Vehicle control method, vehicle and storage medium

Abstract

The invention provides a method for controlling a vehicle, the vehicle and a storage medium, the method is applied to the technical field of hybrid power control, and the method comprises the following steps: when it is determined that the vehicle is in a climbing working condition currently, determining a current driving mode of the vehicle, and judging whether the vehicle meets a preset condition of activating a virtual mode or not; when it is determined that the vehicle meets the preset condition, activating a virtual mode; wherein in the virtual mode, the current driving mode in the execution logic inside the vehicle is corrected to be a four-wheel drive mode, and a target display screen of the vehicle displays the current driving mode; and under the condition that the virtual mode is in the activated state, an engine is controlled to drive wheels and drive a first motor to generate electricity, so that the vehicle is driven to run based on the virtual mode. According to the method, four-wheel-drive running of the vehicle can be guaranteed, the power performance of vehicle climbing is guaranteed, and the vehicle using experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of hybrid power control technology, and more particularly, to a method for controlling a vehicle, a vehicle, and a storage medium in the field of hybrid power control technology. Background Art

[0002] In a hybrid vehicle, the engine and electric motor can jointly propel the vehicle, or the engine can also drive the front-drive motor to generate electricity. When a hybrid vehicle is traveling on an uphill road, such as a winding mountain road, the continuous high power demand causes the power battery to deplete rapidly, which can easily cause the vehicle to enter series mode, where the engine drives the front-drive motor to generate electricity.

[0003] However, in series mode, the engine does not directly drive the wheels, and the vehicle is only driven by the rear-wheel drive motor, resulting in lower driving power and weaker power. The vehicle cannot guarantee that it can complete the climbing section, resulting in a poor user experience. Summary of the Invention

[0004] The present application provides a method for controlling a vehicle, a vehicle, and a storage medium. The method can control the vehicle to enter a virtual mode when it is determined that the vehicle is in a climbing condition and meets preset conditions, so that the engine directly drives the wheels and drives the motor to generate electricity, thereby ensuring the vehicle's four-wheel drive and the vehicle's climbing power, thereby improving the user's car experience.

[0005] In a first aspect, a method for controlling a vehicle is provided, the method comprising: determining the current driving mode of the vehicle and judging whether the vehicle satisfies preset conditions for activating a virtual mode when it is determined that the vehicle is currently in a climbing condition; activating the virtual mode when it is determined that the vehicle satisfies the preset conditions; wherein, in the virtual mode, the current driving mode in the execution logic inside the vehicle is corrected to the four-wheel drive mode, and the target display screen of the vehicle displays the current driving mode; and when the virtual mode is activated, controlling the engine to drive the wheels and drive the first motor to generate electricity, so that the vehicle is driven based on the virtual mode.

[0006] In the above technical solution, by setting the preset conditions for activating the virtual mode, the virtual mode is activated after determining that the vehicle meets the preset conditions when the vehicle is in a climbing condition, thereby ensuring the safety of activating the virtual mode and avoiding safety issues caused by activating the virtual mode when the vehicle does not meet the preset conditions. In the virtual mode, the vehicle still displays the current driving mode to avoid mode changes interfering with user driving. When the vehicle activates the virtual mode, the engine is controlled to directly drive the wheels and the engine is controlled to drive the first motor to generate electricity. The electric energy generated by the first motor can be provided to the second motor so that the second motor can also drive the vehicle. At this time, the vehicle is four-wheel drive, which ensures that the vehicle is four-wheel drive under climbing conditions. When the four-wheel drive is driving, the vehicle has a larger driving power and stronger power, which can ensure that the vehicle can complete the current climbing section.

[0007] In combination with the first aspect, in some possible implementations, determining whether the vehicle meets the preset conditions for activating the virtual mode includes: when the vehicle's slope parameter meets the target condition and the current power battery's charge is less than a first charge threshold and greater than a second charge threshold, determining that the vehicle meets the preset conditions for activating the virtual mode.

[0008] In the above technical solution, by the slope parameter meeting the target condition, it can be determined that the vehicle needs greater power. By the current power of the power battery being less than the first power threshold and greater than the second power threshold, it can be determined that the power battery is low but has no strong charging demand. The combination of the two can effectively determine that the vehicle meets the preset conditions for activating the virtual mode, thereby improving the accuracy of activating the virtual mode.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after activating the virtual mode, the method further includes: determining a target vehicle speed based on the current power level of the power battery; and limiting the vehicle speed to be less than or equal to the target vehicle speed.

[0010] In the above technical solution, after activating the virtual mode, the target vehicle speed is determined based on the current power level of the power battery, and the vehicle speed is limited to be lower than the target speed, which can effectively prevent further discharge of the power battery and improve the safety of the power battery.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining whether the vehicle meets the preset conditions for activating the virtual mode includes: when the slope parameter of the vehicle meets the target condition, the current power of the power battery is less than the third power threshold and greater than the fourth power threshold, the temperature of the second motor of the vehicle is greater than the preset temperature and the speed of the vehicle is less than the first preset speed, determining that the vehicle meets the preset conditions for activating the virtual mode.

[0012] In the above technical solution, by the slope parameter meeting the target condition, it can be determined that the vehicle needs greater power. By the current power of the power battery being less than the first power threshold and greater than the second power threshold, it can be determined that the power battery is low but has no strong charging demand. By the temperature of the second motor being greater than the preset temperature and the vehicle speed being less than the first preset speed, it is determined that the vehicle currently needs to output a large torque and needs to travel at a low speed. Combining the above parameters can effectively determine that the vehicle meets the preset conditions for activating the virtual mode, thereby improving the accuracy of activating the virtual mode.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after activating the virtual mode, the method also includes: correcting the target gear of the vehicle to a preset gear, and limiting the vehicle speed to be less than or equal to a second preset speed; wherein the second preset speed is less than or equal to the first preset speed.

[0014] In the above technical solution, the target gear of the vehicle is corrected to the preset gear, which can ensure that the vehicle outputs the torque corresponding to the target gear, that is, the torque output of the vehicle is guaranteed. Limiting the vehicle speed to less than the second preset speed can effectively prevent the power battery from further discharging and improve the safety of the power battery.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the method also includes: when the slope parameter is the current slope, when the current slope is greater than a first preset slope and the duration for which the current slope is greater than the first preset slope is greater than the preset duration, determining that the slope parameter meets the target condition; wherein the current slope is the slope of the road surface where the vehicle is at the current position; when the slope parameter is the average slope, when the average slope is greater than a second preset slope, determining that the slope parameter meets the target condition; wherein the first preset slope is greater than the second preset slope, and the average slope is the average slope of the road surface within a preset distance traveled by the vehicle.

[0016] In the above technical solution, the slope parameter takes into account the average slope and the current slope. Different slope thresholds are set for the average slope and the current slope to determine whether the slope parameter meets the target conditions. Based on different conditions, the determination of gentle slope conditions and steep slope conditions is flexibly realized, so that the vehicle can enter the virtual mode in gentle slope conditions or steep slope conditions, ensuring four-wheel drive driving, and comprehensively improving the vehicle's power performance under climbing conditions.

[0017] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the virtual mode is activated, the method also includes: obtaining the current slope and current speed of the road surface on which the vehicle is located at the current position; and limiting the maximum available torque of the first motor and the second motor based on the current speed and current slope.

[0018] In the above technical solution, when virtual mode is active, limiting the maximum available torque of the first and second motors prevents the vehicle from continuously outputting high power during hill climbing, further discharging the power battery and causing it to become depleted. The vehicle has different torque requirements at different speeds or slopes. Limiting torque based on the current speed and slope takes into account the vehicle's current torque requirement, making the limiting operation more precise and improving driving safety.

[0019] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after activating the virtual mode, the method also includes: prohibiting the vehicle from activating the idle pure electric four-wheel drive mode and the idle traditional four-wheel drive mode, and adjusting the activation conditions of the idle hybrid four-wheel drive mode to delay the vehicle from switching to the hybrid four-wheel drive mode.

[0020] In the above technical solution, the idle pure electric four-wheel drive mode, the idle traditional four-wheel drive mode and the idle hybrid four-wheel drive mode all further consume the power of the power battery, resulting in a power battery depletion. After activating the virtual mode, the vehicle is prohibited from activating the idle pure electric four-wheel drive mode and the idle traditional four-wheel drive mode, which can effectively prevent the vehicle from switching to the idle pure electric four-wheel drive mode or the idle traditional four-wheel drive mode, resulting in a power battery depletion. Adjusting the activation conditions of the idle hybrid four-wheel drive mode ensures that the vehicle can switch to the idle hybrid four-wheel drive mode in time to preserve power when the virtual mode is activated, thereby ensuring the vehicle's power performance while avoiding power battery depletion.

[0021] In a second aspect, a device for controlling a vehicle is provided, which includes: a judgment module, which determines the current driving mode of the vehicle and determines whether the vehicle meets the preset conditions for activating a virtual mode when it is determined that the vehicle is currently in a climbing condition; an activation module, which is used to activate the virtual mode when it is determined that the vehicle meets the preset conditions; wherein, in the virtual mode, the current driving mode in the execution logic inside the vehicle is corrected to the four-wheel drive mode, and the target display screen of the vehicle displays the current driving mode; a control module, which is used to control the engine to drive the wheels and drive the first motor to generate electricity when the virtual mode is activated, so that the vehicle is driven based on the virtual mode.

[0022] In combination with the second aspect, in some possible implementations, the judgment module is specifically used to determine whether the vehicle meets the preset conditions for activating the virtual mode, including: when the slope parameter of the vehicle meets the target condition and the current power of the power battery is less than the first power threshold and greater than the second power threshold, determining that the vehicle meets the preset conditions for activating the virtual mode.

[0023] In combination with the second aspect and the above-mentioned implementation, in some possible implementations, the device further includes: a limiting module, configured to determine a target vehicle speed based on the current power level of the power battery; and limit the vehicle speed to be less than or equal to the target vehicle speed.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the judgment module is specifically used to determine that the vehicle meets the preset conditions for activating the virtual mode when the vehicle's slope parameter meets the target condition, the current power of the power battery is less than the third power threshold and greater than the fourth power threshold, the temperature of the vehicle's second motor is greater than the preset temperature, and the vehicle speed is less than the first preset speed.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes: a correction module, used to correct the target gear of the vehicle to a preset gear, and limit the vehicle speed to be less than or equal to a second preset speed; wherein the second preset speed is less than or equal to the first preset speed.

[0026] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes: a determination module, which is used to determine that the slope parameter meets the target condition when the slope parameter is the current slope, when the current slope is greater than a first preset slope and the duration for which the current slope is greater than the first preset slope is greater than the preset duration; wherein the current slope is the slope of the road surface where the vehicle is at the current position; when the slope parameter is the average slope, when the average slope is greater than a second preset slope, determine that the slope parameter meets the target condition; wherein the first preset slope is greater than the second preset slope, and the average slope is the average slope of the road surface within a preset distance traveled by the vehicle.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes: a limitation module, which is used to obtain the current slope and current speed of the road surface on which the vehicle is located at the current position when the virtual mode is activated; and limit the maximum available torque of the first motor and the second motor based on the current speed and the current slope.

[0028] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the device also includes: a prohibition module, used to prohibit the vehicle from activating the idle pure electric four-wheel drive mode and the idle traditional four-wheel drive mode, and adjust the activation conditions of the idle hybrid four-wheel drive mode to delay the vehicle from switching to the hybrid four-wheel drive mode.

[0029] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the method of the first aspect or any possible implementation of the first aspect.

[0030] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0031] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic flowchart of a method for controlling a vehicle provided in an embodiment of the present application.

[0033] Figure 2 This is a schematic diagram of the architecture of a hybrid vehicle provided in an embodiment of the present application.

[0034] Figure 3 It is a structural diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0035] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0037] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0038] When a hybrid vehicle travels uphill, such as on a winding mountain road, the constant high power demand causes the battery to drain quickly, often forcing the vehicle to enter series mode, where the engine drives the front-drive motor to generate electricity and replenish the battery. However, in series mode, the engine does not directly drive the wheels; only the rear-drive motor propels the vehicle. This results in lower drive power and weaker power, making it impossible to complete the climb, resulting in a poor user experience.

[0039] Based on this, the present application proposes a method for controlling a vehicle. When it is determined that the vehicle is in a climbing condition and meets the preset conditions, the vehicle is controlled to enter a virtual mode, so that the engine directly drives the wheels and drives the motor to generate electricity, thereby ensuring the four-wheel drive of the vehicle, ensuring the vehicle's climbing power, and improving the user's car experience.

[0040] Figure 1 This is a schematic flowchart of a method for controlling a vehicle provided in an embodiment of the present application.

[0041] For example, Figure 1 As shown, the method 100 includes:

[0042] Step 101: When it is determined that the vehicle is currently in a climbing condition, determine the current driving mode of the vehicle and judge whether the vehicle meets the preset conditions for activating the virtual mode;

[0043] Step 102: activating the virtual mode if it is determined that the vehicle meets the preset conditions; wherein, in the virtual mode, the current driving mode in the execution logic within the vehicle is modified to the four-wheel drive mode, and the target display screen of the vehicle displays the current driving mode;

[0044] Step 103 : When the virtual mode is activated, control the engine to drive the wheels and drive the first motor to generate electricity, so that the vehicle is driven based on the virtual mode.

[0045] exist Figure 1In the illustrated embodiment, by setting a preset condition for activating the virtual mode, the virtual mode is activated after determining that the vehicle meets the preset condition when the vehicle is in a climbing condition. This ensures the safety of activating the virtual mode and avoids safety issues caused by activating the virtual mode when the vehicle does not meet the preset condition. In virtual mode, the vehicle still displays the current driving mode to avoid mode changes interfering with the user's driving. When the vehicle activates the virtual mode, the engine is controlled to directly drive the wheels and the engine is controlled to drive the first motor to generate electricity. The electric energy generated by the first motor can be provided to the second motor so that the second motor can also drive the vehicle. At this time, the vehicle is four-wheel drive, ensuring that the vehicle is four-wheel drive under climbing conditions. When the vehicle is four-wheel drive, the driving power and power of the vehicle are large, which can ensure that the vehicle can complete the current climbing section.

[0046] Below Figure 1 The specific implementation of each step in the embodiment shown is described in detail:

[0047] In step 101, the vehicle is a hybrid vehicle, comprising a first axle and a second axle, wherein the first axle is provided with a first motor and an engine, and the second axle is provided with a second motor.

[0048] The first axle may be the front axle of the vehicle. In this case, the first motor provided at the first axle may be referred to as a front-drive motor, which is used to drive the front wheels of the vehicle. Correspondingly, the second axle may be the rear axle of the vehicle. In this case, the second motor provided at the second axle may be referred to as a rear-drive motor, which is used to drive the rear wheels of the vehicle.

[0049] Alternatively, the first axle may be the rear axle of the vehicle, in which case the first motor provided on the first axle may be referred to as a rear-drive motor, for driving the rear wheels of the vehicle. Correspondingly, the second axle may be the front axle of the vehicle, in which case the second motor provided on the second axle may be referred to as a front-drive motor, for driving the front wheels of the vehicle.

[0050] In the embodiment of the present application, the first axle is the front axle and the second axle is the rear axle. In this case, the structure of the vehicle is as follows: Figure 2 shown.

[0051] Figure 2 This is a schematic diagram of the architecture of a hybrid vehicle provided in an embodiment of the present application.

[0052] For example, Figure 2 As shown, the hybrid vehicle 200 includes: an engine 201, a clutch 202, a front drive motor 203, a gearbox 204, a rear drive motor 205, a power battery 206, a left front wheel 2071, a right front wheel 2072, a left rear wheel 2081 and a right rear wheel 2082.

[0053] The engine 201 is one of the power sources of the vehicle and generates power by burning fuel (such as gasoline or diesel). The power generated by the engine is transmitted to the clutch 202 and the transmission 204 through the crankshaft, and finally drives the front wheels of the hybrid vehicle 200.

[0054] The clutch 202 is used to disconnect or connect the mechanical connection between the engine 201 and the transmission 204. The clutch 202 can be in two states: open and closed. When the clutch 202 is in the open state, the engine 201 and the transmission 204 are disconnected. In this state, even if the engine 201 is running, the power generated by the engine 201 is not transmitted to the transmission 204. When the clutch 202 is in the closed state, the engine 201 and the transmission 204 are mechanically connected, and the power generated by the engine 201 can be transmitted to the transmission 204.

[0055] The front-wheel drive motor 203 is connected to the gearbox 204 and the clutch 202 . The front-wheel drive motor 203 is used to drive the front wheels of the vehicle through the gearbox 204 or to work as a generator through the clutch 202 .

[0056] As an embodiment, when the front drive motor 203 works as a generator, the clutch 202 is in a closed state, and the engine 201 drives the front drive motor 203 to generate electricity through the clutch 202.

[0057] The gearbox 204 is provided on the front axle of the vehicle and may also be referred to as a front axle gearbox. The gearbox 204 is used to change the speed and torque output by the engine 201 to adapt to different driving conditions and ensure that the vehicle operates efficiently under different speed and load conditions.

[0058] The gearbox 204 may include multiple gears, such as 1st gear, 2nd gear, 3rd gear, and 4th gear. When the gear of the gearbox 204 is any one of 1st gear, 2nd gear, 3rd gear, and 4th gear, the power of the front-drive motor 203 or the engine 201 can be transmitted to the front wheels of the vehicle to drive the vehicle.

[0059] The rear-drive motor 205 is also called a P4 motor. When the rear-drive motor 205 is running, it transmits power to the rear wheels of the vehicle to drive the vehicle.

[0060] The power battery 206 may also be called a high-voltage battery, and is used to supply power to the front-drive motor 203 and the rear-drive motor 205 so that the front-drive motor 203 and the rear-drive motor 205 can output torque to drive the vehicle.

[0061] When the engine 201 drives the front drive motor 203 to generate electricity through the clutch 202, the electricity generated by the front drive motor 203 can also charge the power battery 206. Alternatively, the electricity generated by the front drive motor 203 can be directly provided to the rear drive motor 205, so that the rear drive motor 205 drives the vehicle.

[0062] Hill climbing refers to the situation where a vehicle encounters an increased road surface elevation while driving. During this situation, the vehicle needs to provide additional energy to overcome gravity in order to maintain a set speed or acceleration. Therefore, the vehicle typically requires greater power during hill climbing.

[0063] As an implementation method, it is possible to determine whether the road section on which the vehicle is currently traveling is an uphill section based on the vehicle's positioning information and map output, and to determine whether the vehicle is in a climbing condition.

[0064] When it is determined that the vehicle is in a climbing condition, the current driving mode of the vehicle can be determined. The current driving mode of the vehicle can be any one of the driving modes such as the economy mode, the sport mode, and the standard mode. In the current driving mode, the vehicle can be driven in either two-wheel drive or four-wheel drive.

[0065] In some embodiments, in the current driving mode described above, the vehicle can select two-wheel drive or four-wheel drive based on the current power demand and the current charge of the power battery. For example, when the power demand is large and the current charge is high, four-wheel drive can be selected, and the vehicle system mode can specifically be pure electric four-wheel drive mode. When the power demand is small or the current charge is low, two-wheel drive is selected. When the power demand is small, the vehicle system mode can be, for example, pure electric rear-wheel drive mode. When the current charge is low, the vehicle system mode can be, for example, series mode.

[0066] If the vehicle is determined to be climbing a hill, it can also be determined whether the vehicle currently meets the preset conditions for activating the virtual mode. In the virtual mode, the engine directly drives the vehicle and drives the first motor to generate electricity, ensuring four-wheel drive and vehicle power performance.

[0067] It is understandable that when the vehicle is climbing a slope, the power battery is consumed faster, which can easily cause the vehicle to enter series mode. Figure 2 In the illustrated vehicle, in series mode, engine 201 drives front-drive motor 203 to generate electricity. Front-drive motor 203 can charge power battery 206 or supply power to rear-drive motor 205. The vehicle is now driven solely by rear-drive motor 205, effectively operating in two-wheel drive mode. Two-wheel drive operation results in weaker power performance, making it difficult to climb a hill. Therefore, it is necessary to determine whether the vehicle meets the pre-set conditions for activating virtual mode.

[0068] The virtual mode can specifically include a virtual four-wheel drive mode and a virtual low-speed four-wheel drive mode (referred to as a virtual 4L mode). In both the virtual four-wheel drive mode and the virtual 4L mode, the vehicle can ensure four-wheel drive driving and provide a larger power output. In addition, the vehicle can also provide a larger torque output in the virtual 4L mode. Different activation conditions can be set for the virtual four-wheel drive mode and the virtual 4L mode. The following embodiment describes in detail the preset conditions for activating the virtual four-wheel drive mode:

[0069] In one possible implementation, determining whether the vehicle meets the preset conditions for activating the virtual mode includes: when the vehicle's slope parameter meets the target condition and the current power battery's charge is less than a first charge threshold and greater than a second charge threshold, determining that the vehicle meets the preset conditions for activating the virtual mode.

[0070] When the virtual mode is the virtual four-wheel drive mode, it can be determined whether the vehicle meets the preset conditions for activating the virtual four-wheel drive mode based on the slope parameter and the current power of the power battery.

[0071] The slope parameter refers to the slope parameter of the road surface on which the vehicle is currently traveling. The slope parameter may specifically be the slope of the road surface at a certain location, or the average slope of the road surface within a certain distance.

[0072] Optionally, when the vehicle is equipped with a positioning module and a mapping module, the slope parameter can be determined from map data based on the vehicle's positioning information. Alternatively, when the vehicle is equipped with a tilt sensor or an acceleration sensor, the slope parameter can be calculated based on parameters collected by the tilt sensor or acceleration sensor.

[0073] The target condition is used to determine whether the vehicle has a high power demand under the current climbing condition. If the slope parameter is determined to meet the target condition, it can be determined that the vehicle currently has a high power demand.

[0074] It is understandable that if the vehicle currently has a greater power demand, it means that the series mode cannot meet the current power demand, and the vehicle needs to execute the four-wheel drive logic to meet the greater power demand. In virtual four-wheel drive mode, the vehicle can provide greater power output. Therefore, when the slope parameter meets the target condition, it can be determined that the vehicle meets the preset conditions for activating virtual four-wheel drive mode.

[0075] In one possible implementation, the method further includes: when the slope parameter is the current slope, determining that the slope parameter meets the target condition when the current slope is greater than a first preset slope and the duration for which the current slope is greater than the first preset slope is greater than a preset duration; the current slope is the slope of the road surface on which the vehicle is located at the current position; when the slope parameter is the average slope, determining that the slope parameter meets the target condition when the average slope is greater than a second preset slope; wherein the first preset slope is greater than the second preset slope, and the average slope is the average slope of the road surface within a preset distance traveled by the vehicle.

[0076] Specifically, the slope parameter can be the current slope or the average slope. The current slope refers to the slope of the road surface at the current position of the vehicle. As in the above embodiment, the current slope can be calculated based on the data collected by the sensor.

[0077] The first preset slope can be set in advance according to actual conditions. The first preset slope is used to determine whether the vehicle is currently in a steep slope condition. The first preset slope is usually large, for example, it can be 45°.

[0078] When the current slope of the vehicle is greater than the first preset slope of 45°, it can be determined that the vehicle is currently in a steep slope condition.

[0079] It's understandable that if the vehicle is currently on a steep slope, the gravity it must overcome is greater, requiring additional power to maintain stable speed or acceleration. This indicates a higher power demand. In virtual four-wheel drive mode, the vehicle maintains four-wheel drive and power output, so when the slope parameters meet the target conditions, the vehicle can be determined to have met the conditions for activating virtual four-wheel drive mode.

[0080] In some embodiments, a road obstacle may cause the vehicle's current slope to be temporarily or instantaneously greater than the first preset slope. To prevent the vehicle from misjudging the slope parameter as meeting the target condition due to obstacles or other reasons, resulting in the vehicle briefly activating virtual mode and then quickly exiting virtual mode, a preset duration can be set in the vehicle, such as 5 seconds.

[0081] The vehicle can avoid the above-mentioned misjudgment by determining that the slope parameter meets the target condition when the current slope is greater than the first preset slope and the duration for which the current slope is greater than the first preset slope is greater than the preset duration.

[0082] It's understandable that as the vehicle is moving, its current position changes in real time, and therefore the current slope also changes in real time. Based on the current slope being greater than the preset slope for 5 consecutive seconds, this situation can be effectively eliminated, allowing for a more accurate determination of the vehicle's current steep slope.

[0083] The slope parameter may also be the average slope of the road surface within a preset distance traveled by the vehicle. The preset distance may be the distance from the vehicle's previous location to the current location, or the distance the vehicle will travel from the current location. The preset distance may be set in advance based on actual conditions, for example, 500 meters (m).

[0084] When the preset distance is the distance between the vehicle's past travel and its current location, the vehicle can record a point at intervals of the target distance (e.g., 25 meters) during the past travel and collect the current slope of the road surface at that point. In the above embodiment, if the preset distance is 500 meters, a total of 20 points will be recorded. After traveling the preset distance, the average of the current slopes corresponding to these 20 recorded points is calculated to obtain the average slope of the road surface within the preset distance.

[0085] When the preset distance is the distance the vehicle will travel from its current location, map data can be obtained to determine a target road section that is the preset distance the vehicle will travel. Points are recorded at intervals of the target distance, and the slope of the road surface at the points is determined. As in the above embodiment, the average slope of the slopes corresponding to the multiple points recorded within the preset distance is calculated, and this average is used as the average slope within the preset distance.

[0086] The second preset slope is smaller than the first preset slope and can be used to determine whether the vehicle is currently on a gentle slope. The second preset slope can be, for example, 15°. When the average slope of the vehicle is greater than the second preset slope by 15°, it can be determined that the vehicle is currently on a gentle slope.

[0087] It is understood that gently sloping sections are typically long, and when a vehicle is currently on a gentle slope, it will take a long time to overcome the force of gravity. This requires additional power to maintain a stable speed or acceleration. In virtual four-wheel drive mode, the vehicle can maintain four-wheel drive to ensure power output. Therefore, when the average slope is greater than the second preset slope, it can be determined that the slope parameter meets the target condition, and the vehicle is determined to meet the conditions for activating virtual four-wheel drive mode.

[0088] In the above method, the slope parameter takes into account the average slope and the current slope. Different slope thresholds are set for the average slope and the current slope to determine whether the slope parameter meets the target conditions. Based on different conditions, the determination of gentle slope conditions and steep slope conditions is flexibly realized, so that the vehicle can enter the virtual mode in gentle slope conditions or steep slope conditions, ensuring four-wheel drive driving, and comprehensively improving the vehicle's power performance under climbing conditions.

[0089] The current capacity of the power battery refers to the current state of charge (SOC) of the power battery, that is, the ratio of the remaining capacity of the battery to its rated capacity, usually expressed as a percentage, such as 50%.

[0090] As an implementation method, the voltage across the power battery can be measured, and the current charge of the power battery can be estimated based on the voltage. This application does not limit the method for obtaining the current charge of the power battery.

[0091] The first power threshold is used to determine that the power of the vehicle's power battery is low. At this time, the vehicle's power battery cannot provide greater power, that is, the vehicle's pure electric driving cannot meet the power demand. The first power threshold can be, for example, 15%.

[0092] The second power threshold is used to determine whether the power battery is at risk of low power. The second power threshold is lower than the first power threshold. The second power threshold may be, for example, 10%. When the power battery power level is lower than the second power threshold, it can be determined that the vehicle is at risk of low power and needs to be charged, i.e., the power battery has a strong charging demand.

[0093] In some embodiments, since the ambient temperature may affect the performance of the power battery, for example, the discharge capacity of the power battery may be limited when the temperature is too low or too high, the first power threshold and the second power threshold may also be affected by the temperature.

[0094] The vehicle can pre-store first and second power thresholds for different temperatures. The current ambient temperature can be obtained and the first motor threshold and second power threshold determined based on the ambient temperature. For example, if the current ambient temperature is 25 degrees Celsius (°C), the power battery has better discharge capacity at 25°C, so the power thresholds can generally be smaller. For example, the first threshold corresponding to 25°C can be 10%, and the second power threshold corresponding to 25°C can be 8%.

[0095] When the current power battery charge is less than a first charge threshold and greater than a second charge threshold, it can be determined that the power battery charge is low but there is no risk of battery depletion. At this point, it can be determined that the vehicle cannot be driven purely on electric power but does not require a strong charge. When the vehicle cannot be driven purely on electric power but does not require a strong charge, it can be determined that the vehicle requires direct engine drive and requires the first motor to generate electricity to power the rear-wheel drive motor.

[0096] In virtual four-wheel drive mode, the engine drives the wheels and drives the first motor to generate electricity. The electricity generated by the first motor can be used to power the rear-wheel drive motor, ensuring the vehicle's four-wheel drive while avoiding further consumption of the power battery. Therefore, when the current power battery charge is less than a first charge threshold and greater than a second charge threshold, it can be determined that the vehicle meets the preset conditions for activating virtual four-wheel drive mode.

[0097] It can be understood that in the virtual four-wheel drive mode, the electric energy generated by the first motor needs to be provided to the second motor for driving. The vehicle's current charging capacity is weak, so activating the virtual four-wheel drive mode requires the power of the power battery to be greater than the above-mentioned second power threshold.

[0098] In summary, when the vehicle's slope parameters meet the target conditions, it is determined that the vehicle requires greater power. When the current power of the power battery is less than the first power threshold and greater than the second power threshold, it is determined that the vehicle is currently unable to travel on pure electricity and has no strong charging demand. At this time, it can be determined that the vehicle meets the preset conditions for activating the virtual four-wheel drive mode.

[0099] In the above method, by the slope parameter meeting the target condition, it can be determined that the vehicle needs greater power. By the current power of the power battery being less than the first power threshold and greater than the second power threshold, it can be determined that the power battery is low but has no strong charging demand. The combination of the two can effectively determine that the vehicle meets the preset conditions for activating the virtual mode, thereby improving the accuracy of activating the virtual mode.

[0100] As in the above embodiment, the virtual mode may also include a virtual 4L mode. In this case, the vehicle has a greater torque demand. The following embodiment describes in detail the pre-set conditions for activating the virtual 4L mode:

[0101] In one possible implementation, determining whether the vehicle meets the preset conditions for activating the virtual mode includes: when the vehicle's slope parameter meets the target condition, the current power of the power battery is less than the third power threshold and greater than the fourth power threshold, the temperature of the vehicle's second motor is greater than the preset temperature, and the vehicle's speed is less than the first preset speed, determining that the vehicle meets the preset conditions for activating the virtual mode.

[0102] When the virtual mode is the virtual 4L mode, it can be determined whether the vehicle meets the preset conditions for activating the virtual 4L mode based on the slope parameter, the current power of the power battery, the temperature of the second motor and the vehicle speed.

[0103] The process of determining whether the slope parameter meets the target condition is similar to the above embodiment and will not be repeated here. Both the virtual four-wheel drive mode and the virtual 4L mode can ensure four-wheel drive and power output. Therefore, when the slope parameter meets the target condition, it can be determined that the vehicle also meets the conditions for activating the virtual 4L mode.

[0104] The third power threshold is less than or equal to the first power threshold. When the third power threshold is less than the first power threshold, assuming that the first power threshold is 15%, the third power threshold can be 14%, and the two are relatively close. The fourth power threshold is less than or equal to the second power threshold. When the fourth power threshold is less than the second power threshold, assuming that the second power threshold is 10%, the fourth power threshold can be 9%, and the two are relatively close.

[0105] The third and fourth power thresholds function similarly to the first and second power thresholds, determining that the vehicle's power battery is low but not at risk of being depleted. In this case, it can be determined that the vehicle cannot travel purely on electric power and does not require a strong charge. If the vehicle cannot travel purely on electric power and does not require a strong charge, it can be determined that the vehicle requires direct engine drive and the first electric motor to generate electricity for the rear-wheel drive motor.

[0106] In some embodiments, since the vehicle needs to ensure driving in multiple gears under virtual four-wheel drive, the power demand is relatively large. Therefore, in order to ensure the power performance of the vehicle in virtual four-wheel drive mode, the first power threshold in the preset conditions for activating virtual four-wheel drive is usually higher than the above-mentioned third power threshold, and the second power threshold is higher than the above-mentioned fourth power threshold, that is, the power battery needs to have a higher power in the virtual four-wheel drive mode.

[0107] In virtual 4L mode, the engine also directly drives the wheels and drives the first motor to generate electricity. The electricity generated by the first motor also supplies the rear-drive motor, ensuring the vehicle's four-wheel drive while avoiding further consumption of the power battery. Therefore, when the current battery level is less than the third power threshold and greater than the fourth power threshold, it can be determined that the vehicle meets the preset conditions for activating virtual 4L mode.

[0108] The second motor may be provided with a temperature sensor for collecting the temperature of the second motor, and the temperature of the second motor collected by the temperature sensor may be obtained.

[0109] The preset temperature is a maximum temperature at which the second motor can operate normally, which is set in advance. The preset temperature may be, for example, 120° C. When the temperature of the second motor is greater than the preset temperature, it can be determined that the second motor cannot operate normally and needs to be cooled.

[0110] It is understandable that the vehicle will be in series mode under climbing conditions. In series mode, the vehicle is driven only by the power output of the second motor. If the torque required by the vehicle is large, the second motor needs to respond alone, which may easily cause the temperature of the second motor to be too high. Therefore, the temperature of the second motor can be obtained and compared with the preset temperature.

[0111] When the temperature of the second motor exceeds a preset temperature, it can be determined that the vehicle currently needs to output high torque. At this time, the second motor is too hot to continue to handle the current high torque. If the second motor continues to output high torque, it will cause the second motor to overheat and fail. Therefore, appropriate measures need to be taken to reduce the overheating of the second motor.

[0112] In virtual 4L mode, the vehicle's engine can output greater torque to drive the wheels. At this point, the vehicle's engine can absorb at least a portion of the torque of the second motor, reducing the second motor's power output and preventing overheating. Therefore, if the temperature of the vehicle's second motor is determined to be greater than a preset temperature, it can be determined that the vehicle meets the preset conditions for activating virtual 4L mode.

[0113] The vehicle speed is the current driving speed of the vehicle. The vehicle may be provided with a wheel speed sensor for collecting the wheel speed of each wheel of the vehicle. The wheel speed of each wheel of the current vehicle can be obtained, and the current vehicle speed can be calculated based on the wheel speed of each wheel.

[0114] The first preset speed is used to determine whether the vehicle is currently in a low-speed driving state. The first preset speed may be, for example, 50 kilometers per hour (kph). If the vehicle's current speed is less than the first preset speed of 50 kph, it can be determined that the vehicle is currently in a low-speed driving state.

[0115] In the virtual 4L mode, the vehicle usually travels at a low speed to ensure the output of large torque. Therefore, when the vehicle speed is less than the first preset speed, it is determined that the vehicle meets the preset conditions for activating the virtual 4L mode.

[0116] In summary, when the slope parameter of the vehicle meets the target conditions, it is determined that the vehicle requires greater power; when the current power of the power battery is less than the third power threshold and greater than the fourth power threshold, it is determined that the vehicle is currently unable to travel on pure electricity and has no strong charging demand; when the temperature of the second motor is greater than the preset temperature and the vehicle speed is less than the first preset speed, it is determined that the vehicle currently needs to output a large torque and needs to travel at a low speed. At this time, it is determined that the vehicle meets the preset conditions for activating the virtual 4L mode.

[0117] In some embodiments, when determining that the vehicle meets the preset conditions for activating the virtual 4L mode, it is also necessary to determine whether the temperature of the second motor controller is greater than a target temperature. The target temperature is set based on the characteristics of the motor controller. When the motor controller temperature is greater than the target temperature, it can be determined that the second motor currently needs to output high torque.

[0118] It's understandable that when the second motor needs to output high torque, the second motor controller must provide higher voltage and current to the second motor, which will also increase the temperature of the second motor controller. By determining that the temperature of the second motor controller is greater than the target temperature, it can be further determined that the second motor's temperature has exceeded the preset temperature due to the high torque output. This avoids misjudgments caused by the second motor heating up due to other reasons.

[0119] In the above method, by the slope parameter meeting the target condition, it can be determined that the vehicle needs greater power, by the current power of the power battery being less than the first power threshold and greater than the second power threshold, it can be determined that the power battery is low but has no strong charging demand, and by the temperature of the second motor being greater than the preset temperature and the vehicle speed being less than the first preset speed, it is determined that the vehicle currently needs to output a large torque and needs to travel at a low speed. Combining the above parameters can effectively determine that the vehicle meets the preset conditions for activating the virtual mode, thereby improving the accuracy of activating the virtual mode.

[0120] In step 102 , if it is determined that the vehicle meets the preset conditions for activating the virtual four-wheel drive mode, the vehicle activates the virtual four-wheel drive mode. If it is determined that the vehicle meets the preset conditions for activating the virtual 4L mode, the vehicle activates the virtual 4L mode.

[0121] After the vehicle activates the virtual four-wheel drive mode or virtual 4L mode, the driving mode in the vehicle's internal execution logic will be corrected from the current driving mode, that is, the "non-forced four-wheel drive" driving mode such as economic mode, sports mode, standard mode, etc., to the four-wheel drive mode.

[0122] The target display can be, for example, a vehicle's instrument cluster or large screen. Typically, the target display in a vehicle displays the vehicle's current driving mode. When the virtual mode is activated, the driving mode displayed on the target display remains unchanged despite internal logic modifications. This prevents user distraction caused by driving mode changes.

[0123] In step 103 , when the virtual mode is activated, the vehicle controls the engine to drive the wheels and controls the engine to drive the first motor to generate electricity.

[0124] As in the above embodiment, the vehicle is typically in series mode when climbing a hill. In this mode, the engine is started and the first clutch is engaged. The engine drives the first motor to generate electricity through the first clutch. To control the engine to drive the first motor to generate electricity, the clutch must be kept engaged.

[0125] In series mode, the transmission is in neutral, and engine power cannot be transmitted to the wheels. To control the engine to drive the wheels, it is necessary to determine a target gear that matches the vehicle's current speed from 1st, 2nd, 3rd, or 4th gear, and control the transmission to shift into the target gear. At this point, the engine power is transmitted to the wheels through the clutch and the transmission's target gear, achieving engine-driven wheels.

[0126] In one possible implementation, when the virtual mode is activated, the method further includes: obtaining the current slope and current speed of the road surface on which the vehicle is located at the current position; and limiting the maximum available torque of the first motor and the second motor based on the current speed and current slope.

[0127] Because the vehicle activates virtual mode when the power battery is low, further battery discharge must be minimized. Specifically, the maximum available torque of the first and second motors can be limited to limit their power, thus preventing further battery discharge and potentially battery depletion.

[0128] It can be understood that after the vehicle controls the gearbox to shift to the target gear, the engine directly drives the wheels. At this time, the vehicle switches from series mode to direct drive mode. Therefore, the vehicle will change the actual operating mode to direct drive mode.

[0129] In some embodiments, when it is determined that the actual mode is the direct drive mode, the current slope and current speed of the road surface on which the vehicle is located at the current position can be obtained, and the maximum available torque of the first motor and the second motor can be limited based on the current speed and current slope.

[0130] It is understood that a vehicle has different torque requirements at different speeds. Generally, the higher the speed, the lower the torque requirement, while the lower the speed, the higher the torque requirement. A vehicle also has different torque requirements at different slopes. Generally, the higher the slope, the higher the torque requirement, while the lower the slope, the lower the torque requirement. Therefore, the maximum torque of the first and second motors can be limited based on vehicle speed and slope.

[0131] As an implementation method, a first correction amount can be determined based on the current vehicle speed, and a second correction amount can be determined based on the current slope. The maximum available torque of the first motor and the second motor can be subtracted from the minimum value of the first correction amount and the second correction amount to limit the maximum available torque of the first motor and the second motor.

[0132] Among them, subtracting the minimum value of the first correction amount and the second correction amount from the maximum available torque can ensure that the torque of the first motor and the second motor can meet the maximum torque requirement of the vehicle.

[0133] The lower the current vehicle speed, the greater the vehicle torque demand. In this case, the smaller the first correction amount is determined, thereby less restricting the maximum available torque of the first and second motors. The higher the current vehicle speed, the smaller the vehicle torque demand. In this case, the larger the first correction amount is determined, thereby more restricting the maximum available torque of the first and second motors.

[0134] The smaller the current slope, the smaller the vehicle's torque demand. In this case, the second correction value is determined to be larger, thereby further limiting the maximum available torque of the first and second motors. The larger the current slope, the greater the vehicle's torque demand. In this case, the smaller the second correction value is determined, thereby further limiting the maximum available torque of the first and second motors.

[0135] In the above method, when virtual mode is active, limiting the maximum available torque of the first and second motors prevents the vehicle from continuously outputting high power during hill climbing, further discharging the power battery and causing it to become depleted. The vehicle has different torque requirements at different speeds or slopes. Limiting torque based on the current speed and slope takes into account the vehicle's current torque requirement, making the limiting operation more precise and improving driving safety.

[0136] In a possible implementation, after activating the virtual mode, the method further includes: determining a target vehicle speed based on the current power level of the power battery; and limiting the vehicle speed to be less than or equal to the target vehicle speed.

[0137] The virtual mode activated above is specifically the virtual four-wheel drive mode. After the virtual four-wheel drive mode is activated, the vehicle obtains the current power of the power battery, determines the target speed based on the current power, and limits the vehicle speed to be less than or equal to the target speed.

[0138] Understandably, the vehicle's power battery is currently low. If the vehicle continues to climb at a higher speed, the motor will need to provide greater power output, which will further deplete the power battery and cause deep discharge, accelerating battery aging and potentially causing permanent damage. Therefore, it is necessary to limit the vehicle's speed.

[0139] The vehicle stores a target mapping between the current battery level and the maximum speed the vehicle can travel at that current level. After obtaining the current battery level, the target speed corresponding to the current battery level can be determined based on this mapping, and used as the maximum speed the vehicle can travel at, thereby limiting the vehicle's speed.

[0140] Table 1

[0141] Current power 15％ 14％ 13％ 12％ 11％ 10％ Maximum speed 75kph 70kph 65kph 60kph 55kph 50kph

[0142] As shown in Table 1, in the target correspondence, when the current battery level is 15%, the corresponding maximum speed is 75 kph; when the current battery level is 14%, the corresponding maximum speed is 70 kph; when the current battery level is 13%, the corresponding maximum speed is 65 kph; when the current battery level is 12%, the corresponding maximum speed is 60 kph; when the current battery level is 11%, the corresponding maximum speed is 55 kph; and when the current battery level is 10%, the corresponding maximum speed is 50 kph. In the first correspondence, as the current battery level decreases, the vehicle's maximum speed gradually decreases.

[0143] It is understandable that the lower the current power level of the power battery, the higher the risk of power battery depletion and the less power that can be released. At this time, the target vehicle speed needs to be limited to a lower level to reduce further consumption of power battery power.

[0144] In the above method, after activating the virtual mode, the target vehicle speed is determined based on the current power level of the power battery, and the vehicle speed is limited to be less than the target speed, which can effectively prevent further discharge of the power battery and improve the safety of the power battery.

[0145] In one possible implementation, after activating the second virtual mode, the method further includes: correcting the target gear of the vehicle to a preset gear, and limiting the vehicle speed to be less than or equal to a second preset speed; wherein the second preset speed is less than or equal to the first preset speed.

[0146] The activated virtual mode is specifically the virtual 4L mode. After the virtual 4L mode is activated, the vehicle will correct the target gear to a preset gear and limit the vehicle speed to be less than or equal to a second preset speed.

[0147] The target gear is the gear that the vehicle's transmission is about to be engaged in. The preset gear is a gear with greater torque. The lower the gear in the transmission, the greater the output torque. The preset gear can specifically be a lower gear in the transmission.

[0148] As in the above embodiment, the gearbox includes 1st gear, 2nd gear, 3rd gear and 4th gear, among which 1st gear is the lowest gear, and the preset gear may be 1st gear. In this case, the target gear in the vehicle needs to be corrected to 1st gear.

[0149] After the vehicle corrects the target gear to 1st gear, the vehicle will control the transmission to shift into 1st gear to ensure that the vehicle outputs greater torque in virtual four-wheel drive mode.

[0150] The second preset speed is less than or equal to the first preset speed. In the above embodiment, the first preset speed is 50 kph. When the second preset speed is less than the first preset speed, the first preset speed may be 45 kph, for example. The first preset speed and the second preset speed are close.

[0151] It is understood that the virtual four-wheel drive mode is activated when the vehicle's speed is less than a first preset speed and the vehicle is determined to be in a low-speed driving state. Therefore, the first preset speed is already very low. Therefore, in virtual four-wheel drive mode, the vehicle's speed can be directly limited based on a second preset speed that is less than or equal to the first preset speed. In this case, the limited speed is generally low. A low speed can effectively prevent further discharge of the power battery, improving the safety of the power battery.

[0152] In the above method, the target gear of the vehicle is corrected to the preset gear, which can ensure that the vehicle outputs the torque corresponding to the target gear, that is, the torque output of the vehicle is guaranteed. Limiting the vehicle speed to less than the second preset speed can effectively prevent the power battery from further discharging and improve the safety of the power battery.

[0153] In one possible implementation, after activating the virtual mode, the method also includes: prohibiting the vehicle from activating the idle pure electric four-wheel drive mode and the idle traditional four-wheel drive mode, and adjusting the activation conditions of the idle hybrid four-wheel drive mode so that the vehicle switches to the idle hybrid four-wheel drive mode when the virtual mode is activated.

[0154] The above-mentioned virtual mode can be a virtual four-wheel drive mode or a virtual 4L mode. When the vehicle activates the virtual four-wheel drive mode or the virtual 4L mode, the activation of the idling pure electric four-wheel drive mode (denoted as E-idle) and the activation of the idling traditional four-wheel drive mode (denoted as C-idle) will be prohibited.

[0155] Among them, when the vehicle is in idle pure electric four-wheel drive mode, the first motor and the second motor are both in driving state, the engine is idling in idle state, the first motor drives the front wheels of the vehicle, and the second motor drives the rear wheels of the vehicle.

[0156] In other words, idling pure electric four-wheel drive mode will further deplete the power battery. When the vehicle's battery is low, activating virtual four-wheel drive mode or virtual 4L mode will prevent further discharge of the power battery. Therefore, after activating virtual four-wheel drive mode or virtual 4L mode, idling pure electric four-wheel drive mode must be disabled.

[0157] When the vehicle is in the idling traditional four-wheel drive mode, the first motor and the second motor are both in driving state, the engine is in idling state, the engine and the first motor jointly drive the front wheels of the vehicle, and the second motor drives the rear wheels of the vehicle.

[0158] In other words, the vehicle will further consume the power battery in idling traditional four-wheel drive mode. After the vehicle activates virtual four-wheel drive mode or virtual 4L mode, it is necessary to prevent the power battery from further discharging. Therefore, after activating virtual four-wheel drive mode or virtual 4L mode, it is necessary to disable activating idling traditional four-wheel drive mode.

[0159] In H-idle hybrid 4WD mode (denoted as H-idle), the engine is idling and the second motor is driving. The engine outputs power to drive the front wheels, while the engine drives the first motor to generate electricity, and the second motor drives the rear wheels. In H-idle hybrid 4WD mode, the engine drives the first motor to generate electricity, which provides a certain degree of battery conservation. Therefore, after activating virtual mode, the vehicle can switch to H-idle hybrid 4WD mode to conserve power.

[0160] The vehicle's idle hybrid four-wheel drive mode activates when the power battery's current charge is less than the set charge value and the vehicle speed is less than the set speed value. In normal driving mode, the low charge and speed values in the idle hybrid four-wheel drive mode activation conditions mean the vehicle enters idle hybrid four-wheel drive mode later.

[0161] To facilitate the vehicle's ability to switch to the idle hybrid four-wheel drive mode promptly after activating the virtual mode, the activation conditions for the idle hybrid four-wheel drive mode can be adjusted to advance the timing of activating the idle hybrid four-wheel drive mode. Adjusting the activation conditions for the idle hybrid four-wheel drive mode can specifically include increasing the battery level and vehicle speed settings. The increased battery level and vehicle speed settings can be pre-set values.

[0162] When the power setting value and the vehicle speed setting value are increased, the vehicle can switch to the idle hybrid four-wheel drive mode at a higher power and a higher speed, which advances the timing of activating the idle hybrid four-wheel drive mode.

[0163] For example, the activation conditions for the idle hybrid four-wheel drive mode include a power setting value of 8% and a vehicle speed setting value of 15kph. The vehicle can only switch to the idle hybrid four-wheel drive mode when the power battery power is less than 8% and the vehicle speed is less than 15kph. At this time, the timing of activating the idle hybrid four-wheel drive mode is relatively late. Assuming that the pre-set increased power value is 5% and the increased speed value is 10kph, the increased power setting value is 8%+5%=13%, and the increased speed setting value is 15kph+10kph=25kph. The vehicle can switch to the idle hybrid four-wheel drive mode when the power battery power is less than 13% and the vehicle speed is less than 25kph. At this time, the timing of activating the idle hybrid four-wheel drive mode is advanced.

[0164] In some embodiments, the vehicle separately stores activation conditions for the idle hybrid four-wheel drive mode in a virtual mode. After the virtual mode is activated, the activation conditions for activating the idle hybrid four-wheel drive mode can be adjusted to the separately stored activation conditions. The separately stored activation conditions can advance the timing of activating the idle hybrid four-wheel drive mode.

[0165] In the above method, the idle pure electric four-wheel drive mode, the idle traditional four-wheel drive mode and the idle hybrid four-wheel drive mode all further consume the power of the power battery, resulting in a power battery depletion. After activating the virtual mode, the vehicle is prohibited from activating the idle pure electric four-wheel drive mode and the idle traditional four-wheel drive mode, which can effectively prevent the vehicle from switching to the idle pure electric four-wheel drive mode or the idle traditional four-wheel drive mode, resulting in a power battery depletion; adjusting the activation conditions of the idle hybrid four-wheel drive mode ensures that the vehicle can switch to the idle hybrid four-wheel drive mode in time to preserve power when the virtual mode is activated, thereby ensuring the vehicle's power performance while avoiding power battery depletion.

[0166] In some embodiments, after the virtual four-wheel drive mode is activated, the vehicle will exit the virtual four-wheel drive mode when it is determined that the slope parameter does not meet the target condition or the current power of the power battery is greater than the first power threshold, or the current power of the power battery is less than the second power threshold.

[0167] The slope parameter not meeting the target condition includes the current slope being less than a first preset slope and the average slope being less than a second preset slope.

[0168] After the vehicle exits virtual four-wheel drive mode, the vehicle cancels the operation of "correcting the current driving mode in the internal execution logic to four-wheel drive mode". At this time, the driving mode in the internal execution logic will be restored to the driving mode before the virtual four-wheel drive mode was activated. For example, it will be restored to the economy mode, sport mode, or standard mode in the above embodiment.

[0169] After the vehicle exits virtual four-wheel drive mode, the vehicle will need to limit the vehicle speed. At this time, the vehicle speed will no longer be limited. The vehicle will also cancel the operation of reaching the maximum available torque of the first and second motors. At this time, the first and second motors can output torque normally.

[0170] After the vehicle exits the virtual four-wheel drive mode, the prohibition on the vehicle activating the idle pure electric four-wheel drive mode and the idle traditional four-wheel drive mode will be cancelled, and the activation conditions of the idle hybrid four-wheel drive mode will be adjusted back to the conditions before the adjustment.

[0171] In some embodiments, after the virtual 4L mode is activated, the vehicle will exit the virtual 4L mode when it is determined that the slope parameter does not meet the target condition or the current power of the power battery is greater than the third power threshold, or the current power of the power battery is less than the fourth power threshold.

[0172] After the vehicle exits the virtual 4L mode, in addition to executing the cancellation action mentioned above after exiting the virtual four-wheel drive mode, it is also necessary to cancel the operation of correcting the target gear to the preset gear 1. At this time, the gear of the transmission can be switched according to actual conditions.

[0173] In some embodiments, the virtual 4L mode has a higher priority than the virtual four-wheel drive mode, and the virtual four-wheel drive mode has a higher priority than the normal driving mode.

[0174] In summary, in this application, when the vehicle is in a climbing condition, the vehicle determines whether the preset conditions for activating the virtual mode are met based on the slope parameter, battery power, vehicle speed, and the temperature of the second motor, and enters the virtual mode after the preset conditions are met, which can ensure the vehicle's four-wheel drive and the vehicle's dynamic performance. In virtual mode, the vehicle still displays the current driving mode to prevent mode changes from interfering with the user's driving. In virtual mode, the maximum available torque of the first and second motors is limited to prevent the vehicle from continuously outputting high power in climbing conditions, preventing further discharge of the power battery and causing power battery depletion. In addition, the slope parameter takes into account the average slope and the current slope, and different slope thresholds are set to determine whether the slope parameter meets the target conditions. Based on different conditions, the determination of gentle slope conditions and steep slope conditions is flexibly realized, so that the vehicle can enter the virtual mode in both gentle slope conditions and steep slope conditions, ensuring four-wheel drive, and comprehensively improving the vehicle's dynamic performance in climbing conditions.

[0175] Figure 3 It is a structural diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0176] For example, Figure 3 As shown, the device 300 includes:

[0177] The judgment module 301 determines the current driving mode of the vehicle and determines whether the vehicle meets the preset conditions for activating the virtual mode when it is determined that the vehicle is currently in a climbing condition;

[0178] An activation module 302 is configured to activate a virtual mode when it is determined that the vehicle meets a preset condition; wherein, in the virtual mode, the current driving mode in the execution logic within the vehicle is modified to the four-wheel drive mode, and the vehicle's target display screen displays the current driving mode;

[0179] The control module 303 is configured to control the engine to drive the wheels and the first motor to generate electricity when the virtual mode is activated, so that the vehicle is driven based on the virtual mode.

[0180] In one possible implementation, the judgment module 301 is specifically used to determine whether the vehicle meets the preset conditions for activating the virtual mode, including: when the slope parameter of the vehicle meets the target condition and the current power of the power battery is less than the first power threshold and greater than the second power threshold, determining that the vehicle meets the preset conditions for activating the virtual mode.

[0181] In a possible implementation, the device 300 further includes: a limiting module, configured to determine a target vehicle speed based on a current charge level of the power battery; and limit the vehicle speed to be less than or equal to the target vehicle speed.

[0182] In one possible implementation, the judgment module 301 is specifically used to determine that the vehicle meets the preset conditions for activating the virtual mode when the vehicle's slope parameter meets the target condition, the current power of the power battery is less than the third power threshold and greater than the fourth power threshold, the temperature of the vehicle's second motor is greater than the preset temperature, and the vehicle's speed is less than the first preset speed.

[0183] In one possible implementation, the device 300 further includes: a correction module for correcting the target gear of the vehicle to a preset gear and limiting the vehicle speed to be less than or equal to a second preset speed; wherein the second preset speed is less than or equal to the first preset speed.

[0184] In one possible implementation, the device 300 also includes: a determination module for determining that the slope parameter meets the target condition when the slope parameter is the current slope, when the current slope is greater than a first preset slope and the duration for which the current slope is greater than the first preset slope is greater than a preset duration; wherein the current slope is the slope of the road surface on which the vehicle is located at the current position; and when the slope parameter is the average slope, when the average slope is greater than a second preset slope, determining that the slope parameter meets the target condition; wherein the first preset slope is greater than the second preset slope, and the average slope is the average slope of the road surface within a preset distance traveled by the vehicle.

[0185] In one possible implementation, the device 300 also includes: a limitation module, which is used to obtain the current slope and current speed of the road surface on which the vehicle is located at the current position when the virtual mode is activated; and limit the maximum available torque of the first motor and the second motor based on the current speed and current slope.

[0186] In one possible implementation, the device 300 also includes: a prohibition module, which is used to prohibit the vehicle from activating the idle pure electric four-wheel drive mode and the idle traditional four-wheel drive mode, and adjust the activation conditions of the idle hybrid four-wheel drive mode to delay the vehicle from switching to the hybrid four-wheel drive mode.

[0187] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0188] For example, Figure 4 As shown, the vehicle 400 includes: a memory 401 and a processor 402, wherein the memory 401 stores an executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform a method for controlling a vehicle.

[0189] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a method for controlling a vehicle provided in an embodiment of the present application.

[0190] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0191] In the case of dividing each functional module into corresponding functional modules, the device may further include a judgment module, an activation module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0192] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method of controlling a vehicle, and thus can achieve the same effect as the above-mentioned implementation method.

[0193] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is used in a vehicle, the processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of relevant program codes.

[0194] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing system (DSP) and a microprocessor, and the storage module may be a memory.

[0195] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method of controlling a vehicle provided in the above embodiment.

[0196] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a method for controlling a vehicle provided in the above embodiment.

[0197] This embodiment also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a method for controlling a vehicle provided in the above embodiment.

[0198] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0199] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0200] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0201] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for controlling a vehicle, characterized in that: The method comprises: When it is determined that the vehicle is currently in a climbing condition, determining a current driving mode of the vehicle, and judging whether the vehicle meets a preset condition for activating a virtual mode; If it is determined that the vehicle meets the preset condition, activating the virtual mode; wherein, in the virtual mode, the current driving mode in the execution logic within the vehicle is corrected to the four-wheel drive mode, and the target display screen of the vehicle displays the current driving mode; When the virtual mode is activated, the engine is controlled to drive the wheels and drive the first motor to generate electricity, so that the vehicle is driven and travels based on the virtual mode.

2. The method according to claim 1, characterized in that The determining whether the vehicle meets a preset condition for activating the virtual mode includes: When the slope parameter of the vehicle meets the target condition and the current power of the power battery is less than a first power threshold and greater than a second power threshold, it is determined that the vehicle meets the preset condition for activating the virtual mode.

3. The method according to claim 2, characterized in that After activating the virtual mode, the method further includes: determining a target vehicle speed based on a current charge level of the power battery; The vehicle speed is limited to be less than or equal to the target vehicle speed.

4. The method according to claim 1, wherein The determining whether the vehicle meets a preset condition for activating the virtual mode includes: When the slope parameter of the vehicle meets the target condition, the current power of the power battery is less than the third power threshold and greater than the fourth power threshold, the temperature of the second motor of the vehicle is greater than the preset temperature and the speed of the vehicle is less than the first preset speed, it is determined that the vehicle meets the preset conditions for activating the virtual mode.

5. The method according to claim 4, characterized in that After activating the virtual mode, the method further includes: The target gear of the vehicle is corrected to a preset gear, and the speed of the vehicle is limited to be less than or equal to a second preset speed; wherein the second preset speed is less than or equal to the first preset speed.

6. The method according to claim 2 or 4, characterized in that The method further comprises: When the slope parameter is the current slope, and the current slope is greater than a first preset slope and the duration for which the current slope is greater than the first preset slope is greater than a preset duration, determining that the slope parameter meets the target condition; wherein the current slope is the slope of the road surface on which the vehicle is located at the current position; When the slope parameter is an average slope, and the average slope is greater than a second preset slope, it is determined that the slope parameter meets the target condition; wherein the first preset slope is greater than the second preset slope, and the average slope is the average slope of the road surface within the preset distance traveled by the vehicle.

7. The method according to any one of claims 1 to 5, characterized in that When the virtual mode is in an activated state, the method further includes: Obtaining the current slope and current speed of the road surface on which the vehicle is located at the current position; Based on the current vehicle speed and the current slope, the maximum available torque of the first electric machine and the second electric machine is limited.

8. The method according to any one of claims 1 to 5, characterized in that After activating the virtual mode, the method further includes: The vehicle is prohibited from activating the idle pure electric four-wheel drive mode and the idle traditional four-wheel drive mode, and the activation conditions of the idle hybrid four-wheel drive mode are adjusted so that the vehicle switches to the idle hybrid four-wheel drive mode when the virtual mode is activated.

9. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 8 is implemented.

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