is engaged with the first driving gear, and the second coupling mechanism is disconnected from the second driving gear.

16. The vehicle control method according to claim 15, characterized in that: If the longitudinal control request torque T is greater than or equal to 0, controlling the power device to work and switching the switching device to the second working state, and transmitting the power of the power device to the wheels through the switching device includes: If the longitudinal control request torque T is greater than or equal to 0, the power device is controlled to output a positive torque, the second coupling mechanism is engaged with the second driving gear, and the first coupling mechanism is disconnected from the first driving gear.

17. The vehicle control method according to claim 16, characterized in that: If the longitudinal control request torque T is less than 0, controlling the power device to output a positive torque, engaging the first coupling mechanism with the first driving gear, and disconnecting the second coupling mechanism from the second driving gear comprises: If the longitudinal control request torque T is less than 0, the positive torque is transmitted to the braking device via the first coupling mechanism, the first driving gear, the first driven gear and the transmission member, so that the braking device provides braking force to the wheel.

18. The vehicle control method according to claim 16, characterized in that: If the longitudinal control request torque T is greater than or equal to 0, controlling the power device to output a positive torque, engaging the second coupling mechanism with the second driving gear, and disconnecting the first coupling mechanism from the first driving gear comprises: If the longitudinal control request torque T is greater than or equal to 0, the positive torque is transmitted to the wheels via the second coupling mechanism, the second driving gear, the second driven gear and the rotating shaft to provide driving force for the wheels.

19. The vehicle control method according to claim 14, characterized in that: When the longitudinal control request torque T is less than 0, the vehicle control method further includes: If the longitudinal control request torque T is greater than the maximum reverse torque T0 of the power device, the power device is controlled to work and the switching device is switched to the second working state, wherein the power device outputs a reverse torque; If the longitudinal control request torque T is less than or equal to the maximum reverse torque T0 of the power device, the power device is controlled to operate and the switching device is switched to the first operating state, wherein the power device outputs positive torque.

20. The vehicle control method according to claim 19, characterized in that: If the longitudinal control request torque T is greater than the maximum reverse torque T0 of the power device, controlling the power device to operate and the switching device to switch to the second operating state includes: If the longitudinal control request torque T is less than 0 and greater than the maximum reverse torque T0, the power device is controlled to output reverse torque, the second coupling mechanism is engaged with the second driving gear, and the first coupling mechanism is disconnected from the first driving gear.

21. The vehicle control method according to claim 20, characterized in that: If the longitudinal control request torque T is less than or equal to the maximum reverse torque T0 of the power device, controlling the power device to work and switching the switching device to the first working state includes: If the longitudinal control request torque T is less than 0 and less than or equal to the maximum reverse torque T0, the power device is controlled to output positive torque, the first coupling mechanism is engaged with the first driving gear, and the second coupling mechanism is disconnected from the second driving gear.

22. The vehicle control method according to claim 21, characterized in that: If the longitudinal control request torque T is less than 0 and greater than the maximum reverse torque T0, the power device is controlled to output reverse torque, the second coupling mechanism is engaged with the second driving gear, and the first coupling mechanism is disconnected from the first driving gear, including: If the longitudinal control request torque T is less than 0 and greater than the maximum reverse torque T0, the power device outputs a reverse torque, which is transmitted to the wheels via the second coupling mechanism, the second driving gear, the second driven gear and the rotating shaft to provide braking force to the wheels.

23. The vehicle control method according to claim 22, characterized in that: If the longitudinal control request torque T is less than 0 and less than or equal to the maximum reverse torque T0, the power device is controlled to output a positive torque, the first coupling mechanism is engaged with the first driving gear, and the second coupling mechanism is disconnected from the second driving gear, including: If the longitudinal control request torque T is less than 0 and less than or equal to the maximum reverse torque T0, the power device outputs a positive torque, and the positive torque is transmitted to the braking device via the first coupling mechanism, the first driving gear, the first driven gear and the transmission member, so that the braking device provides braking force to the wheel.

24. The vehicle control method according to claim 14, characterized in that: The vehicle control method further includes: If the power device fails and the longitudinal control request torque T is greater than or equal to 0, controlling the switching device to switch to the fourth working state; If the power device fails and the longitudinal control request torque T is less than 0, controlling the switching device to switch to the third working state; If the power device is not failed and the longitudinal control request torque T is less than 0, controlling the switching device to switch to the first working state; If the power device is not failed and the longitudinal control request torque T is greater than or equal to 0, the switching device is controlled to switch to the second working state.

25. The vehicle control method according to claim 24, characterized in that: If the power device fails and the longitudinal control request torque T is greater than or equal to 0, controlling the switching device to switch to the fourth working state includes: If the power device fails and the longitudinal control request torque T is greater than or equal to 0, the first coupling mechanism is controlled to be disconnected from the first driving gear, and the second coupling mechanism is controlled to be disconnected from the second driving gear.

26. The vehicle control method according to claim 25, characterized in that: If the power device fails and the longitudinal control request torque T is less than 0, controlling the switching device to switch to the third working state includes: If the power device fails and the longitudinal control request torque T is less than 0, the first coupling mechanism is controlled to engage with the first driving gear, and the second coupling mechanism is controlled to engage with the second driving gear.

27. The vehicle braking control method according to claim 26, characterized in that: If the power device fails and the longitudinal control request torque T is greater than or equal to 0, controlling to disconnect the first coupling mechanism from the first driving gear and disconnecting the second coupling mechanism from the second driving gear includes: If the power unit fails and the longitudinal control request torque T is greater than or equal to 0, the vehicle coasts.

28. The vehicle braking control method according to claim 27, characterized in that: If the power device fails and the longitudinal control request torque T is less than 0, controlling the first coupling mechanism to engage with the first driving gear and the second coupling mechanism to engage with the second driving gear comprises: If the power device fails and the longitudinal control request torque T is less than 0, the torque of the wheel is transmitted to the braking device via the rotating shaft, the second driven gear, the second driving gear, the second coupling mechanism, the first driving gear, the first driven gear and the transmission member, so that the braking device provides braking force to the wheel.

29. A vehicle, characterized in that: It comprises a control system for a vehicle according to any one of claims 1 to 12, or a control method for a vehicle according to any one of claims 13 to 28.

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