A method, device, medium and equipment for controlling recovery torque of a four-wheel drive vehicle on a curve

Abstract

The application provides a four-wheel drive vehicle corner recovery torque control method, device, medium and equipment. The running parameters of the four-wheel drive vehicle are obtained. The running condition of the four-wheel drive vehicle is determined based on the running parameters. If the running condition is a corner recovery condition, the attenuation coefficient and the target distribution ratio of the four-wheel drive vehicle are calculated based on the running parameters. The recovery braking torque of the main motor and the auxiliary motor is obtained based on the attenuation coefficient, the target distribution ratio and the expected recovery braking torque of the four-wheel drive vehicle. That is, the running condition of the four-wheel drive vehicle is determined according to the running parameters. If the four-wheel drive vehicle is in the corner recovery condition, the attenuation coefficient and the target distribution ratio are calculated based on the running parameters, so as to reduce the recovery braking torque of the four-wheel drive vehicle, thereby reducing the instability risk such as pushing or fishtailing, and the recovery braking torque of the main motor and the auxiliary motor is distributed, so as to reduce the braking torque of a single motor, thereby further reducing the instability risk caused by the excessive braking torque of a single motor.

Description

Technical Field

[0001] This application relates to the field of regenerative braking technology for electric four-wheel drive vehicles, specifically to a method, device, medium, and equipment for controlling regenerative braking torque in cornering of a four-wheel drive vehicle. Background Technology

[0002] With the rapid development of new energy vehicles, reducing vehicle energy consumption, increasing driving range, and improving drivability and safety have become the main development directions for electric vehicles in the future. Current electric vehicles are equipped with energy recovery systems, which generate electricity by applying reverse torque during coasting and braking, converting kinetic energy into electrical energy to charge the battery, thus recovering kinetic energy during coasting and braking.

[0003] However, the reverse torque applied by the motor can have certain negative effects on complex road conditions. For example, during coasting turns, if the road surface adhesion is too small to overcome the motor's regenerative force, it may lead to understeer or oversteer, thereby increasing the risk of instability such as understeer or fishtailing. Summary of the Invention

[0004] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a method, apparatus, medium, and device for controlling the recovery torque during cornering in a four-wheel drive vehicle.

[0005] According to one aspect of this application, a method for controlling the torque recovery during cornering in a four-wheel drive vehicle is provided. The four-wheel drive vehicle includes a main motor and an auxiliary motor. The method includes: acquiring operating parameters of the four-wheel drive vehicle; wherein the operating parameters represent multiple parameters collected in real time during the operation of the four-wheel drive vehicle; determining the operating condition of the four-wheel drive vehicle based on at least one of the operating parameters; wherein the operating condition includes a cornering recovery condition, the cornering recovery condition indicating that the four-wheel drive vehicle is in a cornering braking state and the main motor and / or the auxiliary motor is in a braking recovery state; if the... If the operating condition is the cornering recovery condition, then the attenuation coefficient of the four-wheel drive vehicle is calculated based on at least one of the operating parameters; wherein the attenuation coefficient represents the attenuation ratio of the recovery braking torque of the four-wheel drive vehicle, and the attenuation coefficient is between 0 and 1; the target allocation ratio of the four-wheel drive vehicle is calculated based on at least one of the operating parameters; wherein the target allocation ratio represents the proportion of recovery braking torque allocated to the main motor or the auxiliary motor; based on the attenuation coefficient, the target allocation ratio, and the expected recovery braking torque of the four-wheel drive vehicle, the recovery braking torque of the main motor and the auxiliary motor is obtained.

[0006] In one embodiment, the operating parameters include the accelerator pedal opening, steering wheel angle, lateral acceleration, and yaw rate of the four-wheel drive vehicle; wherein, determining the operating condition of the four-wheel drive vehicle based on at least one of the operating parameters includes: if the following conditions are met simultaneously: the accelerator pedal opening is less than a preset opening threshold, the absolute value of the expected regenerative braking torque is greater than a preset torque threshold, the steering wheel angle is greater than a preset angle threshold, the absolute value of the lateral acceleration is greater than a preset acceleration threshold, and the absolute value of the yaw rate is greater than a preset angular velocity threshold, then the operating condition of the four-wheel drive vehicle is the cornering recovery condition.

[0007] In one embodiment, the operating parameters include the steering wheel angle change rate, yaw rate acceleration, and lateral acceleration change rate of the four-wheel drive vehicle; wherein, calculating the attenuation coefficient of the four-wheel drive vehicle based on at least one of the operating parameters includes: determining an initial coefficient based on the steering wheel angle change rate and the yaw rate acceleration; determining a first correction factor based on the steering wheel angle change rate and the lateral acceleration change rate; and calculating the attenuation coefficient based on the initial coefficient and the first correction factor.

[0008] In one embodiment, calculating the attenuation coefficient based on the initial coefficient and the first correction factor includes: calculating the product of the initial coefficient and the first correction factor to obtain the attenuation coefficient.

[0009] In one embodiment, the operating parameters include the steering wheel angle, steering wheel angle change rate, yaw rate, lateral acceleration, and vehicle speed of the four-wheel drive vehicle; wherein, calculating the target allocation ratio of the four-wheel drive vehicle based on at least one of the operating parameters includes: determining an initial allocation ratio based on the steering wheel angle and the yaw rate; determining a second correction factor based on the steering wheel angle and the lateral acceleration; determining a third correction factor based on the vehicle speed; and calculating the target allocation ratio based on the initial allocation ratio, the second correction factor, and the third correction factor.

[0010] In one embodiment, calculating the target allocation ratio based on the initial allocation ratio, the second correction factor, and the third correction factor includes: calculating the product of the initial allocation ratio, the second correction factor, and the third correction factor to obtain the target allocation ratio.

[0011] In one embodiment, obtaining the regenerative braking torque of the main motor and the auxiliary motor based on the attenuation coefficient, the target allocation ratio, and the expected regenerative braking torque of the four-wheel drive vehicle includes: calculating the product of the attenuation coefficient, the target allocation ratio, and the expected regenerative braking torque of the four-wheel drive vehicle to obtain the regenerative braking torque of the main motor or the auxiliary motor.

[0012] According to another aspect of this application, a cornering recovery torque control device for a four-wheel drive vehicle is provided. The four-wheel drive vehicle includes a main motor and an auxiliary motor. The four-wheel drive vehicle cornering recovery torque control device includes: an operating parameter acquisition module for acquiring operating parameters of the four-wheel drive vehicle; wherein the operating parameters represent multiple parameters collected in real time during the operation of the four-wheel drive vehicle; an operating condition determination module for determining the operating condition of the four-wheel drive vehicle based on at least one of the operating parameters; wherein the operating condition includes a cornering recovery condition, the cornering recovery condition indicating that the four-wheel drive vehicle is in a cornering braking state and the main motor and / or the auxiliary motor is in a braking recovery state; and a damping coefficient calculation module. A module is configured to calculate the attenuation coefficient of the four-wheel drive vehicle based on at least one of the operating parameters if the operating condition is the cornering recovery condition; wherein the attenuation coefficient represents the attenuation ratio of the recovery braking torque of the four-wheel drive vehicle, and the attenuation coefficient is between 0 and 1; a distribution ratio calculation module is configured to calculate the target distribution ratio of the four-wheel drive vehicle based on at least one of the operating parameters; wherein the target distribution ratio represents the proportion of recovery braking torque allocated to the main motor or the auxiliary motor; and a recovery torque distribution module is configured to obtain the recovery braking torque of the main motor and the auxiliary motor based on the attenuation coefficient, the target distribution ratio, and the expected recovery braking torque of the four-wheel drive vehicle.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the storage medium storing a computer program for performing any of the methods described above.

[0014] According to another aspect of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to perform any of the methods described above.

[0015] This application provides a method, device, medium, and equipment for controlling the cornering recovery torque of a four-wheel drive vehicle. The method involves acquiring the operating parameters of the four-wheel drive vehicle; determining the operating condition of the four-wheel drive vehicle based on at least one of the operating parameters; wherein the operating condition includes a cornering recovery condition, which indicates that the four-wheel drive vehicle is in a cornering braking state and the main motor and / or auxiliary motor is in a braking recovery state; if the operating condition is a cornering recovery condition, calculating the attenuation coefficient of the four-wheel drive vehicle based on at least one of the operating parameters; wherein the attenuation coefficient represents the attenuation ratio of the regenerative braking torque of the four-wheel drive vehicle, and the attenuation coefficient is between 0 and 1; and calculating the target allocation ratio of the four-wheel drive vehicle based on at least one of the operating parameters; wherein the target allocation... The ratio represents the proportion of regenerative braking torque allocated to the main motor or auxiliary motor; based on the attenuation coefficient, the target allocation ratio, and the expected regenerative braking torque of the four-wheel drive vehicle, the regenerative braking torque of the main motor and auxiliary motor is obtained; that is, the operating condition of the four-wheel drive vehicle is determined according to at least one of its operating parameters. If it is in a cornering regenerative braking condition, the attenuation coefficient and the target allocation ratio are calculated based on at least one of the operating parameters to reduce the regenerative braking torque of the four-wheel drive vehicle, thereby reducing the risk of instability such as understeer or fishtailing. Furthermore, by allocating the regenerative braking torque of the main motor and auxiliary motor, the braking torque of a single motor is reduced, thereby further reducing the risk of instability of the four-wheel drive vehicle caused by excessive braking torque of a single motor. Attached Figure Description

[0016] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 This is a schematic flowchart of a four-wheel drive vehicle cornering torque recovery control method provided in an exemplary embodiment of this application.

[0018] Figure 2 This is a logical schematic diagram of a four-wheel drive vehicle cornering torque recovery control method provided in an exemplary embodiment of this application.

[0019] Figure 3 This is a schematic diagram of the structure of a four-wheel drive vehicle cornering recovery torque control device provided in an exemplary embodiment of this application.

[0020] Figure 4 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0021] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0022] Figure 1 This is a schematic flowchart of a four-wheel drive vehicle cornering torque recovery control method provided in an exemplary embodiment of this application. Figure 1 As shown, the four-wheel drive vehicle includes a main motor and an auxiliary motor; the four-wheel drive vehicle's cornering torque recovery control method includes the following steps:

[0023] Step 110: Obtain the operating parameters of the four-wheel drive vehicle.

[0024] The operating parameters refer to multiple parameters collected in real time during the operation of the four-wheel drive vehicle. The four-wheel drive vehicle in this application is an electric vehicle with four-wheel drive or front-rear axle drive, which may include a main motor and an auxiliary motor located on the front and rear axles respectively (the main motor may also be located on the rear axle and the auxiliary motor on the front axle). During the operation of the four-wheel drive vehicle, its operating parameters are collected in real time to monitor its operating status.

[0025] Step 120: Determine the operating conditions of the four-wheel drive vehicle based on at least one of the operating parameters.

[0026] The operating conditions include a cornering recovery condition, which indicates that the four-wheel drive vehicle is in a cornering braking state and the main motor and / or auxiliary motor is in a braking recovery state. This application determines whether the four-wheel drive vehicle is in a cornering recovery condition (i.e., in a corner and undergoing braking recovery) by collecting at least one of the operating parameters of the four-wheel drive vehicle, thereby determining whether the four-wheel drive vehicle has an instability risk, and taking preventive measures in advance when an instability risk exists, so as to improve the stability of the four-wheel drive vehicle.

[0027] Step 130: If the operating condition is a cornering recovery condition, calculate the attenuation coefficient of the four-wheel drive vehicle based on at least one of the operating parameters.

[0028] The attenuation coefficient characterizes the attenuation ratio of the regenerative braking torque of the four-wheel drive vehicle, and the attenuation coefficient is between 0 and 1. When the four-wheel drive vehicle is determined to be in a cornering regenerative braking condition, an attenuation coefficient is calculated based on at least one of the operating parameters of the four-wheel drive vehicle, and the regenerative braking torque of the four-wheel drive vehicle is controlled based on the attenuation coefficient to appropriately attenuate according to different operating parameters, thereby ensuring stability under various operating conditions.

[0029] Step 140: Calculate the target allocation ratio of the four-wheel drive vehicle based on at least one of the operating parameters.

[0030] The target allocation ratio represents the proportion of regenerative braking torque allocated to the main motor or the auxiliary motor. After determining the attenuation coefficient, this application further calculates the target allocation ratio for the four-wheel drive vehicle to utilize the main motor and auxiliary motor to share the regenerative braking torque, thereby reducing the braking load on a single motor and further improving the stability of the four-wheel drive vehicle.

[0031] Step 150: Based on the attenuation coefficient, target allocation ratio, and expected regenerative braking torque of the four-wheel drive vehicle, obtain the regenerative braking torque of the main motor and auxiliary motor.

[0032] After determining the attenuation coefficient and the target allocation ratio, and combining the expected regenerative braking torque of the four-wheel drive vehicle (i.e., the regenerative braking torque allocated to the motor by the vehicle control system under the current operating conditions and parameters, without considering attenuation), a new regenerative braking torque, as well as the regenerative braking torque of the main motor and the auxiliary motor, are obtained, thereby ensuring the stability of the four-wheel drive vehicle.

[0033] This application provides a method for controlling the regenerative braking torque of a four-wheel drive vehicle during cornering. The method involves acquiring the operating parameters of the four-wheel drive vehicle; determining the operating condition of the four-wheel drive vehicle based on at least one of the operating parameters; wherein the operating condition includes a cornering regenerative braking condition, which indicates that the four-wheel drive vehicle is in a cornering braking state and the main motor and / or auxiliary motor are in a braking regeneration state; if the operating condition is a cornering regenerative braking condition, calculating the attenuation coefficient of the four-wheel drive vehicle based on at least one of the operating parameters; wherein the attenuation coefficient represents the attenuation ratio of the regenerative braking torque of the four-wheel drive vehicle, and the attenuation coefficient is between 0 and 1; and calculating the target allocation ratio of the four-wheel drive vehicle based on the operating parameters; wherein the target allocation ratio represents the torque allocated to the main motor and / or auxiliary motor. The proportion of regenerative braking torque of the main motor or auxiliary motor; based on the attenuation coefficient, target distribution ratio, and expected regenerative braking torque of the four-wheel drive vehicle, the regenerative braking torque of the main motor and auxiliary motor is obtained; that is, the operating condition of the four-wheel drive vehicle is determined according to at least one of the operating parameters. If it is in the cornering regenerative braking condition, the attenuation coefficient and target distribution ratio are calculated based on at least one of the operating parameters to reduce the regenerative braking torque of the four-wheel drive vehicle, thereby reducing the risk of instability such as understeer or fishtailing. Furthermore, by distributing the regenerative braking torque of the main motor and auxiliary motor, the braking torque of a single motor is reduced, thereby further reducing the risk of instability of the four-wheel drive vehicle caused by excessive braking torque of a single motor.

[0034] In one embodiment, the operating parameters include the accelerator pedal opening, steering wheel angle, lateral acceleration, and yaw rate of the four-wheel drive vehicle; wherein, the specific implementation of step 120 above can be as follows: if the following conditions are met simultaneously: the accelerator pedal opening is less than a preset opening threshold, the absolute value of the expected regenerative braking torque is greater than a preset torque threshold, the steering wheel angle is greater than a preset angle threshold, the absolute value of the lateral acceleration is greater than a preset acceleration threshold, and the absolute value of the yaw rate is greater than a preset angular velocity threshold, then the operating condition of the four-wheel drive vehicle is the cornering recovery condition.

[0035] This application collects real-time operating parameters of the four-wheel drive vehicle, such as accelerator pedal opening, steering wheel angle, lateral acceleration, and yaw rate. Based on these parameters, it judges the operating condition of the four-wheel drive vehicle. If the accelerator pedal opening is zero (indicating no accelerator input signal), the absolute value of the expected regenerative braking torque is greater than a preset torque threshold (the expected regenerative braking torque is negative, indicating that the direction of the output regenerative braking torque is opposite to the direction of the four-wheel drive vehicle's movement), the steering wheel angle is greater than a preset angle threshold (indicating that the four-wheel drive vehicle is in a turning state, i.e., in a cornering condition), the absolute value of the lateral acceleration is greater than a preset acceleration threshold (indicating that the lateral acceleration of the four-wheel drive vehicle is large, and there is a certain risk of sideslip), and the absolute value of the yaw rate is greater than a preset angular velocity threshold (indicating that the four-wheel drive vehicle generates a large lateral force, and there is a certain risk of sideslip), then it indicates that the four-wheel drive vehicle is in a cornering regenerative braking condition and there is a certain risk of sideslip. At this time, the cornering regenerative torque control strategy can be activated, that is, the above-mentioned strategy of attenuating the expected regenerative braking torque and the main motor and auxiliary motor sharing the regenerative braking torque can be adopted.

[0036] In one embodiment, the operating parameters include the steering wheel angle change rate, yaw rate acceleration, and lateral acceleration change rate of the four-wheel drive vehicle; wherein, the specific implementation of step 130 above may be as follows: determining an initial coefficient based on the steering wheel angle change rate and yaw rate acceleration; determining a first correction factor based on the steering wheel angle change rate and lateral acceleration change rate; and calculating an attenuation coefficient based on the initial coefficient and the first correction factor.

[0037] This application can determine an initial coefficient based on the real-time collected steering wheel angle change rate and yaw acceleration of the four-wheel drive vehicle, and determine a first correction factor based on the real-time collected steering wheel angle change rate and lateral acceleration change rate of the four-wheel drive vehicle. The attenuation coefficient is calculated by combining the initial coefficient and the first correction factor.

[0038] Optionally, this application can calibrate a corresponding table of initial coefficients for different steering wheel angle change rates and yaw accelerations (i.e., a table of the correspondence between initial coefficients and steering wheel angle change rates and yaw accelerations, as shown in Table 1 below). In actual operation, the optimal initial coefficients can be obtained by looking up the table based on the currently collected steering wheel angle change rate and yaw acceleration.

[0039] Table 1 Initial Coefficients Chart

[0040]

[0041] It should be understood that, in order to improve the stability of the four-wheel drive vehicle, the initial coefficients in the initial coefficient chart of this application decrease as the rate of change of steering wheel angle increases and as the yaw acceleration increases, that is: a11>a21>a31>a41>a51, a11>a12>a13>a14>a15>a16>a17>a18.

[0042] Preferably, this application can use interpolation to calculate the initial coefficients corresponding to the steering wheel angle change rate and yaw acceleration not listed in the initial coefficient chart. Alternatively, it can directly use the initial coefficients corresponding to adjacent values ​​of the steering wheel angle change rate and yaw acceleration not listed. To improve stability, this application can preferentially select adjacent values ​​with smaller initial coefficients.

[0043] Optionally, this application can calibrate a correction factor (first correction factor) corresponding table for different steering wheel angle change rates and lateral acceleration change rates (i.e., the correspondence table between the first correction factor and the steering wheel angle change rate and lateral acceleration change rate, as shown in Table 2 below). In actual operation, the optimal first correction factor is obtained by looking up the table based on the currently collected steering wheel angle change rate and lateral acceleration change rate.

[0044] Table 2. Chart of the First Correction Factor

[0045]

[0046] It should be understood that, in order to improve the stability of four-wheel drive vehicles, the first correction factor decreases as the rate of change of steering wheel angle increases and the rate of change of lateral acceleration increases, i.e., b11>b21>b31>b41>b51, b11>b12>b13>b14>b15>b16>b17>b18.

[0047] Preferably, this application can use interpolation to calculate the first correction factor corresponding to the steering wheel angle change rate and lateral acceleration change rate not listed in the first correction factor chart. Alternatively, it can directly use the first correction factor corresponding to adjacent values ​​of the steering wheel angle change rate and lateral acceleration change rate not listed. In order to improve stability, this application can preferentially select adjacent values ​​with smaller first correction factors.

[0048] In one embodiment, step 130 can be implemented by calculating the product of the initial coefficient and the first correction factor to obtain the attenuation coefficient.

[0049] After obtaining the initial coefficient and the first correction factor from the table, this application calculates the product of the initial coefficient and the first correction factor to obtain the attenuation coefficient. The initial coefficient is greater than or equal to zero and less than or equal to one, and the first correction factor is greater than or equal to zero and less than or equal to one. Therefore, the calculated attenuation coefficient is also greater than or equal to zero and less than or equal to one.

[0050] In one embodiment, the operating parameters include the steering wheel angle, steering wheel angle change rate, yaw rate, lateral acceleration, and vehicle speed of the four-wheel drive vehicle; wherein, the specific implementation of step 140 above may be as follows: determining an initial allocation ratio based on the steering wheel angle and yaw rate; determining a second correction factor based on the steering wheel angle and lateral acceleration; determining a third correction factor based on the vehicle speed; and calculating a target allocation ratio based on the initial allocation ratio, the second correction factor, and the third correction factor.

[0051] This application determines the distribution ratio of regenerative braking torque between the main motor and the auxiliary motor based on real-time collected operating parameters of the four-wheel drive vehicle, such as steering wheel angle, steering wheel angle change rate, yaw rate, lateral acceleration, and vehicle speed. This application determines an initial distribution ratio based on the steering wheel angle and yaw rate, a second correction factor based on the steering wheel angle and lateral acceleration, and a third correction factor based on the vehicle speed. Combining the initial distribution ratio, the second correction factor, and the third correction factor, a target distribution ratio (i.e., the distribution ratio of the main motor or the auxiliary motor) is calculated.

[0052] Optionally, this application can calibrate an initial distribution ratio corresponding table for different steering wheel angles and yaw rates (i.e., a table showing the correspondence between the initial distribution ratio and the steering wheel angle and yaw rate, as shown in Table 3 below). In actual operation, the optimal initial distribution ratio can be obtained by looking up the table based on the currently collected steering wheel angle and yaw rate.

[0053] Table 3 Initial Allocation Ratio Chart

[0054]

[0055] It should be understood that, in order to improve the stability of the four-wheel drive vehicle, the initial distribution ratio in the initial distribution ratio chart of this application decreases as the steering wheel angle increases and the yaw rate increases, that is: c11>c21>c31>c41>c51, c11>c12>c13>c14>c15>c16>c17>c18.

[0056] Preferably, this application can use interpolation to calculate the initial coefficients corresponding to the steering wheel angle and yaw rate not listed in the initial allocation ratio chart. Alternatively, it can directly use the initial allocation ratios corresponding to adjacent values ​​of the steering wheel angle and yaw rate not listed. To improve stability, this application can preferentially select adjacent values ​​with smaller initial allocation ratios.

[0057] Optionally, this application can calibrate a corresponding table of the second correction factor for different steering wheel angles and lateral accelerations (i.e., a table showing the correspondence between the second correction factor and the steering wheel angle and lateral acceleration, as shown in Table 4 below). In actual operation, the optimal second correction factor can be obtained by looking up the table based on the currently collected steering wheel angle and lateral acceleration.

[0058] Table 4. Chart of the Second Correction Factor

[0059]

[0060] It should be understood that, in order to improve the stability of the four-wheel drive vehicle, the second correction factor in the second correction factor chart of this application decreases as the steering wheel angle increases and the lateral acceleration increases, that is: d11>d21>d31>d41>d51, d11>d12>d13>d14>d15>d16.

[0061] Preferably, this application can use interpolation to calculate the second correction factor corresponding to the steering wheel angle and lateral acceleration not listed in the second correction factor chart. Alternatively, it can directly use the second correction factor corresponding to adjacent values ​​of the steering wheel angle and lateral acceleration not listed. To improve stability, this application can preferentially select adjacent values ​​with smaller second correction factors.

[0062] Optionally, this application can obtain a corresponding table of the third correction factor for different vehicle speeds (i.e., a table of the correspondence between the third correction factor and the vehicle speed, as shown in Table 5 below). In actual operation, the optimal third correction factor can be obtained by looking up the table based on the currently collected vehicle speed.

[0063] Table 5. Chart of the Third Correction Factor

[0064]

[0065] It should be understood that, in order to improve the stability of four-wheel drive vehicles, the third correction factor in the third correction factor chart of this application increases with the increase of vehicle speed.

[0066] Preferably, this application can use interpolation to calculate the third correction factor corresponding to vehicle speeds not listed in the third correction factor chart, or it can directly use the third correction factor corresponding to adjacent values ​​of unlisted vehicle speeds. In order to improve stability, this application can preferentially select adjacent values ​​with smaller third correction factors.

[0067] In one embodiment, step 140 can be implemented by calculating the product of the initial allocation ratio, the second correction factor, and the third correction factor to obtain the target allocation ratio.

[0068] After obtaining the initial allocation ratio, the second correction factor, and the third correction factor from the table, this application calculates the product of the initial allocation ratio, the second correction factor, and the third correction factor to obtain the target allocation ratio. The initial allocation ratio is greater than or equal to zero and less than or equal to one, the second correction factor is greater than or equal to zero and less than or equal to one, and the third correction factor is greater than or equal to zero and less than or equal to one. Therefore, the calculated target allocation ratio is also greater than or equal to zero and less than or equal to one.

[0069] In one embodiment, step 150 can be implemented by calculating the product of the attenuation coefficient, the target allocation ratio, and the expected regenerative braking torque of the four-wheel drive vehicle to obtain the regenerative braking torque of the main motor or the auxiliary motor.

[0070] After calculating the attenuation coefficient and the target allocation ratio, this application obtains the regenerative braking torque of the main motor or auxiliary motor by calculating the product of the attenuation coefficient, the target allocation ratio, and the expected regenerative braking torque of the four-wheel drive vehicle. Taking the target allocation ratio as the allocation ratio of the auxiliary motor as an example, after calculating the target allocation ratio, the regenerative braking torque of the auxiliary motor = expected regenerative braking torque × attenuation coefficient × target allocation ratio. Correspondingly, the regenerative braking torque of the main motor = expected regenerative braking torque × attenuation coefficient × (1 - target allocation ratio).

[0071] Figure 2 This is a logical schematic diagram of a four-wheel drive vehicle cornering torque recovery control method provided in an exemplary embodiment of this application. Figure 2As shown, this application collects operating parameters such as accelerator pedal, steering wheel angle, lateral acceleration, and yaw rate, and identifies the cornering recovery operating condition based on these parameters to determine whether the four-wheel drive vehicle is in a cornering recovery condition. If the four-wheel drive vehicle is in a cornering recovery condition, the application obtains the initial coefficient by referring to the initial coefficient chart based on the steering wheel angle change rate and yaw rate change rate, obtains the first correction factor by referring to the first correction factor chart based on the steering wheel angle change rate and lateral acceleration change rate, and calculates the attenuation coefficient by combining the initial coefficient and the first correction factor. Furthermore, the application obtains the initial distribution ratio by referring to the initial distribution ratio chart based on the steering wheel angle and yaw rate, obtains the second correction factor by referring to the second correction factor chart based on the steering wheel angle and lateral acceleration, obtains the third correction factor by referring to the third correction factor chart based on the vehicle speed, and calculates the target distribution ratio by combining the initial distribution ratio, the second correction factor, and the third correction factor. Finally, the application determines the main motor recovery braking torque and the auxiliary motor recovery braking torque based on the attenuation coefficient, the target distribution ratio, and the expected recovery braking torque of the four-wheel drive vehicle.

[0072] Figure 3 This is a schematic diagram of the structure of a four-wheel drive vehicle cornering recovery torque control device provided in an exemplary embodiment of this application. The four-wheel drive vehicle includes a main motor and an auxiliary motor; as shown... Figure 3 As shown, the four-wheel drive vehicle cornering recovery torque control device 30 includes: an operating parameter acquisition module 31 for acquiring the operating parameters of the four-wheel drive vehicle; an operating condition determination module 32 for determining the operating condition of the four-wheel drive vehicle based on at least one of the operating parameters; wherein the operating condition includes a cornering recovery condition, which indicates that the four-wheel drive vehicle is in a cornering braking state and the main motor and / or auxiliary motor is in a braking recovery state; an attenuation coefficient calculation module 33 for calculating the attenuation coefficient of the four-wheel drive vehicle based on at least one of the operating parameters if the operating condition is a cornering recovery condition; wherein the attenuation coefficient indicates the attenuation ratio of the recovery braking torque of the four-wheel drive vehicle, and the attenuation coefficient is between 0 and 1; a distribution ratio calculation module 34 for calculating the target distribution ratio of the four-wheel drive vehicle based on at least one of the operating parameters; wherein the target distribution ratio indicates the proportion of recovery braking torque distributed to the main motor or auxiliary motor; and a recovery torque distribution module 35 for obtaining the recovery braking torque of the main motor and auxiliary motor based on the attenuation coefficient, the target distribution ratio, and the expected recovery braking torque of the four-wheel drive vehicle.

[0073] This application provides a four-wheel drive vehicle cornering recovery torque control device, which acquires the operating parameters of the four-wheel drive vehicle through an operating parameter acquisition module 31. The operating parameters represent multiple parameters collected in real time during the operation of the four-wheel drive vehicle. An operating condition determination module 32 determines the operating condition of the four-wheel drive vehicle based on at least one of the operating parameters. The operating condition includes a cornering recovery condition, which indicates that the four-wheel drive vehicle is in a cornering braking state and the main motor and / or auxiliary motor is in a braking recovery state. If the operating condition is a cornering recovery condition, an attenuation coefficient calculation module 33 calculates the attenuation coefficient of the four-wheel drive vehicle based on at least one of the operating parameters. The attenuation coefficient represents the attenuation ratio of the recovered braking torque of the four-wheel drive vehicle and is between 0 and 1. A distribution ratio calculation module 34 calculates the attenuation coefficient based on the operating parameters. At least one of the following is calculated: the target distribution ratio of the four-wheel drive vehicle is calculated; wherein, the target distribution ratio represents the proportion of regenerative braking torque allocated to the main motor or the auxiliary motor; the regenerative braking torque distribution module 35 obtains the regenerative braking torque of the main motor and the auxiliary motor based on the attenuation coefficient, the target distribution ratio and the expected regenerative braking torque of the four-wheel drive vehicle; that is, the operating condition of the four-wheel drive vehicle is determined according to at least one of the operating parameters. If it is in the cornering regenerative braking condition, the attenuation coefficient and the target distribution ratio are calculated based on at least one of the operating parameters to reduce the regenerative braking torque of the four-wheel drive vehicle, thereby reducing the risk of instability such as understeer or fishtailing. Furthermore, by distributing the regenerative braking torque of the main motor and the auxiliary motor, the braking torque of a single motor is reduced, thereby further reducing the risk of instability of the four-wheel drive vehicle caused by excessive braking torque of a single motor.

[0074] In one embodiment, the operating parameters include the accelerator pedal opening, steering wheel angle, lateral acceleration, and yaw rate of the four-wheel drive vehicle; wherein, the above-mentioned operating condition determination module 32 can be further configured to: if the following conditions are met simultaneously: the accelerator pedal opening is less than a preset opening threshold, the absolute value of the expected recovery braking torque is greater than a preset torque threshold, the steering wheel angle is greater than a preset angle threshold, the absolute value of the lateral acceleration is greater than a preset acceleration threshold, and the absolute value of the yaw rate is greater than a preset angular velocity threshold, then the operating condition of the four-wheel drive vehicle is the cornering recovery condition.

[0075] In one embodiment, the operating parameters include the steering wheel angle change rate, yaw rate acceleration, and lateral acceleration change rate of the four-wheel drive vehicle; wherein, the aforementioned attenuation coefficient calculation module 33 can be further configured to: determine an initial coefficient based on the steering wheel angle change rate and yaw rate acceleration; determine a first correction factor based on the steering wheel angle change rate and lateral acceleration change rate; and calculate the attenuation coefficient based on the initial coefficient and the first correction factor.

[0076] In one embodiment, the attenuation coefficient calculation module 33 can be further configured to: calculate the product of the initial coefficient and the first correction factor to obtain the attenuation coefficient.

[0077] In one embodiment, the operating parameters include the steering wheel angle, steering wheel angle change rate, yaw rate, lateral acceleration, and vehicle speed of the four-wheel drive vehicle; wherein, the aforementioned allocation ratio calculation module 34 can be further configured to: determine an initial allocation ratio based on the steering wheel angle and yaw rate; determine a second correction factor based on the steering wheel angle and lateral acceleration; determine a third correction factor based on the vehicle speed; and calculate a target allocation ratio based on the initial allocation ratio, the second correction factor, and the third correction factor.

[0078] In one embodiment, the allocation ratio calculation module 34 can be further configured to calculate the product of the initial allocation ratio, the second correction factor, and the third correction factor to obtain the target allocation ratio.

[0079] In one embodiment, the above-mentioned regenerative torque distribution module 35 can be further configured to: calculate the product of the attenuation coefficient, the target distribution ratio and the expected regenerative braking torque of the four-wheel drive vehicle to obtain the regenerative braking torque of the main motor or the auxiliary motor.

[0080] Below, for reference Figure 4 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0081] Figure 4 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0082] like Figure 4 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0083] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0084] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0085] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0086] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0087] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0088] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0089] Of course, for the sake of simplicity, Figure 4 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0090] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0091] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0092] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0093] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0094] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0095] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0096] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0097] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0098] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for controlling the recovery torque in cornering of a four-wheel drive vehicle, characterized in that, The four-wheel drive vehicle includes a main motor and an auxiliary motor; the four-wheel drive vehicle's cornering recovery torque control method includes: The operating parameters of the four-wheel drive vehicle are obtained; wherein the operating parameters represent multiple parameters collected in real time during the operation of the four-wheel drive vehicle. Based on at least one of the operating parameters, the operating condition of the four-wheel drive vehicle is determined; wherein, the operating condition includes a cornering recovery condition, the cornering recovery condition indicating that the four-wheel drive vehicle is in a cornering braking state and the main motor and / or the auxiliary motor is in a braking recovery state. If the operating condition is the cornering recovery condition, then the attenuation coefficient of the four-wheel drive vehicle is calculated based on at least one of the operating parameters; wherein, the attenuation coefficient represents the attenuation ratio of the recovery braking torque of the four-wheel drive vehicle, and the attenuation coefficient is between 0 and 1. The target allocation ratio of the four-wheel drive vehicle is calculated based on at least one of the operating parameters; wherein the target allocation ratio represents the proportion of regenerative braking torque allocated to the main motor or the auxiliary motor; Based on the attenuation coefficient, the target allocation ratio, and the expected regenerative braking torque of the four-wheel drive vehicle, the regenerative braking torque of the main motor and the auxiliary motor is obtained.

2. The method for controlling the recovery torque of a four-wheel drive vehicle in cornering according to claim 1, characterized in that, The operating parameters include the accelerator pedal opening, steering wheel angle, lateral acceleration, and yaw rate of the four-wheel drive vehicle; wherein, determining the operating condition of the four-wheel drive vehicle based on at least one of the operating parameters includes: If the following conditions are met simultaneously: the accelerator pedal opening is less than a preset opening threshold, the absolute value of the expected regenerative braking torque is greater than a preset torque threshold, the steering wheel angle is greater than a preset angle threshold, the absolute value of the lateral acceleration is greater than a preset acceleration threshold, and the absolute value of the yaw rate is greater than a preset angular velocity threshold, then the operating condition of the four-wheel drive vehicle is the cornering recovery condition.

3. The method for controlling the recovery torque of a four-wheel drive vehicle in cornering according to claim 1, characterized in that, The operating parameters include the steering wheel angle change rate, yaw rate, and lateral acceleration change rate of the four-wheel drive vehicle; wherein, calculating the attenuation coefficient of the four-wheel drive vehicle based on at least one of the operating parameters includes: The initial coefficients are determined based on the steering wheel angle change rate and the yaw acceleration; Based on the rate of change of steering wheel angle and the rate of change of lateral acceleration, a first correction factor is determined; The attenuation coefficient is calculated based on the initial coefficient and the first correction factor.

4. The method for controlling the recovery torque of a four-wheel drive vehicle in cornering according to claim 3, characterized in that, The calculation of the attenuation coefficient based on the initial coefficient and the first correction factor includes: The attenuation coefficient is obtained by calculating the product of the initial coefficient and the first correction factor.

5. The method for controlling the recovery torque of a four-wheel drive vehicle in cornering according to claim 1, characterized in that, The operating parameters include the steering wheel angle, steering wheel angle change rate, yaw rate, lateral acceleration, and vehicle speed of the four-wheel drive vehicle; wherein, calculating the target allocation ratio of the four-wheel drive vehicle based on at least one of the operating parameters includes: The initial distribution ratio is determined based on the steering wheel angle and the yaw rate; Based on the steering wheel angle and the lateral acceleration, a second correction factor is determined; Based on the vehicle speed, a third correction factor is determined; The target allocation ratio is calculated based on the initial allocation ratio, the second correction factor, and the third correction factor.

6. The method for controlling the recovery torque of a four-wheel drive vehicle in cornering according to claim 5, characterized in that, The calculation of the target allocation ratio based on the initial allocation ratio, the second correction factor, and the third correction factor includes: The target allocation ratio is obtained by calculating the product of the initial allocation ratio, the second correction factor, and the third correction factor.

7. The method for controlling the recovery torque of a four-wheel drive vehicle in cornering according to claim 1, characterized in that, The process of obtaining the regenerative braking torque of the main motor and the auxiliary motor based on the attenuation coefficient, the target allocation ratio, and the expected regenerative braking torque of the four-wheel drive vehicle includes: The regenerative braking torque of the main motor or the auxiliary motor is obtained by calculating the product of the attenuation coefficient, the target allocation ratio, and the expected regenerative braking torque of the four-wheel drive vehicle.

8. A torque recovery control device for cornering in a four-wheel drive vehicle, characterized in that, The four-wheel drive vehicle includes a main motor and an auxiliary motor; the four-wheel drive vehicle's cornering recovery torque control device includes: The operating parameter acquisition module is used to acquire the operating parameters of the four-wheel drive vehicle; wherein, the operating parameters represent multiple parameters collected in real time during the operation of the four-wheel drive vehicle; The operating condition determination module is used to determine the operating condition of the four-wheel drive vehicle based on at least one of the operating parameters; wherein the operating condition includes a cornering recovery condition, which indicates that the four-wheel drive vehicle is in a cornering braking state and the main motor and / or the auxiliary motor is in a braking recovery state. The attenuation coefficient calculation module is used to calculate the attenuation coefficient of the four-wheel drive vehicle based on at least one of the operating parameters if the operating condition is the cornering recovery condition; wherein the attenuation coefficient represents the attenuation ratio of the recovery braking torque of the four-wheel drive vehicle, and the attenuation coefficient is between 0 and 1. The allocation ratio calculation module is used to calculate the target allocation ratio of the four-wheel drive vehicle based on at least one of the operating parameters; wherein the target allocation ratio represents the proportion of regenerative braking torque allocated to the main motor or the auxiliary motor; The regenerative torque distribution module is used to obtain the regenerative braking torque of the main motor and the auxiliary motor based on the attenuation coefficient, the target distribution ratio, and the expected regenerative braking torque of the four-wheel drive vehicle.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for performing the method described in any one of claims 1-7.

10. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is used to execute the method described in any one of claims 1-7.

Images