Vehicle control method and device, medium and vehicle

Abstract

The invention provides a vehicle control method and device, a medium and a vehicle, and relates to the technical field of vehicle control. And according to the magnitude relation between the torque request value and a motor torque threshold value of the vehicle, the working states of a front-drive system and a rear-drive system of the vehicle are controlled, so that the front-drive system and / or the rear-drive system intermittently work in the running process of the vehicle. The system efficiency of the driving system of the vehicle in the whole driving process can be improved by controlling the front driving system and / or the rear driving system of the vehicle to work intermittently, and therefore the cruising ability of the vehicle is effectively enhanced.

Description

Technical Field

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

[0002] Driven by the rapid development of new energy vehicles, integrated electric drive systems play a vital role in improving space utilization and reducing energy loss caused by component coordination. Therefore, the development of electric drive systems can comprehensively consider the collaborative work with the controller. Summary of the invention

[0003] The present disclosure provides a vehicle control method, device, medium and vehicle to improve the efficiency of a drive system and thereby enhance the endurance of the vehicle.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, comprising: Get the vehicle's torque request value; According to the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, the operating states of the front drive system and the rear drive system of the vehicle are controlled so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle.

[0005] Optionally, according to the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, controlling the working state of the front drive system and the rear drive system of the vehicle so that the front drive system and / or the rear drive system works intermittently during the driving process of the vehicle includes: According to the relationship between the torque request value and the motor torque threshold of the vehicle, the controller state or output torque of the front drive system and the rear drive system is controlled so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle. The controller state is used to characterize whether the controllers in the front drive system and the rear drive system are turned on or off.

[0006] Optionally, according to the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, controlling the state or output torque of the front drive system and the rear drive system so that the front drive system or the rear drive system works intermittently during the driving process of the vehicle includes: When the torque request value is less than the motor torque threshold of the vehicle, the first system controlling the vehicle remains closed, and the second system of the vehicle is controlled to operate intermittently according to the torque request value; wherein the first system is any one of the front drive system and the rear drive system, and the second system is the system of the front drive system and the rear drive system except the first system, and within a cycle corresponding to the intermittent operation of the second system, the average torque output by the second system is equal to the torque request value.

[0007] Optionally, according to the torque request value, controlling the second system of the vehicle to work intermittently includes: Determining a target duration for the second system to output torque within the cycle according to the torque request value and a preset target torque value; wherein the preset target torque value is greater than the torque request value, and the preset target torque value is less than or equal to the motor torque threshold; According to the target duration and the preset target torque value, the second system is controlled to output torque within the target duration of the cycle, and the second system is controlled to be turned off within the remaining duration of the cycle except the target duration.

[0008] Optionally, determining a target duration for the second system to output torque within the cycle according to the torque request value and a preset target torque value includes: Determining the preset target torque value according to the torque request value and a preset corresponding relationship between the torque request value and the preset torque value; A target duration for the second system to output torque within the period is determined according to the torque request value and the preset target torque value.

[0009] Optionally, according to the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, controlling the controller state or output torque of the front drive system and the rear drive system so that the front drive system and / or the rear drive system works intermittently during the driving process of the vehicle includes: When the torque request value is less than or equal to the motor torque threshold, controlling the first system of the vehicle to remain closed, and controlling the second system of the vehicle to work intermittently or continuously output torque according to the torque request value; the first system is any one of the front drive system and the rear drive system, and the second system is the system of the front drive system and the rear drive system except the first system; When the torque request value is greater than the motor torque threshold, torque is distributed between the first system and the second system according to the torque request value, and the first system and the second system are controlled to output torque.

[0010] Optionally, the controller is controlled to shut down in the following manner, including: Controlling the controller to be in a zero vector state, wherein the zero vector state indicates that all target bridge arms in the upper bridge arm and the lower bridge arm of the controller are connected, and all bridge arms in the upper bridge arm and the lower bridge arm of the controller except the target bridge arm are disconnected; Determine a first winding whose current among the three-phase windings of the motor corresponding to the controller is in a first preset current interval; Turning off the switch tube corresponding to the first winding in the target bridge arm; When the terminal of the first winding is electrically isolated from the bus, the switch tubes corresponding to other windings in the target bridge arm are turned off; wherein the other windings are windings in the three-phase winding except the first winding.

[0011] Optionally, turning off the switch tubes corresponding to other windings in the target bridge arm includes: When the current of the other winding is in a second preset current interval, the switch tube corresponding to the other winding in the target bridge arm is turned off.

[0012] Optionally, turning off the switch tubes corresponding to other windings in the target bridge arm includes: The switch tubes corresponding to the other windings are controlled to be turned off simultaneously.

[0013] Optionally, turning off the switch tubes corresponding to other windings in the target bridge arm includes: Turning off the switch tube corresponding to the second winding among the other windings, wherein the current direction of the second winding is from the controller to the motor; When the terminal of the second winding is electrically isolated from the busbar, the switch tubes corresponding to the windings other than the second winding in the other windings are turned off.

[0014] Optionally, obtaining a torque request value of the vehicle includes: Obtaining the remaining battery power of the vehicle and / or the ambient temperature of the vehicle; When the remaining power of the battery is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, a torque request value of the vehicle is obtained.

[0015] Optionally, when the remaining power of the battery is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, obtaining a torque request value of the vehicle includes: When the remaining power of the battery is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, obtaining the user's control intention for the vehicle; When the control intention represents increasing the cruising range of the vehicle, a torque request value of the vehicle is obtained.

[0016] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle control device, comprising: An acquisition module configured to acquire a torque request value of a vehicle; The control module is configured to control the working state of the front drive system and the rear drive system of the vehicle according to the relationship between the torque request value and the motor torque threshold of the vehicle, so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle.

[0017] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the vehicle control method described in the first aspect of the embodiment of the present disclosure is implemented.

[0018] According to a fourth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: A storage device for storing a computer program; An execution device is used to execute the computer program to implement the vehicle control method described in the first aspect of the embodiment of the present disclosure.

[0019] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: The present disclosure controls the working state of the front drive system and the rear drive system of the vehicle through the magnitude relationship between the torque request value of the vehicle and the motor torque threshold of the vehicle, so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle. In this way, by controlling the front drive system and / or the rear drive system of the vehicle to work intermittently, the system efficiency of the vehicle's drive system during the entire driving process can be improved, thereby effectively enhancing the vehicle's endurance.

[0020] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0022] Figure 1 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0023] Figure 2 The figure is a schematic diagram showing the torque variation of a front drive system and a rear drive system during vehicle driving according to an exemplary embodiment.

[0024] Figure 3It is a schematic diagram showing a circuit change process during shutdown of a drive system controller according to an exemplary embodiment.

[0025] Figure 4 According to an exemplary embodiment, Figure 3 The waveform diagram of the three-phase current and back electromotive force corresponding to the circuit change process.

[0026] Figure 5 The diagram is a schematic diagram of a scenario of a vehicle control method according to an exemplary embodiment.

[0027] Figure 6 is a flow chart of another vehicle control method according to an exemplary embodiment.

[0028] Figure 7 It is a schematic diagram of test results of comparative tests performed using the prior art and the vehicle control method of the present disclosure according to an exemplary embodiment.

[0029] Figure 8 It is a schematic diagram of test results of comparative tests performed using the prior art and the vehicle control method of the present disclosure according to an exemplary embodiment.

[0030] Fig. 9 is a block diagram of a vehicle control device according to an exemplary embodiment.

[0031] Fig.10 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0032] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0033] In related technologies, in order to optimize the motor efficiency, different optimization methods can be used for different motor optimization requirements. For example, the motor efficiency can be optimized by optimizing the design of the motor body, optimizing the electric drive system control algorithm, and predicting and analyzing the efficiency of the motor under different working conditions through the electric drive system loss model.

[0034] Based on this, the integrated electric drive system of new energy vehicles can improve space utilization and reduce energy loss caused by component coordination. Therefore, the efficiency of the electric drive system can be further optimized for the coordinated work between the motor system and the controller system in the electric drive system to improve the vehicle's endurance. It can also achieve adaptive adjustment to the actual electric drive environment without making additional changes to the mechanical structure of the electric drive, and has high compatibility.

[0035] Among them, the performance of motor efficiency varies under different working conditions, especially when the load torque is high, the effective power output of the motor far exceeds the loss in the energy output process. Within the range of lower torque conditions, the motor efficiency can be gradually improved as the load torque increases.

[0036] To this end, the vehicle control method provided by the present disclosure can intermittently enable the front and rear drive systems to optimize the vehicle power distribution and improve the system efficiency of the vehicle's electric drive system during the overall driving process of the vehicle, thereby improving the vehicle's endurance.

[0037] Reference Figure 1 , Figure 1 is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 1 As shown, the vehicle control method is used in a terminal and includes the following steps.

[0038] In step S101 , a torque request value of the vehicle is acquired.

[0039] In step S102, according to the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, the operating states of the front drive system and the rear drive system of the vehicle are controlled so that the front drive system and / or the rear drive system work intermittently during the driving of the vehicle.

[0040] For example, the torque request value is used to instruct the motor in the drive system to provide a corresponding power output. The torque request value can be obtained by the pedal opening of the pedal operated by the user. When the vehicle is in the automatic driving mode, the vehicle can also determine the torque request value according to the actual situation.

[0041] For example, the motor torque threshold is a preset threshold that can be pre-calibrated according to the performance parameters of the motor. The motor torque threshold can be a torque value corresponding to the motor having the optimal efficiency, or the motor torque threshold can also be a maximum torque value that the motor can provide.

[0042] For example, the vehicle may be a two-wheel drive vehicle or a four-wheel drive vehicle having a front-wheel drive system and a rear-wheel drive system, wherein the front-wheel drive system refers to the front-wheel drive system of the vehicle, and the rear-wheel drive system refers to the rear-wheel drive system of the vehicle. Both the front-wheel drive system and the rear-wheel drive system of the vehicle may include a motor system and a controller system, and the motor system and the controller system work together to control the working state of the drive system.

[0043] For example, the working state can be used to characterize whether the controller system is turned on or off, the motor system is turned on or off, the torque distribution of the motor system, and the torque output of the motor system, etc. Among them, by controlling the working state of the front drive system and the rear drive system of the vehicle, the front drive system and / or the rear drive system can be made to work intermittently during the driving process of the vehicle, that is, the front drive system and / or the rear drive system of the vehicle do not work continuously, but can be dynamically started and shut down according to actual conditions to optimize energy use and improve efficiency.

[0044] In a cycle of intermittent work, the state of the electric drive system can be divided into a torque-out stage and a non-torque-out stage. In the torque-out stage of the electric drive system, the electric drive system can control the torque output by the motor to remain in a higher torque range. Among them, based on the characteristics of the motor, when the motor load torque is high, the effective power output of the motor far exceeds the loss in the energy output process; when the motor has a lower load torque, the motor efficiency can be gradually improved with the increase of the load torque. Therefore, the electric drive system can control the motor to output a higher torque, which can increase the effective power of the motor output torque and reduce the loss in the energy output process. In the non-torque-out stage, in order to compensate the average torque to the torque request value, the electric drive system can achieve zero torque output by turning off the controller. During the period when the controller is turned off, there is theoretically no energy transfer from the power supply side to the motor side, so no energy loss is generated during the period when the controller is turned off. Based on this, the energy transfer efficiency of the electric drive system in the torque-out stage and the non-torque-out stage is high, achieving a significant efficiency improvement.

[0045] For example, the torque request value can be determined according to the current state of the vehicle, such as vehicle speed, accelerator pedal position, etc., and the torque request value can be compared with the motor torque threshold to control the working state of the drive system. According to the magnitude relationship between the torque request value and the motor torque threshold, the system can control the opening, closing, or torque output of the front drive system and the rear drive system when they are opened, so as to control the intermittent operation of the front drive system and the rear drive system, and ensure that the vehicle can use energy efficiently during driving and reduce unnecessary energy consumption.

[0046] The present disclosure controls the working state of the front drive system and the rear drive system of the vehicle through the magnitude relationship between the torque request value of the vehicle and the motor torque threshold of the vehicle, so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle. In this way, by controlling the front drive system and / or the rear drive system of the vehicle to work intermittently, the system efficiency of the vehicle's drive system during the entire driving process can be improved, thereby effectively enhancing the vehicle's endurance.

[0047] As an optional embodiment, according to the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, controlling the working state of the front drive system and the rear drive system of the vehicle so that the front drive system and / or the rear drive system works intermittently during the driving process of the vehicle includes: According to the relationship between the torque request value and the motor torque threshold of the vehicle, the controller state or output torque of the front drive system and the rear drive system is controlled so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle. The controller state is used to characterize whether the controllers in the front drive system and the rear drive system are turned on or off.

[0048] For example, the controller state is used to characterize the state of the controller in the front drive system and the rear drive system being turned on or off. According to the magnitude relationship between the torque request value and the motor torque threshold, the system will control the controller state or output torque of the front drive system and the rear drive system, and an intermittent working mode can be realized.

[0049] For example, the output torque of the front drive system and the rear drive system can be controlled according to the torque request value and the motor torque threshold. In one example, when the vehicle requires a large torque, the drive system with a higher motor efficiency under the torque condition can be controlled to output more torque, and the remaining torque is provided by another drive system. In another example, the torque of the front drive system and the rear drive system can be distributed according to the performance of different drive systems. For example, based on the motor efficiency optimization strategy, the ratio of the output torque of the front drive system and the rear drive system under different torque conditions can be pre-calibrated to achieve efficiency optimization of the output torque of the drive system.

[0050] For example, when one drive system can meet the torque request, one of the front drive system and the rear drive system can be controlled to be turned off according to the torque request value and the motor torque threshold, and the other drive system continues to output torque. The specific drive system to be turned off can be determined according to the actual situation of the vehicle. For example, the drive system that can meet the torque request value alone can be selected to output torque, and the other drive system can be turned off; or the drive system with higher motor efficiency in the drive system can be selected to output torque under the working condition corresponding to the torque request value, and the other drive system can be turned off. In one example, when the system efficiency of the front drive system is high, the torque can be output through the front drive system and the rear drive system can be turned off. In another example, when the torque that the front drive system can output is greater than or equal to the torque request value, but the torque that the rear drive system can output is less than the torque request value, the torque can be output through the front drive system and the rear drive system can be turned off.

[0051] For example, when the torque required by the vehicle is small, the efficiency of the drive system can be improved by controlling one of the front drive system and the rear drive system to be shut down and the other drive system to output torque intermittently.

[0052] Based on this, through the intermittent working mode, the torque output of the front-wheel drive system and the rear-wheel drive system can be adjusted or shut down according to actual needs to reduce unnecessary energy consumption and thus improve the energy efficiency of the entire vehicle.

[0053] As an optional embodiment, according to the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, controlling the state or output torque of the front drive system and the rear drive system so that the front drive system or the rear drive system works intermittently during the driving process of the vehicle includes: When the torque request value is less than the motor torque threshold of the vehicle, the first system controlling the vehicle remains closed, and the second system of the vehicle is controlled to operate intermittently according to the torque request value; wherein the first system is any one of the front drive system and the rear drive system, and the second system is the system of the front drive system and the rear drive system except the first system, and within a cycle corresponding to the intermittent operation of the second system, the average torque output by the second system is equal to the torque request value.

[0054] For example, the first system is a front drive system or a rear drive system, and the second system is another system of the front drive system or the rear drive system other than the first system. When the torque request value is less than the motor torque threshold of the vehicle, the front drive system or the rear drive system can be turned off by either system, and the other system outputs torque intermittently, so as to realize the intermittent operation of the front drive system or the rear drive system.

[0055] For example, in a cycle of intermittent operation of the second system, the average torque output by the second system is equal to the torque request value. The second system can meet the torque demand of the vehicle by working intermittently. Among them, the duration of a control cycle can be determined according to actual conditions. For example, one cycle is 5ms. The torque and duration output by the second system during the cycle can be determined according to actual conditions. For example, if the torque demand value is 20N, if the optimal efficiency torque corresponding to the second system is 40N, and one cycle is 2ms, the second system can be controlled to output 40N between 0-1ms and shut down between 1-2ms. During this cycle, the average torque is still 20N, which can meet the actual torque demand.

[0056] Based on this, when the torque request value is less than the motor torque threshold of the vehicle, the first system can be shut down and the second system can be controlled to work intermittently so that the average torque output by the second system in one cycle is equal to the torque request value, thereby reducing the energy waste of the first system and improving the energy utilization rate. In addition, by making the second system work intermittently, the second system is controlled to output a larger torque in one control cycle, and the second system is shut down for a period of time to compensate the average torque to the torque request value, thereby achieving a significant efficiency improvement.

[0057] As an optional embodiment, according to the torque request value, controlling the second system of the vehicle to work intermittently includes: Determining a target duration for the second system to output torque within the cycle according to the torque request value and a preset target torque value; wherein the preset target torque value is greater than the torque request value, and the preset target torque value is less than or equal to the motor torque threshold; According to the target duration and the preset target torque value, the second system is controlled to output torque within the target duration of the cycle, and the second system is controlled to be turned off within the remaining duration of the cycle except the target duration.

[0058] For example, the preset target torque value can be preset according to actual conditions, for example, the preset target torque value can be set to be equal to the motor torque threshold, can be set to the torque value corresponding to the motor optimal efficiency, or can also be determined according to the magnitude of the torque request value. The preset target torque value can be used to control the output torque of the second system. The target duration is the duration of the second system output torque within a cycle.

[0059] It can be understood that the target duration can be a continuous period of time within a cycle, or it can be discontinuous, that is, the second system can be shut down and output torque multiple times within a cycle, and the total duration of the second system outputting torque within a cycle can be the target duration. However, since shutting down the controller will cause abnormal noise in the drive system, and multiple opening and closing of the drive system may cause damage to the drive system, the target duration can be a continuous period of time within a cycle.

[0060] For example, according to the torque request value and the preset target torque value, the target duration for the second system to output torque within the cycle can be determined. For example, when the torque request value is 15N, the preset target torque value is 20N, and the cycle is 4ms, the target duration can be determined to be 3ms, that is, the second system can be controlled to output a torque of 20N within 0-3ms, and the second system can be controlled to be turned off within 3-4ms.

[0061] Based on this, the target duration of the second system outputting torque within a cycle can be determined according to the torque request value and the preset target torque value, and within the target duration, the second system is controlled to output the torque corresponding to the preset target torque value, and the second system is controlled to be shut down during the remaining time of the cycle except for the target duration, so that the second system works intermittently. The working duration and torque output of the second system can be accurately controlled to ensure that the average torque output by the second system is equal to the torque request value within a cycle corresponding to the intermittent operation of the second system.

[0062] As an optional embodiment, determining a target duration for the second system to output torque within the cycle according to the torque request value and the preset target torque value includes: Determining the preset target torque value according to the torque request value and a preset corresponding relationship between the torque request value and the preset torque value; A target duration for the second system to output torque within the period is determined according to the torque request value and the preset target torque value.

[0063] For example, the preset correspondence relationship may be preset. The preset target torque value may be determined according to the torque request value and the preset correspondence relationship. The preset correspondence relationship may be a function or a mapping table, which defines the mapping relationship between the torque request value and the preset target torque value.

[0064] For example, the torque request value and the preset torque value may be in a one-to-one correspondence relationship, that is, each torque request value corresponds to a preset torque value. The preset torque value and the torque request value may be in a one-to-many relationship, for example, each preset torque value corresponds to a torque request interval. When determining the preset target torque value according to the torque request value and the preset correspondence relationship, the preset torque value corresponding to the interval may be determined as the preset target torque value based on the interval in which the torque request value is located.

[0065] Among them, when the torque request value is small but the preset torque value is too large, it may happen that the target duration of the second system to output torque within a cycle is much shorter than the remaining duration for shutting down the second system. For example, within a 5ms cycle, the second system outputs torque within only 1ms, and the remaining 4ms are used to shut down the second system, which may cause severe shaking of the vehicle body and cause poor user experience.

[0066] Here, the relationship between the torque request value and the preset torque value can be set to a positive correlation, that is, the larger the torque request value, the larger the corresponding preset torque value. This can reduce the duration of shutting down the drive system in a cycle, reduce the shaking of the vehicle body, and at the same time meet the needs of improving the efficiency of the drive system and improving the vehicle's endurance, which can improve the user experience.

[0067] As an optional embodiment, according to the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, controlling the controller state or output torque of the front drive system and the rear drive system so that the front drive system and / or the rear drive system works intermittently during the driving process of the vehicle includes: When the torque request value is less than or equal to the motor torque threshold, controlling the first system of the vehicle to remain closed, and controlling the second system of the vehicle to work intermittently or continuously output torque according to the torque request value; the first system is any one of the front drive system and the rear drive system, and the second system is the system of the front drive system and the rear drive system except the first system; When the torque request value is greater than the motor torque threshold, torque is distributed between the first system and the second system according to the torque request value, and the first system and the second system are controlled to output torque.

[0068] For example, when the torque request value is less than or equal to the motor torque threshold, the first system is controlled to remain closed, and torque is output through the second system, wherein the second system may work intermittently or continuously output torque.

[0069] For example, when the torque request value is less than the motor torque threshold, the first system is controlled to remain closed, and the second system is controlled to work intermittently. In one example, when the torque request value is less than the motor torque threshold, the first system can be controlled to be closed, and the second system can be controlled to continuously output torque, for example, the magnitude of the second system's continuous output torque can be controlled to be equal to the torque request value. In another example, when the torque request value is less than the motor torque threshold, the first system can be controlled to be closed, and based on the torque request value, the second system can be controlled to work intermittently. For example, the second system can be controlled to output a torque greater than the torque request value within a target duration of a cycle, and the second system can be controlled to be closed for the remaining duration of a cycle, so that the average torque of the second system in a cycle is equal to the torque request value.

[0070] For example, when the torque request value is less than or equal to the motor torque threshold, the first system can be controlled to remain closed, and the second system can be controlled to continuously output torque or work intermittently. In one example, when the torque request value is equal to the motor torque threshold, the first system can be controlled to remain closed, and the second system can be controlled to continuously output torque, for example, the magnitude of the second system's continuous output torque can be controlled to be equal to the torque request value. In another example, when the torque request value is equal to the motor torque threshold, the first system can be controlled to remain closed, and the second system can be controlled to work intermittently. For example, the second system can be controlled to output a torque greater than the torque request value within a target duration of a cycle, and the second system can be controlled to be closed within the remaining duration of a cycle, so that the average torque of the second system within a cycle is equal to the torque request value. Wherein, when the torque request value is equal to the motor torque threshold, and the second system is controlled to work intermittently, the motor torque threshold generally does not exceed the peak torque of the motor.

[0071] For example, when the torque request value is greater than the motor torque threshold, torque is distributed between the first system and the second system, and the output torque of the two systems is controlled. In one example, when the vehicle requires a large torque, the drive system with a higher motor efficiency under the torque condition can be controlled to output more torque, and the remaining torque is provided by another drive system. In another example, torque can be distributed between the front drive system and the rear drive system according to the performance of different drive systems. For example, based on the motor efficiency optimization strategy, the ratio of the output torque of the front drive system and the rear drive system under different torque conditions can be pre-calibrated to achieve efficiency optimization of the output torque of the drive system.

[0072] For example, during the entire driving process of the vehicle, the first system can be turned off when the torque request value is less than or equal to the motor torque threshold, and output torque when the torque request value is greater than the motor torque threshold, so as to achieve intermittent operation of the first system during the driving process of the vehicle. By alternating the on-off state of the first system, the average torque output of the whole vehicle is matched with the torque request value, thereby improving the efficiency of the whole vehicle drive system during the driving process of the vehicle, reducing energy consumption, and improving the vehicle's endurance.

[0073] Reference Figure 2 , taking the motor torque threshold as the optimal efficiency torque of the motor in the front-wheel drive system as an example, a schematic diagram of the change of the torque distribution and controller state of the front-wheel drive system and the rear-wheel drive system is shown through the real-time torque request value of the vehicle during a period of driving.

[0074] like Figure 2 As shown, between T1 and T2, the first torque request value is greater than the optimal efficiency torque, and the torque of the front drive system and the rear drive system is distributed so that the torque output by the entire drive system is equal to the first torque request value. Between T2 and T3, the second torque request value is less than the optimal efficiency torque, the rear drive system is turned off, and the torque is output through the front drive system, and the output torque is the optimal efficiency torque. Between T3 and T4, the third torque request value is greater than the optimal efficiency torque, and the torque of the front drive system and the rear drive system is distributed; since the actual torque output by the front drive system is greater than the second torque request value between T2 and T3, the front drive system performs torque compensation at this time, that is, the torque corresponding to the front drive system after torque distribution reduces the gap between the optimal efficiency torque and the second torque request value, so that the torque output by the vehicle drive system between T2 and T4 is equal to the sum of the second torque request value and the third torque request value. At time T4 to T6, the fourth torque request value is greater than the optimal efficiency torque, the rear-wheel drive system is turned off, and the torque is output through the front-wheel drive system. The output torque may be the fourth torque request value, or the optimal efficiency torque may be output through the front-wheel drive system at time T4 to T5, and the front-wheel drive system may be controlled to be turned off at time T5 to T6.

[0075] Continue to see Figure 2 , from time T7 to T8, the fifth torque request value is less than the optimal efficiency torque, the rear drive system is turned off, and the torque is intermittently output through the front drive system. Wherein, the time from t7 to t8 can be divided into 4 cycles, the front drive system is controlled to output the optimal efficiency torque in the first t time length of each cycle, and the front drive system is controlled to be turned off in the remaining time length of each cycle except the t time length, so that the average torque in each cycle from time T7 to T8 is equal to the fifth torque value.

[0076] The present invention can intelligently adjust the torque distribution and controller status of an electric vehicle to optimize energy utilization efficiency and improve the vehicle's endurance, and also enhance its adaptability and reliability under extreme conditions.

[0077] During the implementation of the vehicle control method disclosed in the present invention, during the state switching of the controllers of the front-drive system and the rear-drive system, RLC oscillation may occur in the vehicle's drive system, causing vibration and noise problems, affecting the driving experience. Among them, the controller state switching is switching from the normal output torque state of the drive system to the state where all the switch tubes of the controller are disconnected. To solve this problem, the present invention is based on the mechanism of inducing RLC oscillations during the controller state switching process, and optimizes the controller state switching strategy accordingly. Through these optimization measures, the vibration and noise problems caused by RLC oscillations are effectively reduced, the NVH (Noise, Vibration, Harshness) performance of the vehicle is guaranteed, and the overall performance and driving experience of the vehicle are comprehensively improved.

[0078] As an optional embodiment, the controller is controlled to shut down in the following manner, including: Controlling the controller to be in a zero vector state, wherein the zero vector state indicates that all target bridge arms in the upper bridge arm and the lower bridge arm of the controller are connected, and all bridge arms in the upper bridge arm and the lower bridge arm of the controller except the target bridge arm are disconnected; Determine a first winding whose current among the three-phase windings of the motor corresponding to the controller is in a first preset current interval; Turning off the switch tube corresponding to the first winding in the target bridge arm; When the terminal of the first winding is electrically isolated from the bus, the switch tubes corresponding to other windings in the target bridge arm are turned off; wherein the other windings are windings in the three-phase winding except the first winding.

[0079] For example, in the conventional SVPWM (Space Vector Pulse Width Modulation) motor control process, there is a zero vector state, which refers to the state in which the target bridge arms in the upper bridge arm and the lower bridge arm of the controller are all connected, and all bridge arms except the target bridge arm are disconnected. The zero vector state can be used to achieve specific control goals, such as reducing switching losses or achieving a specific voltage vector output. In the motor controller, the target bridge arm is the upper bridge arm or the lower bridge arm to be closed.

[0080] For example, the three-phase winding is the winding of the three phases in the three-phase motor, which is three independent electromagnetic circuits of the motor rotor. The difference between each two-phase winding is 120 degrees electrical angle, and the three-phase winding works together to generate a rotating magnetic field. The first preset current interval is a preset current range used to determine the current state in the motor winding, which can be set according to actual needs. For example, the first preset current interval can be set to -1 to 1mA, or it can be set to 0-2mA.

[0081] For example, a switch is a semiconductor device that can quickly switch between an on and off state, such as a MOS (Metal-Oxide-Semiconductor Field-Effect Transistor) or an IGBT (Insulate-Gate Bipolar Transistor). Here, the switch in the inverter is an IGBT.

[0082] For example, electrical isolation refers to electrically isolating the power supply from the power circuit to form an independent, ungrounded safety system. When the terminal of the first winding is electrically isolated from the busbar, no current is generated between the first winding and the DC power supply.

[0083] Among them, when the upper bridge arm or the lower bridge arm of the controller is completely turned off, the current in the three-phase winding of the motor is continued through the diode. After the current continues to flow, the winding terminal will be electrically isolated from the bus. Due to the sudden change in the potential of the winding terminal, RLC oscillation of the three-phase winding and the switch tube is caused.

[0084] RLC oscillation can be mathematically equivalent to a second-order linear non-homogeneous differential equation with constant coefficients. The specific expression is: , where V(t) represents the potential difference of the oscillation loop, i(t) represents the current response after the oscillation occurs, R represents the loop resistance, L represents the loop inductance, and C represents the loop capacitance. It can be seen that in addition to the parameters such as resistance, inductance and capacitance in the circuit, the current response of RLC oscillation is affected by the current response and potential difference in the loop.

[0085] See also Figure 3 and Figure 4 , take the case where the upper and lower bridge arms of phase A of the three-phase motor are turned off first and the change rate of phase A current is greater than 0 before turning off as an example. Among them, Figure 3In it, S1, S2 and S3 represent the switch tubes of the upper bridge arm of the controller, S4, S5 and S6 represent the switch tubes of the lower bridge arm of the controller, each switch tube is connected in parallel with a freewheeling diode, Vdc represents the DC power supply, Ea, Eb and Ec represent the a-phase winding, b-phase winding and c-phase winding of the motor respectively, the direction of the arrow represents the current direction of the three-phase current, and in the zero vector state, the direction of the a-phase current and the c-phase current is to flow into the motor, and the direction of the b-phase current is to flow out of the motor. Figure 4 Where ia, ib and ic represent the a-phase winding current, b-phase winding current and c-phase winding current respectively, Emf_a, Emf_b and Emf_c represent the a-phase winding back EMF, b-phase winding back EMF and c-phase winding back EMF respectively, the horizontal axis represents the rotor position, and the initial state 0 is the zero vector state.

[0086] The zero vector state in which all three-phase lower bridge arms are turned on and all three-phase upper bridge arms are turned off is used as the initial state of the shutdown controller. Figure 3 The controller shutdown process shown is Figure 3 The waveforms of the three-phase current and back electromotive force corresponding to the state change process are as follows: Figure 4 As shown, the vector of the three-phase current is slightly ahead of the vector of the three-phase back electromotive force, so at this time the back electromotive force of the C-phase winding is the maximum value among the three phases, and the back electromotive force of the B-phase winding is the minimum value among the three phases.

[0087] like Figure 3 As shown in stage I in the figure, in this zero vector state, the three-phase current forms a loop through each bridge arm, forming a short-circuited state of the three-phase windings, and the three-phase current also has a corresponding transient response based on this. Define the negative pole of the bus as N, and the neutral point of the motor three-phase winding as O, then the voltage V of the neutral point O relative to the negative pole of the bus N ON In this zero vector state, when the current of phase A is about to approach 0 during the process of changing from negative to positive, that is, Figure 4 At the position marked ①, the switch tube of the lower bridge arm of phase A is turned off. Alternatively, the switch tube of the lower bridge arm of phase A may be turned off when the current of phase A is about to approach 0 during the process of changing from positive to negative, or when the current of phase A is in the first preset current interval.

[0088] Among them, since the direction of the A-phase current is positive, that is, the direction of the A-phase current is from the controller to the motor, after the A-phase lower bridge arm is turned off, the A-phase current will flow through the anti-parallel diode of the lower bridge arm IGBT and enter Figure 3 The state of stage II is maintained until the current decays to 0, and the A-phase winding terminal is electrically isolated from the busbar, that is, Figure 3 In the stage III. Figure 3 During the transition between Phase II and Phase III, phases B and C are still short-circuited to each other, and the voltage of the neutral point O relative to the negative pole N of the busbar is At the same time, the voltage of the A-phase winding terminal relative to the negative pole N of the busbar is , the back electromotive force of the A phase winding terminal relative to the neutral point can be calculated .Depend on Figure 4 It can be seen that when the current of phase A approaches 0, the back electromotive force of phase A winding also approaches 0. It can be seen that when the current of the target phase approaches 0, the target phase bridge arm is closed. In the corresponding RLC oscillation response, the current response value and the back electromotive force value are both in an extremely small state, so the amplitude of the RLC oscillation can be effectively suppressed, thereby ensuring the NVH performance of the control controller during shutdown.

[0089] Continue to see Figure 3 and Figure 4 After the A-phase terminal is electrically isolated from the busbar, the B- and C-phases continue to conduct through the corresponding lower bridge arm switches. However, since the C-phase winding back electromotive force is higher than the B-phase, and the C-phase current is in a positive state, that is, the current direction between the B- and C-phases and the trend of the back electromotive force difference to generate current are opposite, so the current cannot continue to be generated. Figure 4 As shown, the currents of the two phases BC will gradually decay exponentially.

[0090] Among them, the two-phase lower bridge arm switch tubes can be turned off at the same time when the BC two-phase current is about to return to zero, or the C phase lower bridge arm switch tube can be turned off first, and then the B phase lower bridge arm switch tube can be turned off. After the BC two-phase IGBT is turned off, the BC two-phase current will flow to 0 through the diode, and finally the terminals of the three-phase winding and the busbar are completely electrically isolated. At this point, the controller is closed, and this closed state will continue until the controller receives the start command.

[0091] Based on this, in order to avoid NVH problems in the process of switching from the open state to the closed state as much as possible, the three-phase switch tube segmented shutdown strategy based on current angle recognition proposed in the present invention can effectively reduce the RLC oscillation problem in the controller state switching process by selecting the switch tube shutdown action at a specific rotor position.

[0092] As an optional embodiment, turning off the switch tubes corresponding to other windings in the target bridge arm includes: When the current of the other winding is in a second preset current interval, the switch tube corresponding to the other winding in the target bridge arm is turned off.

[0093] For example, the second preset current interval is a preset current interval, and the second preset current interval can be consistent with the first preset current interval, or can be inconsistent with the first preset current interval, and can be set according to specific needs, which is not limited here. For example, the first preset power interval can be set to -0.5mA to 0.2mA, and the second preset current interval can be set to -0.6mA to 0.1mA.

[0094] For example, when the switch tube corresponding to the first winding is turned off, the current of the first winding gradually decays to 0, so that the terminal of the first winding is electrically isolated from the busbar. Subsequently, the current direction of the other two-phase windings except the first winding is opposite to the current trend generated by the back electromotive force, so the current of the other two phases gradually decays until it is 0. The current changes in the other windings except the first winding of the turned-off switch tube can be monitored in real time to determine whether the other windings are in the second preset current interval. When the current of the other windings is in the second preset current interval, the switch tube corresponding to the other winding in the target bridge arm is turned off. For example, when the current of at least one phase winding is in the second preset current interval, the switch tube corresponding to the other winding in the target bridge arm can be turned off.

[0095] Based on this, by setting the current of other windings to be in the second preset current range, the corresponding switch tubes of other windings are controlled to be closed, so as to achieve precise control of the motor winding current, so as to improve the energy efficiency of the whole vehicle and reduce the amplitude of RLC oscillation, thereby ensuring a comfortable driving experience for the driver and passengers.

[0096] As an optional embodiment, turning off the switch tubes corresponding to other windings in the target bridge arm includes: The switch tubes corresponding to the other windings are controlled to be turned off simultaneously.

[0097] For example, when the switch tubes corresponding to other windings in the target bridge arm are turned off, the switch tubes of the other two-phase windings can be controlled to turn off at the same time, so that the switch tubes corresponding to the other two-phase windings are turned off at the same time or in sequence in a very short time to achieve synchronous control. By turning off the switch tubes at the same time, the current mutation caused by the turning off of the switch tubes can be reduced, thereby reducing the current shock to the motor and the controller.

[0098] As an optional embodiment, turning off the switch tubes corresponding to other windings in the target bridge arm includes: Turning off the switch tube corresponding to the second winding among the other windings, wherein the current direction of the second winding is from the controller to the motor; When the terminal of the second winding is electrically isolated from the busbar, the switch tubes corresponding to the windings other than the second winding in the other windings are turned off.

[0099] For example, a method of turning off the switch tubes corresponding to other windings that is more in line with the actual control logic is provided. Among them, the current direction of the second winding is from the controller to the motor, and the current flow is cut off by turning off the switch tube corresponding to the second winding in the target bridge arm. After turning off the switch tube corresponding to the second winding, it can be confirmed whether the terminal of the second winding has been electrically isolated from the bus, that is, whether the current is close to 0. When the second winding is electrically isolated from the bus, the switch tube corresponding to the third winding in the target bridge arm can be turned off to ensure that the third winding is also disconnected from the controller and the bus, so that the terminals of the three-phase winding of the motor are completely electrically isolated from the bus.

[0100] Based on this, by precisely controlling the closing sequence and timing of the switching tubes, precise control of the motor winding current can be achieved, optimizing the operating state and efficiency of the motor.

[0101] As an optional embodiment, obtaining the torque request value of the vehicle includes: Obtaining the remaining battery power of the vehicle and / or the ambient temperature of the vehicle; When the remaining power of the battery is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, a torque request value of the vehicle is obtained.

[0102] For example, the remaining battery power is also called SOC (State of Charge), which is the current remaining battery power state, usually expressed as a percentage. The ambient temperature is the external environment temperature of the vehicle, which has a significant impact on battery performance and motor efficiency. The remaining battery power can be obtained through the vehicle's battery management system, and the ambient temperature of the vehicle can be obtained through the temperature sensor of the vehicle body.

[0103] For example, the preset power level and preset temperature thresholds are pre-set values. In order to ensure the safe operation of the vehicle, the preset power level and preset temperature thresholds can be used to determine whether the vehicle is in a situation where the battery power is low or the external temperature is low.

[0104] For example, refer to Figure 5 , the vehicle's battery remaining power and ambient temperature can be obtained, and when the battery remaining power is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, it can be determined that the vehicle is in a situation where the battery power is low or the external temperature is low. Then, the function of improving the efficiency of the drive system can be triggered, that is, the torque request value of the vehicle is automatically obtained, and based on the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, the working state of the front drive system and the rear drive system of the vehicle is controlled, so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle.

[0105] Based on this, when the battery power is low or the vehicle's ambient temperature is low, the vehicle's front drive system and / or rear drive system can be automatically triggered to work intermittently to improve the system efficiency of the vehicle's drive system during the entire driving process, thereby effectively enhancing the vehicle's endurance.

[0106] As an optional embodiment, when the remaining power of the battery is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, obtaining the torque request value of the vehicle includes: When the remaining power of the battery is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, obtaining the user's control intention for the vehicle; When the control intention represents increasing the cruising range of the vehicle, a torque request value of the vehicle is obtained.

[0107] For example, the control intention refers to whether the user is willing to increase the cruising time of the vehicle. When the remaining battery power is lower than the preset power, and / or the ambient temperature is lower than the preset temperature threshold, a prompt message indicating that the vehicle battery power is too low or the ambient temperature is too low can be displayed on the vehicle display, and an inquiry message can be displayed on or after the prompt message, such as "whether to turn on the motor cruising function" on the vehicle display to confirm whether the user is willing to increase the cruising time of the vehicle, and upon receiving the user's preset operation in the inquiry message, such as clicking a "yes" button or a "no" button, the user's control intention for the vehicle can be obtained.

[0108] For example, when the user's control intention is to increase the vehicle's endurance, a function for improving the efficiency of the drive system can be further triggered, that is, the vehicle's torque request value is automatically obtained, and based on the relationship between the torque request value and the vehicle's motor torque threshold, the working state of the vehicle's front drive system and rear drive system is controlled to make the front drive system and / or the rear drive system work intermittently during the vehicle's driving process.

[0109] For example, intermittent operation of the front-wheel drive system and / or the rear-wheel drive system can improve the vehicle's endurance, but the resulting NVH performance problems will reduce the user experience. Even if strategies are adopted to reduce NVH problems, weaker NVH problems may still exist. By obtaining the user's actual control intention when the battery power is extremely low or the vehicle's external ambient temperature is extremely low, a driving experience that is more in line with the user's expectations can be provided to meet the user's actual needs.

[0110] As a specific implementation method, refer to Figure 6, the current vehicle state and driver intention can be identified. When the vehicle state and driver intention do not meet the requirements for starting the intermittent control strategy, that is, the vehicle performs normal torque output, the front-drive system and rear-drive system can be controlled to perform normal torque output based on the torque distribution strategy in the relevant technology. When the vehicle state and driver intention meet the requirements for starting the intermittent control strategy, the optimal efficiency torque value Tq_Max under the current working condition can be obtained, and the torque request value can be obtained in real time. Then, the actual torque request value and value Tq_Max are judged, and the most appropriate control strategy is selected. Here, the optimal efficiency torque value Tq_Max is taken as the optimal efficiency torque of the motor in the front-drive system as an example.

[0111] Among them, when the torque request value is less than Tq_Max, the controller of the rear drive system remains closed, while the controller of the front drive system performs intermittent shutdown. During the period when the controller of the front drive system is not closed, the motor output is adjusted to Tq_Max; during the shutdown period, the output torque drops to zero. Through this alternation of switching states, the average torque output is matched with the torque request value.

[0112] When the torque request value is exactly equal to Tq_Max, the controller of the rear drive system remains off, and the controller of the front drive system continues to operate. The torque output by the front drive controller will be stabilized to Tq_Max to achieve the predetermined torque output.

[0113] When the torque request value is greater than Tq_Max, the controllers of the front and rear drive systems are both activated. The torque output of the front and rear drive systems can be intelligently allocated according to the actual torque request value to ensure that the overall efficiency is optimized while meeting the total torque demand.

[0114] When the controller of the front-drive system switches from the on state to the off state, due to the sudden change of the winding terminal voltage, RLC oscillation may be triggered, resulting in vibration and noise problems. The three-phase IGBT segmented shutdown strategy based on current angle recognition can ensure that the phase current of the controller's switch tube is close to zero when it is turned off, and the change of the phase winding terminal voltage is also minimized according to the generation principle of RLC oscillation through precise current angle recognition. The specific shutdown process can refer to the aforementioned embodiment and will not be repeated here. In this way, the back electromotive force voltage and phase current in the RLC equivalent circuit are both in the minimum state, which effectively reduces the impact of RLC oscillation, thereby optimizing the resulting vibration and noise problems, and improving driving comfort and vehicle performance.

[0115] In actual driving, the torque request value changes dynamically. Therefore, according to the relationship between the torque request value and the optimal efficiency torque value, the state or output torque of the front-wheel drive system and the rear-wheel drive system are adjusted in real time to achieve dynamic torque distribution to adapt to the millisecond-level changes in the torque request value.

[0116] Figure 7 The data shown in FIG. 1 are test results of a comparative test of the conventional control strategy and the vehicle control method of the present disclosure in the motor speed range of 1000 rpm to 8000 rpm based on a 15 Nm torque request, wherein the horizontal axis is the motor speed and the vertical axis is the efficiency. Figure 7 As shown, at any operating point, the intermittent control strategy of the present disclosure achieves significant efficiency improvement. Therefore, theoretically, the present disclosure can significantly improve the system efficiency of electric vehicles throughout the driving cycle, thereby effectively enhancing the endurance of electric vehicles.

[0117] To solve the vibration and noise problems when the controller switches from the on state to the off state, Figure 8 The results show the comparison of the voltage vibration characteristics of the A-phase winding terminal under the conventional direct full shutdown scheme and the segmented shutdown strategy in the present disclosure during the process of the controller's IGBT turning on and off. Figure 8 As shown, when the shutdown is performed at about 0.207 ms, the fluctuation degree of the A-phase voltage corresponding to the three-phase IGBT segmented shutdown strategy based on angle recognition of the present disclosure is significantly smaller than the fluctuation degree of the A-phase voltage corresponding to the conventional direct full shutdown scheme.

[0118] It can be seen that the three-phase IGBT segmented shutdown strategy based on angle recognition proposed in the present disclosure can effectively suppress the RLC oscillation during the controller state switching process, significantly reducing the amplitude of the RLC oscillation, thereby ensuring a comfortable driving experience for the driver and passengers.

[0119] Based on this, the present disclosure not only optimizes the efficiency of electric vehicles, but also improves the NVH performance of the entire vehicle, thereby improving the endurance and driving comfort of electric vehicles.

[0120] Reference Fig. 9 , Fig. 9 FIG. 9 is a block diagram of a vehicle control device 900 according to an exemplary embodiment. Fig. 9 As shown, the vehicle control device 900 includes an acquisition module 901 and a control module 902 .

[0121] An acquisition module 901 is configured to acquire a torque request value of a vehicle; The control module 902 is configured to control the working state of the front drive system and the rear drive system of the vehicle according to the relationship between the torque request value and the motor torque threshold of the vehicle, so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle.

[0122] As an optional embodiment, the control module 902 is further configured to: According to the relationship between the torque request value and the motor torque threshold of the vehicle, the controller state or output torque of the front drive system and the rear drive system is controlled so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle. The controller state is used to characterize whether the controllers in the front drive system and the rear drive system are turned on or off.

[0123] As an optional embodiment, the control module 902 is further configured to: When the torque request value is less than the motor torque threshold of the vehicle, the first system controlling the vehicle remains closed, and the second system of the vehicle is controlled to operate intermittently according to the torque request value; wherein the first system is any one of the front drive system and the rear drive system, and the second system is the system of the front drive system and the rear drive system except the first system, and within a cycle corresponding to the intermittent operation of the second system, the average torque output by the second system is equal to the torque request value.

[0124] As an optional embodiment, the control module 902 is further configured to: Determining a target duration for the second system to output torque within the cycle according to the torque request value and a preset target torque value; wherein the preset target torque value is greater than the torque request value, and the preset target torque value is less than or equal to the motor torque threshold; According to the target duration and the preset target torque value, the second system is controlled to output torque within the target duration of the cycle, and the second system is controlled to be turned off within the remaining duration of the cycle except the target duration.

[0125] As an optional embodiment, the control module 902 is further configured to: Determining the preset target torque value according to the torque request value and a preset corresponding relationship between the torque request value and the preset torque value; A target duration for the second system to output torque within the period is determined according to the torque request value and the preset target torque value.

[0126] As an optional embodiment, the control module 902 is further configured to: When the torque request value is less than or equal to the motor torque threshold, controlling the first system of the vehicle to remain closed, and controlling the second system of the vehicle to work intermittently or continuously output torque according to the torque request value; the first system is any one of the front drive system and the rear drive system, and the second system is the system of the front drive system and the rear drive system except the first system; When the torque request value is greater than the motor torque threshold, torque is distributed between the first system and the second system according to the torque request value, and the first system and the second system are controlled to output torque.

[0127] As an optional embodiment, the controller is controlled to shut down in the following manner, including: Controlling the controller to be in a zero vector state, wherein the zero vector state indicates that all target bridge arms in the upper bridge arm and the lower bridge arm of the controller are connected, and all bridge arms in the upper bridge arm and the lower bridge arm of the controller except the target bridge arm are disconnected; Determine a first winding whose current among the three-phase windings of the motor corresponding to the controller is in a first preset current interval; Turning off the switch tube corresponding to the first winding in the target bridge arm; When the terminal of the first winding is electrically isolated from the bus, the switch tubes corresponding to other windings in the target bridge arm are turned off; wherein the other windings are windings in the three-phase winding except the first winding.

[0128] As an optional embodiment, turning off the switch tubes corresponding to other windings in the target bridge arm includes: When the current of the other winding is in a second preset current interval, the switch tube corresponding to the other winding in the target bridge arm is turned off.

[0129] As an optional embodiment, turning off the switch tubes corresponding to other windings in the target bridge arm includes: The switch tubes corresponding to the other windings are controlled to be turned off simultaneously.

[0130] As an optional embodiment, turning off the switch tubes corresponding to other windings in the target bridge arm includes: Turning off the switch tube corresponding to the second winding among the other windings, wherein the current direction of the second winding is from the controller to the motor; When the terminal of the second winding is electrically isolated from the busbar, the switch tubes corresponding to the windings other than the second winding in the other windings are turned off.

[0131] As an optional embodiment, obtaining the torque request value of the vehicle includes: Obtaining the remaining battery power of the vehicle and / or the ambient temperature of the vehicle; When the remaining power of the battery is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, a torque request value of the vehicle is obtained.

[0132] As an optional embodiment, when the remaining power of the battery is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, obtaining the torque request value of the vehicle includes: When the remaining power of the battery is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, obtaining the user's control intention for the vehicle; When the control intention represents increasing the cruising range of the vehicle, a torque request value of the vehicle is obtained.

[0133] Regarding the vehicle control device 900 in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the vehicle control method, and will not be elaborated here.

[0134] Based on the same inventive concept, the present disclosure also provides a computer-readable storage medium on which computer program instructions are stored. When the program instructions are executed by a processor, the vehicle control method provided by the present disclosure is implemented.

[0135] Based on the same inventive concept, the present disclosure also provides a vehicle, comprising: A storage device for storing a computer program; An execution device is used to execute the computer program to implement the vehicle control method provided by the present disclosure.

[0136] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle control method when executed by the programmable device.

[0137] Fig.10 1 is a block diagram of a vehicle 1000 according to an exemplary embodiment. For example, the vehicle 1000 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 1000 may be an autonomous vehicle or a semi-autonomous vehicle.

[0138] Reference Fig.10 , the vehicle 1000 may include various subsystems, for example, an infotainment system 1010, a perception system 1020, a decision control system 1030, a drive system 1040, and a computing platform 1050. The vehicle 1000 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 1000 may be interconnected by wire or wireless means.

[0139] In some embodiments, the infotainment system 1010 may include a communication system, an entertainment system, and a navigation system.

[0140] The perception system 1020 may include several sensors for sensing information about the environment around the vehicle 1000. For example, the perception system 1020 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0141] The decision control system 1030 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0142] The drive system 1040 may include components that provide power movement for the vehicle 1000. In one embodiment, the drive system 1040 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine can convert energy provided by the energy source into mechanical energy.

[0143] Some or all functions of the vehicle 1000 are controlled by a computing platform 1050. The computing platform 1050 may include at least one processor 1051 and a memory 1052, and the processor 1051 may execute instructions 1053 stored in the memory 1052.

[0144] The processor 1051 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0145] The memory 1052 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0146] In addition to instructions 1053 , memory 1052 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in memory 1052 may be used by computing platform 1050 .

[0147] In the embodiment of the present disclosure, the processor 1051 can execute instruction 1053 to complete all or part of the steps of the above-mentioned vehicle control method.

[0148] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0149] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: Get the vehicle's torque request value; According to the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, the operating states of the front drive system and the rear drive system of the vehicle are controlled so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle.

2. The method according to claim 1, characterized in that According to the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, controlling the working state of the front drive system and the rear drive system of the vehicle so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle, including: According to the relationship between the torque request value and the motor torque threshold of the vehicle, the controller state or output torque of the front drive system and the rear drive system is controlled so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle. The controller state is used to characterize whether the controllers in the front drive system and the rear drive system are turned on or off.

3. The method according to claim 2, characterized in that According to the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, controlling the state or output torque of the front drive system and the rear drive system so that the front drive system or the rear drive system works intermittently during the driving process of the vehicle, including: When the torque request value is less than the motor torque threshold of the vehicle, the first system controlling the vehicle remains closed, and the second system of the vehicle is controlled to operate intermittently according to the torque request value; wherein the first system is any one of the front drive system and the rear drive system, and the second system is the system of the front drive system and the rear drive system except the first system, and within a cycle corresponding to the intermittent operation of the second system, the average torque output by the second system is equal to the torque request value.

4. The method according to claim 3, characterized in that According to the torque request value, controlling the second system of the vehicle to intermittently operate includes: Determining a target duration for the second system to output torque within the cycle according to the torque request value and a preset target torque value; wherein the preset target torque value is greater than the torque request value, and the preset target torque value is less than or equal to the motor torque threshold; According to the target duration and the preset target torque value, the second system is controlled to output torque within the target duration of the cycle, and the second system is controlled to be turned off within the remaining duration of the cycle except the target duration.

5. The method according to claim 4, characterized in that Determining a target duration for the second system to output torque within the cycle according to the torque request value and a preset target torque value includes: Determining the preset target torque value according to the torque request value and a preset corresponding relationship between the torque request value and the preset torque value; A target duration for the second system to output torque within the period is determined according to the torque request value and the preset target torque value.

6. The method according to claim 2, characterized in that According to the magnitude relationship between the torque request value and the motor torque threshold of the vehicle, the controller states or output torques of the front drive system and the rear drive system are controlled so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle, including: When the torque request value is less than or equal to the motor torque threshold, controlling the first system of the vehicle to remain closed, and controlling the second system of the vehicle to work intermittently or continuously output torque according to the torque request value; the first system is any one of the front drive system and the rear drive system, and the second system is the system of the front drive system and the rear drive system except the first system; When the torque request value is greater than the motor torque threshold, torque is distributed between the first system and the second system according to the torque request value, and the first system and the second system are controlled to output torque.

7. The method according to any one of claims 2 to 6, characterized in that: The controller is controlled to shut down in the following manner, including: Controlling the controller to be in a zero vector state, wherein the zero vector state indicates that all target bridge arms in the upper bridge arm and the lower bridge arm of the controller are connected, and all bridge arms in the upper bridge arm and the lower bridge arm of the controller except the target bridge arm are disconnected; Determine a first winding whose current among the three-phase windings of the motor corresponding to the controller is in a first preset current interval; Turning off the switch tube corresponding to the first winding in the target bridge arm; When the terminal of the first winding is electrically isolated from the bus, the switch tubes corresponding to other windings in the target bridge arm are turned off; wherein the other windings are windings in the three-phase winding except the first winding.

8. The method according to claim 7, characterized in that Turning off the switch tubes corresponding to other windings in the target bridge arm includes: When the current of the other winding is in a second preset current interval, the switch tube corresponding to the other winding in the target bridge arm is turned off.

9. The method according to claim 8, characterized in that Turning off the switch tubes corresponding to other windings in the target bridge arm includes: The switch tubes corresponding to the other windings are controlled to be turned off simultaneously.

10. The method according to claim 8, characterized in that Turning off the switch tubes corresponding to other windings in the target bridge arm includes: Turning off the switch tube corresponding to the second winding among the other windings, wherein the current direction of the second winding is from the controller to the motor; When the terminal of the second winding is electrically isolated from the busbar, the switch tubes corresponding to the windings other than the second winding in the other windings are turned off.

11. The method according to any one of claims 1 to 6, characterized in that: Get the vehicle's torque request value, including: Obtaining the remaining battery power of the vehicle and / or the ambient temperature of the vehicle; When the remaining power of the battery is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, a torque request value of the vehicle is obtained.

12. The method according to claim 11, characterized in that When the remaining power of the battery is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, obtaining a torque request value of the vehicle includes: When the remaining power of the battery is lower than a preset power, and / or the ambient temperature is lower than a preset temperature threshold, obtaining the user's control intention for the vehicle; When the control intention represents increasing the cruising range of the vehicle, a torque request value of the vehicle is obtained.

13. A vehicle control device, characterized in that: include: An acquisition module configured to acquire a torque request value of a vehicle; The control module is configured to control the working state of the front drive system and the rear drive system of the vehicle according to the relationship between the torque request value and the motor torque threshold of the vehicle, so that the front drive system and / or the rear drive system work intermittently during the driving process of the vehicle.

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

15. A vehicle, characterized in that: include: A storage device for storing a computer program; An execution device is used to execute the computer program to implement the vehicle control method described in any one of claims 1-12.

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