Vehicle torque control method and vehicle

Abstract

The invention is suitable for the technical field of vehicle control, and provides a vehicle torque control method and a vehicle. The method comprises the steps that vehicle information is obtained, wherein the vehicle information at least comprises multiple of the current driving state, the current driving mode, the target driving mode, the current vehicle speed, the current gear of a front axle, the target gear of the front axle and the current clutch state of the vehicle; according to the vehicle information and a preset torque limiting condition, whether the rear axle torque request is limited or not is judged; the torque limiting condition comprises the condition that the front axle performs gear shifting and / or driving mode switching in at least one driving mode; and if the rear axle torque request is limited, executing a limiting strategy on the rear axle torque request. The phenomenon that front wheels do not rotate and rear wheels dig pits can be reduced, then wheel tire abrasion is reduced, and the experience feeling of a user is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a vehicle torque control method and a vehicle. BACKGROUND

[0002] With the rapid development of science and technology, the automobile industry has entered a new stage of high-quality development, which is accompanied by an energy crisis and environmental pollution problems that cannot be ignored. In recent years, environmental protection measures have become increasingly stringent in various countries around the world. Hybrid vehicles have become a focus of automobile research and development due to their energy-saving and low-emission characteristics, and have begun to be commercialized. A hybrid vehicle generally refers to a vehicle equipped with two power sources, a thermal power source (a traditional engine) and an electric power source (a power battery and a drive motor). In order to meet the use requirements of different users, hybrid vehicles have multiple driving modes, such as series mode, power split mode, and idle electric four-wheel drive mode.

[0003] In related technologies, the hybrid power system of a hybrid vehicle mainly includes an engine and a motor arranged on the front axle of the vehicle, and a motor arranged on the rear axle of the vehicle. The present inventors have found that when the vehicle is in a stationary state, in some cases, such as when the front axle is shifting in the power split mode, or when the mode is switched between the series mode and the power split mode, a long time is required, and at this time, only the rear axle outputs torque, and if the driver steps on the accelerator, the front wheels will not rotate and the rear wheels will dig into the ground. SUMMARY

[0004] Embodiments of the present application provide a vehicle torque control method and a vehicle to solve the problem that when the front axle is shifting and / or switching modes in some modes, a long time is required, and at this time, only the rear axle outputs torque, and if the driver steps on the accelerator, the front wheels will not rotate and the rear wheels will dig into the ground.

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

[0006] obtaining vehicle information, the vehicle information including at least a plurality of the current driving state, the current driving mode, the target driving mode, the current vehicle speed, the current gear of the front axle, the target gear of the front axle, and the current clutch state of the vehicle;

[0007] determining whether to limit the rear axle torque request according to the vehicle information and a preset torque limiting condition; wherein the torque limiting condition includes a condition for shifting and / or switching driving modes of the front axle in at least one driving mode;

[0008] if the rear axle torque request is limited, a limiting strategy is executed on the rear axle torque request.

[0009] In a second aspect, the embodiments of the present application provide a vehicle torque control device, which can include:

[0010] An acquisition module is configured to acquire vehicle information, the vehicle information including at least a current driving state of the vehicle, a current drive mode, a target drive mode, a current vehicle speed, a current front axle gear, a target front axle gear and a current clutch state.

[0011] A determination module is configured to determine whether to limit a rear axle torque request according to the vehicle information and preset torque limiting conditions, wherein the torque limiting conditions include conditions for gear shifting and / or drive mode switching of the front axle in at least one drive mode.

[0012] An execution module is configured to execute a limiting strategy for the rear axle torque request when the rear axle torque request is limited.

[0013] In a third aspect, the embodiments of the present application provide a vehicle including a memory and a controller, the memory storing a computer program capable of running on the controller, and the controller implements the vehicle torque control method according to the first aspect or any possible implementation manner of the first aspect when executing the computer program.

[0014] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium storing a computer program, and the computer program implements the vehicle torque control method according to the first aspect or any possible implementation manner of the first aspect when executed by a controller.

[0015] It can be understood that the beneficial effects of the second aspect to the fourth aspect can be referred to the related description in the first aspect, and will not be repeated here.

[0016] The vehicle torque control method and the vehicle provided by the embodiments of the present application determine whether to limit the rear axle torque request according to the vehicle information and the torque limiting conditions, that is, determine whether to limit the rear axle torque request based on whether the gear shifting and / or drive mode switching of the front axle in at least one drive mode which takes a long time occurs, and then execute a limiting strategy for the rear axle torque request if it is determined to limit the rear axle torque request, thereby reducing the phenomenon of front wheels not turning and rear wheels digging, reducing the wear of the vehicle tires, and improving the user experience.

[0017] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present specification. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0019] Figure 1 is an application scenario provided by an embodiment of the present application;

[0020] Figure 2 is a structural schematic diagram of a hybrid power system provided by an embodiment of the present application;

[0021] Figure 3 is a flowchart of a vehicle torque control method provided by an embodiment of the present application;

[0022] Figure 4 is a flowchart of a vehicle torque control method provided by another embodiment of the present application;

[0023] Figure 5 is a structural schematic diagram of a vehicle torque control device provided by an embodiment of the present application;

[0024] Figure 6 is a structural schematic diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0025] The present application will be described in more detail below with specific embodiments. The following embodiments will help those skilled in the art to further understand the role of the present application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made. These all belong to the protection scope of the present application.

[0026] It should be understood that when used in the specification and claims of the present application, the term "comprising" indicates the presence of the described features, whole, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, whole, steps, operations, elements, components and / or sets thereof.

[0027] It should also be understood that the term "and / or" used in the specification and claims of the present application means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0028] In the description of the specification and the appended claims of the present application, the terms "first", "second", "third" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0029] Reference within the specification to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase "in one embodiment" or "in some embodiments" in various places within specified

[0030] Furthermore, "a plurality" should be construed as meaning two or more.

[0031] Reference is first made to Figure 1 , Figure 1 An application scenario of the present application is schematically shown, which is directed to a hybrid vehicle, such as a Plug-in Hybrid Electric Vehicle (PHEV) and a Range-Extended Hybrid Electric Vehicle (RE-HEV). In the application scenario, a controller and a hybrid power system of the hybrid vehicle can be included. The controller is the execution subject of the vehicle torque control method, which can be a hardware device with data storage, processing and analysis functions, and can be specifically a vehicle-mounted control device or an off-vehicle control device of the hybrid vehicle, or a combination of the vehicle-mounted control device and the off-vehicle control device, which can be determined according to actual conditions. For example, when the controller is a vehicle-mounted control device, it can be specifically a Vehicle Control Unit (VCU) or an Electronic Control Unit (ECU).

[0032] As shown in Figure 1 and Figure 2 , the hybrid power system can include an engine 1, a front axle motor 2, a mode mechanism 3, a cut-off device 4 and a transmission mechanism 5. The hybrid power system has only one front axle motor.

[0033] Referring to Figure 2 , the mode mechanism 3 includes a planetary mechanism and a first coupling element S1, and the output end of the engine 1 and the output end of the front axle motor 2 are respectively in transmission connection with the planetary mechanism. The first coupling element S1 is selectively coupled with the planetary mechanism. The transmission mechanism 5 includes a reverse assembly and at least one pair of forward gear pairs. For example, Figure 2The shown structure includes three forward gear wheel pairs and one reverse gear assembly, and the gear positions represented from top to bottom are 3rd gear, 2nd gear, 1st gear and R gear (reverse gear). The gear shifting mechanism 5 can only perform sequential gear shifting and cannot skip gears when performing gear shifting.

[0034] The forward gear wheel pair can include a forward gear driving gear and a forward gear driven gear engaged with the forward gear driving gear. The forward gear driving gear is arranged on the intermediate shaft 6, and the forward gear driven gear is arranged on the output shaft 7. The reverse gear assembly can include a reverse gear driving gear, an idler gear, an idler shaft and a reverse gear driven gear. The reverse gear driving gear is arranged on the intermediate shaft 6 in a loose sleeve manner, the reverse gear driven gear is fixedly arranged on the output shaft 7, the idler gear is fixedly arranged on the idler shaft, and the idler gear is engaged with the reverse gear driving gear and the reverse gear driven gear at the same time to realize the conversion of the power transmission direction.

[0035] The output shaft 7 is a power output shaft. The output shaft 7 can output power to the front wheels of the vehicle or the rear wheels of the vehicle through the output gear pair, the transmission shaft 8 and the front axle differential mechanism or the rear axle differential mechanism. The driving gear of the output gear pair is arranged on the output shaft 7, the driven gear of the output gear pair is arranged on the transmission shaft 8, the transmission shaft 8 is in driving connection with the front axle differential mechanism or the rear axle differential mechanism, the front axle differential mechanism is connected with the front wheels of the vehicle, and the rear axle differential mechanism is connected with the rear wheels of the vehicle.

[0036] In order to realize the gear shifting between the forward gears and the reverse gear, when the number of forward gear positions is one, the gear shifting mechanism 5 further includes a second coupling element S0. The second coupling element S0 can be arranged on the intermediate shaft 6 and located between the reverse gear driving gear and the forward gear driving gear; or the second coupling element S0 can be arranged on the output shaft 7 and located between the reverse gear driven gear and the forward gear driven gear. The second coupling element S0 can be selectively coupled with the reverse gear assembly or the forward gear wheel pair. When the reverse gear needs to be engaged, the second coupling element S0 is coupled with the reverse gear driving gear or the reverse gear driven gear. When the forward gear needs to be engaged, the second coupling element S0 is coupled with the forward gear driving gear or the forward gear driven gear. When the second coupling element S0 is not coupled with the reverse gear assembly and the forward gear wheel pair, it is in neutral position (N gear).

[0037] In order to realize the shift between the forward gears and the reverse gear, when the number of the forward gears is 2 or 3, the transmission mechanism 5 comprises a third coupling element S2 in addition to the second coupling element S0. The second coupling element S0 can be arranged on the intermediate shaft 6 between the reverse gear assembly and one of the forward gear assemblies, or can be arranged on the output shaft 7 between the reverse gear assembly and one of the forward gear assemblies. The third coupling element S2 can be arranged on the intermediate shaft 6 between the other two forward gear assemblies, or can be arranged on the output shaft 7 between the other two forward gear assemblies (when there are only two forward gears, the third coupling element S2 can be arranged on the intermediate shaft 6 on the side of one of the forward gear assemblies, or can be arranged on the output shaft 7 on the side of one of the forward gear assemblies).

[0038] The second coupling element S0 is selectively coupled with the reverse gear assembly or one of the forward gear assemblies. The third coupling element S2 is selectively coupled with the other forward gear assembly, or is selectively coupled with one of the other two forward gear assemblies. When neither of the second coupling element S0 and the third coupling element S2 is coupled, the transmission mechanism 5 is in the neutral state. Since the second coupling element S0 and the third coupling element S2 are controlled by the same shift motor, the transmission mechanism 5 in the embodiment of the application can only realize sequential shifting and cannot realize skip shifting.

[0039] The second coupling element S0 and the third coupling element S2 can be synchronizers.

[0040] According to actual requirements, the transmission mechanism 5 can further comprise more coupling elements, which are not specifically limited herein.

[0041] For example, as known from the foregoing, Figure 2 The transmission mechanism 5 shown comprises three forward gears and one reverse gear, and the gear positions from top to bottom are 3rd gear, 2nd gear, 1st gear and R gear. The transmission mechanism 5 comprises the second coupling element S0 and the third coupling element S2. The second coupling element S0 is arranged between the reverse gear assembly and the forward gear assembly corresponding to the 1st gear, and the third coupling element S2 is arranged between the forward gear assembly corresponding to the 2nd gear and the forward gear assembly corresponding to the 3rd gear. When it is required to shift from the 3rd gear to the R gear, it is required to first shift from the 3rd gear to the 2nd gear, then shift from the 2nd gear to the 1st gear, and finally shift from the 1st gear to the R gear, and it is not possible to directly shift from the 3rd gear to the R gear. When it is required to shift from the 1st gear to the 3rd gear, it is required to first shift from the 1st gear to the 2nd gear, and then shift from the 2nd gear to the 3rd gear, and it is not possible to directly shift from the 1st gear to the 3rd gear. Therefore, the time required for shifting is relatively long.

[0042] When the vehicle works in the power split mode, the cut-off device 4 is closed, and the first coupling element S1 is not coupled with the carrier 34 (i.e., the first coupling element S1 works in the PS gear). The front axle motor 2 acts on the sun gear 33, and the engine 1 power is transmitted to the carrier 34 through the cut-off device 4, so as to be transmitted to the sun gear 33 and the ring gear 35 through the internal gear meshing of the planetary mechanism: part of the power is transmitted to the front axle motor 2 by the sun gear 33, and the front axle motor 2 generates electricity under the control of the motor controller; and the other part of the power is transmitted to the intermediate shaft 6 by the ring gear 35, and then different gear outputs are realized through the selection of the transmission mechanism 5.

[0043] When the vehicle works in the series mode, the cut-off device 4 is closed, and the first coupling element S1 is coupled with the carrier 34 (i.e., the first coupling element S1 works in the EV gear). The carrier 34 and the ring gear 35 are fixedly connected, and then the sun gear 33, the carrier 34 and the ring gear 35 form an integrated body, the engine 1 power is input to the carrier 34 through the cut-off device 4, and then transmitted to the sun gear 33, so that the front axle motor 2 generates electricity, charges the power battery and / or supplies power to the rear axle motor, and the rear axle motor drives the vehicle. In the series mode, the transmission mechanism 5 does not work, and the coupling elements in the transmission mechanism 5 are all in the uncoupled state, so that there is no gear shifting problem in the series mode.

[0044] When the vehicle works in the idle electric four-wheel drive mode, the pure electric rear-wheel drive mode or the pure electric four-wheel drive mode, the cut-off device 4 is closed, and the first coupling element S1 is coupled with the carrier 34.

[0045] When the vehicle is switched from the series mode to the power split mode, the cut-off device 4 is in the closed state, the first coupling element S1 is switched from the EV gear to the PS gear, i.e., from the coupled state with the carrier 34 to the uncoupled state with the carrier 34, the ring gear 35 is uncoupled from the carrier 34, and the transmission mechanism 5 is switched from the neutral gear to the target gear.

[0046] When the vehicle is switched from the series mode to the idle electric four-wheel drive mode, from the power split mode to the idle electric four-wheel drive mode, from the idle electric four-wheel drive mode to the power split mode, or from the pure electric rear-wheel drive mode to the pure electric four-wheel drive mode, etc., the switching is similar to the switching of the vehicle from the series mode to the power split mode, and details are not repeated here.

[0047] When the vehicle is shifted in the power split mode, the cut-off device 4 is in the closed state, the first coupling element S1 is in the PS gear, i.e., in the uncoupled state with the carrier 34, and the transmission mechanism 5 is switched from the current gear to the target gear.

[0048] When the vehicle is shifting in the idle electric four-wheel drive mode, the vehicle is similar to shifting in the power split mode, which will not be described here.

[0049] In practical application, the inventor of the present application finds that when the vehicle is in a static state, no matter whether the vehicle is shifting in the power split mode, shifting in the idle electric four-wheel drive mode, or switching from the series mode to the power split mode, switching from the series mode to the idle electric four-wheel drive mode, switching from the power split mode to the idle electric four-wheel drive mode, switching from the idle electric four-wheel drive mode to the power split mode, and switching from the pure electric rear-wheel drive mode to the pure electric four-wheel drive mode, etc., the front axle needs to spend a long time, and at this time, the front axle does not output torque, and only the rear axle outputs torque, and if the driver steps on the accelerator at this time, the phenomenon of the front wheels not rotating and the rear wheels digging holes will occur.

[0050] In order to solve the above problems, the inventor finds that the vehicle information and the preset torque limiting condition, that is, whether the shifting and / or driving mode switching in multiple driving modes which need the front axle to spend a long time occurs, can be used to judge whether to limit the rear axle torque request, and when it is determined to limit the rear axle torque request, a limiting strategy is executed on the rear axle torque request, which reduces the phenomenon of the front wheels not rotating and the rear wheels digging holes.

[0051] It should be noted that the method provided in the embodiments of the present application can not only be applied to vehicles whose variable speed mechanism can only sequentially shift, but also be applied to vehicles whose variable speed mechanism can skip gears, that is, can arbitrarily shift.

[0052] The vehicle torque control method provided in the exemplary embodiments of the present application will be described below in combination with Figures 1 to 2 , and reference Figures 3 to 4 .

[0053] Figure 3 is a flowchart of the vehicle torque control method provided in an embodiment of the present application. As shown in Figure 3 , the method in the embodiments of the present application can include:

[0054] Step 301, obtaining vehicle information, the above vehicle information at least including multiple of the current driving state, the current driving mode, the target driving mode, the current vehicle speed, the current gear of the front axle, the target gear of the front axle and the current clutch state of the vehicle.

[0055] Exemplarily, the driving states in the embodiment can include an economy mode (ECO) state, a sport mode (SPORT) state, a snow mode (SNOW) state, a sand mode (SAND) state, a mud mode (MUD) state, a four-wheel drive high speed mode (4H) state, and a four-wheel drive low speed mode (4L) state, etc. The drive modes can include a power split mode, a series mode, and an idle electric four-wheel drive mode, etc., wherein the current drive mode is the current drive mode of the vehicle, which can be determined according to the states of the cut-off device and the first combining element of the hybrid power system, and the target drive mode is the drive mode of the vehicle after mode switching. The front axle gears can include an R gear, a D gear (a forward gear including a 1st gear, a 2nd gear, and a 3rd gear), and an N gear, etc., wherein the current front axle gear is the current gear of the front axle, which can be determined according to the states of all the combining elements in the transmission mechanism, for example, the current front axle gear is the gear in the transmission mechanism, and the target front axle gear is the gear of the front axle after gear shifting. The clutch state can include opening and closing. If the current vehicle speed is lower than a preset vehicle speed threshold, it can be considered that the vehicle is in a static state, wherein the preset vehicle speed threshold can be set according to the vehicle factory parameters, for example, it can be set to 2 kph.

[0056] In addition, the vehicle information described above can include other information in addition to the information such as the driving state, the drive mode, the vehicle speed, the gear, and the clutch state of the vehicle, for example, the position information of the vehicle, the road surface information of the position where the vehicle is located, etc., which can be determined according to the actual situation, so that the embodiment can comprehensively consider the above information to control the vehicle torque subsequently, thereby improving the control accuracy.

[0057] Step 302, determining whether to limit the rear axle torque request according to the vehicle information and a preset torque limiting condition, wherein the torque limiting condition includes a condition for the front axle to shift gears and / or to switch drive modes in at least one drive mode.

[0058] In the embodiment, the condition for the front axle to shift gears in at least one drive mode in the torque limiting condition can include a condition for the front axle to shift gears in the power split mode, and a condition for the front axle to shift gears in the idle electric four-wheel drive mode, etc. The condition for the front axle to switch drive modes can include a condition for the front axle to switch modes between the series mode and the power split mode, a condition for the front axle to switch modes between the series mode and the idle electric four-wheel drive mode, a condition for the front axle to switch modes between the power split mode and the idle electric four-wheel drive mode, a condition for the front axle to switch modes between the idle electric four-wheel drive mode and the power split mode, and a condition for the front axle to switch from pure electric rear drive to pure electric four-wheel drive, etc.

[0059] In some embodiments, the vehicle information can be compared with the torque limiting condition, it is determined whether the front axle is shifting in at least one driving mode, and / or whether the front axle is switching driving mode, wherein the driving mode at least includes power split mode, series mode, idle electric four-wheel drive mode, pure electric rear drive and pure electric four-wheel drive. If it is determined that the front axle is shifting in at least one driving mode, and / or the front axle is switching driving mode, such as shifting in power split mode, or switching mode between series mode and power split mode, etc., the rear axle torque request is limited.

[0060] For example, in the embodiment, the vehicle information is compared with the torque limiting condition, when the vehicle information meets the above torque limiting condition, that is, it is determined that the front axle is shifting in at least one driving mode, and / or the front axle is switching driving mode, the front axle needs to spend a long time, and at this time the front axle does not output torque, only the rear axle outputs torque. If the driver steps on the accelerator to issue a rear axle torque request at this time, if the rear axle immediately responds to the rear axle torque request, since the front axle has a long time without outputting torque, only the rear axle outputs torque, the phenomenon of front wheel not rotating and rear wheel digging pit will occur, resulting in tire wear and poor user experience. Therefore, in the embodiment, when any of the above scenarios is detected, and it is detected that there is a rear axle torque request at this time, in order to prevent only the rear axle outputting torque and the front axle not outputting torque, the rear axle torque request is limited at this time, for example, the rear axle torque request is responded after a certain period of time, that is, the rear axle output torque is limited to 0 Nm at first, and then the rear axle is controlled to normally output torque after a certain period of time, so as to wait for the front axle to complete or partially complete shifting and / or mode switching, or the rear axle is controlled to output a small torque, the rear axle output torque is reduced, so that it is less than the normal output torque of the rear axle, thereby reducing the phenomenon of front wheel not rotating and rear wheel digging pit.

[0061] Step 303, if the rear axle torque request is limited, a limiting strategy is executed on the rear axle torque request.

[0062] In some embodiments, the limiting strategy executed on the rear axle torque request can limit the response to the rear axle torque request after a first preset period of time, control the rear axle to output torque, or respond to the rear axle torque request, control the rear axle to output torque according to a first target torque. Wherein the first target torque is less than the normal output torque of the rear axle.

[0063] For example, the inventor has found through a large number of tests that the front axle needs more than 1 second to shift gears and / or switch driving modes in the above-mentioned driving modes. In consideration of reducing the phenomenon of the front wheels not rotating and the rear wheels digging, and in consideration of the user experience, the first preset time period can be set to 1.5 seconds in the embodiment. The normal output torque of the rear axle can be determined according to the torque output by the rear axle when the vehicle is in a stationary state and the driver steps on the accelerator and the front wheels do not rotate and the rear wheels dig. In addition, in the embodiment, after the torque request of the rear axle is responded to and the output torque of the rear axle is controlled according to the first target torque, if the output torque of the front axle is detected, the limiting strategy for the torque request of the rear axle is stopped, and the output torque of the rear axle can be controlled according to the normal output torque of the rear axle.

[0064] Optionally, when the torque limiting condition is met and the torque request of the rear axle is detected, the embodiment can respond to the torque request of the rear axle after 1.5 seconds, that is, the output torque of the rear axle is first limited to 0 Nm, and then the output torque of the rear axle is controlled after 1.5 seconds, so that the front axle shifting and / or mode switching is completed or partially completed after the first preset time period, or the output torque of the rear axle can be controlled according to the first target torque in response to the torque request of the rear axle, and the first target torque is less than the normal output torque of the rear axle, thereby reducing the phenomenon of the front wheels not rotating and the rear wheels digging.

[0065] Optionally, in the embodiment, if it is judged according to the vehicle information and the torque limiting condition that the torque request of the rear axle is not limited, it indicates that the front axle can normally output torque at this time, and the torque request of the rear axle can be normally responded to and the output torque of the rear axle can be controlled.

[0066] The above-mentioned embodiments describe limiting the torque request of the rear axle in some specific front axle shifting and mode switching scenarios to reduce the phenomenon of the front wheels not rotating and the rear wheels digging. In addition, in some specific rear axle shifting scenarios, the rear axle also needs to take a long time and does not output torque at this time, and only the front axle outputs torque. Similarly, if the driver steps on the accelerator at this time, the phenomenon of the rear wheels not rotating and the front wheels digging will occur. Therefore, the embodiment limits the torque request of the front axle when some specific rear axle shifting scenarios are detected and the torque request of the front axle is detected.

[0067] In a possible implementation, the vehicle information can further include a current gear of the rear axle and a target gear of the rear axle, and the torque limiting condition can further include a condition that the rear axle shifts gears in at least one driving mode. The embodiment can further judge whether to limit the torque request of the front axle according to the vehicle information and the torque limiting condition, and if the torque request of the front axle is limited, a limiting strategy for the torque request of the front axle is executed.

[0068] The rear axle gear position can include R gear, D gear (forward gear, including 1st gear, 2nd gear and 3rd gear), N gear and the like, wherein the rear axle current gear position is the gear position of the rear axle at present, and the rear axle target gear position is the gear position of the rear axle after gear shifting. The torque limiting condition can include a condition that the rear axle is in idle electric four-wheel drive mode and performs gear shifting, and a condition that the rear axle is in power split mode and performs gear shifting.

[0069] In some embodiments, determining whether to limit the front axle torque request can include steps A1 to A3.

[0070] A1, detecting whether the current driving state of the vehicle is a preset state, whether the current driving mode is idle electric four-wheel drive mode or power split mode, whether the current vehicle speed is lower than a preset vehicle speed threshold, whether the front axle current gear position is the front axle target gear position, and whether the rear axle current gear position is the rear axle target gear position.

[0071] A2, if the current driving state of the vehicle is a preset state, the current driving mode is idle electric four-wheel drive mode, the current vehicle speed is lower than a preset vehicle speed threshold, the front axle current gear position is the front axle target gear position, and the rear axle current gear position is not the rear axle target gear position, the front axle torque request is limited.

[0072] For example, the above step A2 defines the condition that the rear axle performs gear shifting in idle electric four-wheel drive mode. The condition that the rear axle performs gear shifting in idle electric four-wheel drive mode can be that the current driving state of the vehicle is a preset state, the current driving mode is idle electric four-wheel drive mode, the current vehicle speed is lower than a preset vehicle speed threshold, the front axle current gear position is the front axle target gear position, and the rear axle current gear position is not the rear axle target gear position.

[0073] In this embodiment, if it is detected that the current driving state of the vehicle is any one of snow mode, sand mode, mud mode, four-wheel drive high speed mode or four-wheel drive low speed mode, the current driving mode is idle electric four-wheel drive mode, the current vehicle speed is lower than a preset vehicle speed threshold (indicating that the vehicle is in a stationary state at this time), the front axle current gear position is the front axle target gear position (indicating that the front axle does not shift gears), and the rear axle current gear position is not the rear axle target gear position (indicating that the rear axle shifts gears), it is determined that the rear axle performs gear shifting in idle electric four-wheel drive mode, and the front axle torque request is limited at this time.

[0074] The front axle current gear position can be any gear position same as the front axle target gear position, and the rear axle current gear position can be any gear position different from the rear axle target gear position, which is not specifically limited herein.

[0075] A3, if the current driving state of the vehicle is a preset state, the current driving mode is power split mode, the current vehicle speed is lower than a preset vehicle speed threshold, the front axle current gear position is the front axle target gear position, and the rear axle current gear position is not the rear axle target gear position, the front axle torque request is limited.

[0076] For example, the step A3 defines the condition for the rear axle to shift in the power split mode. In this embodiment, if the current driving state of the vehicle is detected as any one of the snow mode, the sand mode, the mud mode, the high-speed four-wheel drive mode or the low-speed four-wheel drive mode, the current driving mode is the power split mode, the current vehicle speed is lower than the preset vehicle speed threshold (indicating that the vehicle is in a static state), the current gear of the front axle is the target gear of the front axle (indicating that the front axle does not shift), and the current gear of the rear axle is not the target gear of the rear axle (indicating that the rear axle shifts), it is determined that the rear axle shifts in the power split mode, and the front axle torque request is limited at this time.

[0077] In some embodiments, the limitation strategy for the front axle torque request can limit the control of the output torque of the front axle in response to the front axle torque request after a second preset time period, or control the output torque of the front axle in response to the front axle torque request according to a second target torque; wherein the second target torque is less than the normal output torque of the front axle.

[0078] Optionally, the second preset time period in this embodiment can also be set according to a large number of tests, for example, the second preset time period can be set to 1.5 seconds. The normal output torque of the front axle can be determined according to the torque output by the front axle when the vehicle is in a static state and the driver steps on the accelerator and the rear wheels do not turn before the front wheels dig holes. In addition, in this embodiment, after the output torque of the rear axle is detected after the output torque of the front axle is controlled in response to the front axle torque request according to the second target torque, the limitation strategy for the front axle torque request is stopped, and the output torque of the front axle can be controlled according to the normal output torque of the front axle.

[0079] Here, when the torque limitation condition is met and the front axle torque request is detected, this embodiment can respond to the front axle torque request after 1.5 seconds, that is, the output torque of the front axle is first limited to 0 Nm, the output torque of the front axle is controlled, or the output torque of the front axle can be controlled in response to the front axle torque request according to the second target torque, the second target torque is less than the normal output torque of the front axle, which reduces the phenomenon of the rear wheels not turning before the front wheels dig holes, reduces the wear of the tires of the wheels, and improves the user experience.

[0080] Optionally, in this embodiment, if it is judged not to limit the front axle torque request according to the vehicle information and the torque limitation condition, it means that the rear axle can normally output torque, and the front axle torque request is normally responded to control the output torque of the front axle.

[0081] In this embodiment, whether the front axle torque request is limited is determined according to whether the rear axle needs to spend a long time to shift gears in at least one driving mode, and if it is determined that the front axle torque request is limited, the front axle torque request is responded to after a certain period of time, the front axle outputs normal torque, or the front axle outputs smaller torque first, and then outputs normal torque after a certain period of time. At this time, the rear axle has completed or partially completed the shift, and the front axle outputs normal torque, thereby reducing the phenomenon of the rear wheels digging into the ground without the front wheels rotating.

[0082] The vehicle torque control method provided in this embodiment determines whether the rear axle torque request is limited based on whether the front axle needs to spend a long time to shift gears in at least one driving mode and / or driving mode switching, and then executes a limiting strategy on the rear axle torque request if it is determined that the rear axle torque request is limited, thereby reducing the phenomenon of the front wheels digging into the ground without the rear wheels rotating, reducing tire wear, and improving user experience.

[0083] The following further describes how to determine whether the rear axle torque request is limited based on vehicle information and torque limiting conditions.

[0084] Figure 4 is a flowchart of a vehicle torque control method provided in another embodiment of the application. As shown in Figure 4 The method in the embodiment of the application can include the following steps.

[0085] In step 401, vehicle information is obtained, and the vehicle information at least includes multiple of the current driving state, the current driving mode, the target driving mode, the current vehicle speed, the current gear of the front axle, the target gear of the front axle, and the current clutch state of the vehicle.

[0086] The specific implementation process and principles of step 401 in this embodiment can be referred to the foregoing embodiments, which will not be described here.

[0087] In step 402, the vehicle information is compared with torque limiting conditions to determine whether the front axle shifts gears in the power split mode and whether the front axle shifts gears in the idle electric four-wheel drive mode.

[0088] In step 403, if it is determined that the front axle shifts gears in the power split mode or in the idle electric four-wheel drive mode, the rear axle torque request is limited.

[0089] Here, the vehicle information includes a current driving state of the vehicle, a current drive mode, a target drive mode, a current vehicle speed, a current front axle gear position, a target front axle gear position, and a current clutch state. The torque limiting condition includes a condition that the front axle is shifting in the power split mode or a condition that the front axle is shifting in the idle electric four-wheel drive mode. If it is determined that the front axle is shifting in the power split mode or it is determined that the front axle is shifting in the idle electric four-wheel drive mode, it indicates that the front axle shifting needs a long time, and if the rear axle torque request is detected at this time, the rear axle torque request is limited.

[0090] In a possible implementation, the embodiment can include steps B1 to B4 when determining whether the front axle is shifting in the power split mode and whether the front axle is shifting in the idle electric four-wheel drive mode.

[0091] B1, detecting whether a current driving state of the vehicle is a preset state, whether a current drive mode is a power split mode or an idle electric four-wheel drive mode, whether a target drive mode is the power split mode, whether a current vehicle speed is lower than a preset vehicle speed threshold, whether a current front axle gear position is a target front axle gear position, whether the target front axle gear position is a preset gear position, and whether a current clutch state is open.

[0092] B2, if the current driving state of the vehicle is the preset state, the current drive mode is the power split mode, the target drive mode is the power split mode, the current vehicle speed is lower than the preset vehicle speed threshold, the current front axle gear position is not the target front axle gear position, and the target front axle gear position is the preset gear position, it is determined that the front axle is shifting in the power split mode.

[0093] Here, the condition that the front axle is shifting in the power split mode can be that the current driving state of the vehicle is the preset state, the current drive mode is the power split mode, the target drive mode is the power split mode, the current vehicle speed is lower than the preset vehicle speed threshold, the current front axle gear position is not the target front axle gear position, and the target front axle gear position is the preset gear position.

[0094] In this embodiment, the preset state can include a snow mode, a sand mode, a mud mode, a four-wheel drive high-speed mode, a four-wheel drive low-speed mode, and the like. The current driving mode and the target driving mode are both power split modes, indicating that the vehicle is in the power split mode and no mode conversion occurs. The current vehicle speed is lower than the preset vehicle speed threshold, indicating that the vehicle is in a stationary state at this time. The front axle current gear position is not the front axle target gear position, and the front axle target gear position is a preset gear position, indicating that the front axle is shifting at this time, wherein the preset gear position can include R gear, D gear (including 1 gear, 2 gear and 3 gear) and N gear, etc. For example, the front axle can shift from R gear to any one of 1 gear, 2 gear or 3 gear, or the front axle can shift from any one of 1 gear, 2 gear or 3 gear to R gear, or the front axle can shift from any one of 1 gear, 2 gear or 3 gear to another one of 1 gear, 2 gear or 3 gear, and the like.

[0095] B3, if the current driving state of the vehicle is a preset state, the current driving mode is an idle electric four-wheel drive mode, the current clutch state is open, the current vehicle speed is lower than the preset vehicle speed threshold, and the front axle current gear position is not the front axle target gear position, it is determined that the front axle is shifting in the idle electric four-wheel drive mode.

[0096] Here, the condition for the front axle to shift in the idle electric four-wheel drive mode can be that the current driving state is a preset state, the current driving mode is an idle electric four-wheel drive mode, the current clutch state is open, the current vehicle speed is lower than the preset vehicle speed threshold, and the front axle current gear position is not the front axle target gear position. The front axle current gear position is not the front axle target gear position, indicating that the front axle is shifting at this time.

[0097] B4, if the current driving state of the vehicle is a preset state, the current driving mode is an idle electric four-wheel drive mode, the current vehicle speed is lower than the preset vehicle speed threshold, and the front axle current gear position is not the front axle target gear position, it is determined that the front axle is shifting in the idle electric four-wheel drive mode.

[0098] Here, the condition for the front axle to shift in the idle electric four-wheel drive mode can be that the current driving state is a preset state, the current driving mode is an idle electric four-wheel drive mode, the current vehicle speed is lower than the preset vehicle speed threshold, and the front axle current gear position is not the front axle target gear position. The front axle current gear position is not the front axle target gear position, indicating that the front axle is shifting at this time.

[0099] Thus, the embodiment determines whether to limit the rear axle torque request after the front axle shifts in the power split mode or the idle electric four-wheel drive mode according to the vehicle information, the condition for the front axle to shift in the power split mode, and the condition for the front axle to shift in the idle electric four-wheel drive mode. If the vehicle information does not satisfy any of the conditions for the front axle to shift in the power split mode, it is determined that the front axle does not shift in the power split mode, and if the vehicle information does not satisfy any of the conditions for the front axle to shift in the idle electric four-wheel drive mode, it is determined that the front axle does not shift in the idle electric four-wheel drive mode.

[0100] Step 404, compare the vehicle information with the torque limiting condition to determine whether the front axle shifts between the series mode and the power split mode, between the series mode and the idle electric four-wheel drive mode, between the power split mode and the idle electric four-wheel drive mode, or between the idle electric four-wheel drive mode and the power split mode.

[0101] Step 405, if it is determined that the front axle shifts between the series mode and the power split mode, between the series mode and the idle electric four-wheel drive mode, between the power split mode and the idle electric four-wheel drive mode, or between the idle electric four-wheel drive mode and the power split mode, limit the rear axle torque request.

[0102] Here, the vehicle information includes the current driving state of the vehicle, the current driving mode, the target driving mode, and the current vehicle speed. The torque limiting condition includes the condition for the front axle to shift between the series mode and the power split mode, the condition for the front axle to shift between the series mode and the idle electric four-wheel drive mode, the condition for the front axle to shift between the power split mode and the idle electric four-wheel drive mode, or the condition for the front axle to shift between the idle electric four-wheel drive mode and the power split mode. If it is determined that the vehicle information satisfies the above torque limiting condition, it means that the front axle needs a long time to shift at this time, and if the rear axle torque request is detected at this time, the rear axle torque request is limited.

[0103] In some embodiments, step 404 can include steps C1 to C5.

[0104] C1, detect whether the current driving state of the vehicle is a preset state, whether the current driving mode is the series mode, the power split mode, or the idle electric four-wheel drive mode, whether the target driving mode is the power split mode or the idle electric four-wheel drive mode, and whether the current vehicle speed is lower than a preset vehicle speed threshold.

[0105] C2, if the current driving state of the vehicle is the preset state, the current driving mode is the series mode, the target driving mode is the power split mode, and the current vehicle speed is lower than the preset vehicle speed threshold, it is determined that the front axle is switched between the series mode and the power split mode.

[0106] Here, the step C2 defines the condition of the mode switching of the front axle between the series mode and the power split mode, and is switched from the series mode to the power split mode.

[0107] C3, if the current driving state of the vehicle is the preset state, the current driving mode is the series mode, the target driving mode is the idle electric four-wheel drive mode, and the current vehicle speed is lower than the preset vehicle speed threshold, it is determined that the front axle is switched between the series mode and the idle electric four-wheel drive mode.

[0108] The step C3 defines the condition of the mode switching of the front axle between the series mode and the idle electric four-wheel drive mode, and is switched from the series mode to the idle electric four-wheel drive mode.

[0109] C4, if the current driving state of the vehicle is the preset state, the current driving mode is the power split mode, the target driving mode is the idle electric four-wheel drive mode, and the current vehicle speed is lower than the preset vehicle speed threshold, it is determined that the front axle is switched between the power split mode and the idle electric four-wheel drive mode.

[0110] The step C4 defines the condition of the mode switching of the front axle between the power split mode and the idle electric four-wheel drive mode, and is switched from the power split mode to the idle electric four-wheel drive mode.

[0111] C5, if the current driving state of the vehicle is the preset state, the current driving mode is the idle electric four-wheel drive mode, the target driving mode is the power split mode, and the current vehicle speed is lower than the preset vehicle speed threshold, it is determined that the front axle is switched between the idle electric four-wheel drive mode and the power split mode.

[0112] The step C5 defines the condition of the mode switching of the front axle between the idle electric four-wheel drive mode and the power split mode, and is switched from the idle electric four-wheel drive mode to the power split mode.

[0113] In this way, according to the vehicle information and the mode switching conditions, the embodiment determines to limit the torque request of the rear axle after the mode switching of the front axle. If the vehicle information does not satisfy the above mode switching conditions, it is determined that the front axle does not have the above mode switching.

[0114] It should be noted that for the front axle power split mode to series mode and the front axle idle electric four-wheel drive mode to series mode, the above two mode switching modes only have the rear axle output torque, and the front axle does not output torque, so even if the rear axle torque request is limited, only the rear axle output torque is output. Therefore, in this embodiment, the rear axle torque request is no longer limited in the front axle power split mode to series mode and the front axle idle electric four-wheel drive mode to series mode.

[0115] Step 406, compare the vehicle information with the torque limiting condition to determine whether the front axle is in the pure electric rear drive to pure electric four-wheel drive.

[0116] Step 407, if it is determined that the front axle is in the pure electric rear drive to pure electric four-wheel drive, the rear axle torque request is limited.

[0117] Here, the vehicle information includes the current driving state of the vehicle, the current driving mode, the current vehicle speed, the current gear of the front axle and the target driving mode. The torque limiting condition includes the condition of the front axle pure electric rear drive to pure electric four-wheel drive. If it is determined that the front axle is in the pure electric rear drive to pure electric four-wheel drive, it means that the front axle needs a long time to shift at this time, and if the rear axle torque request is detected at this time, the rear axle torque request is limited.

[0118] In a possible implementation, when determining whether the front axle is in the power split mode to shift, the current driving state of the vehicle, the current driving mode, the target driving mode, the current vehicle speed and the current gear of the front axle can be detected. If the current driving state of the vehicle is a preset state, the current driving mode is a pure electric rear drive and the idle electric four-wheel drive mode driving function is not activated, the target driving mode is a pure electric four-wheel drive, the current vehicle speed is lower than a preset vehicle speed threshold, and the current gear of the front axle is a preset gear, it is determined that the front axle is in the pure electric rear drive to pure electric four-wheel drive.

[0119] Here, the condition of the front axle pure electric rear drive to pure electric four-wheel drive can be that the current driving state of the vehicle is a preset state, the current driving mode is a pure electric rear drive and the idle electric four-wheel drive mode driving function is not activated, the target driving mode is a pure electric four-wheel drive, the current vehicle speed is lower than a preset vehicle speed threshold, and the current gear of the front axle is a preset gear. The front axle gear can be a preset gear, for example, N gear.

[0120] According to the vehicle information and the condition of the front axle pure electric rear drive to pure electric four-wheel drive, the rear axle torque request is limited after the front axle pure electric rear drive to pure electric four-wheel drive. If the vehicle information does not meet any of the conditions of the front axle pure electric rear drive to pure electric four-wheel drive, it is determined that the front axle pure electric rear drive to pure electric four-wheel drive does not occur.

[0121] It should be noted that, for the front axle pure electric four-wheel drive cutting pure electric rear-wheel drive, the mode switching itself only has the rear axle output torque, and the front axle does not output torque, so even if the rear axle torque request is limited, only the rear axle output torque is output. Therefore, in this embodiment, the rear axle torque request under the front axle pure electric four-wheel drive cutting pure electric rear-wheel drive is no longer limited.

[0122] Step 408, if the rear axle torque request is limited, the limiting strategy is executed on the rear axle torque request.

[0123] The specific implementation process and principles of step 408 in this embodiment can be referred to the foregoing embodiments, which will not be described here.

[0124] It should be noted that, in the foregoing embodiments, Figure 4 In the foregoing embodiments, steps 402-403 are executed first, and then steps 404-405 and steps 406-407 are executed. However, in actual implementation, it is not limited thereto. For example, steps 402-403, steps 404-405 and steps 406-407 can be executed simultaneously, or steps 404-405 can be executed first, and then steps 402-403 and steps 406-407 are executed, and the like.

[0125] It should be noted that, in this embodiment, if it is determined that the front axle is not shifting in the power split mode, the front axle is not switching between the series mode and the power split mode, the front axle is not switching between the series mode and the idle electric four-wheel drive mode, the front axle is not switching between the power split mode and the idle electric four-wheel drive mode, the front axle is not switching between the idle electric four-wheel drive mode and the power split mode, the front axle is not shifting in the idle electric four-wheel drive mode, and the front axle is not switching from pure electric rear-wheel drive to pure electric four-wheel drive, the rear axle torque request is not limited, because the front axle can normally output torque, and the rear axle torque request is normally responded, and the rear axle output torque is controlled.

[0126] In this embodiment, the shifting and mode switching of the front axle are distinguished, and for the shifting and different mode switching of the front axle in different modes, different vehicle information and different torque limiting conditions are determined to accurately determine whether the front axle is shifting and / or switching modes. After determining that the front axle is shifting and / or switching modes, it is determined whether to limit the rear axle torque request, which can more accurately determine whether to limit the rear axle torque request, thereby better executing the limit value of the rear axle torque request, reducing the phenomenon of front wheels not turning and rear wheels digging, reducing the wear of the wheels and tires, and improving the user experience.

[0127] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0128] Figure 5 is a structural schematic diagram of a vehicle torque control device provided by an embodiment of the present application. As shown in Figure 5 The vehicle torque control device provided by the embodiment can include an acquisition module 501, a judgment module 502, and an execution module 503.

[0129] The acquisition module 501 is configured to acquire vehicle information, wherein the vehicle information at least includes multiple of the current driving state, the current driving mode, the target driving mode, the current vehicle speed, the current front axle gear, the target front axle gear, and the current clutch state of the vehicle.

[0130] The judgment module 502 is configured to judge whether to limit the rear axle torque request according to the vehicle information and a preset torque limiting condition, wherein the torque limiting condition includes the condition of the front axle gear shifting and / or driving mode switching in at least one driving mode.

[0131] The execution module 503 is configured to execute a limiting strategy on the rear axle torque request when limiting the rear axle torque request.

[0132] Optionally, the execution module 503 is specifically configured to:

[0133] limiting the rear axle torque request after a first preset time period, and controlling the rear axle output torque in response to the rear axle torque request;

[0134] or

[0135] controlling the rear axle output torque according to a first target torque in response to the rear axle torque request, wherein the first target torque is less than the normal rear axle output torque.

[0136] Optionally, the judgment module 502 is specifically configured to:

[0137] comparing the vehicle information with the torque limiting condition to determine whether the front axle is shifting in at least one driving mode and / or whether the front axle is switching driving mode, wherein the driving mode at least includes the power split mode, the series mode, the idling electric four-wheel drive mode, the pure electric rear drive, and the pure electric four-wheel drive;

[0138] if it is determined that the front axle is shifting in at least one driving mode and / or the front axle is switching driving mode, limiting the rear axle torque request.

[0139] Optionally, the vehicle information comprises a current driving state, a current drive mode, a target drive mode, a current vehicle speed, a current front axle gear position, a target front axle gear position, and a current clutch state of the vehicle; the torque limiting condition comprises a condition that the front axle is shifting in the power split mode, or a condition that the front axle is shifting in the idle electric four-wheel drive mode; the determining module 502 is specifically configured to:

[0140] compare the vehicle information with the torque limiting condition, and determine whether the front axle is shifting in the power split mode, and whether the front axle is shifting in the idle electric four-wheel drive mode.

[0141] Optionally, the determining module 502 is specifically configured to:

[0142] if the current driving state of the vehicle is a preset state, the current drive mode is the power split mode, the target drive mode is the power split mode, the current vehicle speed is lower than a preset vehicle speed threshold, the current front axle gear position is not the target front axle gear position, and the target front axle gear position is a preset gear position, it is determined that the front axle is shifting in the power split mode;

[0143] if the current driving state of the vehicle is a preset state, the current drive mode is the idle electric four-wheel drive mode, the current clutch state is open, the current vehicle speed is lower than a preset vehicle speed threshold, and the current front axle gear position is not the target front axle gear position, it is determined that the front axle is shifting in the idle electric four-wheel drive mode;

[0144] if the current driving state of the vehicle is a preset state, the current drive mode is the idle electric four-wheel drive mode, the current vehicle speed is lower than a preset vehicle speed threshold, and the current front axle gear position is not the target front axle gear position, it is determined that the front axle is shifting in the idle electric four-wheel drive mode.

[0145] Optionally, the vehicle information comprises a current driving state, a current drive mode, a target drive mode, and a current vehicle speed of the vehicle; the torque limiting condition comprises a condition that the front axle is switching between the series mode and the power split mode, a condition that the front axle is switching between the series mode and the idle electric four-wheel drive mode, a condition that the front axle is switching between the power split mode and the idle electric four-wheel drive mode, or a condition that the front axle is switching between the idle electric four-wheel drive mode and the power split mode; the determining module 502 is specifically configured to:

[0146] compare the vehicle information with the torque limiting condition, and determine whether the front axle is switching between the series mode and the power split mode, whether the front axle is switching between the series mode and the idle electric four-wheel drive mode, whether the front axle is switching between the power split mode and the idle electric four-wheel drive mode, and whether the front axle is switching between the idle electric four-wheel drive mode and the power split mode.

[0147] Optionally, the determining module 502 is specifically configured to:

[0148] If the current driving state of the vehicle is the preset state, the current driving mode is the series mode, the target driving mode is the power split mode, and the current vehicle speed is lower than the preset vehicle speed threshold, it is determined that the front axle is performing mode switching between the series mode and the power split mode.

[0149] If the current driving state of the vehicle is the preset state, the current driving mode is the series mode, the target driving mode is the idle electric four-wheel drive mode, and the current vehicle speed is lower than the preset vehicle speed threshold, it is determined that the front axle is performing mode switching between the series mode and the idle electric four-wheel drive mode.

[0150] If the current driving state of the vehicle is the preset state, the current driving mode is the power split mode, the target driving mode is the idle electric four-wheel drive mode, and the current vehicle speed is lower than the preset vehicle speed threshold, it is determined that the front axle is performing mode switching between the power split mode and the idle electric four-wheel drive mode.

[0151] If the current driving state of the vehicle is the preset state, the current driving mode is the idle electric four-wheel drive mode, the target driving mode is the power split mode, and the current vehicle speed is lower than the preset vehicle speed threshold, it is determined that the front axle is performing mode switching between the idle electric four-wheel drive mode and the power split mode.

[0152] Optionally, the vehicle information includes a current driving state, a current driving mode, a current vehicle speed, a current gear position of the front axle, and a target driving mode of the vehicle; and the torque limiting condition includes a condition of switching from pure electric rear-wheel drive to pure electric four-wheel drive of the front axle.

[0153] The vehicle information is compared with the torque limiting condition to determine whether the front axle is performing switching from pure electric rear-wheel drive to pure electric four-wheel drive.

[0154] Optionally, the determining module 502 is specifically configured to:

[0155] If the current driving state of the vehicle is the preset state, the current driving mode is pure electric rear-wheel drive and the idle electric four-wheel drive mode driving function is not activated, the target driving mode is pure electric four-wheel drive, the current vehicle speed is lower than the preset vehicle speed threshold, and the current gear position of the front axle is the preset gear position, it is determined that the front axle is performing switching from pure electric rear-wheel drive to pure electric four-wheel drive.

[0156] Optionally, the vehicle information further includes a current gear position of the rear axle and a target gear position of the rear axle, and the torque limiting condition further includes a condition of gear shifting of the rear axle in at least one driving mode; and the executing module 503 is further configured to:

[0157] According to the vehicle information and the torque limiting condition, it is determined whether to limit the torque request of the front axle.

[0158] If the front axle torque request is limited, a limiting strategy is performed on the front axle torque request.

[0159] Optionally, the vehicle information comprises a current driving state of the vehicle, a current driving mode of the vehicle, a current vehicle speed, a current gear of the front axle, a target gear of the front axle, a current gear of the rear axle, and a target gear of the rear axle; and the executing module 503 is further specifically configured to:

[0160] If the current driving state of the vehicle is a preset state, the current driving mode of the vehicle is an idle electric four-wheel drive mode, the current vehicle speed is lower than a preset vehicle speed threshold, the current gear of the front axle is the target gear of the front axle, and the current gear of the rear axle is not the target gear of the rear axle, the front axle torque request is limited.

[0161] If the current driving state of the vehicle is a preset state, the current driving mode of the vehicle is a power split mode, the current vehicle speed is lower than a preset vehicle speed threshold, the current gear of the front axle is the target gear of the front axle, and the current gear of the rear axle is not the target gear of the rear axle, the front axle torque request is limited.

[0162] It should be noted that the information interaction, execution process, and the like between the above-described apparatuses / units are based on the same concept as the method embodiments of the present application, specific functions and technical effects brought by which can be seen from the method embodiments part, and thus will not be described here.

[0163] Figure 6 is a structural schematic diagram of a vehicle provided by an embodiment of the present application. As shown in the figure, the vehicle 600 of this embodiment comprises a controller 610, a memory 620, and the memory 620 stores a computer program 621 executable on the controller 610. The controller 610 implements the steps in any of the above method embodiments when executing the computer program 621, for example, the steps 301 to 303 as shown in the figure. Alternatively, the controller 610 implements the functions of the modules / units in the above apparatus embodiments when executing the computer program 621, for example, the functions of the modules as shown in the figure. Figure 6 Figure 3 Figure 5

[0164] Illustratively, the computer program 621 can be divided into one or more modules / units, one or more modules / units are stored in the memory 620 and executed by the controller 610 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 621 in the vehicle 600.

[0165] Those skilled in the art can understand that Figure 6 ​​​The vehicle is merely an example and does not limit the vehicle, which can include more or fewer components than shown, or combine some components, or have different components, such as input / output devices, network access devices, buses, and the like.

[0166] The controller 610 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor.

[0167] The memory 620 can be an internal storage unit of the vehicle, such as a hard disk or a memory of the vehicle, and can also be an external storage device of the vehicle, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like. The memory 620 can also include both the internal storage unit and the external storage device. The memory 620 is used to store computer programs and other programs and data required by the vehicle. The memory 620 can also be used to temporarily store data that has been output or will be output.

[0168] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the above-described functions. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0169] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the vehicle torque control method.

[0170] The embodiment of the present application also provides a computer program product, which, when running on a controller, enables the controller to execute the vehicle torque control method.

[0171] In the above embodiments, the description of each embodiment focuses on different aspects, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0172] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0173] In the embodiments provided by the present application, it should be understood that the disclosed devices / vehicles and methods can be implemented in other ways. For example, the device / vehicle embodiments described above are only schematic. The division of the modules or units is only a logical function division, and there can be another division manner in actual implementation. 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 shown or discussed units can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or in other forms.

[0174] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0175] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or software functional unit.

[0176] The integrated module / unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. When the computer program is executed by the controller, the steps of the above-mentioned various method embodiments can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0177] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A vehicle torque control method, characterized in that, include: Obtain vehicle information, which includes at least multiple of the following: the vehicle's current driving status, current driving mode, target driving mode, current vehicle speed, current gear of the front axle, target gear of the front axle, and current clutch status. Based on the vehicle information and preset torque limiting conditions, determine whether to limit the torque request of the rear axle; wherein, the torque limiting conditions include the condition that the front axle shifts gears and / or switches drive modes in at least one drive mode; If the rear axle torque request is restricted, then the restriction strategy is executed on the rear axle torque request.

2. The vehicle torque control method according to claim 1, characterized in that, The strategy for limiting the rear axle torque request includes: After a first preset time period, respond to the rear axle torque request and control the rear axle output torque; or In response to the rear axle torque request, the rear axle output torque is controlled according to a first target torque; wherein the first target torque is less than the normal output torque of the rear axle.

3. The vehicle torque control method according to claim 1, characterized in that, The step of determining whether to limit the rear axle torque request based on the vehicle information and preset torque limit conditions includes: The vehicle information is compared with the torque limit condition to determine whether the front axle shifts gears in at least one drive mode and / or whether the front axle switches drive modes; wherein the drive modes include at least power split mode, series mode, idle electric four-wheel drive mode, pure electric rear drive and pure electric four-wheel drive. If it is determined that the front axle is shifting in at least one drive mode, and / or the front axle is switching drive modes, then the torque request of the rear axle is limited.

4. The vehicle torque control method according to claim 3, characterized in that, The vehicle information includes the vehicle's current driving status, current driving mode, target driving mode, current vehicle speed, current gear of the front axle, target gear of the front axle, and current clutch status. The torque limiting conditions include the condition that the front axle shifts gears in power split mode or the condition that the front axle shifts gears in idle electric four-wheel drive mode. Comparing the vehicle information with the torque limit condition to determine whether the front axle is shifting in at least one drive mode includes: The vehicle information is compared with the torque limit to determine whether the front axle is shifting in power split mode and whether it is shifting in idle electric four-wheel drive mode.

5. The vehicle torque control method according to claim 4, characterized in that, The step of comparing the vehicle information with the torque limit condition to determine whether the front axle shifts gears in power split mode and whether it shifts gears in idle electric four-wheel drive mode includes: If the vehicle's current driving state is the preset state, the current drive mode is power split mode, the target drive mode is power split mode, the current vehicle speed is lower than the preset vehicle speed threshold, the current gear of the front axle is not the target gear of the front axle, and the target gear of the front axle is the preset gear, then it is determined that the front axle will shift gears in power split mode. If the vehicle's current driving status is the preset status, the current drive mode is the idle electric four-wheel drive mode, the current clutch status is open, the current vehicle speed is lower than the preset vehicle speed threshold, and the current gear of the front axle is not the target gear of the front axle, then it is determined that the front axle will shift gears in the idle electric four-wheel drive mode. If the vehicle's current driving state is the preset state, the current drive mode is the idle electric four-wheel drive mode, the current vehicle speed is lower than the preset vehicle speed threshold, and the current gear of the front axle is not the target gear of the front axle, then it is determined that the front axle will shift gears in the idle electric four-wheel drive mode.

6. The vehicle torque control method according to claim 3, characterized in that, The vehicle information includes the vehicle's current driving status, current drive mode, target drive mode, and current vehicle speed; the torque limiting conditions include the conditions for the front axle to switch between series mode and power split mode, the conditions for the front axle to switch between series mode and idle electric four-wheel drive mode, the conditions for the front axle to switch between power split mode and idle electric four-wheel drive mode, or the conditions for the front axle to switch between idle electric four-wheel drive mode and power split mode. Comparing the vehicle information with the torque limit condition to determine whether the front axle needs to switch drive modes includes: The vehicle information is compared with the torque limit conditions to determine whether the front axle switches between series mode and power split mode, between series mode and idle electric four-wheel drive mode, between power split mode and idle electric four-wheel drive mode, and between idle electric four-wheel drive mode and power split mode.

7. The vehicle torque control method according to claim 6, characterized in that, The step of comparing the vehicle information with the torque limit condition to determine whether the front axle switches between series mode and power split mode, between series mode and idle electric four-wheel drive mode, between power split mode and idle electric four-wheel drive mode, and between idle electric four-wheel drive mode and power split mode includes: If the vehicle's current driving state is a preset state, the current drive mode is series mode, the target drive mode is power split mode, and the current vehicle speed is lower than a preset vehicle speed threshold, then the front axle is determined to switch between series mode and power split mode. If the vehicle's current driving state is the preset state, the current drive mode is the series mode, the target drive mode is the idle electric four-wheel drive mode, and the current vehicle speed is lower than the preset vehicle speed threshold, then the front axle is determined to switch between the series mode and the idle electric four-wheel drive mode. If the vehicle's current driving state is the preset state, the current driving mode is the power split mode, the target driving mode is the idle electric four-wheel drive mode, and the current vehicle speed is lower than the preset vehicle speed threshold, then the front axle is determined to switch between the power split mode and the idle electric four-wheel drive mode. If the vehicle's current driving state is the preset state, the current drive mode is the idle electric four-wheel drive mode, the target drive mode is the power split mode, and the current vehicle speed is lower than the preset vehicle speed threshold, then the front axle will switch between the idle electric four-wheel drive mode and the power split mode.

8. The vehicle torque control method according to claim 3, characterized in that, The vehicle information includes the vehicle's current driving status, current drive mode, current speed, current gear position of the front axle, and target drive mode; the torque limiting conditions include the conditions for switching from pure electric rear-wheel drive to pure electric four-wheel drive. Comparing the vehicle information with the torque limit condition to determine whether the front axle needs to switch drive modes includes: The vehicle information is compared with the torque limit condition to determine whether the front axle is switching from pure electric rear-wheel drive to pure electric four-wheel drive.

9. The vehicle torque control method according to claim 8, characterized in that, The step of comparing the vehicle information with the torque limit condition to determine whether the front axle is switching from pure electric rear-wheel drive to pure electric four-wheel drive includes: If the vehicle's current driving state is the preset state, the current drive mode is pure electric rear-wheel drive and the idle electric four-wheel drive mode is not activated, the target drive mode is pure electric four-wheel drive, the current vehicle speed is lower than the preset vehicle speed threshold, and the current gear of the front axle is the preset gear, then it is determined that the front axle is switching from pure electric rear-wheel drive to pure electric four-wheel drive.

10. The vehicle torque control method according to any one of claims 1 to 9, characterized in that, The vehicle information also includes the current gear position and target gear position of the rear axle, and the torque limiting condition also includes the condition that the rear axle shifts gears in at least one drive mode. The method further includes: Based on the vehicle information and the torque limitation conditions, determine whether to limit the front axle torque request; If the front axle torque request is restricted, then the restriction strategy is applied to the front axle torque request.

11. The vehicle torque control method according to claim 10, characterized in that, The vehicle information includes the vehicle's current driving status, current drive mode, current speed, current gear of the front axle, target gear of the front axle, current gear of the rear axle, and target gear of the rear axle. The step of determining whether to limit the front axle torque request based on the vehicle information and the torque limitation conditions includes: If the vehicle's current driving state is the preset state, the current drive mode is the idle electric four-wheel drive mode, the current vehicle speed is lower than the preset vehicle speed threshold, the current gear of the front axle is the target gear of the front axle, and the current gear of the rear axle is not the target gear of the rear axle, then the torque request of the front axle will be limited. If the vehicle's current driving state is the preset state, the current drive mode is power split mode, the current vehicle speed is lower than the preset vehicle speed threshold, the current gear of the front axle is the target gear of the front axle, and the current gear of the rear axle is not the target gear of the rear axle, then the torque request of the front axle will be limited.

12. A vehicle comprising a memory and a controller, the memory storing a computer program executable on the controller, characterized in that, When the controller executes the computer program, it implements the vehicle torque control method as described in any one of claims 1 to 11.

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