Control method and system for vehicle to pass through raised obstacle road surface, vehicle and medium

Abstract

The invention relates to the technical field of automobile chassis control, and discloses a control method and system for a vehicle to pass through a protruding obstacle road surface, the vehicle and a medium. The method comprises the steps that the energy recovery intensity of the vehicle and the deceleration of a driving shaft are obtained; under the condition that the energy recovery intensity is strong energy recovery, if the DTC mode of the vehicle is activated, determining a target coefficient based on the deceleration, and determining a first target torque based on the target coefficient and the initial torque; the initial torque represents the output torque of the power system when the DTC mode is activated; the target coefficient is positively correlated with the deceleration, and the target coefficient is less than 1 and greater than 0; and updating the output torque of the power system based on the first target torque so as to control the vehicle to run. Therefore, under the condition that the energy recovery intensity of the vehicle is very high, even if the DTC mode is activated, a driver cannot feel the movement feeling generated by the sudden change of the torque, so that the driving experience of the driver can be improved.

Description

Technical Field

[0001] The present application relates to the field of automobile chassis control technology, and in particular to a control method, system, vehicle and medium for a vehicle passing through a raised obstacle road surface. Background Art

[0002] At present, the number of new energy vehicles represented by lithium batteries as power sources is increasing. For new energy vehicles, basically all of them have energy recovery functions. When the vehicle is coasting or braking, the vehicle will generate recovery torque. However, if the driver sets the energy recovery intensity to be very strong, when coasting or lightly braking through a raised obstacle road surface, the raised obstacle road surface is a high adhesion coefficient road surface with raised obstacles. At this time, due to the dual resistance of the recovery torque and the raised obstacle, the drive shaft wheel speed will be pulled lower, causing the DTC (Drag Torque Control) mode to be activated. After DTC is activated, a smaller target torque will be given immediately to restore the drive shaft wheel speed as soon as possible. Due to the large torque difference before and after DTC intervention, the feedback to the wheel end will give the driver a sense of loss of deceleration and a feeling of sudden movement.

[0003] The prior art usually identifies such high-adhesion bumpy road surfaces to suppress the rear axle DTC mode and achieve the purpose of deactivation. However, since such high-adhesion bumpy road surfaces are difficult to accurately identify, the DTC mode will still be activated. In this way, when the energy recovery intensity is very strong, the DTC mode will give the driver a sense of movement after being activated, resulting in a poor driving experience for the driver.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0006] The disclosed embodiments provide a control method, system, vehicle and medium for a vehicle passing through a raised obstacle road surface, so that even if the DTC mode is activated when the energy recovery intensity is very strong, the driver will not feel a sense of movement, thereby improving the driver's driving experience.

[0007] In some embodiments, a method for controlling a vehicle passing through a raised obstacle road surface includes: obtaining the energy recovery intensity of the vehicle and the deceleration of the drive shaft; when the energy recovery intensity is strong energy recovery, if the DTC mode of the vehicle is activated, a target coefficient is determined based on the deceleration, and a first target torque is determined based on the target coefficient and an initial torque; wherein the initial torque represents the output torque of the power system when the DTC mode is activated; the target coefficient is positively correlated with the deceleration, and the target coefficient is less than 1 and greater than 0; and the output torque of the power system is updated based on the first target torque to control the driving of the vehicle.

[0008] In some embodiments, a control system for a vehicle passing through a raised obstacle road surface includes: an acquisition module, used to acquire the energy recovery intensity of the vehicle and the deceleration of the drive shaft; a first target module, used to determine a target coefficient based on the deceleration if the DTC mode of the vehicle is activated when the energy recovery intensity is strong energy recovery, and to determine a first target torque based on the target coefficient and the initial torque; wherein the initial torque represents the output torque of the power system when the DTC mode is activated; the target coefficient is positively correlated with the deceleration, and the target coefficient is less than 1 and greater than 0; a control module, used to update the output torque of the power system based on the first target torque to control the driving of the vehicle.

[0009] In some embodiments, a vehicle includes a processor and a memory storing program instructions, and the processor is configured to execute the control method for a vehicle passing through a raised obstacle road as described above when running the program instructions.

[0010] In some embodiments, a computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the control method for a vehicle passing through a raised obstacle road as described above.

[0011] The control method, system, vehicle and medium for a vehicle passing through a raised obstacle road provided by the embodiments of the present disclosure can achieve the following technical effects:

[0012] By obtaining the energy recovery intensity of the vehicle and the deceleration of the drive shaft, if the energy recovery intensity is strong energy recovery, it means that the energy recovery intensity of the vehicle is set to be strong at this time. At this time, if the DTC mode of the vehicle is activated, the target coefficient is determined by the deceleration of the drive shaft, and the first target torque is determined based on the target coefficient and the initial torque when the DTC mode is activated, so as to update the output torque of the power system. Since the deceleration of the drive shaft is positively correlated with the target coefficient, that is, the larger the deceleration, the larger the target coefficient, and the target coefficient is greater than 0 and less than 1. Therefore, the first target torque will not differ too much from the initial torque, so that when the energy recovery intensity of the vehicle is very large, even if the DTC mode is activated, the driver will not feel the sense of movement caused by the sudden change of torque, so as to improve the driving experience of the driver.

[0013] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0015] Figure 1 is a flow chart of a method for controlling a vehicle passing through a raised obstacle road surface provided by an embodiment of the present disclosure;

[0016] Figure 2 is a schematic diagram of a target torque change provided by an embodiment of the present disclosure;

[0017] Figure 3 is another target torque change schematic diagram provided by an embodiment of the present disclosure;

[0018] Figure 4 is a flow chart of another method for controlling a vehicle passing through a raised obstacle road surface provided by an embodiment of the present disclosure;

[0019] Figure 5 This is a schematic diagram of a control system for a vehicle passing through a raised obstacle road provided by an embodiment of the present disclosure.

[0020] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0022] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0023] Unless otherwise stated, the term "plurality" means two or more.

[0024] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0025] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0026] The term "correspondence" may refer to an association relationship or a binding relationship. The correspondence between A and B means that there is an association relationship or a binding relationship between A and B.

[0027] The energy recovery function refers to the process of generating electricity through braking by the motor when the vehicle is decelerating, recovering the electric energy and storing it in the battery for reuse, thereby increasing the cruising range of new energy vehicles. The vehicle will generate recovery torque, which refers to a technology that converts part of the vehicle's kinetic energy into electric energy and stores it through the braking torque generated by the motor during the sliding or braking process of new energy vehicles, so as to improve the vehicle's energy utilization rate and driving range. However, when the vehicle slides or brakes on a low-adhesion road surface (such as ice or snow), if the recovery torque exceeds the maximum braking force that the road surface can provide, the vehicle will slip and become unstable, posing a safety hazard. DTC (Drag Torque Control) is a vehicle torque control function that is designed to solve this type of problem. The principle is that DTC monitors the wheel speed of the drive shaft in real time. Once it is identified that the wheel speed is lower than a certain threshold of the vehicle speed, the DTC control will be activated to increase the torque of the power system to reduce or offset the drag caused by this resistance torque, so that the vehicle wheel speed can be restored to the vehicle speed value to maintain vehicle stability.

[0028] There is a common working condition that the driver sets the energy recovery intensity to be very strong. When sliding or lightly braking through a raised obstacle road surface, the raised obstacle road surface is a high adhesion coefficient road surface with raised obstacles. At this time, due to the dual resistance of the recovery torque and the raised surface, the drive shaft wheel speed will be pulled relatively low, and the DTC mode will be activated. After the DTC mode is activated, a smaller target torque will be given immediately to restore the drive shaft wheel speed as soon as possible. Due to the large torque difference before and after DTC intervention, the feedback to the wheel end will give the driver a sense of loss of deceleration and a feeling of sudden movement. The conventional way to avoid this working condition is to identify this road surface in advance and then perform corresponding control. Because most vehicle energy recovery is mainly achieved through the rear axle motor, the main method is to use the front axle wheel speed fluctuation characteristics. When the front axle passes through obstacles such as raised surfaces, the wheel speed will fluctuate and then gradually recover. Based on this, it is judged that the vehicle is on a raised obstacle road surface, and then the rear axle DTC mode is suppressed through this signal to achieve the purpose of not activating. However, actual road conditions vary. Such raised obstacles include speed bumps, concrete bumps, etc. For obstacles such as speed bumps, which are relatively large, the front axle wheel speed characteristics are very obvious and can be identified. However, for raised obstacles such as concrete, the heights vary. When the front axle passes through, the wheel speed characteristics may not be obvious, and there may be situations where it cannot be identified. However, the rear axle wheel speed still fluctuates greatly, which will meet the conditions for activating DTC. The DTC mode is activated, bringing a sense of movement.

[0029] Combination Figure 1 As shown, the embodiment of the present disclosure provides a method for controlling a vehicle passing through a raised obstacle road surface, comprising:

[0030] Step S101, obtaining the energy recovery intensity of the vehicle and the deceleration of the drive shaft.

[0031] Step S102, when the energy recovery intensity is strong energy recovery, if the DTC mode of the vehicle is activated, a target coefficient is determined based on the deceleration, and a first target torque is determined based on the target coefficient and the initial torque. The initial torque represents the output torque of the power system when the DTC mode is activated; the target coefficient is positively correlated with the deceleration, and the target coefficient is less than 1 and greater than 0.

[0032] The greater the deceleration, the closer the coefficient is to 1, otherwise, it approaches 0. Deceleration is a type of acceleration, specifically referring to the situation when the direction of acceleration is opposite to the direction of vehicle movement. In the disclosed embodiment, the deceleration is positively correlated with the target coefficient, indicating that the rate of deceleration is positively correlated with the target coefficient.

[0033] In some embodiments, for practical purposes, when passing over a raised obstacle, the deceleration of the drive shaft is generally -8 m / s. 2If the vehicle is sliding on a normal road, the deceleration is relatively uniform, basically at -3m / s. 2 Above, not less than -4m / s 2 It is understandable that the energy recovery intensity of a vehicle generally has three levels: weak, standard and strong. In this embodiment, strong energy recovery indicates that the energy recovery intensity of the vehicle is set to a strong level by the driver, and the motor recovery torque is relatively large at this time.

[0034] Step S103: updating the output torque of the power system based on the first target torque to control the vehicle driving.

[0035] The control method for a vehicle passing through a raised obstacle road surface provided by the embodiment of the present disclosure is adopted. By obtaining the energy recovery intensity of the vehicle and the deceleration of the drive shaft, if the energy recovery intensity is strong energy recovery, it means that the energy recovery intensity of the vehicle is set to be strong at this time. At this time, if the DTC mode of the vehicle is activated, the target coefficient is determined by the deceleration of the drive shaft, and the first target torque is determined based on the target coefficient and the initial torque when the DTC mode is activated, so as to update the output torque of the power system. Since the deceleration of the drive shaft is positively correlated with the target coefficient, that is, the larger the deceleration, the larger the target coefficient, and the target coefficient is greater than 0 and less than 1. Therefore, the first target torque will not differ too much from the initial torque, so that when the energy recovery intensity of the vehicle is very large, even if the DTC mode is activated, the driver will not feel the sense of movement caused by the sudden change of torque, so as to improve the driving experience of the driver.

[0036] In addition, when the vehicle is sliding strongly through a raised obstacle road surface where the front wheel speed characteristics are not obvious, the disclosed embodiment takes into account the recovery torque and controls the DTC to activate the first target torque to achieve smooth control without letting the driver feel the vehicle's movement caused by the sudden change of the DTC target torque.

[0037] Optionally, determining the first target torque based on the target coefficient and the initial torque includes: taking the product of the target coefficient and the initial torque as the first target torque.

[0038] In this way, the product of the target coefficient and the initial torque is used as the first target torque, so that the obtained first target torque is related to the initial torque so that the difference between the first target torque entering the DTC state and the actual torque (ie, the initial torque) is not too large.

[0039] Optionally, updating the output torque of the power system based on the first target torque includes: taking the first target torque as the output torque of the current power system, and controlling the first target torque to gradually increase; and updating the output torque of the power system in real time based on the gradually increasing first target torque.

[0040] In this way, after activating the DTC mode, the torque slow control state is entered. At this time, the output torque of the current power system is first adjusted to the first target torque, and then the first target torque is controlled to gradually increase to update the corresponding output torque of the power system in real time. As a result, the output torque of the power system is in a slowly increasing state, so as to achieve no large sudden change control of the first target torque, so that the drive shaft wheel speed is restored to the vehicle speed without giving the driver a sense of movement.

[0041] Optionally, a method for controlling a vehicle passing through a raised obstacle road surface further includes: when updating the output torque of the power system based on the first target torque, obtaining the drive shaft wheel speed in real time, and determining whether the vehicle is on a low-adhesion road surface based on the real-time obtained drive shaft wheel speed; if the vehicle is on a low-adhesion road surface, determining the second target torque based on a preset torque control strategy, and updating the output torque of the power system in real time based on the second target torque until the vehicle is controlled to exit the DTC mode; if the vehicle is not on a low-adhesion road surface, updating the output torque of the power system in real time based on the gradually increasing first target torque until the vehicle is controlled to exit the DTC mode.

[0042] In this way, when the output torque of the power system is updated based on the first target torque, the wheel speed of the drive shaft is obtained to identify whether the vehicle is on a low-adhesion road surface. When the vehicle is on a low-adhesion road surface, the output torque of the power system is adjusted by the second target torque so that the wheel speed can be restored as soon as possible. If it is not on a low-adhesion road surface, the output torque of the power system is still adjusted according to the first target torque that is slowly increased, ensuring that the vehicle can travel smoothly in the DTC mode and with strong energy recovery.

[0043] Specifically, determining whether the vehicle is on a low-adhesion road surface based on the real-time acquired drive shaft wheel speed includes: determining the wheel speed change based on the real-time acquired drive shaft wheel speed, and determining whether the vehicle is on a low-adhesion road surface based on the wheel speed change. In this way, the road condition of the vehicle can be more accurately identified based on the wheel speed change.

[0044] Specifically, determining whether the vehicle is on a low-adhesion road surface based on the wheel speed change includes: if the wheel speed change is that the wheel speed gradually decreases and is lower than the wheel speed lower limit threshold, then determining that the vehicle is on a low-adhesion road surface. If the wheel speed change is not that the wheel speed gradually decreases, then determining that the vehicle is not on a low-adhesion road surface. For example, when the vehicle passes an obstacle such as a bump, the wheel speed will not gradually decrease, and the drive shaft wheel speed will usually recover quickly.

[0045] Optionally, determining the second target torque based on a preset torque control strategy includes: acquiring the vehicle speed in real time; calculating the speed difference between the drive shaft wheel speed and the vehicle speed; and determining the second target torque based on the speed difference.

[0046] In this way, PID control is performed based on the speed difference between the drive shaft wheel speed and the vehicle speed to determine the second target torque in real time, so that the DTC enters a fast torque control state to enable the wheel speed to recover as quickly as possible.

[0047] Optionally, controlling the vehicle to exit the DTC mode includes: controlling the vehicle to exit the DTC mode when the speed difference is less than a preset speed threshold.

[0048] When the difference between the drive shaft wheel speed and the vehicle speed is less than the preset speed threshold, it means that the drive shaft wheel speed is very close to the vehicle speed, and DTC is no longer needed to adjust the wheel speed. At this time, the vehicle is controlled to exit the DTC mode.

[0049] Optionally, a method for controlling a vehicle passing through a raised obstacle road surface also includes: acquiring the recovery torque of the drive shaft in real time; adjusting the vehicle speed threshold based on the recovery torque to obtain a target vehicle speed threshold; and activating the vehicle's DTC mode if the speed difference between the entire vehicle speed and the drive shaft wheel speed is greater than the target vehicle speed threshold.

[0050] In this way, the vehicle speed threshold is adjusted based on the recovery torque to obtain the target vehicle speed threshold, so as to dynamically adjust the threshold for activating the vehicle DTC mode, so as to appropriately reduce the probability of erroneously triggering the DTC mode due to road bumps.

[0051] In some embodiments, the target vehicle speed threshold is based on the actual recovery torque of the current drive shaft. The larger the recovery torque, the lower the target vehicle speed threshold will be.

[0052] Combination Figure 2 As shown, Figure 2 A schematic diagram of target torque change is shown. This embodiment shows the target torque change when the vehicle passes through a raised obstacle road. For a raised obstacle road, the front wheel speed of the vehicle does not fluctuate significantly, the vehicle speed decreases, the rear wheel speed fluctuates significantly, and the rear wheel speed reaches the condition for activating the DTC mode, and the DTC mode is activated. The DTC mode is in a slow torque control state, that is, the target coefficient (i.e., the calculation coefficient on the figure) is determined according to the drive shaft deceleration, and the first target torque (i.e., the target torque on the figure) is determined accordingly. At this time, when the DTC mode is just entered, the output torque of the power system is updated to the first target torque, and gradually increases slowly until the drive shaft speed is very close to the vehicle speed.

[0053] Combination Figure 3 As shown, Figure 3Another schematic diagram of target torque change is shown. This embodiment shows the target torque change when the vehicle passes through a low-adhesion road surface. For low-adhesion road surfaces, the vehicle speed decreases, and the difference between the rear wheel speed of the vehicle and the vehicle speed is large, reaching the condition for activating the DTC mode, and the DTC mode is activated. At this time, the DTC mode is first in a slow torque control state, that is, the target coefficient (i.e., the calculation coefficient on the figure) is determined according to the deceleration of the drive shaft, and the first target torque (i.e., the target torque corresponding to the slow torque control state on the figure) is determined based on this. At this time, when the DTC mode is just entered, the output torque of the power system is updated to the first target torque, and gradually increases slowly. In this process, it is detected that the rear wheel speed continues to decrease and is less than the lower limit threshold of the wheel speed, then it is identified that the vehicle is on a low-adhesion road surface. Thereafter, the DTC mode enters a fast torque control state, in which PID control is performed based on the difference between the drive shaft speed and the vehicle speed to determine the second target torque (i.e., the target torque corresponding to the fast torque control state on the figure), and the output torque of the power system is updated in real time based on the real-time second target torque.

[0054] Combination Figure 4 As shown, the embodiment of the present disclosure provides another method for controlling a vehicle passing through a raised obstacle road surface, comprising:

[0055] Step S201, when the vehicle starts strong energy recovery, the drive shaft wheel speed is obtained when passing through a raised obstacle road or a low-adhesion road. Among them, strong energy recovery generally means that the driver sets the energy recovery intensity level to strong, and the motor recovery torque will be relatively large at this time.

[0056] Step S202, determine whether the absolute value of the speed difference between the drive shaft wheel speed and the vehicle speed is greater than the target vehicle speed threshold, and the drive shaft wheel speed is less than the vehicle speed. If so, execute step S203.

[0057] Step S203, the DTC mode is activated and enters a torque slow control state, in which a target coefficient is determined according to the driving deceleration, a first target torque is determined based on the target coefficient and the initial torque, and then the first target torque is controlled to increase slowly.

[0058] Step S204, determine whether the drive shaft wheel speed is restored, that is, determine whether the drive shaft wheel speed is gradually reduced, so as to further confirm the raised obstacle road surface. If yes, execute step S205, if not, execute step S206.

[0059] Step S205: if the drive shaft wheel speed returns to the vehicle speed, then exit the DTC mode.

[0060] Step S206: The DTC mode enters a fast torque control state. In this state, PID control is performed based on the difference between the drive shaft wheel speed and the vehicle speed to determine the second target torque. Step S205 is then executed.

[0061] Combination Figure 5 As shown, an embodiment of the present disclosure provides a control system for a vehicle passing through a raised obstacle road surface, including: an acquisition module, a first target module and a control module. The acquisition module is used to obtain the energy recovery intensity of the vehicle and the deceleration of the drive shaft. The first target module is used to determine the target coefficient based on the deceleration if the DTC mode of the vehicle is activated when the energy recovery intensity is strong energy recovery, and determine the first target torque based on the target coefficient and the initial torque; wherein the initial torque characterizes the output torque of the power system when the DTC mode is activated; the target coefficient is positively correlated with the deceleration, and the target coefficient is less than 1 and greater than 0. The control module is used to update the output torque of the power system based on the first target torque to control the vehicle's travel.

[0062] The control system for a vehicle passing through a raised obstacle road provided by the embodiment of the present disclosure is adopted. By obtaining the energy recovery intensity of the vehicle and the deceleration of the drive shaft, if the energy recovery intensity is strong energy recovery, it means that the energy recovery intensity of the vehicle is set to be strong at this time. At this time, if the DTC mode of the vehicle is activated, the target coefficient is determined by the deceleration of the drive shaft, and the first target torque is determined based on the target coefficient and the initial torque when the DTC mode is activated, so as to update the output torque of the power system. Since the deceleration of the drive shaft is positively correlated with the target coefficient, that is, the larger the deceleration, the larger the target coefficient, and the target coefficient is greater than 0 and less than 1. Therefore, the first target torque will not differ too much from the initial torque, so that when the energy recovery intensity of the vehicle is very large, even if the DTC mode is activated, the driver will not feel the sense of movement caused by the sudden change of torque, so as to improve the driving experience of the driver.

[0063] Optionally, the first target module is specifically configured to take the product of the target coefficient and the initial torque as the first target torque.

[0064] Optionally, the control module is specifically configured to use the first target torque as the output torque of the current power system, and control the first target torque to gradually increase; and update the new output torque of the power system in real time based on the gradually increasing first target torque.

[0065] Optionally, a control system for a vehicle passing through a raised obstacle road surface further includes: an exit module. The exit module is used to obtain the drive shaft wheel speed in real time when updating the output torque of the power system based on the first target torque, and determine whether the vehicle is on a low-adhesion road surface based on the real-time obtained drive shaft wheel speed; if the vehicle is on a low-adhesion road surface, determine the second target torque based on a preset torque control strategy, and update the output torque of the power system in real time based on the second target torque until the vehicle is controlled to exit the DTC mode; if the vehicle is not on a low-adhesion road surface, update the output torque of the power system in real time based on the gradually increasing first target torque until the vehicle is controlled to exit the DTC mode.

[0066] Optionally, a control system for a vehicle passing through a raised obstacle road surface further includes: a second target module. The second target module is used to obtain the vehicle speed in real time; calculate the speed difference between the drive shaft wheel speed and the vehicle speed; and determine the second target torque based on the speed difference.

[0067] Optionally, the exit module is specifically configured to control the vehicle to exit the DTC mode when the speed difference is less than a preset speed threshold.

[0068] Optionally, a control system for a vehicle passing through a raised obstacle road surface further includes: an activation module. The activation module is used to obtain the recovery torque of the drive shaft in real time; adjust the vehicle speed threshold based on the recovery torque to obtain a target vehicle speed threshold; if the speed difference between the vehicle speed and the drive shaft wheel speed is greater than the target vehicle speed threshold, activate the vehicle's DTC mode.

[0069] Combination Figure 6 As shown, an embodiment of the present disclosure provides a vehicle, including a processor and a memory. Optionally, the vehicle may also include a communication interface and a bus. The processor, the communication interface, and the memory may communicate with each other through the bus. The communication interface may be used for information transmission. The processor may call the logic instructions in the memory 302 to execute the control method of the vehicle passing through the raised obstacle road surface of the above embodiment.

[0070] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0071] The memory, as a computer-readable storage medium, can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 301 executes the function application and data processing by running the program instructions / modules stored in the memory, that is, the control method of the vehicle passing through the raised obstacle road in the above embodiment is realized.

[0072] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory may include a high-speed random access memory and may also include a non-volatile memory.

[0073] In an embodiment of the present invention, a computer-readable storage medium is provided. Instructions are stored in the computer-readable storage medium. When the instructions are executed, the control method for a vehicle passing through a raised obstacle road surface of the above embodiment is executed.

[0074] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0075] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, and other media that can store program codes, or a transient storage medium.

[0076] The above description and accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent possible changes only. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method or device including the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0077] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. Technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. Technicians can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0078] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units can be only a logical function division, and there can be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0079] The flowchart and block diagram in the accompanying drawings show the possible architecture, functions and operations of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A method for controlling a vehicle passing through a raised obstacle road, characterized in that: include: Obtaining the energy recovery intensity of the vehicle and the deceleration of the drive shaft; In the case where the energy recovery intensity is strong energy recovery, if the DTC mode of the vehicle is activated, a target coefficient is determined based on the deceleration, and a first target torque is determined based on the target coefficient and an initial torque; wherein the initial torque represents the output torque of the power system when the DTC mode is activated; the target coefficient is positively correlated with the deceleration, and the target coefficient is less than 1 and greater than 0; The output torque of the power system is updated based on the first target torque to control the vehicle to travel.

2. The method according to claim 1, characterized in that The determining the first target torque based on the target coefficient and the initial torque comprises: The product of the target coefficient and the initial torque is used as the first target torque.

3. The method according to claim 1, characterized in that The updating the output torque of the power system based on the first target torque includes: taking the first target torque as the current output torque of the power system, and controlling the first target torque to gradually increase; The output torque of the power system is updated in real time based on the gradually increasing first target torque.

4. The method according to claim 3, characterized in that: Also includes: When the output torque of the power system is updated based on the first target torque, a drive shaft wheel speed is acquired in real time, and whether the vehicle is on a low-adhesion road surface is determined based on the drive shaft wheel speed acquired in real time; If the vehicle is on a low-adhesion road, a second target torque is determined based on a preset torque control strategy, and the output torque of the power system is updated in real time based on the second target torque until the vehicle is controlled to exit the DTC mode; If the vehicle is not on the low-adhesion road surface, the output torque of the power system is updated in real time based on the gradually increasing first target torque until the vehicle is controlled to exit the DTC mode.

5. The method according to claim 4, characterized in that The determining the second target torque based on a preset torque control strategy includes: Get the vehicle speed in real time; Calculating the difference between the wheel speed of the driving shaft and the speed of the whole vehicle; A second target torque is determined based on the speed difference.

6. The method according to claim 5, characterized in that The controlling the vehicle to exit the DTC mode includes: When the speed difference is less than a preset speed threshold, the vehicle is controlled to exit the DTC mode.

7. The method according to any one of claims 5 or 6, characterized in that: Also includes: Obtain the recovery torque of the drive shaft in real time; Adjusting the vehicle speed threshold based on the recovery torque to obtain a target vehicle speed threshold; If the speed difference between the vehicle speed and the drive shaft wheel speed is greater than the target vehicle speed threshold, the DTC mode of the vehicle is activated.

8. A control system for a vehicle passing through a raised obstacle road, characterized in that: include: An acquisition module, used for acquiring the energy recovery intensity of the vehicle and the deceleration of the drive shaft; A first target module, for determining a target coefficient based on the deceleration and a first target torque based on the target coefficient and an initial torque when the DTC mode of the vehicle is activated when the energy recovery intensity is strong energy recovery; wherein the initial torque represents the output torque of the power system when the DTC mode is activated; the target coefficient is positively correlated with the deceleration, and the target coefficient is less than 1 and greater than 0; A control module is used to update the output torque of the power system based on the first target torque to control the vehicle to travel.

9. A vehicle, characterized in that: The invention comprises a processor and a memory storing program instructions, wherein the processor is configured to execute the method for controlling a vehicle passing through a raised obstacle road surface as claimed in any one of claims 1 to 7 when running the program instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the method for controlling a vehicle passing through a raised obstacle road surface as described in any one of claims 1 to 7.

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