Vehicle torque control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle torque control method and device, a vehicle and a storage medium, and relates to the technical field of vehicle control. The method comprises the steps that when a mode switching request of a vehicle operation mode is detected, an operation mode corresponding to the mode switching request can be obtained, and whether a rear axle torque control strategy is rear axle output torque or rear axle non-output torque is determined through the operation mode corresponding to the mode switching request. And when the control strategy of the rear axle torque is determined, the operation mode of the vehicle can be controlled to be switched to the operation mode corresponding to the mode switching request. On the basis of the scheme, idle running of the rear wheels can be avoided when the running modes of the vehicle are switched.

Description

Technical Field

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

[0002] When the vehicle switches between operating modes, the rear wheels may spin easily. This can cause the vehicle to shake, affecting its stability and making it less safe to drive.

[0003] Therefore, how to prevent the rear wheels from spinning when the vehicle switches operating modes is an urgent problem that needs to be solved. Summary of the Invention

[0004] The present application provides a vehicle torque control method, a control device, a vehicle and a storage medium, which can prevent rear wheel idling when the vehicle switches operating modes.

[0005] In a first aspect, the present application provides a vehicle torque control method, the method comprising:

[0006] When a mode switching request of a vehicle operating mode is detected, obtaining a target operating mode corresponding to the mode switching request;

[0007] Determining a control strategy for rear axle torque in the vehicle based on the target operating mode, wherein the control strategy includes rear axle output torque and rear axle no torque output;

[0008] Based on the control strategy, the vehicle operating mode is controlled to switch to the target operating mode.

[0009] In an embodiment of the present application, when a mode switch request for a vehicle operating mode is detected, the operating mode corresponding to the mode switch request (i.e., the target operating mode) can be obtained, and the control strategy for the rear axle torque is determined to be rear axle output torque or rear axle no torque output based on the operating mode corresponding to the mode switch request. When the control strategy for the rear axle torque is determined, the vehicle operating mode (i.e., the entire vehicle operating mode) can be controlled to switch to the operating mode corresponding to the mode switch request. As can be seen, when a mode switch request for a vehicle operating mode is detected, the control strategy for the rear axle no torque output can be determined based on the operating mode corresponding to the mode switch request, so that the rear wheels do not rotate, thereby avoiding the problem of rear wheel idling due to excessive rear axle torque when the vehicle switches to the operating mode corresponding to the mode switch request. Furthermore, when a mode switch request for the vehicle operating mode is detected, the control strategy for the rear axle output torque can also be determined through the operating mode corresponding to the mode switch request. Since it is ensured that the rear axle output torque is required in the operating mode corresponding to the mode switch request, it means that the rear wheels will not spin when the vehicle switches to the operating mode corresponding to the mode switch request. Therefore, the rear wheels can be avoided from spinning when the vehicle switches its operating mode. Thus, the purpose of avoiding rear wheel spinning when the vehicle switches its operating mode is achieved by using the control strategy for the rear axle torque determined through the operating mode corresponding to the mode switch request.

[0010] In conjunction with the first aspect, in certain implementations of the first aspect, the method further includes: determining a control strategy for rear axle torque in the vehicle based on the target operating mode, including:

[0011] determining a target gear state of the front axle based on the target operating mode, wherein the target gear state indicates a gear state of the front axle in the target operating mode;

[0012] Based on the target gear state and / or the current gear state of the front axle, a control strategy is determined.

[0013] In an embodiment of the present application, when the target operating mode corresponding to the mode switching request is obtained, the control strategy of the rear axle torque can be jointly determined by the current gear state of the front axle and / or the gear state of the front axle corresponding to the target operating mode. By taking into account the influence of the current gear state of the front axle and / or the gear state of the front axle corresponding to the target operating mode on the control strategy of the rear axle torque, the accuracy of the determined rear axle torque control strategy can be improved.

[0014] The target operating mode includes any one of a power split mode, a pure electric mode and a series mode.

[0015] In combination with the first aspect and the above implementations, in certain implementations of the first aspect, determining the control strategy based on the target gear state and / or the current gear state of the front axle includes:

[0016] determining whether the target gear state and / or the current gear state indicates a front axle gear shift;

[0017] determining a control strategy based on target parameters corresponding to the target operating mode when the target gear state and / or the current gear state indicate a front axle gear shift;

[0018] When the target gear state and the current gear state indicate that the front axle does not shift gears, the control strategy is determined to output torque to the rear axle.

[0019] In an embodiment of the present application, based on the current gear state of the front axle and / or the gear state of the front axle corresponding to the target operating mode, parameters corresponding to the target operating mode are also introduced, and the control strategy of the rear axle torque is determined by the parameters corresponding to the target operating mode. On the basis of considering the influence of the current gear state of the front axle and the gear state of the front axle corresponding to the target operating mode on the control strategy of the rear axle torque, the influence of the parameters corresponding to the target operating mode on the control strategy of the rear axle torque is also considered, thereby further improving the accuracy of the determined control strategy of the rear axle torque.

[0020] In combination with the first aspect and the above implementations, in some implementations of the first aspect, when the target operating mode is the power split mode, the target parameter includes at least one of a current state of a clutch in the vehicle and a target gear corresponding to the target operating mode;

[0021] The control strategy is determined based on the target parameters corresponding to the target operating mode, including:

[0022] When the target gear is different from the current gear of the front axle and / or the current state of the clutch is open, the control strategy is determined as not outputting torque to the rear axle.

[0023] In an embodiment of the present application, when the target operating mode is power-split mode, a rear axle torque control strategy can be determined by combining the current clutch state and at least one of the target gear positions corresponding to the target operating mode to accurately determine whether rear wheel spin occurs when the vehicle operating mode is switched to power-split mode. Furthermore, if rear wheel spin is determined to occur when the vehicle operating mode is switched to power-split mode, the rear axle torque control strategy can be determined to not output torque to the rear axle, thereby preventing rear wheel spin when the vehicle operating mode is switched to power-split mode.

[0024] In combination with the first aspect and the above-mentioned implementations, in certain implementations of the first aspect, when the target operating mode is the pure electric mode, the target parameter includes at least one of a current state of the engine, a connection state between a synchronizer in the vehicle and the engine in the vehicle, and a target gear corresponding to the target operating mode; and determining the control strategy based on the target parameter corresponding to the target operating mode includes:

[0025] When the current state of the engine is non-idling, and / or the connection state between the synchronizer and the engine is disconnected, and / or the target gear is different from the current gear of the front axle, determining the control strategy to output no torque to the rear axle;

[0026] When the current state of the engine is idle, if the connection state between the synchronizer and the engine is disconnected, and / or the target gear is different from the current gear of the front axle, the control strategy is determined to be that the rear axle does not output torque.

[0027] In an embodiment of the present application, when the target operating mode is pure electric mode, a rear axle torque control strategy can be determined by combining at least one of the current engine state, the state of the synchronizer-to-engine connection, and the target gear corresponding to the target operating mode to accurately determine whether rear wheel spin occurs when the vehicle operating mode is switched to pure electric mode. Furthermore, if rear wheel spin is determined to occur when the vehicle operating mode is switched to pure electric mode, the rear axle torque control strategy can be determined to not output torque to the rear axle, thereby preventing rear wheel spin when the vehicle operating mode is switched to pure electric mode.

[0028] In combination with the first aspect and the above implementations, in certain implementations of the first aspect, when the target operating mode is the series mode, the target parameter includes at least one of a current state of the engine, a current operating mode of the vehicle, and a target gear corresponding to the target operating mode; and determining the control strategy based on the target parameter corresponding to the target operating mode includes:

[0029] When the current state of the engine is non-idling, and / or the current operating mode is the power split mode and the target gear is different from the current gear of the front axle, the control strategy is determined to be that the rear axle does not output torque.

[0030] In an embodiment of the present application, when the target operating mode is series mode, a rear axle torque control strategy can be determined by combining at least one of the current engine state, the current vehicle operating mode, and the target gear corresponding to the target operating mode to accurately determine whether rear wheel spin will occur when the vehicle operating mode is switched to series mode. Furthermore, if rear wheel spin is determined to occur when the vehicle operating mode is switched to series mode, the rear axle torque control strategy can be determined to not output torque to the rear axle, thereby preventing rear wheel spin when the vehicle operating mode is switched to series mode.

[0031] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the method further includes:

[0032] Get the current speed of the vehicle;

[0033] In the case where a mode switching request of a vehicle operating mode is detected, obtaining a target operating mode corresponding to the mode switching request includes:

[0034] When a mode switching request is detected and the current vehicle speed is less than or equal to a preset vehicle speed threshold, a target operating mode is acquired.

[0035] In an embodiment of the present application, when a mode switch request for a vehicle operating mode is detected, the operating mode corresponding to the mode switch request is not directly determined. Instead, it is also necessary to combine the current speed of the vehicle to see whether the vehicle is in a state that will cause the rear wheels to idle. When the current speed of the vehicle is relatively low, it indicates that the vehicle may be in a state that will cause the rear wheels to idle. Only then is the operating mode corresponding to the mode switch request obtained. This avoids the possibility that the rear axle torque control strategy is determined when the vehicle is not in a state that will cause the rear wheels to idle, thereby improving the accuracy of the determined rear axle torque control strategy.

[0036] In a second aspect, the present application provides a vehicle torque control device, the device comprising:

[0037] a determination module, configured to, upon detecting a mode switching request for a vehicle operating mode, obtain a target operating mode corresponding to the mode switching request;

[0038] a processing module for determining a control strategy for rear axle torque in the vehicle based on a target operating mode, wherein the control strategy includes rear axle output torque and rear axle no torque output;

[0039] The control module is used to control the vehicle operation mode to switch to the target operation mode based on the control strategy.

[0040] In a third aspect, the present application provides a vehicle 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.

[0041] In a fourth aspect, the present application provides a computer program product, which includes: computer program code, which, when running on a computer, enables the computer to execute the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0042] In a fifth aspect, the present application provides a computer-readable storage medium, 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

[0043] Figure 1 This is a scenario diagram of the vehicle torque control method provided in an embodiment of the present application.

[0044] Figure 2 It is a flow chart of a vehicle torque control method provided in an embodiment of the present application.

[0045] Figure 3 This is another flow chart of a vehicle torque control method provided in an embodiment of the present application.

[0046] Figure 4 It is a structural schematic diagram of the vehicle torque control device provided in an embodiment of the present application.

[0047] Figure 5 It is a schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] 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.

[0049] 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.

[0050] Figure 1 This is a scenario diagram of the vehicle torque control method provided in an embodiment of the present application.

[0051] For example, Figure 1 As shown, Figure 1 The vehicle 110 includes front wheels 120 and rear wheels 130. The vehicle 110 may be a hybrid vehicle. The vehicle 110 includes a front axle and a rear axle, and the front axle and / or the rear axle can output torque to provide driving force for the vehicle 110.

[0052] The operating mode of the vehicle 110 may include but is not limited to: one or more of a direct drive mode, a pure electric mode (Electric Vehicle, EV), a power split mode and a series mode.

[0053] Direct-drive modes include direct-drive front-wheel drive mode and direct-drive all-wheel drive mode. Specifically, in direct-drive front-wheel drive mode, the engine and front-wheel drive motor jointly output torque. In direct-drive all-wheel drive mode, the engine, front-wheel drive motor, and rear-wheel drive motor jointly output torque, with the engine and front-wheel drive motor delivering front axle torque and the rear-wheel drive motor delivering rear axle torque.

[0054] Pure electric modes include pure electric front-wheel drive mode, pure electric rear-wheel drive mode, and pure electric four-wheel drive mode. Specifically, in pure electric front-wheel drive mode, only the front-wheel drive motor outputs torque, while the rear-wheel drive motor does not output torque; in pure electric rear-wheel drive mode, only the rear-wheel drive motor outputs torque, while the front-wheel drive motor does not output torque; in pure electric four-wheel drive mode, both the front-wheel drive motor and the rear-wheel drive motor output torque.

[0055] Power split mode primarily uses the vehicle's planetary gear mechanism and other devices to split the engine's output power into two parts. One part is used directly to drive the vehicle's wheels, providing mechanical power; the other part is used to drive the vehicle's generator, converting mechanical energy into electrical energy. This electrical energy can then be used to drive the electric motor, which in turn assists in driving the wheels, or to charge the vehicle's power battery.

[0056] In series mode, the engine does not drive the vehicle but generates electricity for the front motor. The engine runs to drive the front motor to generate electricity, and the electricity generated by the front motor can be used to charge the vehicle's power battery.

[0057] Currently, when the vehicle's operating mode is switched, torque may be output only through the rear axle. If torque is output only through the rear axle, when the user steps on the accelerator pedal in the vehicle, the vehicle's rear wheels may spin (also known as "rear wheel slip" or "rear wheel digging"). Rear wheel spin can mean that when the user steps on the accelerator pedal in the vehicle, the front wheels of the vehicle do not turn, but only the rear wheels turn. If the rear wheels spin when the vehicle switches operating modes, it may cause the vehicle to shake, affecting the vehicle's stability, which is not conducive to the vehicle's driving safety and further affects the life safety of the user in the vehicle.

[0058] In view of this, the present application proposes a vehicle torque control method, control device, vehicle, and storage medium. Through embodiments of the present application, upon detecting a mode switch request for a vehicle operating mode, the operating mode corresponding to the mode switch request can be obtained, and the rear axle torque control strategy, whether to output rear axle torque or not output rear axle torque, can be determined based on the operating mode corresponding to the mode switch request. Upon determining the rear axle torque control strategy, the vehicle operating mode can be controlled to switch to the operating mode corresponding to the mode switch request, thereby preventing rear wheel spin when the vehicle switches operating modes.

[0059] The following combination Figures 2 to 3 The vehicle torque control method provided in the embodiment of the present application is described in detail.

[0060] Figure 2 This is a flow chart of a vehicle torque control method provided by an embodiment of the present application. Figure 1 The vehicle 110 in the vehicle 110 is executed, or the vehicle control unit (VCU) in the vehicle 110 is executed.

[0061] For example, Figure 2 As shown, the method 200 includes the following implementation process:

[0062] S210 : When a mode switching request for a vehicle operation mode is detected, a target operation mode corresponding to the mode switching request is acquired.

[0063] For example, while the vehicle is in operation, the vehicle operating mode can be automatically switched appropriately based on the vehicle's driving needs. If the vehicle operating mode needs to be switched, a mode switch request corresponding to the vehicle operating mode can be triggered. When the mode switch request for the vehicle operating mode is detected, the vehicle operating mode is switched based on the mode switch request.

[0064] In addition, in order to avoid the problem of vehicle rear wheels spinning when the vehicle operating mode is switched, when a mode switching request of the vehicle operating mode is detected, the operating mode corresponding to the mode switching request of the vehicle operating mode (which may be called the "target operating mode") can be obtained first.

[0065] The target operating mode corresponding to the mode switching request may include any one of a power split mode, a pure electric mode, and a series mode. Furthermore, the mode switching request may include the target operating mode to which the vehicle is to switch. That is, upon receiving the mode switching request, the target operating mode corresponding to the mode switching request can be obtained.

[0066] Optionally, the current speed of the vehicle is obtained; when a mode switching request for the vehicle operating mode is detected, the target operating mode corresponding to the mode switching request is obtained, including: when a mode switching request is detected and the current vehicle speed is less than or equal to a preset vehicle speed threshold, the target operating mode is obtained.

[0067] The preset vehicle speed threshold may represent the vehicle speed when the vehicle is static (ie, stationary), for example, 0 km / h (kilometers per hour).

[0068] For example, when the vehicle is running, the real-time speed of the vehicle (which may be called the "current speed") can be obtained. When a mode switch request for the vehicle operating mode is detected, the current speed of the vehicle can be combined to determine whether rear wheel spin will occur when the vehicle operating mode is switched to the target operating mode.

[0069] When a mode switch request is detected, if the vehicle's current speed exceeds the preset speed threshold, the vehicle is in motion, meaning its position is changing in real time. To ensure sufficient driving force for forward or reverse movement, the front axle is not restricted from outputting torque; instead, the front axle must deliver the required torque to ensure normal vehicle operation. Therefore, the situation of rear-wheel spin, caused by a lack of front axle torque and only rear-wheel torque output, does not occur.

[0070] If, upon detecting a mode switch request, the vehicle's current speed is ≤ a preset speed threshold, the vehicle is currently static, meaning its position remains unchanged. In this case, when the vehicle switches modes, the front axle is restricted from outputting torque, transferring the front axle's output torque to the rear wheels. This can result in rear wheel spin, with the front axle outputting no torque and only the rear wheels receiving torque, leading to rear wheel spin. Therefore, to avoid rear wheel spin during a mode switch, the target operating mode corresponding to the mode switch request can be retrieved when a mode switch request is detected and the vehicle's current speed is ≤ a preset speed threshold.

[0071] Among them, the current speed of the vehicle can be obtained by collecting at least one of the vehicle speed sensor (VSS), inertial measurement unit (IMU), wheel speed sensor (Wheel Speed Sensor), radar speed measurement, etc. in the vehicle, and this embodiment of the application is not limited to this.

[0072] In an embodiment of the present application, when a mode switch request for a vehicle operating mode is detected, the operating mode corresponding to the mode switch request is not directly determined. Instead, it is also necessary to combine the current speed of the vehicle to see whether the vehicle is in a state that will cause the rear wheels to idle. When the current speed of the vehicle is relatively low, it indicates that the vehicle may be in a state that will cause the rear wheels to idle. Only then is the operating mode corresponding to the mode switch request obtained. This avoids the possibility that the rear axle torque control strategy is determined when the vehicle is not in a state that will cause the rear wheels to idle, thereby improving the accuracy of the determined rear axle torque control strategy.

[0073] Optionally, when the vehicle is running, the current logical gear of the vehicle can be obtained at the same time as the current vehicle speed. When the current logical gear of the vehicle is obtained, it can be determined whether the current logical gear of the vehicle is a forward gear (Drive, D) or a reverse gear (Reverse, R).

[0074] When the vehicle's current speed is less than or equal to the preset speed threshold, and the vehicle's current logical gear is D or R, the vehicle is currently stationary and needs to move forward or backward. At this point, when the vehicle switches modes, the front axle is restricted from outputting torque, and the output torque of the front axle is transferred to the rear wheels. This results in the front axle not outputting torque, and only the rear wheels outputting torque, causing the rear wheels to spin. Therefore, to avoid the problem of the vehicle's rear wheels spinning when the vehicle's operating mode is switched, the target operating mode corresponding to the mode switch request can be obtained when a mode switch request for the vehicle's operating mode is detected, the vehicle's current speed is less than or equal to the preset speed threshold, and the vehicle's current logical gear is D or R.

[0075] The logical gear of the vehicle may refer to a gear state determined by a certain logical algorithm, not just a physical mechanical gear, for example, at least one of D gear, R gear, Park gear (P), and Neutral gear (N).

[0076] Furthermore, when obtaining the target operating mode corresponding to the mode switch request, it can also be determined whether a driving mode switch request has been detected. If no driving mode switch request has been detected, the target operating mode corresponding to the mode switch request can be determined when the current vehicle speed is less than or equal to a preset speed threshold. In other words, the target operating mode is obtained based on the current vehicle speed.

[0077] If a driving mode switch request is detected, the current driving mode of the vehicle and the target driving mode corresponding to the driving mode switch request can be obtained when the vehicle's current speed is ≤ a preset speed threshold and the vehicle's logical gear is in D or R. The target operating mode corresponding to the mode switch request is obtained using the vehicle's current driving mode and the target driving mode. By associating the target operating mode with the vehicle's current driving mode and the target driving mode, the obtained target operating mode can be made more consistent with the vehicle's driving requirements, resulting in a more accurate determination of the target operating mode. This, in turn, allows for more accurate switching of the vehicle's operating modes, facilitating normal vehicle operation.

[0078] Among them, the vehicle's driving mode may include but is not limited to at least one of Four-Wheel Drive Low (4L), Four-Wheel Drive High (4H), Snow Mode, Mud Mode, Sand Mode, Economy Mode (Economy, Eco), Standard Mode (Normal), Sport Mode, and Electronic Shift-On-the-Fly for Snow (Snow-ESOF).

[0079] The mode switching request for obtaining the vehicle operating mode by comparing the current driving mode of the vehicle with the target driving mode may include at least one of the following methods:

[0080] When the vehicle's current driving mode is not 4L, but the target driving mode is 4L, the mode switch request may indicate a request to switch the target operating mode to power-split mode or electric-only mode. Alternatively, when the vehicle's current driving mode is 4L and the target driving mode is 4L, the mode switch request may indicate a request to switch the target operating mode to power-split mode or electric-only mode. It can be understood that regardless of whether the vehicle's current driving mode is 4L, as long as the target driving mode is 4L, the mode switch request may indicate a request to switch the target operating mode to power-split mode or electric-only mode.

[0081] When the vehicle's current driving mode is 4L, but the target driving mode is any one of 4H, Snow Mode, Mud Mode, or Sand (represented as "4H / Snow / Mud / Sand"), the mode switch request may indicate a request to switch the target operating mode to power-split mode, electric-only mode, or series mode. It should be understood that 4H / Snow / Mud / Sand may be collectively referred to as "all-terrain driving mode" or "off-road driving mode."

[0082] When the vehicle's current driving mode is 4L but the target driving mode is Snow-ESOF, the mode switch request may indicate a request to switch the target operating mode to power split mode or pure electric mode. Alternatively, when the vehicle's current driving mode is not 4L but the target driving mode is Snow-ESOF, the mode switch request may indicate a request to switch the target operating mode to power split mode or pure electric mode. It can be understood that regardless of whether the vehicle's current driving mode is 4L, as long as the target driving mode is Snow-ESOF, the mode switch request may indicate a request to switch the target operating mode to power split mode or pure electric mode.

[0083] When the vehicle's current driving mode is 4L, but the target driving mode is any of Eco, Normal, or Sport (represented as "Eco / Normal / Sport"), the mode switch request may indicate a request to switch the target operating mode to power-split mode or series mode. It should be understood that Eco / Normal / Sport may be collectively referred to as "non-off-road driving modes."

[0084] When the current driving mode of the vehicle is Eco / Normal / Sport, but the target driving mode is 4H / Snow / Mud / Sand, the mode switching request may indicate a request to switch the target operating mode to the power split mode or the pure electric mode.

[0085] When the current driving mode of the vehicle is 4H / Snow / Mud / Sand and the target driving mode is 4H / Snow / Mud / Sand, the mode switching request may indicate a request to switch the target operating mode to the power split mode or the pure electric mode.

[0086] S220: Determine a control strategy for the rear axle torque of the vehicle based on the target operating mode.

[0087] The control strategy of the rear axle torque may include rear axle output torque and rear axle no torque output.

[0088] For example, when a target operating mode corresponding to the mode switch request is obtained, a control strategy for the rear axle torque of the vehicle can be determined based on the target operating mode. For example, the control strategy for the rear axle torque determined based on the target operating mode is the rear axle output torque, or the control strategy for the rear axle torque determined based on the target operating mode is the rear axle output torque.

[0089] In one possible implementation, the above-mentioned control strategy for determining the rear axle torque in the vehicle based on the target operating mode includes: determining the target gear state of the front axle based on the target operating mode, wherein the target gear state indicates the gear state of the front axle under the target operating mode; and determining the control strategy based on the target gear state and / or the current gear state of the front axle.

[0090] The gear status may indicate whether the front axle is shifting gears or not.

[0091] For example, when a mode switch request for a vehicle operating mode is detected, the current gear state of the front axle of the vehicle (i.e., the real-time gear state) can also be obtained in real time. Furthermore, based on the target operating mode corresponding to the mode switch request, the gear state of the front axle corresponding to the target operating mode (which may be referred to as the "target gear state") can be determined.

[0092] When the current gear state and the target gear state of the front axle are acquired, a control strategy for the rear axle torque may be determined based on the current gear state and / or the target gear state of the front axle.

[0093] In an embodiment of the present application, when the target operating mode corresponding to the mode switching request is obtained, the control strategy of the rear axle torque can be jointly determined by the current gear state of the front axle and / or the gear state of the front axle corresponding to the target operating mode. By taking into account the influence of the current gear state of the front axle and / or the gear state of the front axle corresponding to the target operating mode on the control strategy of the rear axle torque, the accuracy of the determined rear axle torque control strategy can be improved.

[0094] Furthermore, the above-mentioned control strategy is determined based on the target gear state and / or the current gear state of the front axle, including: determining whether the target gear state and / or the current gear state indicates that the front axle is shifting; when the target gear state and / or the current gear state indicate that the front axle is shifting, determining the control strategy based on the target parameters corresponding to the target operating mode; when the target gear state and the current gear state indicate that the front axle is not shifting, determining the control strategy to output torque to the rear axle.

[0095] For example, when determining the control strategy for the rear axle torque based on the current gear state and / or target gear state of the front axle, it is possible to first determine whether the current gear state of the front axle indicates a front axle shift, and / or whether the target gear state indicates a front axle shift.

[0096] When the current gear state of the front axle indicates that the front axle does not shift gears, and the target gear state indicates that the front axle does not shift gears, it means that the vehicle is mainly driven by the drive motor in the vehicle, and the rear wheels generally do not have excessive torque and cause the rear wheels to spin. Therefore, the control strategy for the rear axle torque can be determined to be the rear axle output torque.

[0097] When the current gear state of the front axle indicates a front axle gear shift, and / or the target gear state indicates a front axle gear shift, the vehicle still relies on the engine for propulsion, which may result in excessive torque at the rear wheels and cause rear wheel spin. To accurately determine whether rear wheel spin is occurring, target parameters corresponding to a target operating mode may be obtained when the current gear state of the front axle indicates a front axle gear shift, and / or the target gear state indicates a front axle gear shift. A control strategy for rear axle torque may be determined based on the target parameters corresponding to the target operating mode.

[0098] For example, the target parameters corresponding to the target operating mode can be determined by the target operating mode. The target parameters corresponding to different target operating modes may be different or the same. This is specifically described in the following embodiments:

[0099] When the target operating mode is the power-split mode, the corresponding target parameter may be at least one of the current state of the vehicle's clutch and the target gear position corresponding to the target operating mode. The current state of the clutch may include an open state or a closed state. Furthermore, the target gear positions corresponding to different target operating modes may be the same or different.

[0100] When the target operating mode is pure electric mode, the corresponding target parameter may be at least one of the current state of the engine, the connection state of the synchronizer and the engine in the vehicle, and the target gear corresponding to the target operating mode. The current state of the engine may include an idle state or a non-idle state. The idle state may indicate that the engine does not need to output power to drive the vehicle and only needs to overcome internal frictional resistance to maintain its own operation. The non-idle state may indicate that the engine needs to output power to drive the vehicle. Furthermore, the connection state of the synchronizer and the engine may include an engaged state and a disengaged state. The engaged state may indicate that the synchronizer is connected to the drive motor, while the disengaged state may indicate that the synchronizer and the drive motor are not connected.

[0101] When the target operating mode is the series mode, the corresponding target parameter may be at least one of the current state of the engine, the current operating mode of the vehicle, and the target gear corresponding to the target operating mode.

[0102] In an embodiment of the present application, based on the current gear state of the front axle and / or the gear state of the front axle corresponding to the target operating mode, parameters corresponding to the target operating mode are also introduced, and the control strategy of the rear axle torque is determined by the parameters corresponding to the target operating mode. On the basis of considering the influence of the current gear state of the front axle and the gear state of the front axle corresponding to the target operating mode on the control strategy of the rear axle torque, the influence of the parameters corresponding to the target operating mode on the control strategy of the rear axle torque is also considered, thereby further improving the accuracy of the determined control strategy of the rear axle torque.

[0103] Furthermore, when determining the target parameters corresponding to the target operating mode based on the target operating mode, it may also be determined whether a request to switch the vehicle's driving mode has been detected. If no request to switch the vehicle's driving mode has been detected, the target parameters corresponding to the target operating mode may be determined based on the target operating mode when the vehicle's current speed is less than or equal to a preset speed threshold.

[0104] If a request to switch the vehicle's driving mode is detected, the target driving mode corresponding to the vehicle's current driving mode and the driving mode switch request can be obtained when the vehicle's current speed is ≤ a preset speed threshold and the vehicle's logical gear is in D or R. The target operating mode is first determined based on the vehicle's current driving mode and the target driving mode, and then the target parameters corresponding to the target operating mode are determined based on the vehicle's current driving mode, the target driving mode, and the target operating mode. By associating the target parameters corresponding to the target operating mode with the vehicle's current driving mode and the target driving mode with the target operating mode, the target parameters corresponding to the determined target operating mode can be made more consistent with the vehicle's driving requirements, thereby making the determined target parameters more accurate, and thus making the switching of the vehicle's operating mode more accurate, which is beneficial to the normal driving of the vehicle.

[0105] Acquiring the target parameter corresponding to the target operating mode through the current driving mode, the target driving mode, and the target operating mode of the vehicle may include at least one of the following methods:

[0106] When the current driving mode of the vehicle is not 4L, but the target driving mode is 4L, if the target operating mode is the power split mode, the corresponding target parameter may be at least one of the current state of the clutch and the target gear corresponding to the target operating mode; or, if the target operating mode is the pure electric mode, the corresponding target parameter may be at least one of the current state of the engine, the connection state of the synchronizer and the engine, and the target gear corresponding to the target operating mode.

[0107] When the current driving mode of the vehicle is 4L, the target driving mode is 4L, and the target operating mode is the power split mode, the corresponding target parameter can be at least one of the current state of the clutch and the target gear corresponding to the target operating mode; or, if the target operating mode is the pure electric mode, the corresponding target parameter can be at least one of the current state of the engine, the connection state of the synchronizer and the engine, and the target gear corresponding to the target operating mode.

[0108] When the current driving mode of the vehicle is 4L, but the target driving mode is 4H / Snow / Mud / Sand, if the target operating mode is the power split mode, the corresponding target parameter may be at least one of the current state of the clutch and the target gear corresponding to the target operating mode; or, if the target operating mode is the pure electric mode, the corresponding target parameter may be at least one of the current state of the engine, the connection state of the synchronizer and the engine, and the target gear corresponding to the target operating mode; or, if the target operating mode is the series mode, the corresponding target parameter may be the current state of the engine.

[0109] When the current driving mode of the vehicle is 4L, but the target driving mode is Snow-ESOF, if the target operating mode is the power split mode, the corresponding target parameter may be at least one of the current state of the clutch and the target gear corresponding to the target operating mode; or, if the target operating mode is the pure electric mode, the corresponding target parameter may be at least one of the connection state between the synchronizer and the engine and the target gear corresponding to the target operating mode.

[0110] When the vehicle's current driving mode is 4L but the target driving mode is Eco / Normal / Sport, if the target operating mode is the power split mode, the corresponding target parameter may be at least one of the current state of the clutch and the target gear corresponding to the target operating mode; or, if the target operating mode is the series mode, the corresponding target parameter may be at least one of the vehicle's current operating mode and the target gear corresponding to the target operating mode.

[0111] When the vehicle's current driving mode is Eco / Normal / Sport, but the target driving mode is 4H / Snow / Mud / Sand, if the target operating mode is the power split mode, the corresponding target parameter may be at least one of the current state of the clutch and the target gear corresponding to the target operating mode; or, if the target operating mode is the pure electric mode, the corresponding target parameter may be at least one of the current state of the engine, the connection state of the synchronizer and the engine, and the target gear corresponding to the target operating mode.

[0112] When the current driving mode of the vehicle is 4H / Snow / Mud / Sand and the target driving mode is 4H / Snow / Mud / Sand, if the target operating mode is the power split mode, the corresponding target parameter may be at least one of the current state of the clutch and the target gear corresponding to the target operating mode; or, if the target operating mode is the pure electric mode, the corresponding target parameter may be at least one of the current state of the engine, the connection state of the synchronizer and the engine, and the target gear corresponding to the target operating mode.

[0113] When the current driving mode of the vehicle is not 4L, but the target driving mode is Snow-ESOF, if the target operating mode is the power split mode, the corresponding target parameter may be at least one of the current state of the clutch and the target gear corresponding to the target operating mode; or, if the target operating mode is the pure electric mode, the corresponding target parameter may be at least one of the connection state between the synchronizer and the engine and the target gear corresponding to the target operating mode.

[0114] Optionally, when the target operating mode is the power split mode, the target parameters include at least one of the current state of the clutch in the vehicle and the target gear corresponding to the target operating mode; the above-mentioned control strategy is determined based on the target parameters corresponding to the target operating mode, including: when the target gear is different from the current gear of the front axle, and / or the current state of the clutch is in the open state, determining the control strategy as the rear axle does not output torque.

[0115] For example, when the target operating mode of the vehicle is the power-split mode, the corresponding target parameter may be at least one of the current state of the clutch and the target gear corresponding to the target operating mode. The control strategy for the rear axle torque is determined based on at least one of the current state of the clutch and the target gear corresponding to the target operating mode.

[0116] When the current state of the clutch is open (which can be recorded as "Open"), and / or the target gear is different from the current gear of the front axle, it means that the vehicle operating mode is switching to the power split mode. In order to avoid rear wheel spinning, the control strategy for the rear axle torque can be determined as no torque output by the rear axle.

[0117] When the current state of the clutch changes from an open state to a closed state (which can be recorded as "non-Open") and the target gear and the current gear of the front axle change from different to the same, and the time for the latest change of the current state of the clutch and the front axle gear is greater than or equal to the preset time, it means that the vehicle operation mode has been successfully switched to the power split mode. At this time, there is no need to limit the rear axle torque, and the rear axle torque is controlled to be output normally to ensure normal driving of the vehicle.

[0118] The latest change time between the current clutch state and the front axle gear position is greater than or equal to the preset time period. This can be understood as obtaining the latest time between the change time of the current clutch state (e.g., from Open to non-Open) and the change time of the front axle gear position (e.g., from the current gear position to the target gear position), and starting timing from this latest time until the timing duration is greater than or equal to the preset time period. By ensuring that the timing duration is greater than or equal to the preset time period, hysteresis time can be provided for the recovery of the rear axle torque, making the change of the rear axle torque more stable, thereby facilitating smooth operation of the vehicle.

[0119] For example, if the moment when the current state of the clutch changes is the latest moment, then timing may be started from the moment when the current state of the clutch changes until the timing duration is greater than or equal to the preset duration.

[0120] For example, if the front axle gear change moment is the latest moment, then timing may be started from the front axle gear change moment until the timing duration is greater than or equal to the preset duration.

[0121] For example, if the moment when the current state of the clutch changes is the same as the moment when the front axle gear changes, timing can be started from the moment when the front axle gear changes or the moment when the current state of the clutch changes, until the timing duration is greater than or equal to the preset duration.

[0122] It should be understood that the preset duration can be set according to the actual needs of vehicle operation, for example, 0.2 seconds, 0.3 seconds, etc., and the embodiment of the present application does not limit this.

[0123] In an embodiment of the present application, when the target operating mode is power-split mode, a rear axle torque control strategy can be determined by combining the current clutch state and at least one of the target gear positions corresponding to the target operating mode to accurately determine whether rear wheel spin occurs when the vehicle operating mode is switched to power-split mode. Furthermore, if rear wheel spin is determined to occur when the vehicle operating mode is switched to power-split mode, the rear axle torque control strategy can be determined to not output torque to the rear axle, thereby preventing rear wheel spin when the vehicle operating mode is switched to power-split mode.

[0124] Optionally, when the target operating mode is the pure electric mode, the target parameters include at least one of the current state of the engine, the connection state between the synchronizer in the vehicle and the engine in the vehicle, and the target gear corresponding to the target operating mode; the above-mentioned control strategy is determined based on the target parameters corresponding to the target operating mode, including: when the current state of the engine is a non-idle state, and / or the connection state between the synchronizer and the engine is a separated state, and / or the target gear is different from the current gear of the front axle, determining that the control strategy is that the rear axle does not output torque; when the current state of the engine is an idle state, if the connection state between the synchronizer and the engine is a separated state, and / or the target gear is different from the current gear of the front axle, determining that the control strategy is that the rear axle does not output torque.

[0125] For example, when the target operating mode of the vehicle is the pure electric mode, the corresponding target parameter may be at least one of the current state of the engine, the connection state of the synchronizer and the engine, and the target gear corresponding to the target operating mode. The control strategy for the rear axle torque is determined based on at least one of the current state of the engine, the connection state of the synchronizer and the engine, and the target gear corresponding to the target operating mode.

[0126] When the current state of the engine is non-idling, and / or the connection state between the synchronizer and the engine is disengaged, and / or the target gear is different from the current gear of the front axle, it means that the engine is switching to pure electric mode. In order to avoid rear wheel spinning, the control strategy for the rear axle torque can be determined as no torque output by the rear axle.

[0127] When the current state of the engine is idle, if the connection state between the synchronizer and the engine is disconnected, and / or the target gear is different from the current gear of the front axle, it can also indicate that the vehicle operation mode is switching to the power split mode. In order to avoid rear wheel spinning, the control strategy for the rear axle torque can be determined as no torque output by the rear axle.

[0128] When the connection state between the synchronizer and the engine changes from a separated state to a coupled state, and the target gear and the current gear of the front axle change from different to the same, and the duration of the latest change between the connection state between the synchronizer and the engine and the front axle gear is greater than or equal to the preset duration, it means that the vehicle operation mode has been successfully switched to the power split mode. At this time, there is no need to limit the rear axle torque, and the rear axle torque is controlled to be output normally to ensure normal driving of the vehicle.

[0129] The latest change in the synchronizer-to-engine connection state and the front axle gear position between the synchronizer and the engine is greater than or equal to the preset time period. This can be understood as determining the latest of the change in the synchronizer-to-engine connection state (e.g., from a disengaged state to an engaged state) and the change in the front axle gear position (e.g., from the current gear position to the target gear position), and starting timing from this latest time until the timing duration is greater than or equal to the preset time period. By ensuring that the timing duration is greater than or equal to the preset time period, hysteresis time can be provided for the recovery of rear axle torque, thereby making the change in rear axle torque more stable, thereby facilitating smoother operation of the vehicle.

[0130] For example, if the change time of the connection state between the synchronizer and the engine is the latest time, then the timing may start from the change time of the connection state between the synchronizer and the engine until the timing duration is greater than or equal to the preset duration.

[0131] For example, if the front axle gear change moment is the latest moment, then timing may be started from the front axle gear change moment until the timing duration is greater than or equal to the preset duration.

[0132] For example, if the moment when the connection state between the synchronizer and the engine changes is the same as the moment when the front axle gear changes, the timing can be started from the moment when the front axle gear changes or the moment when the connection state between the synchronizer and the engine changes until the timing duration is greater than or equal to the preset duration.

[0133] When the current state of the engine is non-idling, the rear axle torque can be limited within a set time (for example, 1 second) so that the rear axle does not output torque, so that the vehicle operation mode can be switched to pure electric mode in time.

[0134] It should be understood that the set duration can be set according to the actual needs of vehicle operation, for example, 1 second, 1.2 seconds, etc., and the embodiment of the present application does not limit this.

[0135] In an embodiment of the present application, when the target operating mode is pure electric mode, a rear axle torque control strategy can be determined by combining at least one of the current engine state, the state of the synchronizer-to-engine connection, and the target gear corresponding to the target operating mode to accurately determine whether rear wheel spin occurs when the vehicle operating mode is switched to pure electric mode. Furthermore, if rear wheel spin is determined to occur when the vehicle operating mode is switched to pure electric mode, the rear axle torque control strategy can be determined to not output torque to the rear axle, thereby preventing rear wheel spin when the vehicle operating mode is switched to pure electric mode.

[0136] Optionally, when the target operating mode is the series mode, the target parameters include the current state of the engine, the current operating mode of the vehicle and at least one of the target gear corresponding to the target operating mode; the above-mentioned control strategy is determined based on the target parameters corresponding to the target operating mode, including: when the current state of the engine is a non-idle state, and / or the current operating mode is a power split mode and the target gear is different from the current gear of the front axle, determining that the control strategy is that the rear axle does not output torque.

[0137] For example, when the target operating mode of the vehicle is the series mode, the corresponding target parameter may be at least one of the current engine state, the current vehicle operating mode, and the target gear corresponding to the target operating mode. The control strategy for the rear axle torque is determined based on at least one of the current engine state, the current vehicle operating mode, and the target gear corresponding to the target operating mode.

[0138] When the current state of the engine is non-idle, and / or the current operating mode is power split mode and the target gear is different from the current gear of the front axle, it means that the vehicle operating mode is switching to series mode. In order to avoid rear wheel spinning, the control strategy for the rear axle torque can be determined as no torque output by the rear axle.

[0139] When the current state of the engine is non-idling, the rear axle torque can be limited within a set time (for example, 1 second) so that the rear axle does not output torque, so that the vehicle operation mode is switched to the series mode in time.

[0140] When the current operating mode of the vehicle is the power split mode and the target gear is different from the current gear of the front axle, when the time for the front axle gear to change from different to the same is greater than or equal to the preset time, it means that the vehicle operating mode has been successfully switched to the series mode. At this time, there is no need to limit the rear axle torque, and the rear axle torque is controlled to be output normally to ensure normal driving of the vehicle.

[0141] In an embodiment of the present application, when the target operating mode is series mode, a rear axle torque control strategy can be determined by combining at least one of the current engine state, the current vehicle operating mode, and the target gear corresponding to the target operating mode to accurately determine whether rear wheel spin will occur when the vehicle operating mode is switched to series mode. Furthermore, if rear wheel spin is determined to occur when the vehicle operating mode is switched to series mode, the rear axle torque control strategy can be determined to not output torque to the rear axle, thereby preventing rear wheel spin when the vehicle operating mode is switched to series mode.

[0142] S230: Based on the control strategy, the vehicle operation mode is controlled to switch to the target operation mode.

[0143] For example, when the control strategy for the rear axle torque is determined, the vehicle operation mode may be controlled to switch from the current operation mode to the target operation mode corresponding to the mode switching request according to the determined control strategy.

[0144] For example, when it is determined that the control strategy for the rear axle torque is that the rear axle does not output torque, the rear axle torque can be limited to a preset torque so that the rear axle does not output torque; and when the rear axle does not output torque, the vehicle operating mode is controlled to switch from the current operating mode to the target operating mode corresponding to the mode switching request.

[0145] For example, when the control strategy for the rear axle torque is determined to be rear axle output torque, the rear axle torque may not be restricted so that the rear axle torque can be output normally; and when the rear axle outputs torque, the vehicle operating mode is controlled to switch from the current operating mode to the target operating mode corresponding to the mode switching request.

[0146] The preset torque may represent a torque corresponding to no output torque of the rear axle, for example, 0 NM.

[0147] In such Figure 2 In the illustrated method 200, upon detecting a mode switch request for a vehicle operating mode, the operating mode corresponding to the mode switch request (i.e., the target operating mode) can be obtained, and the operating mode corresponding to the mode switch request can be used to determine whether the rear axle torque control strategy is to output torque to the rear axle or not output torque to the rear axle. Upon determining the rear axle torque control strategy, the vehicle operating mode (i.e., the entire vehicle operating mode) can be controlled to switch to the operating mode corresponding to the mode switch request. Thus, upon detecting a mode switch request for a vehicle operating mode, the operating mode corresponding to the mode switch request can be used to determine a rear axle torque control strategy to prevent the rear wheels from rotating, thereby avoiding the problem of rear wheel spin due to excessive rear axle torque when the vehicle switches to the operating mode corresponding to the mode switch request. Furthermore, when a mode switch request is detected, a rear axle output torque control strategy can be determined based on the operating mode corresponding to the mode switch request. This ensures that when the operating mode corresponding to the mode switch request requires rear axle output torque, rear wheel spin will not occur when the vehicle switches to the operating mode corresponding to the mode switch request. Therefore, rear wheel spin can be avoided when the vehicle switches operating modes. This prevents rear wheel spin when the vehicle switches operating modes by using the rear axle torque control strategy determined based on the operating mode corresponding to the mode switch request. This improves vehicle stability, contributes to vehicle driving safety, and protects the lives of vehicle occupants.

[0148] In addition, when the operating mode corresponding to the mode switching request requires the rear axle to output torque, the rear axle can output torque normally, instead of not outputting torque from the rear axle when the vehicle switches to any operating mode, which is not conducive to the normal driving of the vehicle. The normal output of torque by the rear axle can ensure the normal driving of the vehicle.

[0149] Figure 3 This is another flow chart of a vehicle torque control method provided by an embodiment of the present application. Figure 1 The vehicle 110 in the vehicle 110 executes, or the VCU in the vehicle 110 executes.

[0150] For example, Figure 3 As shown, the method 300 includes the following implementation process:

[0151] S301: Determine whether a mode switch request for a vehicle operation mode is detected. If so, execute S302 and S303; if not, continue to execute S301.

[0152] For example, when the vehicle is powered on and running, it can be determined in real time whether a mode switch request for the vehicle operating mode is detected.

[0153] For example, when no mode switching request for the vehicle operating mode is detected in S301 , S301 may be continued to be executed to determine whether a mode switching request for the vehicle operating mode is detected.

[0154] S302: Obtain the current gear status of the front axle.

[0155] For example, when a mode switching request of a vehicle operating mode is detected in S301 , the current gear status of the front axle in the vehicle can also be acquired in real time.

[0156] S303, obtaining the current vehicle speed and logical gear position.

[0157] For example, when a mode switch request of a vehicle operating mode is detected in S301 , the current vehicle speed and logical gear position of the vehicle may also be obtained.

[0158] It should be understood that S302 and S303 can be executed simultaneously or sequentially, and this embodiment of the present application does not limit this.

[0159] S304 , when the current vehicle speed indicates that the vehicle is stationary and the logical gear position is D gear or R gear, obtaining a target operating mode corresponding to the mode switching request.

[0160] For example, when the current vehicle speed and logical gear position are obtained, the target operating mode corresponding to the mode switching request can be obtained when the current vehicle speed indicates that the vehicle is stationary and the logical gear position is D gear or R gear.

[0161] S305: Determine the gear state of the front axle corresponding to the target operating mode.

[0162] For example, when the target operating mode corresponding to the mode switching request is determined, the gear state of the front axle corresponding to the target operating mode may be determined.

[0163] S306: Determine whether the current gear state of the front axle and / or the gear state of the front axle corresponding to the target operating mode indicates a front axle gear shift. If not, execute S307; if so, execute S308.

[0164] For example, when the current gear state of the front axle and the gear state of the front axle corresponding to the target operating mode (i.e., the target gear state) are obtained, it can be determined whether the current gear state of the front axle and / or the gear state of the front axle corresponding to the target operating mode indicate front axle shifting.

[0165] S307: Determine the control strategy for the rear axle torque as the rear axle output torque.

[0166] For example, when the current gear state of the front axle and the gear state of the front axle corresponding to the target operating mode both indicate that the front axle does not shift gears, the control strategy for the rear axle torque may be determined to be rear axle output torque.

[0167] S308 , obtaining target parameters corresponding to the target operating mode, and determining the control strategy for the rear axle torque based on the target parameters: whether the rear axle outputs no torque or outputs torque.

[0168] For example, when the current gear state of the front axle and / or the gear state of the front axle corresponding to the target operating mode both indicate that the front axle is shifting, the target parameters corresponding to the target operating mode can be obtained, and the control strategy for the rear axle torque can be determined by the target parameters, whether the rear axle does not output torque or the rear axle outputs torque.

[0169] S309 , controlling the vehicle operating mode to switch from the current operating mode to the target operating mode through the rear axle torque control strategy.

[0170] For example, when the control strategy for the rear axle torque is obtained, the vehicle operation mode may be controlled to switch from the current operation mode to the target operation mode according to the control strategy for the rear axle torque.

[0171] Optionally, when the rear axle torque control strategy is determined to be a rear axle torque-free state, a rear axle torque-limiting flag may be activated to limit the rear axle torque so that the rear axle does not output torque. The rear axle torque-limiting flag may be a 4L torque-limiting flag or an all-terrain torque-limiting flag.

[0172] Optionally, when the vehicle operating mode is switched from the current operating mode to the target operating mode, it indicates that the vehicle operating mode switch is completed. At this time, the rear axle needs to output torque normally, so the rear axle torque limit flag can be changed from active to inactive (which can be called "failure") to enable the rear axle to output torque normally.

[0173] For example, when a driving mode switching request and a vehicle operating mode mode switching request are detected in a vehicle, if the vehicle is stationary and the logical gear is in D or R, a rear axle torque control strategy may be determined based on the target driving mode corresponding to the driving mode switching request, the target operating mode corresponding to the vehicle operating mode mode switching request, and the target parameters corresponding to the target operating mode. The vehicle operating mode may then be switched from the current operating mode to the target operating mode based on the rear axle torque control strategy. This may be specifically described by at least one of the following:

[0174] 1. When the vehicle's current driving mode is not 4L, but the target driving mode is 4L:

[0175] (1) If the target operating mode is the power split mode, the current state of the clutch (also referred to as the "actual state") is the open state or the target gear is different from the current gear of the front axle, and the control strategy for the rear axle torque is determined to be that the rear axle does not output torque. At this time, the rear axle torque limit flag is activated to limit the rear axle from outputting torque, and the vehicle operating mode is controlled to switch from the current operating mode to the power split mode. Moreover, when it is detected that the current state of the clutch changes from the open state to the closed state and the target gear is changed from different to the same as the current gear of the front axle, and the latest change time of the current state of the clutch and the front axle gear is greater than or equal to the preset time, it indicates that the vehicle operating mode has been successfully switched to the power split mode. At this time, there is no need to limit the rear axle torque, and the rear axle torque limit flag is controlled to be invalid, so that the rear axle torque is output normally, ensuring normal driving of the vehicle.

[0176] (2) If the target operating mode is pure electric mode and the current state of the engine is idle, the connection state between the synchronizer and the engine is in a disengaged state, and / or the target gear is different from the current gear of the front axle, the control strategy for the rear axle torque is determined to be that the rear axle does not output torque. At this time, the rear axle torque limit flag is activated to limit the rear axle from outputting torque, and the vehicle operating mode is controlled to switch from the current operating mode to pure electric mode. Moreover, when it is detected that the connection state between the synchronizer and the engine changes from a disengaged state to a coupled state, and the target gear is changed from different to the same as the current gear of the front axle, and the time length of the latest change between the connection state between the synchronizer and the engine and the front axle gear is greater than or equal to the preset time length, it indicates that the vehicle operating mode has been successfully switched to pure electric mode. At this time, there is no need to limit the rear axle torque, and the rear axle torque limit flag is controlled to be invalid, so that the rear axle torque is output normally, ensuring normal driving of the vehicle.

[0177] (3) If the target operating mode is pure electric mode or series mode, and the current state of the engine is non-idling, the rear axle torque limit flag can be activated within a set time to limit the rear axle from outputting torque, and the vehicle operating mode can be controlled to switch from the current operating mode to pure electric mode or series mode. Furthermore, when it is detected that the vehicle operating mode has been successfully switched to pure electric mode or series mode, the rear axle torque limit flag is controlled to be disabled, so that the rear axle torque is output normally, ensuring normal driving of the vehicle.

[0178] 2. When the vehicle's current driving mode is 4L, but the target driving mode is 4L:

[0179] (1) If the target operating mode is the power split mode, the current state of the clutch (also referred to as the "actual state") is the open state or the target gear is different from the current gear of the front axle. Please refer to the relevant description of (1) in the above 1 and will not repeat it here.

[0180] (2) If the target operating mode is pure electric mode and the current state of the engine is idle, the connection state between the synchronizer and the engine is disconnected, and / or the target gear is different from the current gear of the front axle. Please refer to the relevant description of (2) in the above 1 and will not repeat it here.

[0181] 3. When the vehicle's current driving mode is 4L, but the target driving mode is 4H / Snow / Mud / Sand:

[0182] (1) If the target operating mode is the power split mode, the current state of the clutch (also referred to as the "actual state") is the open state or the target gear is different from the current gear of the front axle. Please refer to the relevant description of (1) in the above 1 and will not repeat it here.

[0183] (2) If the target operating mode is pure electric mode and the current state of the engine is idle, the connection state between the synchronizer and the engine is disconnected, and / or the target gear is different from the current gear of the front axle. Please refer to the relevant description of (2) in the above 1 and will not repeat it here.

[0184] (3) If the target operating mode is pure electric mode or series mode, the current state of the engine is non-idle state. Please refer to the relevant description of (3) in the above 1 and will not be repeated here.

[0185] 4. When the vehicle's current driving mode is 4L, but the target driving mode is Snow-ESOF:

[0186] (1) If the target operating mode is the power split mode, the current state of the clutch (also referred to as the "actual state") is the open state or the target gear is different from the current gear of the front axle. Please refer to the relevant description of (1) in the above 1 and will not repeat it here.

[0187] (2) If the target operating mode is pure electric mode, the connection state between the synchronizer and the engine is in a disengaged state, and / or the target gear is different from the current gear of the front axle, the control strategy for the rear axle torque is determined to be that the rear axle does not output torque. At this time, the rear axle torque limit flag is activated to limit the rear axle from outputting torque, and the vehicle operating mode is controlled to switch from the current operating mode to pure electric mode. Moreover, when it is detected that the connection state between the synchronizer and the engine changes from a disengaged state to a coupled state, and the target gear is changed from different to the same as the current gear of the front axle, and the time length of the latest change between the connection state between the synchronizer and the engine and the front axle gear is greater than or equal to the preset time length, it indicates that the vehicle operating mode has been successfully switched to pure electric mode. At this time, there is no need to limit the rear axle torque, and the rear axle torque limit flag is controlled to be invalid, so that the rear axle torque is output normally, ensuring normal driving of the vehicle.

[0188] 5. When the vehicle's current driving mode is 4L, but the target driving mode is Eco / Normal / Sport:

[0189] (1) If the target operating mode is the power split mode, the current state of the clutch (also referred to as the "actual state") is the open state or the target gear is different from the current gear of the front axle. Please refer to the relevant description of (1) in the above 1 and will not repeat it here.

[0190] (1) If the target operating mode is the series mode and the current operating mode of the vehicle is the power split mode and the target gear is different from the current gear of the front axle, the control strategy for the rear axle torque is determined to be that the rear axle does not output torque. At this time, the rear axle torque limit flag is activated to limit the rear axle from outputting torque, and the vehicle operating mode is controlled to switch from the current operating mode to the pure electric mode. Moreover, when it is detected that the time length for the front axle gear to change from different to the same is greater than or equal to the preset time length, it indicates that the vehicle operating mode has been successfully switched to the series mode. At this time, there is no need to limit the rear axle torque, and the rear axle torque limit flag is controlled to be invalid, so that the rear axle torque is output normally, ensuring normal driving of the vehicle.

[0191] The rear axle torque limiter corresponding to 1, 2, 3, 4, and 5 is the 4L torque limiter. The rear axle torque limiter corresponding to 6, 7, and 8 is the all-terrain torque limiter.

[0192] 6. If the vehicle's current driving mode is Eco / Normal / Sport, but the target driving mode is 4H / Snow / Mud / Sand:

[0193] (1) If the target operating mode is the power split mode, the current state of the clutch (also referred to as the "actual state") is the open state or the target gear is different from the current gear of the front axle. Please refer to the relevant description of (1) in the above 1 and will not repeat it here.

[0194] (2) If the target operating mode is pure electric mode and the current state of the engine is idle, the connection state between the synchronizer and the engine is disconnected, and / or the target gear is different from the current gear of the front axle. Please refer to the relevant description of (2) in the above 1 and will not repeat it here.

[0195] (3) If the target operating mode is pure electric mode or series mode, the current state of the engine is non-idle state. Please refer to the relevant description of (3) in the above 1 and will not be repeated here.

[0196] 7. When the vehicle's current driving mode is 4H / Snow / Mud / Sand, but the target driving mode is 4H / Snow / Mud / Sand:

[0197] (1) If the target operating mode is the power split mode, the current state of the clutch (also referred to as the "actual state") is the open state or the target gear is different from the current gear of the front axle. Please refer to the relevant description of (1) in the above 1 and will not repeat it here.

[0198] (2) If the target operating mode is pure electric mode and the current state of the engine is idle, the connection state between the synchronizer and the engine is disconnected, and / or the target gear is different from the current gear of the front axle. Please refer to the relevant description of (2) in the above 1 and will not repeat it here.

[0199] 8. When the vehicle's current driving mode is not 4L, but the target driving mode is Snow-ESOF:

[0200] (1) If the target operating mode is the power split mode, the current state of the clutch (also referred to as the "actual state") is the open state or the target gear is different from the current gear of the front axle. Please refer to the relevant description of (1) in the above 1 and will not repeat it here.

[0201] (2) If the target operating mode is pure electric mode, the connection state between the synchronizer and the engine is disconnected, and / or the target gear is different from the current gear of the front axle, please refer to the relevant description of (2) in the above 4, which will not be repeated here.

[0202] It should be noted that Figure 3 All steps in Figure 2 The corresponding embodiments are described in detail in the accompanying drawings and will not be repeated here.

[0203] In summary, when a mode switch request for a vehicle operating mode is detected, a control strategy for whether the rear axle outputs no torque or outputs torque to the rear wheels can be determined based on the operating mode corresponding to the mode switch request. This can prevent rear wheel spin when the vehicle operating mode is switched to the operating mode corresponding to the mode switch request using the determined control strategy. Furthermore, when the operating mode corresponding to the mode switch request is selected, the accuracy of the determined rear axle torque control strategy can be improved by considering the impact of the current gear state of the front axle, the gear state of the front axle corresponding to the target operating mode, and the parameters corresponding to the target operating mode on the rear axle torque control strategy. Furthermore, when a mode switch request for a vehicle operating mode is detected, the current vehicle speed can be considered to determine whether the vehicle is in a state that would cause rear wheel spin. This avoids the possibility of determining the rear axle torque control strategy incorrectly when the vehicle is not in a state that would cause rear wheel spin, thereby also improving the accuracy of the determined rear axle torque control strategy.

[0204] It should be understood that the above examples are intended to help those skilled in the art understand the embodiments of the present application, and are not intended to limit the embodiments of the present application to the specific numerical values or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or variations based on the above examples, and such modifications or variations also fall within the scope of the embodiments of the present application.

[0205] Combined with the above Figures 1 to 3 The vehicle torque control method provided by the embodiment of the present application is described in detail; Figure 4 and Figure 5 The device embodiments of the present application are described in detail. It should be understood that the devices in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0206] Figure 4 It is a structural schematic diagram of the vehicle torque control device provided in an embodiment of the present application.

[0207] For example, Figure 4 As shown, the apparatus 400 includes:

[0208] The determination module 410 is configured to, upon detecting a mode switching request for a vehicle operating mode, obtain a target operating mode corresponding to the mode switching request;

[0209] A processing module 420 is configured to determine a control strategy for rear axle torque in the vehicle based on the target operating mode, wherein the control strategy includes rear axle output torque and rear axle no torque output;

[0210] The control module 430 is configured to control the vehicle operating mode to switch to a target operating mode based on a control strategy.

[0211] In one possible implementation, the processing module 420 is specifically configured to:

[0212] determining a target gear state of the front axle based on the target operating mode, wherein the target gear state indicates a gear state of the front axle in the target operating mode;

[0213] Based on the target gear state and / or the current gear state of the front axle, a control strategy is determined.

[0214] The target operating mode includes any one of a power split mode, a pure electric mode and a series mode.

[0215] In one possible implementation, the processing module 420 is specifically configured to:

[0216] determining whether the target gear state and / or the current gear state indicates a front axle gear shift;

[0217] determining a control strategy based on target parameters corresponding to the target operating mode when the target gear state and / or the current gear state indicate a front axle gear shift;

[0218] When the target gear state and the current gear state indicate that the front axle does not shift gears, the control strategy is determined to output torque to the rear axle.

[0219] In one possible implementation, when the target operating mode is the power split mode, the target parameter includes at least one of a current state of a clutch in the vehicle and a target gear corresponding to the target operating mode; the processing module 420 is specifically configured to:

[0220] When the target gear is different from the current gear of the front axle and / or the current state of the clutch is open, the control strategy is determined as not outputting torque to the rear axle.

[0221] In one possible implementation, when the target operating mode is the pure electric mode, the target parameter includes at least one of a current state of the engine, a connection state between a synchronizer in the vehicle and the engine in the vehicle, and a target gear corresponding to the target operating mode; the processing module 420 is specifically configured to:

[0222] When the current state of the engine is non-idling, and / or the connection state between the synchronizer and the engine is disconnected, and / or the target gear is different from the current gear of the front axle, determining the control strategy to output no torque to the rear axle;

[0223] When the current state of the engine is idle, if the connection state between the synchronizer and the engine is disconnected, and / or the target gear is different from the current gear of the front axle, the control strategy is determined to be that the rear axle does not output torque.

[0224] In one possible implementation, when the target operating mode is the series mode, the target parameter includes at least one of the current state of the engine, the current operating mode of the vehicle, and the target gear corresponding to the target operating mode; the processing module 420 is specifically configured to:

[0225] When the current state of the engine is non-idling, and / or the current operating mode is the power split mode and the target gear is different from the current gear of the front axle, the control strategy is determined to be that the rear axle does not output torque.

[0226] In one possible implementation, the processing module 420 is further configured to:

[0227] Get the current speed of the vehicle;

[0228] The determination module 410 is specifically configured to:

[0229] When a mode switching request is detected and the current vehicle speed is less than or equal to a preset vehicle speed threshold, a target operating mode is acquired.

[0230] It should be noted that the above-mentioned device 400 is embodied in the form of a functional module. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0231] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the aforementioned functionality. The hardware circuit may include an application-specific integrated circuit (ASIC), an electronic circuit, a processor (e.g., a shared processor, a dedicated processor, or a combination of processors) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functionality.

[0232] Therefore, the modules of each example described in the embodiments of this application can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0233] Figure 5 It is a schematic structural diagram of a vehicle provided in an embodiment of the present application.

[0234] For example, Figure 5 As shown, the vehicle 500 includes: a memory 510 and a processor 520, wherein the memory 510 stores an executable program code 5101, and the processor 520 is used to call and execute the executable program code 5101 to perform a vehicle torque control method.

[0235] This application can divide the vehicle into functional modules based on the above-mentioned method examples. For example, each functional module can be mapped to a specific function, 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.

[0236] In the case of dividing each functional module into corresponding functional modules, the vehicle may include: a determination module, a processing 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.

[0237] The vehicle provided in this application is used to execute the above-mentioned vehicle torque control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0238] In the case of an integrated unit, the vehicle may include a processing module and a storage module. 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 and data.

[0239] 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 processor (DSP) and a microprocessor, and the storage module may be a memory.

[0240] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the aforementioned methods. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD (Digital Video Disc), a CD-ROM (Compact Disc Read-Only Memory), a microdrive, a magneto-optical disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), an EPROM (Erasable Programmable Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a DRAM (Dynamic Random Access Memory), a VRAM (Video Random Access Memory), a flash memory device, a magnetic or optical card, a nanosystem (including a molecular memory IC), or any other type of medium or device suitable for storing instructions and / or data.

[0241] The present application 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 vehicle torque control method in the above-mentioned embodiment.

[0242] In addition, the vehicle provided in the embodiments of the present application can specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor can call and execute the instructions to enable the chip to execute a vehicle torque control method in the above embodiment.

[0243] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application 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.

[0244] 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.

[0245] 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.

[0246] 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 vehicle torque control method, characterized in that: The method comprises: When a mode switching request for a vehicle operating mode is detected, obtaining a target operating mode corresponding to the mode switching request; determining a control strategy for rear axle torque in the vehicle based on the target operating mode, wherein the control strategy includes outputting the rear axle torque and not outputting the rear axle torque; Based on the control strategy, the vehicle operating mode is controlled to switch to the target operating mode.

2. The method according to claim 1, characterized in that Determining a control strategy for rear axle torque in the vehicle based on the target operating mode includes: determining a target gear state of the front axle based on the target operating mode, wherein the target gear state indicates a gear state of the front axle under the target operating mode; The control strategy is determined based on the target gear state and / or the current gear state of the front axle.

3. The method according to claim 2, characterized in that The determining of the control strategy based on the target gear state and / or the current gear state of the front axle includes: determining whether the target gear state and / or the current gear state indicates a front axle gear shift; determining the control strategy based on target parameters corresponding to the target operating mode when the target gear state and / or the current gear state indicates that the front axle is shifting; When the target gear state and the current gear state indicate that the front axle does not shift gears, the control strategy is determined to output torque to the rear axle.

4. The method according to claim 3, characterized in that In a case where the target operating mode is a power split mode, the target parameter includes at least one of a current state of a clutch in the vehicle and a target gear corresponding to the target operating mode; The determining of the control strategy based on the target parameters corresponding to the target operating mode includes: When the target gear is different from the current gear of the front axle, and / or the current state of the clutch is an open state, the control strategy is determined as the rear axle not outputting torque.

5. The method according to claim 3, characterized in that When the target operating mode is the pure electric mode, the target parameter includes at least one of a current state of the engine, a connection state between the synchronizer in the vehicle and the engine in the vehicle, and a target gear corresponding to the target operating mode; The determining of the control strategy based on the target parameters corresponding to the target operating mode includes: When the current state of the engine is a non-idle state, and / or the connection state between the synchronizer and the engine is a disconnected state, and / or the target gear position is different from the current gear position of the front axle, determining the control strategy to output no torque to the rear axle; When the current state of the engine is an idle state, if the connection state between the synchronizer and the engine is a disconnected state, and / or the target gear is different from the current gear of the front axle, the control strategy is determined as the rear axle does not output torque.

6. The method according to claim 3, characterized in that When the target operating mode is the series mode, the target parameter includes at least one of a current state of the engine, a current operating mode of the vehicle, and a target gear position corresponding to the target operating mode; The determining of the control strategy based on the target parameters corresponding to the target operating mode includes: When the current state of the engine is a non-idle state, and / or the current operating mode is the power split mode and the target gear is different from the current gear of the front axle, the control strategy is determined as the rear axle does not output torque.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Obtaining the current speed of the vehicle; When a mode switching request of a vehicle operating mode is detected, obtaining a target operating mode corresponding to the mode switching request includes: When the mode switching request is detected and the current vehicle speed is less than or equal to a preset vehicle speed threshold, the target operating mode is acquired.

8. A vehicle torque control device, characterized in that: The device comprises: a determination module, configured to, upon detecting a mode switching request for a vehicle operating mode, obtain a target operating mode corresponding to the mode switching request; a processing module, configured to determine a control strategy for rear axle torque in the vehicle based on the target operating mode, wherein the control strategy includes outputting the rear axle torque and not outputting the rear axle torque; A control module is used to control the vehicle operating mode to switch to the target operating mode based on the control strategy.

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 7.

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 7 is implemented.

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