Vehicle and control method, control device and controller thereof

Abstract

The invention relates to the technical field of vehicle control, and particularly discloses a vehicle and a control method, control device and controller thereof. The method comprises the steps that the actual rotating speed of an output shaft of a front axle transmission and the actual wheel speed of front axle wheels are obtained; identifying the current state of the front axle transmission system according to the actual rotating speed and the actual wheel speed of the output shaft; when the current state is the output torque failure state, the gear of a front axle transmission is controlled to be switched to a target neutral gear, a vehicle-mounted power battery is controlled to supply power to a rear axle driving motor so as to drive the vehicle to continue to run through the rear axle driving motor, and when the remaining electric quantity is lower than a preset threshold value, a front axle transmission system is controlled to enter a series connection mode, therefore, the vehicle-mounted power battery is charged. Therefore, according to the method, the situations that power cannot be output due to faults of a front axle transmission system, a rear axle is in a pure electric mode, the electric quantity of a vehicle-mounted power battery is consumed during vehicle running, and the power of the whole vehicle is lost can be avoided, and the driving experience of a user and the usability of the vehicle are improved.

Description

Technical Field

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

[0002] In related technologies, if the front axle drivetrain of a decoupled four-wheel drive hybrid vehicle fails during driving, the entire front axle drivetrain is controlled to stop operating, and the rear axle drivetrain is controlled to enter pure electric mode to maintain vehicle driving. However, this technical solution only ensures that the vehicle is moved to a relatively close and safe position, reducing the driver's driving experience and vehicle usability. Summary of the Invention

[0003] The present application aims to solve, at least to some extent, one of the technical problems in the related art. To this end, the first purpose of the present application is to propose a vehicle control method to ensure that the vehicle can travel with sufficient power, avoid the situation where the vehicle cannot output power due to a failure of the front axle transmission system, the rear axle is in pure electric mode, the vehicle runs out of power from the on-board power battery, and the entire vehicle loses power, thereby improving the user's driving experience and vehicle usability.

[0004] The second object of this application is to provide a vehicle controller.

[0005] The third objective of the present application is to provide a vehicle control device.

[0006] A fourth object of the present application is to provide a vehicle.

[0007] To achieve the above-mentioned objectives, the first aspect embodiment of the present application proposes a vehicle control method, which includes: obtaining the actual output shaft speed of the front axle transmission and the actual wheel speed of the front axle wheels; identifying the current state of the front axle transmission system based on the actual output shaft speed and the actual wheel speed; when the current state is the output torque failure state, controlling the gear of the front axle transmission to switch to the target neutral gear, and controlling the on-board power battery to power the rear axle drive motor to drive the vehicle to continue running through the rear axle drive motor, and when the remaining power of the on-board power battery is lower than the preset threshold, controlling the front axle transmission system to enter the series mode, so as to control the front axle drive motor in the front axle transmission system to generate electricity and replenish the on-board power battery.

[0008] According to the vehicle control method of the embodiment of the present application, first, the actual output shaft speed of the front axle transmission and the actual wheel speed of the front axle wheels are obtained, and the current state of the front axle transmission system is identified based on the actual output shaft speed and the actual wheel speed. Then, when the current state is the output torque failure state, the gear of the front axle transmission is controlled to switch to the target neutral gear, and the on-board power battery is controlled to supply power to the rear axle drive motor to drive the vehicle to continue running through the rear axle drive motor, and when the remaining power of the on-board power battery is lower than the preset threshold, the front axle transmission system is controlled to enter the series mode to control the front axle drive motor in the front axle transmission system to generate electricity and replenish the on-board power battery. Therefore, the method identifies the state of the front axle transmission system according to the actual rotational speed of the output shaft and the actual wheel speed, and when it is identified that the front axle transmission system is in an output torque failure state, first controls the gear position of the front axle transmission to switch to the target neutral gear, and continues to drive the vehicle through the rear axle drive motor, and when the power of the on-board power battery is lower than the preset threshold due to consumption of the rear axle drive motor, controls the front axle transmission system to enter the series mode, replenishes the on-board power battery with electric energy, ensures that the vehicle can travel with sufficient power, and avoids the situation where the front axle transmission system fails to output power, the rear axle is in pure electric mode, and the vehicle consumes the power of the on-board power battery while driving, resulting in the loss of power of the entire vehicle, thereby improving the user's driving experience and vehicle availability.

[0009] In addition, the vehicle control method according to the above embodiment of the present application may also have the following additional technical features:

[0010] According to one embodiment of the present application, before controlling the front axle transmission to switch to the target neutral gear, it also includes: acquiring the current gear position of the front axle transmission; and determining the target neutral gear according to the current gear position of the front axle transmission.

[0011] According to one embodiment of the present application, the target neutral gear is determined according to the current gear position of the front axle transmission, including: when the current gear position of the front axle transmission is neutral, the current gear position of the front axle transmission is used as the target neutral gear; when the current gear position of the front axle transmission is not neutral, one of the neutral gears adjacent to the current gear position of the front axle transmission is used as the target neutral gear.

[0012] According to one embodiment of the present application, the current state of the front axle transmission system is determined based on the actual output shaft speed and the actual wheel speed, including: determining the effective output shaft speed of the front axle transmission based on the actual wheel speed; when the deviation between the actual output shaft speed and the effective output shaft speed exceeds a preset deviation threshold and lasts for a preset time, determining that the front axle transmission system is in an output torque failure state.

[0013] According to one embodiment of the present application, the actual wheel speed includes the actual wheel speed of the left wheel of the front axle and the actual wheel speed of the right wheel of the front axle. The effective speed of the output shaft of the front axle transmission is determined based on the actual wheel speed, including: obtaining the average wheel speed between the actual wheel speed of the left wheel of the front axle and the actual wheel speed of the right wheel of the front axle; obtaining the product between the average wheel speed and the preset differential speed ratio to determine the effective speed of the output shaft of the front axle transmission.

[0014] According to one embodiment of the present application, before determining the current state of the front axle transmission system based on the actual output shaft speed and the actual wheel speed, it also includes: determining the actual vehicle speed based on the actual wheel speed; when the actual vehicle speed is greater than a preset speed threshold, determining the current state of the front axle transmission system based on the output shaft speed and the actual wheel speed.

[0015] According to one embodiment of the present application, the vehicle control method also includes: obtaining a status evaluation result of the front axle transmission system; when it is determined that there is a false fault alarm in the current state according to the status evaluation result, adjusting one or more values ​​of a preset vehicle speed threshold, a preset deviation threshold and a preset time length according to the status evaluation result.

[0016] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a vehicle controller, including a memory, a processor, and a vehicle control program stored in the memory and runnable on the processor. When the processor executes the vehicle control program, the above-mentioned vehicle control method is implemented.

[0017] According to the vehicle controller of the embodiment of the present application, when the processor executes the vehicle control program, the above-mentioned vehicle control method is implemented. Based on the above-mentioned vehicle control method, it is ensured that the vehicle can travel with sufficient power, avoiding the situation where the front axle transmission system fails to output power, the rear axle is in pure electric mode, and the vehicle consumes all the power of the on-board power battery during driving, resulting in the loss of power of the entire vehicle, thereby improving the user's driving experience and vehicle availability.

[0018] To achieve the above-mentioned purpose, the third aspect embodiment of the present application proposes a vehicle control device, which includes: a first acquisition module, used to obtain the actual output shaft speed of the front axle transmission and the actual wheel speed of the front axle wheel; a second acquisition module, used to obtain the remaining power of the on-board power battery; a determination module, used to determine the current state of the front axle transmission system based on the actual output shaft speed and the actual wheel speed; a control module, used to control the gear shift of the front axle transmission to the target neutral gear when the current state is the output torque failure state, and control the on-board power battery to power the rear axle drive motor to continue driving the vehicle through the rear axle drive motor, and when the remaining power of the on-board power battery is lower than the preset threshold, control the front axle transmission system to enter the series mode, so as to control the front axle drive motor in the front axle transmission system to generate electricity and replenish the on-board power battery.

[0019] According to the control device of the vehicle in the embodiment of the present application, the actual output shaft speed of the front axle transmission and the actual wheel speed of the front axle wheel are obtained through the first acquisition module, the remaining power of the on-board power battery is obtained through the second acquisition module, and the current state of the front axle transmission system is determined according to the actual output shaft speed and the actual wheel speed through the determination module. When the current state is the output torque failure state, the control module controls the gear shift of the front axle transmission to the target neutral gear, and controls the on-board power battery to power the rear axle drive motor to drive the vehicle to continue running through the rear axle drive motor, and when the remaining power of the on-board power battery is lower than the preset threshold, the front axle transmission system is controlled to enter the series mode to control the front axle drive motor in the front axle transmission system to generate electricity and replenish the on-board power battery. Therefore, the device identifies the status of the front axle transmission system according to the actual speed of the output shaft and the actual wheel speed, and when it identifies that the front axle transmission system is in an output torque failure state, it first controls the gear of the front axle transmission to switch to the target neutral gear, and continues to drive the vehicle through the rear axle drive motor. When the power of the on-board power battery is lower than the preset threshold due to consumption of the rear axle drive motor, the device controls the front axle transmission system to enter the series mode to replenish the on-board power battery and ensure that the vehicle can travel with sufficient power, thereby avoiding the situation where the front axle transmission system fails to output power, the rear axle is in pure electric mode, and the vehicle consumes the power of the on-board power battery, resulting in the loss of power of the entire vehicle, thereby improving the user's driving experience and vehicle availability.

[0020] To achieve the above-mentioned objectives, the fourth embodiment of the present application proposes a vehicle, including the above-mentioned vehicle controller, or the above-mentioned vehicle control device.

[0021] According to the vehicle of the embodiment of the present application, based on the above-mentioned vehicle controller or the control device of the above-mentioned vehicle, it is ensured that the vehicle can be driven with sufficient power, avoiding the situation where the front axle transmission system fails to output power, and the rear axle is in pure electric mode and the on-board power battery is exhausted, resulting in the loss of power of the entire vehicle, thereby improving the user's driving experience and vehicle availability.

[0022] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present application;

[0024] Figure 2 Schematic diagram of an electric energy transmission path of a front axle transmission system in series mode according to a specific embodiment of the present application;

[0025] Figure 3 This is a flow chart of a vehicle control method according to a specific embodiment of the present application;

[0026] Figure 4 is a block diagram of a vehicle controller according to an embodiment of the present application;

[0027] Figure 5 1 is a connection diagram of a vehicle control method according to an embodiment of the present application;

[0028] Figure 6 is a block diagram of a vehicle according to one embodiment of the present application;

[0029] Figure 7 It is a block diagram of a vehicle according to another embodiment of the present application. DETAILED DESCRIPTION

[0030] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0031] The following describes the vehicle control method, vehicle controller, vehicle control device and vehicle proposed in the embodiments of the present application with reference to the accompanying drawings.

[0032] Figure 1 Flowchart of a vehicle control method according to an embodiment of the present application.

[0033] like Figure 1 As shown, the vehicle control method of the embodiment of the present application includes:

[0034] S1, obtaining the actual speed of the output shaft of the front axle transmission and the actual wheel speed of the front axle wheels;

[0035] S2, identifying the current state of the front axle transmission system based on the actual output shaft speed and the actual wheel speed;

[0036] S3, when the current state is the output torque failure state, controls the gear of the front axle transmission to switch to the target neutral gear, and controls the on-board power battery to supply power to the rear axle drive motor, so as to drive the vehicle to continue running through the rear axle drive motor, and when the remaining power of the on-board power battery is lower than the preset threshold, controls the front axle transmission system to enter the series mode, so as to control the front axle drive motor in the front axle transmission system to generate electricity and replenish the on-board power battery.

[0037] Specifically, in a decoupled four-wheel drive hybrid vehicle, the front axle power source is the engine + front axle drive motor, and the front axle transmission system can realize power switching between direct drive mode, parallel mode and series mode. The torque transmission path of parallel mode and direct drive mode is engine + front axle drive motor → front axle transmission → output shaft → front axle transmission → half-shaft → left front wheel + right front wheel. At this time, the front axle transmission is in gear; the torque transmission path in series mode is engine → front axle drive motor. The front axle drive motor converts the engine kinetic energy into electrical energy, which is stored in the high-voltage battery pack, i.e., the on-board battery, for rear axle drive. At this time, the front axle transmission is in neutral. The rear axle transmission is a single-speed or multi-speed electric axle, which can realize rear-wheel drive in pure electric mode or coordinate the torque output of the front and rear axles through the vehicle controller. The front axle transmission system is in series mode, and the power transmission path is as follows: Figure 2 shown.

[0038] During vehicle operation, the actual speed of the output shaft of the front axle transmission and the actual speed of the front axle wheels are detected by sensors. Figure 2 One or more of the left front wheel and the right front wheel.

[0039] Then, the current state of the front axle drive system is identified based on the actual output shaft speed and the actual wheel speed. Figure 2 As shown, the output shaft of the front axle transmission drives the left and right front wheels through the front axle transmission. Therefore, under normal circumstances, the output shaft speed of the front axle transmission and the speeds of the left and right front wheels satisfy a certain preset conversion relationship, where the preset conversion relationship is set based on actual configuration parameters. When the relationship between the actual output shaft speed and the actual wheel speed does not satisfy the preset conversion relationship, it is considered that the output shaft of the front axle transmission is unable to normally drive the front axle wheels, and the front axle transmission system is in an output torque failure state. Specifically, there is an abnormality in the hardware configuration between the output shaft of the front axle transmission and the front axle wheels. When the relationship between the actual output shaft speed and the actual wheel speed satisfies the preset conversion relationship, it is considered that the output shaft of the front axle transmission is normally driving the front axle wheels, and the front axle transmission system is in a normal output torque state. Specifically, the hardware configuration between the output shaft of the front axle transmission and the front axle wheels is normal.

[0040] When it is identified that the front axle drive system is in a state of output torque failure, it is determined that the vehicle cannot drive the front axle, the gear of the front axle speed change is controlled to switch to the target neutral gear, and the vehicle power battery ( Figure 2The high-voltage battery pack in the rear axle is used to power the rear axle drive motor, allowing the rear axle to continue driving the vehicle in pure electric mode. At the same time, the remaining charge of the on-board power battery is monitored. If it is determined that the charge of the on-board power battery is below a preset threshold due to consumption by the rear axle, the front axle drive system is controlled to enter series mode. At this time, the front axle drive motor acts as a generator, converting the kinetic energy output by the engine into electrical energy to replenish the on-board power battery for use in rear axle drive, thereby maintaining the vehicle's driving state. In series mode, the engine does not participate in driving the wheels, but is used to drive the front axle drive motor to generate electricity and store the electrical energy in the high-voltage battery pack.

[0041] This embodiment, when identifying that the front axle transmission system is in an output torque failure state based on the actual rotational speed of the output shaft of the front axle transmission and the actual wheel speed of the front axle wheels, controls the on-board power battery to supply power to the rear axle drive motor, and after the total vehicle power level is lower than a preset threshold, controls the front axle transmission system to enter the series mode to replenish power for the on-board power battery, ensuring that the vehicle can travel with sufficient power, avoiding the situation where the front axle transmission system fails to output power, and the rear axle runs out of high-voltage battery power when driving in pure electric mode, resulting in loss of power for the entire vehicle, thereby improving vehicle availability in the scenario of front axle transmission system failure.

[0042] In some embodiments of the present application, the current state of the front axle transmission system is determined based on the actual output shaft speed and the actual wheel speed, including: determining the effective output shaft speed of the front axle transmission based on the actual wheel speed; when the deviation between the actual output shaft speed and the effective output shaft speed exceeds a preset deviation threshold and lasts for a preset time, determining that the front axle transmission system is in an output torque failure state.

[0043] Specifically, the preset deviation threshold and the preset time length can be set according to actual conditions and are not specifically limited. For example, the preset deviation threshold is 55 rpm and the preset time length is 5 seconds.

[0044] During vehicle operation, the Transmission Control Unit (TCU) monitors the actual output shaft speed of the front axle transmission and the actual wheel speeds of the front axle wheels. Based on the actual wheel speeds, it reverse-calculates the output shaft speed that drives the actual wheel speeds, using this as the effective output shaft speed. The TCU also controls transmission shifting and reports gear position information.

[0045] The actual output shaft speed, detected by the sensor, is compared with the effective output shaft speed obtained through theoretical inversion to determine the deviation between the two. This deviation can be represented by the absolute value of the speed difference between the two. In this case, a preset deviation threshold is a positive number. When the deviation is greater than the preset deviation threshold, the deviation is considered to have exceeded the preset deviation threshold. Alternatively, the deviation can be directly represented by the speed difference between the two. In this case, the preset deviation threshold is a preset range. When the deviation is outside the preset range, the deviation is considered to have exceeded the preset deviation threshold.

[0046] When the deviation is confirmed to exceed the preset deviation threshold, it is considered that there is an abnormal speed difference in the front axle transmission system, and after the duration exceeds the preset time, a transmission system fault is reported, indicating that the front axle transmission system has an output torque failure fault and is in an output torque failure state.

[0047] This embodiment determines the effective output shaft speed of the front axle transmission based on the actual wheel speed, and performs state evaluation according to the deviation between the actual output shaft speed and the effective output shaft speed, thereby improving the fault location detection accuracy.

[0048] In some embodiments of the present application, the actual wheel speed includes the actual wheel speed of the left wheel of the front axle and the actual wheel speed of the right wheel of the front axle, and the effective speed of the output shaft of the front axle transmission is determined based on the actual wheel speed, including: obtaining the average wheel speed between the actual wheel speed of the left wheel of the front axle and the actual wheel speed of the right wheel of the front axle; obtaining the product between the average wheel speed and the preset differential speed ratio to determine the effective speed of the output shaft of the front axle transmission.

[0049] In other words, the effective output shaft speed of the front axle transmission = (actual wheel speed of the left front axle wheel + actual wheel speed of the right front axle wheel) / 2 * preset differential speed ratio, where the preset differential speed ratio is determined based on the actual project structure; for example, the preset differential speed ratio is 4.1. For example, if the deviation between the actual output shaft speed and the effective output shaft speed is expressed as the absolute value of the speed difference, then the deviation = |actual output shaft speed - (actual wheel speed of the left front axle wheel + actual wheel speed of the right front axle wheel) / 2 * preset differential speed ratio) |. If the deviation exceeds the preset deviation threshold, an abnormal speed difference between the front axle wheels and the output shaft of the front axle transmission is detected. If this persists for a predetermined period, a transmission system fault is reported, indicating a failure in the front axle transmission system, such as an inability to output torque. Furthermore, the error accuracy of the speed sensor used to collect the actual output shaft speed of the front axle transmission and the wheel speed sensor used to collect the actual wheel speed of the front axle wheels must be considered within each speed range, as shown in Table 1 below, and numerical adjustments are made based on this error accuracy.

[0050] Table 1

[0051] Speed ​​range Error accuracy 0rpm~3000rpm ±4rpm 3000rpm~4500rpm ±6rpm 4500rpm~5500rpm ±8rpm 5500rpm~6500rpm ±10rpm

[0052] This embodiment calculates the effective speed of the output shaft based on the average wheel speed of the two wheels of the front axle in combination with a preset speed ratio, thereby improving calculation accuracy.

[0053] In some embodiments of the present application, before determining the current state of the front axle drive system based on the actual output shaft speed and the actual wheel speed, the method further includes: determining the actual vehicle speed based on the actual wheel speed; and if the actual vehicle speed is greater than a preset speed threshold, determining the current state of the front axle drive system based on the output shaft speed and the actual wheel speed. The preset speed threshold can be set based on actual conditions.

[0054] Specifically, taking the preset vehicle speed threshold of 30kph as an example, since the actual speed of the output shaft of the front axle transmission is the signal collected by the TCU itself, and the actual wheel speed of the front axle wheel is the signal obtained by the TCU from the vehicle end, there is a time difference of 10ms between the two signal receptions. Considering the sudden change of the speed signal caused by sudden acceleration / deceleration of the vehicle, in order to avoid false fault alarms, detection must be started after the actual wheel speed of the front axle wheel is converted into a vehicle speed V>30kph.

[0055] In some embodiments of the present application, before controlling the front axle transmission to switch to the target neutral gear, it also includes: obtaining the current gear position of the front axle transmission; and determining the target neutral gear according to the current gear position of the front axle transmission.

[0056] In other words, the target neutral gear is determined based on the current gear of the front axle transmission to adapt to different gear states, improving control flexibility and adaptability. For example, the closest neutral gear to the current gear can be selected as the target neutral gear.

[0057] In some embodiments of the present application, the target neutral gear is determined based on the current gear position of the front axle transmission, including: when the current gear position of the front axle transmission is neutral, the current gear position of the front axle transmission is used as the target neutral gear; when the current gear position of the front axle transmission is not neutral, one of the neutral gears adjacent to the current gear position of the front axle transmission is used as the target neutral gear.

[0058] Specifically, for example, the shift profile of the front axle transmission is 1-N1R-R-N3R-3-N23-2, and there is a neutral position (N1R, N3R, N23) between the two gear positions (1, R, 3, 2), among which the adjacent neutral position of 1st gear is N1R, the adjacent neutral position of R gear is N1R and N3R, the adjacent neutral position of 3rd gear is N3R and N23, and the adjacent neutral position of 2nd gear is N23.

[0059] When the front axle transmission system is determined to be in an output torque failure state based on the actual output shaft speed and the actual wheel speed, the current gear of the front axle reducer is obtained. If the current gear of the front axle reducer is in gear (such as 1st gear, R gear, 3rd gear, 2nd gear), the unilaterally adjacent neutral gear of the current gear is determined as the target neutral gear. For example, the unilaterally adjacent neutral gear of 1st gear is defined as N1R, the unilaterally adjacent neutral gear of R gear is defined as N3R, the unilaterally adjacent neutral gear of 3rd gear is defined as N23, and the unilaterally adjacent neutral gear of 2nd gear is defined as N23. In this way, the target neutral gear can be determined based on the current gear of the front axle transmission to control the gear switching of the front axle transmission to enter the target neutral gear, and after the remaining power of the on-board power battery is consumed below the preset threshold, the vehicle controller requests the series mode in this neutral state.

[0060] If the current gear of the front axle reducer is neutral, the current gear of the front axle reducer is kept unchanged, and after the remaining power of the on-board power battery is lower than the preset threshold due to consumption, the vehicle controller requests the series mode in this neutral state.

[0061] In this embodiment, when the current gear is in gear, one of the adjacent neutral gears is selected as the target neutral gear. When the current gear is in neutral, the current gear remains unchanged and is used as the target neutral gear, thereby optimizing the control logic and ensuring the gear switching speed.

[0062] In some embodiments of the present application, the vehicle control method also includes: obtaining a status evaluation result of the front axle transmission system; when it is determined that there is a false fault alarm in the current state according to the status evaluation result, adjusting one or more values ​​of the preset vehicle speed threshold, the preset deviation threshold and the preset time according to the status evaluation result.

[0063] Specifically, after identifying the front axle drive system as being in an output torque failure state based on the actual output shaft speed of the front axle transmission and the actual wheel speeds of the front axle wheels, the driver is required to drive the vehicle to a professional repair facility for repair and maintenance of the front axle drive system. Based on the repair results, a condition assessment result of the front axle drive system is determined. If the condition assessment result indicates a false fault alarm, one or more of the preset vehicle speed threshold, preset deviation threshold, and preset duration are adjusted based on the condition assessment result to optimize the fault judgment conditions and improve the accuracy of the condition assessment.

[0064] This embodiment evaluates the state judgment accuracy of the above-mentioned scheme based on the state evaluation results, and when it is determined that a false fault alarm occurs, it numerically adjusts one or more thresholds in the judgment conditions, for example, reducing the preset deviation threshold, increasing the preset time, etc., thereby performing state evaluation based on the adjusted threshold, maintaining the state detection accuracy of the front axle transmission system, and improving control accuracy.

[0065] As a specific embodiment of this application, Figure 3As shown, the vehicle control method may include the following steps:

[0066] S101, obtaining the actual rotational speed of the output shaft of the front axle transmission and the actual wheel speed of the front axle wheels;

[0067] S102: Calculate the actual vehicle speed based on the actual wheel speed.

[0068] S103: Determine whether the actual vehicle speed is greater than a preset vehicle speed threshold. If so, execute step S104; if not, execute step S101.

[0069] S104, calculating the deviation amount = |actual speed of the output shaft - (actual wheel speed of the left front axle wheel + actual wheel speed of the right front axle wheel) / 2 * preset differential speed ratio) |.

[0070] S105: Determine whether the deviation is greater than a preset deviation threshold and the duration reaches a preset time. If yes, execute step S106; if not, execute step S101.

[0071] S106: Determine that the front axle transmission system is in an output torque failure state, and obtain the current gear position of the front axle transmission.

[0072] S107, determine whether the current gear is neutral. If so, execute step S108; if not, execute step S109.

[0073] S108, taking the current gear as the target neutral gear and executing step S110.

[0074] S109: Taking one of the adjacent neutral gears of the current gear as the target neutral gear.

[0075] S110: Control the front axle transmission to switch to the target neutral gear, and control the vehicle's power battery to supply power to the rear axle drive motor, so that the vehicle continues to run through the rear axle drive motor.

[0076] S111, obtaining the remaining power of the vehicle's power battery.

[0077] S112, determining whether the remaining power is lower than a preset threshold. If so, proceed to step S113; if not, proceed to step S111.

[0078] S113, controlling the front axle transmission system to enter the series mode, so as to control the front axle drive motor in the front axle transmission system to generate electricity, replenish the vehicle power battery, and supply power to the rear axle.

[0079] This embodiment monitors the output shaft speed signal of the front axle transmission and the wheel speed signals of the left and right wheels of the front axle, calculates the corresponding speed difference value for status judgment, and ensures that the front axle transmission system can jump to the series mode to drive the rear axle when it is identified that the front axle transmission system is in an output torque failure state and when the power of the on-board power battery is lower than the preset threshold. This avoids the situation where the front axle transmission system cannot output power, and the high-voltage battery power is exhausted when driving in pure electric mode of the rear axle, resulting in loss of power for the entire vehicle.

[0080] In summary, according to the vehicle control method of the embodiment of the present application, first, the actual output shaft speed of the front axle transmission and the actual wheel speed of the front axle wheels are obtained, and the current state of the front axle transmission system is identified based on the actual output shaft speed and the actual wheel speed. Then, when the current state is the output torque failure state, the gear of the front axle transmission is controlled to switch to the target neutral gear, and the on-board power battery is controlled to power the rear axle drive motor to drive the vehicle to continue running through the rear axle drive motor, and when the remaining power of the on-board power battery is lower than the preset threshold, the front axle transmission system is controlled to enter the series mode to control the front axle drive motor in the front axle transmission system to generate electricity and replenish the on-board power battery. Therefore, the method identifies the state of the front axle transmission system according to the actual speed of the output shaft and the actual wheel speed, and when it is identified that the front axle transmission system is in an output torque failure state, first controls the gear position of the front axle transmission to switch to the target neutral gear, and continues to drive the vehicle through the rear axle drive motor, and when the power of the on-board power battery is lower than the preset threshold due to consumption of the rear axle drive motor, controls the front axle transmission system to enter the series mode, replenishes the on-board power battery with electric energy, ensures that the vehicle can travel with sufficient power, and avoids the situation where the front axle transmission system fails to output power, the rear axle is in pure electric mode, and the vehicle consumes the power of the on-board power battery while driving, resulting in the loss of power of the entire vehicle, thereby improving the user's driving experience and vehicle availability.

[0081] Corresponding to the above embodiments, the present application also proposes a vehicle controller.

[0082] like Figure 4 As shown, the vehicle controller 100 of an embodiment of the present application includes a memory 110, a processor 120, and a vehicle control program stored in the memory 110 and executable on the processor 120. When the processor 120 executes the vehicle control program, the above-mentioned vehicle control method is implemented.

[0083] According to the vehicle controller of the embodiment of the present application, when the processor executes the vehicle control program, the above-mentioned vehicle control method is implemented. Based on the above-mentioned vehicle control method, it is ensured that the vehicle can travel with sufficient power, avoiding the situation where the front axle transmission system fails to output power, the rear axle is in pure electric mode, and the vehicle consumes all the power of the on-board power battery during driving, resulting in the loss of power of the entire vehicle, thereby improving the user's driving experience and vehicle availability.

[0084] Corresponding to the above embodiment, the present application also proposes a vehicle control device,

[0085] like Figure 5 As shown, the vehicle control device of the embodiment of the present application includes: a first acquisition module 10, a second acquisition module 20, a determination module 30 and a control module 40.

[0086] Among them, the first acquisition module 10 is used to obtain the actual output shaft speed of the front axle transmission and the actual wheel speed of the front axle wheels; the second acquisition module 20 is used to obtain the remaining power of the vehicle-mounted power battery; the determination module 30 is used to determine the current state of the front axle transmission system based on the actual output shaft speed and the actual wheel speed; the control module 40 is used to control the gear shift of the front axle transmission to the target neutral gear when the current state is the output torque failure state, and control the vehicle-mounted power battery to power the rear axle drive motor to continue driving the vehicle through the rear axle drive motor, and when the remaining power of the vehicle-mounted power battery is lower than the preset threshold, control the front axle transmission system to enter the series mode to control the front axle drive motor in the front axle transmission system to generate electricity and replenish the vehicle-mounted power battery.

[0087] According to one embodiment of the present application, before controlling the front axle transmission to switch to the target neutral gear, the control module 40 is further configured to: obtain the current gear position of the front axle transmission; and determine the target neutral gear according to the current gear position of the front axle transmission.

[0088] According to one embodiment of the present application, the control module 40 determines the target neutral gear based on the current gear position of the front axle transmission, specifically for: when the current gear position of the front axle transmission is neutral, the current gear position of the front axle transmission is used as the target neutral gear; when the current gear position of the front axle transmission is not neutral, one of the neutral gears adjacent to the current gear position of the front axle transmission is used as the target neutral gear.

[0089] According to one embodiment of the present application, the determination module 30 determines the current state of the front axle transmission system based on the actual output shaft speed and the actual wheel speed, and is specifically used to: determine the effective output shaft speed of the front axle transmission based on the actual wheel speed; when the deviation between the actual output shaft speed and the effective output shaft speed exceeds a preset deviation threshold and lasts for a preset time, determine that the front axle transmission system is in an output torque failure state.

[0090] According to one embodiment of the present application, the actual wheel speed includes the actual wheel speed of the left wheel of the front axle and the actual wheel speed of the right wheel of the front axle. The determination module 30 determines the effective speed of the output shaft of the front axle transmission based on the actual wheel speed, and is specifically used to: obtain the average wheel speed between the actual wheel speed of the left wheel of the front axle and the actual wheel speed of the right wheel of the front axle; obtain the product between the average wheel speed and the preset differential speed ratio to determine the effective speed of the output shaft of the front axle transmission.

[0091] According to one embodiment of the present application, before determining the current state of the front axle transmission system based on the actual output shaft speed and the actual wheel speed, the determination module 30 is also used to: determine the actual vehicle speed based on the actual wheel speed; and when the actual vehicle speed is greater than a preset speed threshold, determine the current state of the front axle transmission system based on the output shaft speed and the actual wheel speed.

[0092] According to one embodiment of the present application, the control module 40 is also used to: obtain the status evaluation results of the front axle transmission system; when it is determined that there is a false fault alarm in the current state according to the status evaluation results, adjust one or more values ​​of the preset vehicle speed threshold, the preset deviation threshold and the preset time according to the status evaluation results.

[0093] It should be noted that for details not disclosed in the control device of the vehicle in the embodiment of the present application, please refer to the details disclosed in the control method of the vehicle in the above embodiment of the present application, and the details will not be repeated here.

[0094] According to the control device of the vehicle in the embodiment of the present application, the actual output shaft speed of the front axle transmission and the actual wheel speed of the front axle wheel are obtained through the first acquisition module, the remaining power of the on-board power battery is obtained through the second acquisition module, and the current state of the front axle transmission system is determined according to the actual output shaft speed and the actual wheel speed through the determination module. When the current state is the output torque failure state, the control module controls the gear shift of the front axle transmission to the target neutral gear, and controls the on-board power battery to power the rear axle drive motor to drive the vehicle to continue running through the rear axle drive motor, and when the remaining power of the on-board power battery is lower than the preset threshold, the front axle transmission system is controlled to enter the series mode to control the front axle drive motor in the front axle transmission system to generate electricity and replenish the on-board power battery. Therefore, the device identifies the status of the front axle transmission system according to the actual speed of the output shaft and the actual wheel speed, and when it identifies that the front axle transmission system is in an output torque failure state, it first controls the gear of the front axle transmission to switch to the target neutral gear, and continues to drive the vehicle through the rear axle drive motor. When the power of the on-board power battery is lower than the preset threshold due to consumption of the rear axle drive motor, the device controls the front axle transmission system to enter the series mode to replenish the on-board power battery and ensure that the vehicle can travel with sufficient power, thereby avoiding the situation where the front axle transmission system fails to output power, the rear axle is in pure electric mode, and the vehicle consumes the power of the on-board power battery, resulting in the loss of power of the entire vehicle, thereby improving the user's driving experience and vehicle availability.

[0095] Corresponding to the above embodiments, the present application also proposes a vehicle.

[0096] like Figure 6 As shown, the vehicle 200 of the embodiment of the present application includes the vehicle controller 100 described above, or as shown in FIG. Figure 7 As shown, the vehicle 200 of the embodiment of the present application includes the above-mentioned vehicle control device 210.

[0097] According to the vehicle of the embodiment of the present application, based on the above-mentioned vehicle controller or the control device of the above-mentioned vehicle, it is ensured that the vehicle can travel with sufficient power, avoiding the situation where the front axle transmission system fails to output power, the rear axle is in pure electric mode, and the vehicle consumes all the power of the on-board power battery during driving, resulting in loss of power for the entire vehicle, thereby improving the user's driving experience and vehicle availability.

[0098] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0099] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0100] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0101] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0102] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0103] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtain the actual speed of the output shaft of the front axle transmission and the actual wheel speed of the front axle wheels; identifying a current state of a front axle transmission system according to the actual output shaft speed and the actual wheel speed; When the current state is the output torque failure state, the gear of the front axle transmission is controlled to switch to the target neutral gear, and the on-board power battery is controlled to supply power to the rear axle drive motor so as to drive the vehicle to continue running through the rear axle drive motor, and when the remaining power of the on-board power battery is lower than the preset threshold, the front axle transmission system is controlled to enter the series mode to control the front axle drive motor in the front axle transmission system to generate electricity to replenish the on-board power battery.

2. The vehicle control method according to claim 1, characterized in that: Before controlling the front axle transmission to switch to the target neutral gear, the method further includes: Obtaining the current gear position of the front axle transmission; A target neutral gear is determined according to a current gear position of the front axle transmission.

3. The vehicle control method according to claim 2, characterized in that: Determining the target neutral gear according to the current gear position of the front axle transmission includes: When the current gear position of the front axle transmission is neutral, taking the current gear position of the front axle transmission as the target neutral; When the current gear position of the front axle transmission is not a neutral gear, one of the neutral gears adjacent to the current gear position of the front axle transmission is used as a target neutral gear.

4. The vehicle control method according to claim 1, wherein: Determining the current state of the front axle transmission system according to the actual output shaft speed and the actual wheel speed includes: determining an effective speed of an output shaft of the front axle transmission according to the actual wheel speed; When the deviation between the actual speed of the output shaft and the effective speed of the output shaft exceeds a preset deviation threshold and lasts for a preset time, it is determined that the front axle transmission system is in an output torque failure state.

5. The vehicle control method according to claim 4, characterized in that: The actual wheel speed includes the actual wheel speed of the left wheel of the front axle and the actual wheel speed of the right wheel of the front axle. Determining the effective speed of the output shaft of the front axle transmission according to the actual wheel speed includes: Obtaining an average wheel speed between the actual wheel speed of the left wheel on the front axle and the actual wheel speed of the right wheel on the front axle; The product of the average wheel speed and a preset differential speed ratio is obtained to determine the effective speed of the output shaft of the front axle transmission.

6. The vehicle control method according to claim 4, characterized in that: Before determining the current state of the front axle transmission system according to the actual output shaft speed and the actual wheel speed, the method further includes: determining an actual vehicle speed based on the actual wheel speed; When the actual vehicle speed is greater than a preset vehicle speed threshold, the current state of the front axle transmission system is determined according to the output shaft speed and the actual wheel speed.

7. The vehicle control method according to claim 6, characterized in that: Also includes: Obtaining a status evaluation result of the front axle transmission system; When it is determined that there is a fault false alarm in the current state according to the state evaluation result, one or more values ​​of the preset vehicle speed threshold, the preset deviation threshold and the preset time are adjusted according to the state evaluation result.

8. A vehicle controller, characterized in that: The vehicle control method comprises a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the processor executes the vehicle control program, the vehicle control method according to any one of claims 1 to 7 is implemented.

9. A vehicle control device, characterized in that: include: The first acquisition module is used to acquire the actual rotational speed of the output shaft of the front axle transmission and the actual wheel speed of the front axle wheels; The second acquisition module is used to obtain the remaining power of the vehicle power battery; a determination module, configured to determine a current state of a front axle transmission system according to the actual output shaft speed and the actual wheel speed; A control module is used to control the gear of the front axle transmission to switch to a target neutral gear when the current state is an output torque failure state, and control the on-board power battery to supply power to the rear axle drive motor so as to drive the vehicle to continue running through the rear axle drive motor, and when the remaining power of the on-board power battery is lower than a preset threshold, control the front axle transmission system to enter a series mode to control the front axle drive motor in the front axle transmission system to generate electricity to replenish the on-board power battery.

10. A vehicle, characterized in that: Includes the vehicle controller according to claim 8, or the vehicle control device according to claim 9.

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