Speed reducer for vehicle electric drive system and vehicle running control method

Abstract

The invention discloses a speed reducer for an electric drive system of a vehicle and a running control method of the vehicle. The speed reducer comprises a first speed reducer module and a second speed reducer module, the first speed reducer module comprises a first planet row and a second planet row, the first planet row is arranged in a rotor of a first driving motor, the second planet row is coaxially connected with the first planet row, the second planet row is used for power dividing, and the first speed reducer module is used for driving a first wheel of a vehicle to rotate; the second speed reducer module comprises a third planet row and a fourth planet row, the third planet row is arranged in a rotor of the second driving motor, the running states of the second driving motor and the first driving motor are determined according to the running demand information of the vehicle, the fourth planet row is coaxially connected with the third planet row, and the fourth planet row is used for power dividing. The second reducer module is used for driving second wheels of the vehicle to rotate. The technical problems that in the prior art, a vehicle electric drive system is large in occupied space and manufacturing cost and low in transmission efficiency are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a reducer for a vehicle electric drive system and a driving control method of a vehicle. BACKGROUND

[0002] In the field of new energy vehicles, the requirements for the electric drive system of the vehicle are becoming higher and higher, including the improvement of vehicle body stability and handling, and the demand for efficient energy conversion in limited space. At present, the axial length of the coaxial electric drive system in the related art is relatively long, which limits the vehicle manufacturers who pursue extreme interior space layout and lightweight design. The longer axial size not only increases the complexity of vehicle manufacturing, but also affects the optimization of the passenger space. At the same time, the electric drive system in the related art usually needs to set a relatively complex differential structure, which increases the weight and cost of the electric drive system, also introduces additional mechanical wear and energy loss, and the existence of the differential limits the layout freedom of the electric drive system, affects the improvement of the overall performance of the vehicle, that is, the related art vehicle electric drive system occupies a large space and has high manufacturing cost and low transmission efficiency.

[0003] In view of the above problems, no effective solution has been proposed so far. SUMMARY

[0004] The embodiments of the present application provide a reducer for a vehicle electric drive system and a driving control method of a vehicle to at least solve the technical problems of large space occupation and high manufacturing cost and low transmission efficiency of the vehicle electric drive system in the related art.

[0005] According to an aspect of an embodiment of the present application, a reducer for a vehicle electric drive system is provided, comprising: a first reducer module comprising a first planetary gear set and a second planetary gear set, wherein the first planetary gear set is arranged inside a rotor of a first drive motor, the second planetary gear set is coaxially connected with the first planetary gear set, the second planetary gear set is used for power split, and the first reducer module is used for reducing the output rotating speed of the first drive motor to drive the first wheel of the vehicle to rotate; and a second reducer module comprising a third planetary gear set and a fourth planetary gear set, wherein the third planetary gear set is arranged inside a rotor of a second drive motor, the operating state of the second drive motor and the first drive motor is determined by driving demand information of the vehicle, the fourth planetary gear set is coaxially connected with the third planetary gear set, the fourth planetary gear set is used for power split, and the second reducer module is used for reducing the output rotating speed of the second drive motor to drive the second wheel of the vehicle to rotate.

[0006] In the embodiment of the present application, the first planetary gear train comprises a first sun gear, a first planet carrier, first planet gears and a first ring gear, the first sun gear meshes with the first planet gears, and the first planet gears mesh with the first ring gear; the second planetary gear train comprises a second sun gear, a second planet carrier, second planet gears and a second ring gear, the second sun gear meshes with the second planet gears, and the second planet gears mesh with the second ring gear; the third planetary gear train comprises a third sun gear, a third planet carrier, third planet gears and a third ring gear, the third sun gear meshes with the third planet gears, and the third planet gears mesh with the third ring gear; and the fourth planetary gear train comprises a fourth sun gear, a fourth planet carrier, fourth planet gears and a fourth ring gear, the fourth sun gear meshes with the fourth planet gears, and the fourth planet gears mesh with the fourth ring gear.

[0007] In the embodiment of the present application, the second sun gear is connected with the first sun gear, and the second ring gear is connected with the first planet carrier; the fourth sun gear is connected with the third sun gear, and the fourth ring gear is connected with the third planet carrier.

[0008] In the embodiment of the present application, the second planet carrier is fixedly connected with the housing of the first speed reducer module, and the fourth planet carrier is fixedly connected with the housing of the second speed reducer module.

[0009] In the embodiment of the present application, the first planet carrier is connected with a drive half shaft for driving a first wheel, so as to drive the first wheel to rotate; and the third planet carrier is connected with a drive half shaft for driving a second wheel, so as to drive the second wheel to rotate.

[0010] According to another aspect of the embodiment of the present application, a driving control method of a vehicle is also provided, which is applied to the above-mentioned speed reducer for an electric driving system of a vehicle, and comprises the following steps: in response to receiving driving demand information of the vehicle; based on the driving demand information, controlling the running states of the first driving motor and the second driving motor, so as to drive the vehicle to run, wherein the first speed reducer module in the speed reducer is used to reduce the output rotating speed of the first driving motor, so as to drive a first wheel of the vehicle to rotate, and the second speed reducer module in the speed reducer is used to reduce the output rotating speed of the second driving motor, so as to drive the first wheel of the vehicle to rotate.

[0011] In the embodiment of the present application, based on the driving demand information, the running states of the first driving motor and the second driving motor are controlled, so as to drive the vehicle to run, which comprises the following steps: in the case that the driving demand information is straight-line driving, the first driving motor and the second driving motor are controlled to run in the same rotating direction and at the same rotating speed, so as to drive the vehicle to perform straight-line driving, wherein the rotating direction of the first planet carrier in the first speed reducer module is the same as the rotating direction of the third planet carrier in the second speed reducer module, and the rotating speed of the first planet carrier is the same as the rotating speed of the third planet carrier.

[0012] In the embodiment of the present application, based on the driving demand information, the running states of the first driving motor and the second driving motor are controlled to drive the vehicle to run, including: in the case that the driving demand information is curve driving, the first driving motor and the second driving motor are controlled to run in the same rotating direction and different rotating speeds to drive the vehicle to run in the curve, wherein the first planetary gear train in the first reducer module and the third carrier in the second reducer module are used to compensate the speed difference between the first wheel and the second wheel, and the rotating direction of the first carrier in the first reducer module and the third carrier in the second reducer module is the same and the rotating speed is different.

[0013] In the embodiment of the present application, based on the driving demand information, the running states of the first driving motor and the second driving motor are controlled to drive the vehicle to run, including: in the case that the driving demand information is curve driving, the first driving motor and the second driving motor are controlled to run in the same rotating direction and different rotating speeds to drive the vehicle to run in the curve, wherein the first planetary gear train in the first reducer module and the third carrier in the second reducer module are used to compensate the speed difference between the first wheel and the second wheel, and the rotating direction of the first carrier in the first reducer module and the third carrier in the second reducer module is the same and the rotating speed is different.

[0014] According to another aspect of the embodiments of the present application, an electronic device is further provided, including: a memory, which stores an executable program; and a processor, which is configured to execute the program, wherein the program is configured to execute the method in the embodiments of the present application when executed.

[0015] According to another aspect of the embodiments of the present application, a computer readable storage medium is further provided, which includes a stored executable program, wherein the computer readable storage medium is configured to execute the method in the embodiments of the present application when the executable program is executed.

[0016] According to another aspect of the embodiments of the present application, a computer program product is further provided, which includes a computer program, wherein the computer program is configured to execute the method in the embodiments of the present application when executed by a processor.

[0017] According to another aspect of the embodiments of the present application, a computer program product is further provided, which includes a non-volatile computer readable storage medium, wherein the non-volatile computer readable storage medium stores a computer program, and the computer program is configured to execute the method in the embodiments of the present application when executed by a processor.

[0018] According to another aspect of the embodiments of the present application, a computer program is further provided, which is configured to execute the method in the embodiments of the present application when executed by a processor.

[0019] In the embodiment of the present application, the first reducer module includes a first planetary gear set and a second planetary gear set, the first planetary gear set is arranged inside the rotor of the first driving motor, the second planetary gear set is coaxially connected with the first planetary gear set, the second planetary gear set is used for power split, the first reducer module is used for reducing the output rotating speed of the first driving motor to drive the first wheel of the vehicle to rotate; the second reducer module includes a third planetary gear set and a fourth planetary gear set, the third planetary gear set is arranged inside the rotor of the second driving motor, the operating state of the second driving motor and the first driving motor is determined by the driving demand information of the vehicle, the fourth planetary gear set is coaxially connected with the third planetary gear set, the fourth planetary gear set is used for power split, the second reducer module is used for reducing the output rotating speed of the second driving motor to drive the second wheel of the vehicle to rotate. It is easy to note that the reducer structure proposed in the present application includes two independently controllable reducer modules, by arranging the first planetary gear set inside the rotor of the first driving motor and arranging the third planetary gear set inside the rotor of the second driving motor, the coaxial embedded layout reduces the axial size of the reducer, realizes the compactness of the structure, the second planetary gear set is coaxially connected with the first planetary gear set, the fourth planetary gear set is coaxially connected with the third planetary gear set, can bear the power split effect, allows the first driving motor and the second driving motor to freely adjust the operating state according to the driving demand information, thereby accurately and independently controlling the rotating speed and torque of the wheels on both sides, in the complex working conditions such as curve driving or spot turning, the first planetary gear set and the third planetary gear set can bear the function of the differential, can be used to compensate the speed difference between the wheels on both sides, so that the differential does not need to be additionally arranged in the reducer, simplifies the architecture of the electric drive system, reduces the manufacturing and maintenance costs, also eliminates the energy loss and mechanical wear caused by the differential, improves the overall efficiency and reliability of the electric drive system, and thus solves the technical problems of large occupied space and high manufacturing cost and low transmission efficiency of the vehicle electric drive system in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0020] The drawings described herein are used to provide further understanding of the present application, constitute a part of the present application, the schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0021] Figure 1 is a schematic view of a reducer for a vehicle electric drive system according to an embodiment of the present application;

[0022] Figure 2 is a flowchart of a driving control method of a vehicle according to an embodiment of the present application;

[0023] Figure 3 is a schematic view of an optional reducer for a vehicle electric drive system according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the person skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the present application.

[0025] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] According to the embodiments of the present application, a reducer for a vehicle electric drive system is provided, Figure 1 is a schematic view of a reducer for a vehicle electric drive system according to the present application, as Figure 1 shown, the reducer for a vehicle electric drive system 102 comprises a first reducer module 104 and a second reducer module 106.

[0027] The first reducer module 104 comprises a first planetary gear set and a second planetary gear set.

[0028] The first planetary gear set is arranged inside the rotor of the first drive motor, and the second planetary gear set is coaxially connected with the first planetary gear set. The second planetary gear set is used for power split, and the first reducer module is used for reducing the output rotational speed of the first drive motor to drive the first wheel of the vehicle to rotate.

[0029] The reducer described above can refer to a transmission device for reducing the rotational speed of a motor or other high-speed power source while increasing the torque to drive the wheels of a vehicle. The reducer in the present application can adapt to the needs of the electric drive system and achieve efficient reduction and torque vectoring control by using a planetary gear set mechanism.

[0030] The first planetary gear set mentioned above can refer to a gear transmission mechanism composed of a sun gear, a planet gear, a planet carrier, and an outer ring. In this application, the first planetary gear set is built into the rotor of the first drive motor. This layout can significantly reduce the axial size, making the entire reducer more compact. When the first drive motor is running, the first planetary gear set is responsible for receiving the motor speed and, through the interaction of its internal gears, reducing the speed and outputting it to the subsequent mechanical components for driving the first wheel of the vehicle.

[0031] The first drive motor mentioned above can refer to an electric motor in the electric drive system, which can be responsible for providing power to the vehicle. In this application, the rotor of the first drive motor integrates the first planetary gear set. Such a design can significantly reduce the axial size and save space. When the vehicle's driving needs change, the operating state of the first drive motor can be adjusted accordingly to meet different torque and speed requirements.

[0032] The second planetary gear set mentioned above can refer to another planetary gear set coaxial with the first planetary gear set. The second planetary gear set is on the same rotational center line as the first planetary gear set. The second planetary gear set can further split the power and adjust the speed based on the first planetary gear set to achieve precise driving of the first wheel of the vehicle.

[0033] The vehicle mentioned above can refer to a vehicle with an electric drive system, such as a hybrid vehicle or an electric vehicle, which can use electric motors to drive the wheels to achieve driving.

[0034] The first wheel mentioned above can refer to a drive wheel on one side of the vehicle, such as the left rear wheel, which is driven by the first reducer module in the electric drive system. The speed and torque of the first wheel can be adjusted according to the driving needs of the vehicle to achieve straight driving, turning, or special operations such as point turning.

[0035] In an alternative embodiment, the design of the first reducer module includes the first planetary gear set and the second planetary gear set, achieving efficient power transmission and fine speed adjustment. The first planetary gear set is arranged inside the rotor of the first drive motor, which can reduce the axial size of the overall electric drive system and improve the space utilization. It is suitable for new energy vehicles with strict requirements on installation space, allowing the construction of more complex power transmission paths in limited space. The second planetary gear set is coaxially connected with the first planetary gear set, forming a two-stage reduction mechanism. The first planetary gear set is mainly responsible for receiving high-speed rotating power from the motor and transmitting energy from the motor rotor to the sun gear of the first planetary gear set through the meshing action of its internal gears. Then, the power is further reduced in speed and increased in torque by the sun gear and the coaxial second planetary gear set. The second planetary gear set can split the power during this process, thereby improving the reliability and efficiency of the system.

[0036] In the above arrangement, the first planetary row is arranged inside the rotor of the motor, which can significantly shorten the axial length of the overall electric drive system, reduce the demand of the electric drive system on the internal space of the vehicle, and help to improve the layout and design of the vehicle and provide more available space for passengers. The power split mechanism of the second planetary row can make the deceleration process smoother and more efficient, reduce the workload of a single planetary row, and achieve more accurate control of the output speed of the motor through multi-stage deceleration. When the vehicle needs to drive on a curve or other complex maneuvers, the second planetary row can dynamically adjust the power entering the first decelerator module according to the driving demand information, ensure that the left and right wheels obtain appropriate torque difference, and thus realize active control of the vehicle posture and improve the stability and safety of the vehicle.

[0037] The second decelerator module 106 includes a third planetary row and a fourth planetary row.

[0038] The third planetary row is arranged inside the rotor of the second drive motor, the operating state of the second drive motor and the first drive motor is determined by the driving demand information of the vehicle, the fourth planetary row is coaxially connected with the third planetary row, the fourth planetary row is used for power split, and the second decelerator module is used for reducing the output speed of the second drive motor to drive the second wheel of the vehicle.

[0039] The third planetary row can be arranged inside the rotor of the second drive motor and cooperated with the second drive motor to receive the output speed of the second drive motor and perform deceleration processing to drive the second wheel of the vehicle. This arrangement can also help to reduce the axial length of the decelerator and make the overall design more compact.

[0040] The second drive motor can be another motor in the electric drive system, which is mainly responsible for driving the second wheel. The cooperative work of the second drive motor and the first drive motor can realize torque vectoring control, that is, the power output of the two wheels can be independently adjusted according to the driving requirements of the vehicle, which can improve the stability and maneuverability of driving.

[0041] The fourth planetary row can be a planetary row cooperated with the third planetary row for power split and speed adjustment. The fourth planetary row can work with other components in the second decelerator module to ensure that the output speed of the second drive motor is appropriately reduced to drive the second wheel of the vehicle.

[0042] The driving demand information mentioned above can refer to the demand of the vehicle on the power system under different driving conditions, which can include but is not limited to straight driving, turning, acceleration, deceleration, climbing, etc. The driving demand information can be provided by the driver, sensors or automatic driving system of the vehicle, for real-time adjustment of the operating state of the first driving motor and the second driving motor to achieve better vehicle performance. For example, when turning, the torque of the inner side wheels can be reduced, while the torque of the outer side wheels is increased to reduce the turning radius or improve the turning stability.

[0043] The second wheel mentioned above can refer to one driving wheel on the other side of the vehicle, such as the right rear driving wheel, which can be driven by the second reducer module. Independent control of the second wheel and the first wheel can achieve torque vectoring control, so that the vehicle can maintain good dynamic balance and driving experience under various driving conditions.

[0044] In an alternative embodiment, the second reducer module is designed similarly to the first reducer module, but has the ability to operate independently, integrating a third planetary gear set and a fourth planetary gear set. The third planetary gear set adopts an embedded design and is placed inside the rotor of the second driving motor. Such a layout can reduce the overall volume of the vehicle's electric drive system, optimize the power transmission path, and improve the efficiency and response speed of power transmission. The third planetary gear set is directly connected to the motor rotor, receives high-speed rotating input power, and preliminarily reduces the speed and increases the torque. The fourth planetary gear set is coaxially connected to the third planetary gear set and together constitutes the second reducer module. The fourth planetary gear set can perform secondary power splitting and deep speed reduction. The second reducer module can independently provide precise power support for the second wheel.

[0045] In the above arrangement, the second reducer module is independently arranged, so that the second driving motor can independently and efficiently drive the second wheel. Both sides of the wheel can independently adjust their rotational speed and torque according to the actual driving demand, which can enhance the maneuverability and stability of the vehicle. For example, when driving on a curve, the torque vectoring control of the wheels on both sides is more accurate, which can reduce the instability when turning and improve the turning performance of the vehicle. The independence of the second driving motor and the second reducer module allows the vehicle to exhibit better performance in different driving modes. When accelerating straight, the second wheel can accelerate synchronously to ensure the smooth straight driving of the vehicle; when performing more complex maneuvers, such as spot turning, the second wheel can rotate in the opposite direction to work together with the first wheel to achieve efficient spot turning. These functions can improve the driving experience of the driver and enhance the agility and safety of the vehicle in complex urban traffic environments.

[0046] In the embodiment of the present application, the first reducer module includes a first planetary gear set and a second planetary gear set, the first planetary gear set is arranged inside the rotor of the first driving motor, the second planetary gear set is coaxially connected with the first planetary gear set, the second planetary gear set is used for power split, the first reducer module is used for reducing the output rotating speed of the first driving motor to drive the first wheel of the vehicle to rotate; the second reducer module includes a third planetary gear set and a fourth planetary gear set, the third planetary gear set is arranged inside the rotor of the second driving motor, the operating state of the second driving motor and the first driving motor is determined by the driving demand information of the vehicle, the fourth planetary gear set is coaxially connected with the third planetary gear set, the fourth planetary gear set is used for power split, the second reducer module is used for reducing the output rotating speed of the second driving motor to drive the second wheel of the vehicle to rotate. It is easy to note that the reducer structure proposed in the present application includes two independently controllable reducer modules, by arranging the first planetary gear set inside the rotor of the first driving motor and arranging the third planetary gear set inside the rotor of the second driving motor, the coaxial embedded layout reduces the axial size of the reducer, realizes the compactness of the structure, the second planetary gear set is coaxially connected with the first planetary gear set, the fourth planetary gear set is coaxially connected with the third planetary gear set, can bear the power split effect, allows the first driving motor and the second driving motor to freely adjust the operating state according to the driving demand information, thereby accurately and independently controlling the rotating speed and torque of the wheels on both sides, in the complex working conditions such as curve driving or spot turning, the first planetary gear set and the third planetary gear set can bear the function of the differential, can be used to compensate the speed difference between the wheels on both sides, so that the differential does not need to be additionally arranged in the reducer, simplifies the architecture of the electric drive system, reduces the manufacturing and maintenance costs, also eliminates the energy loss and mechanical wear caused by the differential, improves the overall efficiency and reliability of the electric drive system, and thereby solves the technical problems of large occupied space and high manufacturing cost and low transmission efficiency of the vehicle electric drive system in the related art.

[0047] In the embodiment of the present application, the first planetary gear set includes a first sun gear, a first planet carrier, a first planet gear and a first outer ring gear, the first sun gear is engaged with the first planet gear, and the first planet gear is engaged with the first outer ring gear; the second planetary gear set includes a second sun gear, a second planet carrier, a second planet gear and a second outer ring gear, the second sun gear is engaged with the second planet gear, and the second planet gear is engaged with the second outer ring gear; the third planetary gear set includes a third sun gear, a third planet carrier, a third planet gear and a third outer ring gear, the third sun gear is engaged with the third planet gear, and the third planet gear is engaged with the third outer ring gear; the fourth planetary gear set includes a fourth sun gear, a fourth planet carrier, a fourth planet gear and a fourth outer ring gear, the fourth sun gear is engaged with the fourth planet gear, and the fourth planet gear is engaged with the fourth outer ring gear.

[0048] The sun gear, as described above, can refer to one of the components of the planetary set, located at the center of the planetary set. The sun gear is a gear with external teeth that meshes with the planetary gears to transmit power. In the first planetary set, the first sun gear meshes with the first planetary gears, while in the second planetary set, the second sun gear meshes with the second planetary gears. Similarly, in the third and fourth planetary sets, there are also third sun gears meshing with the third planetary gears and fourth sun gears meshing with the fourth planetary gears. The rotational speed and torque of the sun gears can affect the motion of the planetary gears that mesh with them.

[0049] The carrier, as described above, can refer to a component that supports the planetary gears, allowing them to revolve around the sun gear, i.e., rotate along the orbit around the sun gear, while also being able to rotate around their own axes, i.e., revolve. In the first planetary set, the first carrier supports the first planetary gears and, under appropriate circumstances, transmits the adjusted torque and rotational speed to the mechanism that drives the wheels. Similarly, the second planetary set has a second carrier, the third planetary set has a third carrier, and the fourth planetary set has a fourth carrier. The position and motion state of the carriers can affect the speed reduction effect and torque vector control of the planetary set.

[0050] The planetary gears, as described above, can refer to three or more gears located between the central sun gear and the peripheral ring gear. The planetary gears can simultaneously mesh with the sun gear and the ring gear, enabling the conversion and distribution of power through revolution and revolution. For example, in the first planetary set, the first planetary gears mesh with the first sun gear and the first ring gear; in the second planetary set, the second planetary gears mesh with the second sun gear and the second ring gear; in the third and fourth planetary sets, there are also third planetary gears meshing with the third sun gear and the third ring gear, and fourth planetary gears meshing with the fourth sun gear and the fourth ring gear. The size, number, and layout of the planetary gears can affect the transmission ratio and efficiency of the entire planetary set.

[0051] The ring gear, as described above, can refer to the external component of the planetary set, having an internal tooth shape that meshes with the planetary gears. It serves as a fixed reference or power output in the planetary set, which can depend on the operating mode and design purpose of the planetary set. In the first planetary set, the first ring gear meshes with the first planetary gears, and the first ring gear serves as the source of power input, completing specific power distribution and speed adjustment tasks. In the state where the ring gear is stationary or freely rotating, the planetary set can achieve different transmission ratios to achieve torque vector control.

[0052] In an alternative embodiment, four planetary rows, the first planetary row, the second planetary row, the third planetary row and the fourth planetary row, constitute the transmission components of the electric drive system. Each planetary row contains four key components: the sun gear, the planet carrier, the planet gear and the ring gear, which work together to achieve efficient power transmission and flexible speed adjustment. Among them, the sun gear, as the center wheel of the planetary row, is meshed with multiple planet gears that revolve around it. The planet gears can convert the high-speed rotation from the sun gear into lower speed output while increasing torque. The cooperation between the sun gear and the planet gear can achieve speed reduction and torque increase. In addition to meshing with the sun gear, the planet gears are also meshed with the ring gear, which is responsible for transmitting the decelerated power to the output end of the reducer module or the planet carrier, thereby driving the wheels of the vehicle. The involvement of the ring gear ensures the continuity and stability of the power, while also providing support for power split. The first planetary row and the second planetary row, and the third planetary row and the fourth planetary row, are coaxially connected, which can provide independent driving control for the wheels on both sides and enhance the maneuverability of the vehicle.

[0053] In the above arrangement, the design of the four planetary rows provides the electric drive system with highly precise torque and speed adjustment capabilities. By adjusting the input speed of the sun gear, the revolution speed of the planet gear can be changed, which in turn affects the output speed and torque of the ring gear. This adjustment is continuous and smooth, and can meet the needs of various driving modes such as straight driving, corner driving and spot turning. By distributing the gear system to multiple planetary rows, uniform power distribution can be achieved, and the reliability of the entire electric drive system can be improved.

[0054] In the embodiment of the application, the second sun gear is connected with the first sun gear, and the second ring gear is connected with the first planet carrier; the fourth sun gear is connected with the third sun gear, and the fourth ring gear is connected with the third planet carrier.

[0055] In an alternative embodiment, the second sun gear is connected to the first sun gear, and the second ring gear is connected to the first carrier; the fourth sun gear is connected to the third sun gear, and the fourth ring gear is connected to the third carrier, thus constructing a high-efficiency torque vectoring system. By directly connecting the sun gears and ring gears of two adjacent planetary sets, the power is directly transmitted and dynamically allocated. In the first reducer module, the direct connection between the first sun gear and the second sun gear allows the high-speed rotating power received by the first sun gear to be directly transmitted to the second sun gear without the need for additional intermediate links. This design simplifies the power transmission path and reduces energy loss. The connection between the second ring gear and the first carrier facilitates further power allocation and control. After the first planetary set completes the initial speed reduction and torque increase, the second ring gear can perform power splitting and transmit power to the first carrier, which can then act as an output to directly drive the first wheel. Similarly, the connection between the third sun gear and the fourth sun gear, as well as the connection between the fourth ring gear and the third carrier, ensures the power transmission to the second wheel.

[0056] In the above arrangement, the connection between the second sun gear and the first sun gear, as well as the connection between the fourth sun gear and the third sun gear, ensures the continuity of power transmission and improves the efficiency of power transmission. Through the connection between the second ring gear and the first carrier, as well as the connection between the fourth ring gear and the third carrier, the torque input to the first planetary set and the third planetary set can be dynamically adjusted according to the driving demand information, allowing for precise torque distribution and improving the handling performance and driving safety.

[0057] In the embodiments of the present application, the second carrier is fixedly connected to the housing of the first reducer module, and the fourth carrier is fixedly connected to the housing of the second reducer module.

[0058] The housing of the first reducer module mentioned above can refer to the external structure that wraps and supports the first planetary set, the second planetary set, and related components, and can provide physical protection for the internal gears and motor components. The housing can be made of high-strength materials such as metal alloys to ensure sufficient rigidity and durability. In this application, the housing fixes the second carrier, connecting the housing and the non-rotating part of the reducer together, so that the second carrier can remain stable during the power conversion process of the first planetary set, thereby ensuring that the planetary set can correctly perform the tasks of speed reduction and torque vectoring control.

[0059] The housing of the second reducer module mentioned above can refer to the external structure that wraps and supports the third planetary set, the fourth planetary set, and related components, and can provide protection for these internal components while fulfilling the responsibility of fixing the fourth carrier to ensure the stability and reliability of the second reducer module when performing torque vectoring control and driving the second wheel.

[0060] In an alternative embodiment, the second carrier is fixedly connected to the housing of the first reduction module, and the fourth carrier is fixedly connected to the housing of the second reduction module. By fixing the second carrier and the fourth carrier, the corresponding second planetary gears and fourth planetary gears are prevented from revolving around the second sun gear, and are only allowed to rotate around their own axes. Similarly, by fixing the fourth carrier to the housing of the second reduction module, the movement of the fourth planetary gears is also limited to rotation around their own axes.

[0061] In the above arrangement, the second carrier is fixedly connected to the housing of the first reduction module, and the fourth carrier is fixedly connected to the housing of the second reduction module. By fixing the second carrier and the fourth carrier, the corresponding second planetary gears and fourth planetary gears are prevented from revolving around the second sun gear, and are only allowed to rotate around their own axes. The self-rotation characteristics of the planetary gears are utilized to achieve local amplification or reduction of power, as well as torque vectoring of the left and right wheels. Under the guidance of the driving demand information, the power input of the first planetary set and the third planetary set can be adjusted, while the planetary gears of the second planetary set and the fourth planetary set will adjust the torque and speed output to the first carrier and the third carrier, respectively, only through self-rotation, to achieve precise power control.

[0062] In the embodiments of the present application, the first carrier is connected to a drive half shaft for driving the first wheel, so as to drive the first wheel to rotate; and the third carrier is connected to a drive half shaft for driving the second wheel, so as to drive the second wheel to rotate.

[0063] The drive half shaft of the first wheel can be a mechanical structure connected to the hub of the first wheel, and links the hub of the wheel to the output end of the reduction module. In the present application, the first carrier is connected to the drive half shaft for driving the first wheel. The drive half shaft can transmit the torque output by the reduction module from the transmission system to the wheel, so that the wheel can rotate and thus drive the vehicle to move. The drive half shaft can be made of high-strength material to withstand high torque load, and can be designed to have a certain flexibility to adapt to the vibration and swing of the vehicle when driving on different road surfaces.

[0064] The drive half shaft of the second wheel can be a mechanical structure connected to the hub of the second wheel. In the present application, the third carrier is connected to the drive half shaft for driving the second wheel. The torque and adjusted speed transmitted by the second reduction module are effectively transmitted to the second wheel through the drive half shaft, so as to drive the second wheel to rotate.

[0065] In an alternative embodiment, the first and third planet carriers are directly connected to the drive half shafts for driving the first and second wheels, respectively, serving as the power transmission hub between the electric drive system and the wheels. After the first planetary gear set completes the preliminary speed reduction and torque increase of the received power, the first planet carrier serves as a direct output to smoothly transmit power to the drive half shaft, which in turn drives the first wheel. Similarly, the output of the third planetary gear set is directly transmitted to the drive half shaft on the other side through the third planet carrier, ultimately driving the second wheel. A firm and flexible connection can be established between the drive half shaft and the planet carrier, which can be achieved by using spline coupling, keyway fitting or other reliable mechanical connection methods. This connection can ensure the stability of power transmission while allowing a certain range of angular displacement to adapt to various dynamic changes during vehicle driving.

[0066] In the above arrangement, through the direct connection of the planetary gear set and the drive half shaft, the torque and speed of the left and right wheels can be flexibly adjusted in various driving modes such as straight driving, cornering and spot turning, enabling faster response to driving instructions and providing a smoother driving experience.

[0067] Figure 2 is a flowchart of a driving control method of a vehicle according to an embodiment of the present application, applied to the above-mentioned speed reducer for the electric drive system of a vehicle, as shown in Figure 2 The method comprises the following steps:

[0068] Step S202, in response to receiving the driving demand information of the vehicle.

[0069] In an alternative embodiment, the on-board sensing system can monitor the state of the vehicle and the external environment in real time, which can include but is not limited to the speed, acceleration, steering angle, road conditions and driver's operation input such as the feedback of the accelerator pedal, brake pedal and steering wheel. These sensors can include positioning systems, gyroscopes, accelerometers, wheel speed sensors, road grip detection devices, etc., which together form a comprehensive vehicle information perception network. Then, the collected information can be aggregated and sent to the processor of the vehicle. The processor can be built-in with an algorithm model, which can determine the current driving mode of the vehicle, such as straight driving, cornering, spot turning, etc., according to the received driving demand information, and predict the required torque and speed. The processor can learn and adapt in real time according to historical data, driving habits and road conditions.

[0070] In the above process, the rapid processing and response of the processor to the driving demand information enable the vehicle to adjust the power output in a timely manner after the driver's intention is delivered, which can improve the immediacy of the driving experience and the flexibility of the vehicle's control.

[0071] In step S204, based on the driving demand information, the running states of the first driving motor and the second driving motor are controlled to drive the vehicle to travel.

[0072] The first reducer module in the reducer is used to reduce the output rotation speed of the first driving motor to drive the first wheel of the vehicle to rotate, and the second reducer module in the reducer is used to reduce the output rotation speed of the second driving motor to drive the first wheel of the vehicle to rotate.

[0073] In an optional embodiment, the running states of the first driving motor and the second driving motor can be adjusted according to the received driving demand information to adapt to different driving conditions. Specifically, the processor can receive the summarized driving demand information including the operation instructions of the driver, the vehicle state parameters and the environmental data, analyze these information through the built-in algorithm, and determine the appropriate motor running state. For example, if the curve driving is required, the processor will calculate the torque difference required by the inner and outer wheels, and generate the corresponding control instructions. The processor can send the control instructions to the motor driver, and the motor driver can accurately control the rotation speed and output torque of the first driving motor and the second driving motor. The motor driver adjusts the current and voltage to realize the accurate control of the rotation speed of the motor to adapt to the running state specified by the processor. This control can adopt a closed-loop control system, which monitors the actual rotation speed of the motor in real time, compares it with the target rotation speed, and continuously adjusts to ensure the accuracy of the motor running state. The motor driver also cooperatively controls the planetary gear train in the reducer. Based on the rotation speed adjustment of the motor, the linkage relationship between the sun gear, the planet gears and the ring gear in the planetary gear train changes, realizing the fine adjustment of the output rotation speed. This process ensures that the wheels obtain the torque and speed matched with the driving demand, whether in straight acceleration, smooth cruising or maintaining a good posture in the curve.

[0074] In the above process, the first reducer module in the reducer is used to reduce the output rotation speed of the first driving motor to drive the first wheel of the vehicle to rotate, and the second reducer module in the reducer is used to reduce the output rotation speed of the second driving motor to drive the first wheel of the vehicle to rotate. According to different driving demands, the vehicle can provide accurate matching power output, independently adjust the power of the wheels on both sides in the curve driving or in the case of requiring torque vectoring control, and ensure the stability and maneuverability of the vehicle.

[0075] In the embodiment of the present application, based on the driving demand information, the running states of the first driving motor and the second driving motor are controlled to drive the vehicle to run, including: in the case that the driving demand information is straight-line driving, the first driving motor and the second driving motor are controlled to run in the same rotating direction and at the same rotating speed to drive the vehicle to run in a straight line, wherein the rotating direction of the first planet carrier in the first reducer module is the same as the rotating direction of the third planet carrier in the second reducer module and the rotating speed is the same.

[0076] The above-mentioned straight-line driving can mean that the two front wheels or the two rear wheels of the vehicle maintain the same rotating speed and direction, so that the vehicle can smoothly maintain on the specified straight-line route and drive forward or backward.

[0077] In an optional embodiment, when the driving demand information indicates straight-line driving, the first driving motor and the second driving motor can be controlled to run in the same rotating direction and speed to drive the vehicle to move forward in a straight line. After the processor analyzes the driving demand information, an instruction can be sent to the motor driver to adjust the running states of the first driving motor and the second driving motor to a synchronous state. The motor driver controls the current and voltage accurately to ensure that the rotating speed and direction of the two motors are consistent. In the process of synchronous rotation of the motors, the structure design of the first planetary gear set and the third planetary gear set ensures uniform power distribution and constant rotating speed. The first planet carrier is connected with the first sun gear to receive the output of the motor, and the second planet carrier is a fixed end to ensure that the first planetary gear set can stably transmit power to the first outer ring gear. After power splitting of the second planetary gear set, the rotating speed of the first planet carrier is maintained stable. The third planetary gear set coordinates the driving of the second driving motor to the second wheel in a similar way. The rotating direction of the first planet carrier and the third planet carrier is the same and the rotating speed is the same, forming a smooth and coordinated power output system.

[0078] In the above process, in the straight-line driving mode, the structure design of the reducer ensures that the torque output by the motor can be efficiently transmitted to the wheel with small energy loss, avoids power fluctuation caused by rotating speed difference, and improves the smoothness of driving and energy utilization efficiency. The rotating speed and direction of the first planet carrier and the third planet carrier are consistent, so that the power transmission between the planetary gear sets is more direct, reducing the internal power loss.

[0079] In the embodiment of the present application, based on the driving demand information, the running states of the first driving motor and the second driving motor are controlled to drive the vehicle to run, including: in the case that the driving demand information is curve driving, the first driving motor and the second driving motor are controlled to run in the same rotating direction and different rotating speeds to drive the vehicle to run in the curve, wherein the first planetary gear train in the first reducer module and the third carrier in the second reducer module are used to compensate the speed difference between the first wheel and the second wheel, and the rotating direction of the first carrier in the first reducer module and the third carrier in the second reducer module is the same and the rotating speed is different.

[0080] The above-mentioned curve driving can refer to the driving of the vehicle at the road turning place, and can include but is not limited to left turn, right turn or passing through a curved road section, etc. During the curve driving, the inside and outside wheels of the vehicle need to rotate at different speeds, the inside wheel has a lower rotating speed, and the outside wheel has a higher rotating speed, and the outside wheel needs to cover a larger circumferential distance to complete the turning. For the electric drive system of the new energy vehicle, the performance improvement of the curve driving can be realized by independently controlling the rotating speeds of different motors, and the stability and maneuverability of the vehicle during the turning need to be maintained during the curve driving.

[0081] In an optional embodiment, during the curve driving, the wheels on both sides of the vehicle need different rotating speeds to adapt to the change of the radius of curvature. The processor issues instructions to the first driving motor and the second driving motor according to the current curve driving demand information of the vehicle, so that the first driving motor and the second driving motor have different rotating speeds on the basis of the same rotating direction. Generally, the outside wheel needs a faster speed to pass through a wider turning arc, and the inside wheel needs a slower speed. At this time, the first planetary gear train and the third planetary gear train bear the function of the differential. The first planetary gear train receives a higher rotating speed input of the first driving motor, and through the rotation and revolution of the internal planetary gears, the rotating speed difference is converted into the output speed of the first carrier to drive the outside first wheel to rotate at a faster speed. At the same time, the third planetary gear train receives a lower rotating speed of the second driving motor, and through the coordinated action of the planetary gears, the inside second wheel is ensured to run at a slower speed, so as to realize the self-adaptive adjustment of the wheel speed during the curve driving. The first carrier and the third carrier run in the same rotating direction, and the rotating speeds of the first carrier and the third carrier can be different according to the different requirements of different wheels. The transmission mechanism of the speed difference reflects the natural speed difference of the inside and outside wheels during the curve driving of the vehicle, and does not need an additional differential to participate, thereby simplifying the framework of the entire driving system.

[0082] In the above process, through the structural design of the first planetary gear set and the third planetary gear set, the first planetary gear set and the third planetary gear set in the speed reducer assume the function of the differential, can automatically adjust the wheel speed according to the need of corner driving, and do not need a physical differential, thereby simplifying the structure of the vehicle transmission system, reducing the weight, reducing the cost of the speed reducer, and improving the space utilization of the vehicle.

[0083] In the embodiment of the application, based on the driving demand information, the running states of the first driving motor and the second driving motor are controlled to drive the vehicle to drive, including: in the case that the driving demand information is to drive in situ and point turning, the first driving motor and the second driving motor are controlled to run in different rotating directions to drive the vehicle to drive in situ and point turning, wherein the first planetary gear set in the first speed reducer module and the third planetary carrier in the second speed reducer module are used to compensate for the speed difference between the first wheel and the second wheel, and the rotating directions of the first planetary carrier in the first speed reducer module and the third planetary carrier in the second speed reducer module are different.

[0084] The above-mentioned in situ and point turning driving can mean that the vehicle can perform turning operation in situ by using its own power system and steering mechanism, so that the front part of the vehicle becomes the original rear part, and the central position of the vehicle basically remains unchanged. This operation needs the rotating directions of the left wheel and the right wheel of the vehicle to be opposite, and the rotating speeds of the left wheel and the right wheel can also be different to achieve effective in situ turning.

[0085] In an optional embodiment, under the driving demand of in situ and point turning, the speed reducer module cleverly realizes the reverse driving of the wheel rotating direction through the unique planetary gear set design, without the need to additionally set a differential in the differential, thereby simplifying the complexity of the vehicle transmission system. The processor can adjust the running states of the first driving motor and the second driving motor according to the in situ and point turning instruction of the vehicle, so that the first driving motor and the second driving motor run in opposite rotating directions. This operation can be realized by changing the current direction of the motor, so that the output shaft of the motor generates reverse torque. When the motor generates torque in opposite directions, the first planetary gear set and the third planetary gear set assume the function of the differential. The first planetary gear set receives the forward torque of the first driving motor, and the third planetary gear set receives the reverse torque of the second driving motor. Through the linkage of the first planetary gear set and the first planetary carrier and the coordination of the third planetary gear set and the third planetary carrier, the first wheel and the second wheel are respectively driven to rotate in opposite directions, thereby realizing the in situ and point turning of the vehicle. The rotating directions of the first planetary carrier and the third planetary carrier are different due to the torque directions of the motors, the first planetary carrier rotates forward, and the third planetary carrier rotates reversely. This design ensures that although the two wheels need to quickly reverse, the speed reducer can still run smoothly, and the power transmission will not be interrupted or unstable due to the sudden change of the reverse torque.

[0086] In the above process, the first planetary row and the third planetary row bear the role of the differential during the process of turning around in place, simplifying the structure and manufacturing difficulty of the transmission system, and also reducing the overall weight and space occupation of the vehicle, the supported ability of turning around in place improves the driving flexibility, in the narrow space or the emergency situation requiring rapid direction adjustment, the turning action can be quickly and safely completed, improving the maneuverability and safety of the vehicle.

[0087] The technical scheme provided in the application is described below in combination with an optional embodiment. The application provides a short-axial-size double-motor coaxial torque vector electric drive device. With the development of new energy electric drive systems, the functional requirements of vehicles on electric drive systems are higher and higher, and the space position of electric drive systems is smaller and smaller, and it is better to have a lower weight, thereby reducing the production cost of vehicles and improving the product competitiveness. The drive system of a pure electric vehicle is mainly divided into single-motor centralized drive and multi-motor torque vector drive in terms of driving mode. The single-motor centralized drive mode can be understood as that the driving force of the motor is transmitted to the differential through gears, shafts, etc., and then distributed to the left and right half shafts. The multi-motor torque vector drive can be two sets of independent electric drive systems that are mirror arranged on the chassis and can independently drive two wheels. In order to adapt to the current high-performance vehicle body stability and torque output demand, while covering the body point turning function, the multi-motor torque vector drive has more advantages in vehicle matching. In terms of the arrangement form of the electric drive system reducer, there can be parallel shaft arrangement and coaxial arrangement. The coaxial electric drive system has a compact structure and a more regular shape, which is more convenient for vehicle space arrangement. However, the coaxial electric drive system is usually long in the axial direction, and the space requirement of the front and rear rows of the vehicle is high in the scene. The short-axial-size coaxial torque vector drive system can play a greater advantage.

[0088] The short-axial-size coaxial torque vector electric drive provided in the application has a first electronic mechanical input motor, a second electronic mechanical input motor, a left vector planetary row (i.e., a first planetary row), a left vector planetary row (i.e., a second planetary row), a right vector planetary row (i.e., a third planetary row), and a right vector planetary row (i.e., a fourth planetary row). The first planetary row includes a first sun gear, a first planet carrier, a first planet gear, and a first outer gear ring. The first sun gear is engaged with the first planet gear, and the first planet gear is engaged with the first outer gear ring. The second planetary row includes a second sun gear, a second planet carrier, a second planet gear, and a second outer gear ring. The second sun gear is engaged with the second planet gear, and the second planet gear is engaged with the second outer gear ring. The third planetary row includes a third sun gear, a third planet carrier, a third planet gear, and a third outer gear ring. The third sun gear is engaged with the third planet gear, and the third planet gear is engaged with the third outer gear ring. The fourth planetary row includes a fourth sun gear, a fourth planet carrier, a fourth planet gear, and a fourth outer gear ring. The fourth sun gear is engaged with the fourth planet gear, and the fourth planet gear is engaged with the fourth outer gear ring.

[0089] The first planetary gear set is arranged inside the rotor of the first electric motor, and the third planetary gear set is arranged inside the rotor of the second electric motor, so that the axial length of the assembly can be effectively shortened. The ring gear is connected with the rotor of the electric motor and serves as a power input end. The carrier of the second planetary gear set is connected with the housing and serves as a fixed end. The sun gear of the first planetary gear set is connected with the sun gear of the second planetary gear set. The carrier of the first planetary gear set serves as a left output end and is connected with the half shaft.

[0090] Figure 3 is a schematic diagram of an optional speed reducer for a vehicle electric drive system according to an embodiment of the present application, as Figure 3 The first planetary gear set P1 is arranged inside the rotor of the first electric motor EM1, and the third planetary gear set P3 is arranged inside the rotor of the second electric motor EM2. The first planetary gear set includes a first sun gear S1, a first carrier H1, a first planet gear C1 and a first ring gear R1. The first sun gear is engaged with the first planet gear, and the first planet gear is engaged with the first ring gear. The second planetary gear set P2 includes a second sun gear S2, a second carrier H2, a second planet gear C2 and a second ring gear R2. The second sun gear is engaged with the second planet gear, and the second planet gear is engaged with the second ring gear. The third planetary gear set includes a third sun gear S3, a third carrier H3, a third planet gear C3 and a third ring gear R3. The third sun gear is engaged with the third planet gear, and the third planet gear is engaged with the third ring gear. The fourth planetary gear set P4 includes a fourth sun gear S4, a fourth carrier H4, a fourth planet gear C4 and a fourth ring gear R4. The fourth sun gear is engaged with the fourth planet gear, and the fourth planet gear is engaged with the fourth ring gear. The second sun gear is connected with the first sun gear, and the second ring gear is connected with the first carrier. The fourth sun gear is connected with the third sun gear, and the fourth ring gear is connected with the third carrier. The second carrier is fixedly connected with the housing K of the first speed reducer module, and the fourth carrier is fixedly connected with the housing K of the second speed reducer module. The first carrier is connected with the drive half shaft O1 for driving the first wheel, so as to drive the first wheel to rotate. The third carrier is connected with the drive half shaft O2 for driving the second wheel, so as to drive the second wheel to rotate.

[0091] The specific working mode of the application is as follows: when the vehicle travels straight; the electronic mechanical input motor provides driving force, the power is input through the first planetary gear ring, the power is transmitted to the first sun gear, and the power is split through the first planetary gear sun gear and the second planetary gear, wherein the second planetary gear is braked, the second planetary gear is braked, the second planetary gear does not revolve, only rotates, and finally the power is output to the first planetary gear to revolve, driving the first planetary gear to rotate, and the first planetary gear is connected with the axle wheel end, when the driving resistance is the same, the first planetary gear and the third planetary gear rotate at the same speed, and the left and right wheels rotate at the same speed, thereby driving the vehicle to travel straight. When the vehicle needs to travel on a curve, the first planetary gear and the third planetary gear bear the differential function, so that the first planetary gear and the third planetary gear rotate in the same direction and at different speeds, forming a speed difference, so that the two wheels rotate at different speeds, meeting the turning demand of the vehicle; when the vehicle needs to turn around at a fixed point, the first planetary gear and the third planetary gear bear the differential function, so that the first planetary gear and the third planetary gear rotate in opposite directions, so that the two wheels rotate in opposite directions, meeting the demand of turning around at a fixed point.

[0092] The coaxial torque vectoring driving device with a short axial length provided by the application, in a coaxial single motor system, a small torque vectoring motor and a simple planetary gear are added, and the first planetary gear is put into the motor rotor, thereby shortening the axial length, by applying controllable torque and speed to the motor, power is split through the simple planetary gear, and is input into the electric drive system, the torque and speed of the left and right half shafts are changed, that is, the independent driving and control of the two wheels are realized, the active control of the left and right wheels is realized, the vehicle control is improved, and the driving feeling and safety are improved. At the same time, the planetary gear structure is combined to replace the differential function to realize simple structure and shorten the axial space, which is beneficial to the actual arrangement of the vehicle.

[0093] The embodiment of the application also provides an electronic device, including: a memory, which stores an executable program; and a processor, which is used to run the program, wherein the program performs the method in each embodiment of the application when running.

[0094] The memory described above can refer to a device inside a computer for storing data and programs, and can include a memory, a hard disk, etc., wherein the memory can be used for temporarily storing programs and data being run, the hard disk can be used for long-term storage of programs and data, the memory can be used for the computer to read and write data and execute programs; the processor described above can be responsible for executing instructions in the computer program and processing data, and can be responsible for controlling and executing various operations, including arithmetic operations, logical operations, data transmission, etc.

[0095] The embodiment of the present application further provides a computer readable storage medium, which comprises a stored executable program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the method in each embodiment of the present application when the executable program is executed.

[0096] The computer storage medium described above can refer to a medium for storing certain discontinuous physical quantities in a computer memory, and the computer storage medium mainly includes semiconductors, magnetic cores, magnetic drums, magnetic tapes, laser discs and the like; the stored program included in the computer readable storage medium can be a set of instructions that can be recognized and executed by a computer, and the program runs on an electronic computer to meet the informationization tool of a certain demand of people.

[0097] The embodiment of the present application further provides a computer program product, which comprises a computer program, and the computer program implements the method in each embodiment of the present application when executed by a processor.

[0098] The computer program product described above can refer to a software program that is written, tested and released, and can run on a computer or other device. The computer program product can include application programs, operating systems, tool software and the like, and is used to implement specific functions or solve specific problems.

[0099] The embodiment of the present application further provides a computer program product, which comprises a non-volatile computer readable storage medium, and the non-volatile computer readable storage medium is used to store a computer program. The computer program is executed by a processor to implement the method in each embodiment of the present application.

[0100] The non-volatile computer readable storage medium described above can refer to a medium for storing data. The non-volatile computer readable storage medium can keep data from being lost when power is off, and can be used to store long-term saved data such as operating systems, application programs and user files. The non-volatile storage medium can include a hard disk drive, a solid state disk, an optical disc and a flash memory storage device and the like.

[0101] The embodiment of the present application further provides a computer program, which is executed by a processor to implement the method in each embodiment of the present application.

[0102] The computer program described above can refer to a set of instructions for telling a computer to execute specific tasks or operations. The computer program can be written by a programmer using a specific programming language, and can include algorithms, data structures, logic and control flow and the like. The computer program can be used for various purposes, including application software, operating systems and the like.

[0103] In the above embodiments of the present application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0104] In several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division mode, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between units or modules, which can be electrical or other forms.

[0105] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0106] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0107] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0108] The above is only the preferred embodiment of the present application. It should be noted that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should be considered as the protection scope of the present application.

Claims

1. A reducer for a vehicle electric drive system, characterized in that: include: a first reducer module, comprising a first planetary gear and a second planetary gear, wherein the first planetary gear is disposed inside a rotor of a first drive motor, the second planetary gear is coaxially connected to the first planetary gear, the second planetary gear is configured to perform power splitting, and the first reducer module is configured to reduce an output speed of the first drive motor to drive a first wheel of the vehicle; The second reducer module includes a third planetary gear and a fourth planetary gear, wherein the third planetary gear is arranged inside the rotor of the second drive motor, the operating status of the second drive motor and the first drive motor is determined by the driving demand information of the vehicle, the fourth planetary gear is coaxially connected to the third planetary gear, and the fourth planetary gear is used for power diversion. The second reducer module is used to reduce the output speed of the second drive motor to drive the second wheel of the vehicle to rotate.

2. The reducer for a vehicle electric drive system according to claim 1, characterized in that: The first planetary row includes a first sun gear, a first planetary carrier, a first planetary gear and a first outer ring gear, the first sun gear is meshed with the first planetary gear, and the first planetary gear is meshed with the first outer ring gear; the second planetary row includes a second sun gear, a second planetary carrier, a second planetary gear and a second outer ring gear, the second sun gear is meshed with the second planetary gear, and the second planetary gear is meshed with the second outer ring gear; the third planetary row includes a third sun gear, a third planetary carrier, a third planetary gear and a third outer ring gear, the third sun gear is meshed with the third planetary gear, and the third planetary gear is meshed with the third outer ring gear; the fourth planetary row includes a fourth sun gear, a fourth planetary carrier, a fourth planetary gear and a fourth outer ring gear, the fourth sun gear is meshed with the fourth planetary gear, and the fourth planetary gear is meshed with the fourth outer ring gear.

3. The reducer for a vehicle electric drive system according to claim 2, characterized in that: The second sun gear is connected to the first sun gear, and the second outer ring gear is connected to the first planet carrier; the fourth sun gear is connected to the third sun gear, and the fourth outer ring gear is connected to the third planet carrier.

4. The reducer for a vehicle electric drive system according to claim 3, characterized in that: The second planet carrier is fixedly connected to the housing of the first reducer module, and the fourth planet carrier is fixedly connected to the housing of the second reducer module.

5. The reducer for a vehicle electric drive system according to any one of claims 1 to 4, characterized in that: The first planetary carrier is connected to a driving half shaft for driving the first wheel to drive the first wheel to rotate; the third planetary carrier is connected to a driving half shaft for driving the second wheel to drive the second wheel to rotate.

6. A vehicle driving control method, characterized in that: The reducer according to any one of claims 1 to 5, comprising: In response to receiving driving demand information of the vehicle; Based on the driving demand information, the operating status of the first drive motor and the second drive motor is controlled to drive the vehicle to drive, wherein the first reducer module in the reducer is used to reduce the output speed of the first drive motor to drive the first wheel of the vehicle to rotate, and the second reducer module in the reducer is used to reduce the output speed of the second drive motor to drive the first wheel of the vehicle to rotate.

7. The vehicle driving control method according to claim 6, wherein the operating states of the first drive motor and the second drive motor are controlled based on the driving demand information to drive the vehicle, comprising: When the driving requirement information is straight-line driving, the first drive motor and the second drive motor are controlled to operate in the same rotation direction and the same rotation speed to drive the vehicle to drive in the straight line, wherein the first planetary carrier in the first reducer module and the third planetary carrier in the second reducer module have the same rotation direction and the same rotation speed.

8. The vehicle travel control method according to claim 6, wherein: Based on the driving demand information, controlling the operating states of the first drive motor and the second drive motor to drive the vehicle includes: When the driving demand information is curve driving, the first drive motor and the second drive motor are controlled to operate in the same rotation direction and different rotation speeds to drive the vehicle to drive the curve, wherein the first planetary gear in the first reducer module and the third planetary carrier in the second reducer module are used to compensate for the speed difference between the first wheel and the second wheel, and the first planetary carrier in the first reducer module and the third planetary carrier in the second reducer module have the same rotation direction and different rotation speeds.

9. The vehicle travel control method according to claim 6, wherein: Based on the driving demand information, controlling the operating states of the first drive motor and the second drive motor to drive the vehicle includes: When the driving demand information is a fixed-point U-turn on the spot, the first drive motor and the second drive motor are controlled to operate in different rotation directions to drive the vehicle to perform the fixed-point U-turn on the spot, wherein the first planetary gear in the first reducer module and the third planetary carrier in the second reducer module are used to compensate for the speed difference between the first wheel and the second wheel, and the first planetary carrier in the first reducer module and the third planetary carrier in the second reducer module have different rotation directions.

10. An electronic device, characterized in that: include: a memory storing an executable program; A processor is used to run the program, wherein the program, when running, executes the vehicle driving control method according to any one of claims 6 to 9.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the storage medium is located is controlled to execute the vehicle driving control method according to any one of claims 6 to 9.

12. A computer program product, characterized in that The method comprises computer instructions which, when executed by a processor, implement the vehicle driving control method according to any one of claims 6 to 9.

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