Vehicle and power take-off control method thereof, electronic equipment and storage medium

Abstract

The invention relates to a vehicle and a power take-off control method thereof, electronic equipment and a storage medium, and is applied to the technical field of vehicles, the method comprises the steps that the vehicle comprises a first electric drive axle and a second electric drive axle, and in the vehicle running process, whether the vehicle enters a power take-off mode or not is monitored; and under the condition that the vehicle enters the power take-off mode, the first electric drive axle is controlled to take off power, and the torque of the second electric drive axle is controlled to be adjusted to be the sum value of the torque of the first electric drive axle and the torque of the second electric drive axle in the running process of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle, a power take-off control method thereof, an electronic device and a storage medium. BACKGROUND

[0002] With the application and development of the power take-off technology, many special operation vehicles (such as fire trucks) begin to be equipped with power take-off devices to drive the operation of on-board equipment (such as water pumps, rescue equipment, etc.).

[0003] Generally, the power take-off mode includes parking power take-off and driving power take-off. When driving power take-off, power is output through an upper-mounted motor or a mechanical power take-off device connected to the output shaft of the gearbox.

[0004] In related technologies, driving power take-off is often configured to the output of the gearbox when the vehicle is stationary. After the configuration is completed, the vehicle is controlled to drive at a constant gear while taking power, which can cope with some working conditions of garbage trucks and earthmoving trucks when unloading. However, if the vehicle needs to be stopped to enter the power take-off mode before driving in the state of having been driven, it cannot realize driving power take-off. SUMMARY

[0005] The present application provides a vehicle, a power take-off control method thereof, an electronic device and a storage medium, to solve the problem that driving power take-off cannot be realized in the driving state of the vehicle in the prior art.

[0006] According to a first aspect of an embodiment of the present application, a power take-off control method of a vehicle is provided, the vehicle comprising a first electric drive axle and a second electric drive axle, and the method comprising:

[0007] monitoring whether the vehicle enters a power take-off mode during driving of the vehicle;

[0008] in a case where the vehicle enters the power take-off mode, controlling the first electric drive axle to take power, and controlling a torque adjustment of the second electric drive axle to be a sum of a first electric drive axle torque and a second electric drive axle torque during driving of the vehicle.

[0009] Optionally, controlling the first electric drive axle to take power comprises:

[0010] controlling a motor speed of the first electric drive axle to be adjusted to a first preset speed;

[0011] in a case where it is determined that the first electric drive axle has connected to the power take-off device, controlling the motor speed of the first electric drive axle to be adjusted to a target speed.

[0012] Optionally, determining that the first electric drive axle has connected to the power take-off device comprises:

[0013] requesting a controller of a gearbox of the first electric drive axle to disengage a neutral gear;

[0014] sucking an electromagnetic valve of the power take-off;

[0015] determining that the first electric drive axle has engaged the power take-off, in a case that it is determined that the gearbox has completed disengaging the neutral gear and the electromagnetic valve of the power take-off has been sucked.

[0016] Optionally, the vehicle is monitored whether to enter the power take-off mode, comprising:

[0017] whether a power take-off signal is acquired, the power take-off signal being used to indicate that the vehicle enters the power take-off mode;

[0018] in a case that the power take-off signal is acquired, judging whether the vehicle satisfies an enabling condition of entering the power take-off mode;

[0019] if yes, determining that the vehicle enters the power take-off mode;

[0020] if no, determining that the vehicle does not enter the power take-off mode.

[0021] Optionally, the enabling condition comprises at least one of:

[0022] the vehicle has released a hand brake, the vehicle motor has no first preset fault, the vehicle has a residual power greater than a preset power, the whole vehicle enters a preparation state, and the whole vehicle has no second preset fault.

[0023] Optionally, further comprising:

[0024] acquiring power take-off adjustment information;

[0025] adjusting a motor speed of the first electric drive axle based on the power take-off adjustment information.

[0026] Optionally, further comprising:

[0027] monitoring whether the vehicle exits the power take-off mode;

[0028] if the vehicle exits the power take-off mode, reducing the motor speed of the first electric drive axle to a second preset speed, controlling the electromagnetic valve of the power take-off to be disconnected, the controller of the gearbox of the first electric drive axle cancels the neutral gear, and distributing a torque of the second electric drive axle to the first electric drive axle.

[0029] According to a second aspect of the embodiments of the present application, a vehicle is provided, comprising a first electric drive axle, a second electric drive axle, a monitoring unit, and a control unit.

[0030] The monitoring unit is configured to monitor whether the vehicle enters a power take-off mode during driving of the vehicle.

[0031] The control unit is configured to control the first electric drive axle to perform power take-off and control the torque of the second electric drive axle to be a sum of the torque of the first electric drive axle and the torque of the second electric drive axle during driving of the vehicle when the vehicle enters the power take-off mode.

[0032] According to a third aspect of the embodiments of the present application, an electronic device is provided, comprising a memory and a processor;

[0033] The memory is connected to the processor and configured to store a program;

[0034] The processor is configured to realize the power take-off control method of the vehicle according to the first aspect by running the program in the memory.

[0035] According to a fourth aspect of the embodiments of the present application, a storage medium is provided, and the storage medium stores a computer program. When the computer program is run by a processor, the power take-off control method of the vehicle according to the first aspect is realized.

[0036] According to a fifth aspect of the embodiments of the present application, a computer program product is provided, comprising computer program instructions. When the computer program instructions are run by a processor, the processor executes the power take-off control method of the vehicle according to the first aspect.

[0037] The above technical solutions provided by the embodiments of the present application have the following advantages compared with the prior art: The method provided by the embodiments of the present application, the vehicle comprising a first electric drive axle and a second electric drive axle, the method monitoring whether the vehicle enters a power take-off mode during driving of the vehicle; when the vehicle enters the power take-off mode, the first electric drive axle is controlled to perform power take-off, and the torque of the second electric drive axle is adjusted to be a sum of the torque of the first electric drive axle and the torque of the second electric drive axle during driving of the vehicle. In this way, when the vehicle enters the power take-off mode during driving, it is not necessary to stop and reconfigure, and by using the first electric drive axle to perform power take-off and the second electric drive axle to drive, and adjusting the torque of the second electric drive axle to be a sum of the torque of the first electric drive axle and the torque of the second electric drive axle during driving of the vehicle, the vehicle speed during driving can be ensured, and the driving of the vehicle will not be affected, thereby realizing power take-off during driving. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of the provided drawings.

[0039] FIG. 1 Fig. 1 shows a schematic diagram of a vehicle according to an embodiment of the present application;

[0040] FIG. 2 Fig. 2 shows a flowchart of a power take-off control method of a vehicle according to an embodiment of the present application;

[0041] FIG. 3 Fig. 3 shows a flowchart of a power take-off control method of a vehicle according to another embodiment of the present application;

[0042] FIG. 4 Fig. 4 shows a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0044] Example implementation environment

[0045] The power take-off control method of the vehicle according to the embodiments of the present application can be executed by an electronic device such as a vehicle or a server of the vehicle. The server can be a physical server, a server cluster composed of multiple physical servers, or a cloud server capable of cloud computing. The method can be realized by a processor calling computer readable program instructions stored in a memory. The present application takes the power take-off control method of the vehicle executed by the server as an example for explanation and description, but is not limited thereto.

[0046] Referring to Fig. 1, FIG. 1 The vehicle can include a double electric drive axle, a power take-off switch, an instrument, an adjustment key, a body controller, a gateway, a vehicle controller, an upper-mounted electromagnetic valve, a gearbox controller, a vehicle CAN line, a hard wire, a cab line, and other related wiring harnesses. The power take-off switch is connected to the instrument through the cab line, and communicates with the vehicle controller through the vehicle CAN line via the gateway. The adjustment key is connected to the body controller through the cab wiring harness, and communicates with the vehicle controller and the gearbox controller through the vehicle CAN via the gateway. The double electric drive axle includes a first electric drive axle and a second electric drive axle. The adjustment key can be a cruise control key (the cruise control key is configured with an on-off key, an acceleration key, and a deceleration key).

[0047] The power take-off request is sent to the vehicle controller through the instrument and the gateway. The controller enables the electromagnetic valve after judging that the conditions are met, combines the power take-off device, enters the speed control, and outputs power.

[0048] Example method

[0049] Referring to FIG. 2 In an exemplary embodiment, a power take-off control method of a vehicle is provided, the vehicle comprising a first electric drive axle and a second electric drive axle, the method comprising:

[0050] Step 201, monitoring whether the vehicle enters a power take-off mode during vehicle driving.

[0051] In some embodiments, the vehicle driving process comprises vehicle forward driving or vehicle backward driving. Whether the vehicle enters the power take-off mode can be determined by the state of related devices on the vehicle (for example, the display of the vehicle instrument, the state of the operating device, the function feedback and the mechanical features), or whether a power take-off signal is received, etc.

[0052] In an optional embodiment, monitoring whether the vehicle enters the power take-off mode comprises:

[0053] Monitoring whether a power take-off signal is acquired, the power take-off signal being used to indicate that the vehicle enters the power take-off mode;

[0054] In the case where the power take-off signal is acquired, determining whether the vehicle satisfies an enabling condition for entering the power take-off mode;

[0055] If yes, determining that the vehicle enters the power take-off mode;

[0056] If no, determining that the vehicle does not enter the power take-off mode.

[0057] In some embodiments, the power take-off signal can be determined by monitoring whether a power take-off switch on the vehicle is closed. If a user needs to take off power, the power take-off switch is pressed, the power take-off switch is monitored to be closed, and the power take-off switch generates the power take-off signal and sends it to the vehicle body controller. The vehicle body controller acquires the power take-off signal.

[0058] In some cases, in order to ensure the safety of the vehicle power take-off, the current state of the vehicle can also be evaluated to determine whether it satisfies the enabling condition for power take-off. When the enabling condition is satisfied, the power take-off mode is entered to realize power take-off.

[0059] In an optional embodiment, the enabling condition comprises at least one of:

[0060] The vehicle has released the hand brake, the vehicle motor has no first preset fault, the remaining power of the vehicle is greater than a preset power, the whole vehicle enters a preparation state, and the whole vehicle has no second preset fault.

[0061] In some embodiments, the vehicle is not released from the hand brake, which can cause damage to the device during driving, reduce or fail the braking effect, and even cause accidents. Therefore, it is necessary to determine whether the vehicle has been released from the hand brake. The motor of the vehicle is free from faults or a first preset fault, wherein the first preset fault represents a more serious fault, such as a second-level fault or above. The vehicle is free from faults or a second preset fault, wherein the second preset fault represents a more serious fault, such as a third-level fault or above. In the case of a small fault of the motor or the vehicle, the vehicle can be automatically recovered or has little effect on the operation of the vehicle. However, if there is a more serious fault, it can cause safety problems of the vehicle during driving. The remaining power of the vehicle is greater than a preset power, so as to avoid insufficient power to complete the power take-off process. The vehicle enters a preparation state to indicate that the vehicle can enter the power take-off mode at any time. The key ON signal can also be valid to indicate that the vehicle has been woken up.

[0062] In step 202, in the case that the vehicle enters the power take-off mode, the first electric drive axle is controlled to take power, and the torque of the second electric drive axle is adjusted to the sum of the first electric drive axle torque and the second electric drive axle torque during driving of the vehicle.

[0063] In some embodiments, the first electric drive axle is used for power take-off, and the second electric drive axle is used for driving, and the torque of the second electric drive axle is adjusted to the sum of the first electric drive axle torque and the second electric drive axle torque during driving of the vehicle, which can ensure that the vehicle maintains the vehicle speed during driving and has little effect on the driving of the vehicle, thereby realizing the power take-off during driving.

[0064] In an optional embodiment, the control of the first electric drive axle to take power includes:

[0065] The motor speed of the first electric drive axle is adjusted to a first preset speed.

[0066] In the case that the first electric drive axle is connected to the power take-off device, the motor speed of the first electric drive axle is adjusted to a target speed.

[0067] In some embodiments, the first preset speed can be set based on actual conditions, for example, it can be set to 0 or a small speed, so as to be connected to the power take-off device. After the motor speed of the first electric drive axle is the first preset speed, the first electric drive axle can be controlled to be combined with the power take-off device, and then enter a speed control mode to adjust the motor speed of the first electric drive axle. The target speed can be a preset fixed speed, or can be configured when the power take-off signal is sent, for example, the user inputs the required speed through the display screen when taking power, and then the target speed is carried by the power take-off signal and sent to the body controller.

[0068] In an optional embodiment, the determination that the first electric drive axle is connected to the power take-off device includes:

[0069] requesting a controller of a gearbox of the first electric drive axle to disengage a neutral gear;

[0070] sucking in a solenoid valve of the power take-off;

[0071] determining that the first electric drive axle has engaged the power take-off, in a case that it is determined that the gearbox has completed disengaging the neutral gear and the solenoid valve of the power take-off has been sucked in.

[0072] In some embodiments, after the gearbox disengages the neutral gear, the power of the engine or the motor is completely separated from the vehicle running system, avoiding the power flowing to both the running mechanism and the power take-off device at the same time, and preventing the occurrence of "power conflict" (e.g., mechanical overload caused by the competition for power between the running and the working device). At this time, the power can be transmitted to the working device (e.g., hydraulic pump, crane, compressor, etc.) associated with the first electric drive axle through the power take-off device, ensuring sufficient and stable working power.

[0073] The neutral state cuts off the running power, and the solenoid valve of the power take-off is sucked in (meaning that the mechanical structure of the power take-off has engaged or the hydraulic circuit has been connected), which not only meets the power demand of the working device, but also avoids the vehicle from moving unexpectedly during operation (e.g., movement caused by misengaging the gear), reducing the risk of damage to mechanical parts due to "hybrid power output".

[0074] Further, if the vehicle needs to stop during the power take-off process, it can continue to take power without engaging the neutral gear when stopping, because it is still in the power take-off mode. Thus, it can handle the scenario of short-time stopping for power take-off, and can move as soon as it stops, such as a water sprinkler, stone paving vehicle, garbage truck, etc.

[0075] In an optional embodiment, the power take-off control method of the vehicle of the present application further comprises:

[0076] obtaining power take-off adjustment information;

[0077] adjusting the motor speed of the first electric drive axle based on the power take-off adjustment information.

[0078] In some embodiments, the power take-off adjustment information can be obtained through the information fed back by the adjustment keys configured on the vehicle. For example, in the case of needing to increase or decrease the speed, the user can click the acceleration key or the deceleration key in the adjustment keys, and then the motor of the first electric drive axle increases or decreases the speed according to the power take-off adjustment information. Thus, real-time adjustment of the power take-off speed can be realized, facilitating the smooth progress of the power take-off process.

[0079] In an optional embodiment, the power take-off control method of the vehicle of the present application further comprises:

[0080] monitoring whether the vehicle exits the power take-off mode;

[0081] If the vehicle exits the power take-off mode, the motor speed of the first electric drive axle is reduced to a second preset speed, the electromagnetic valve of the power take-off is controlled to be turned off, the gearbox controller of the first electric drive axle cancels the neutral gear, and the torque of the second electric drive axle is distributed to the first electric drive axle.

[0082] In some embodiments, the power take-off can be exited by triggering the power take-off switch to generate an exit power take-off signal, which is then sent to the body controller. The body controller obtains the exit power take-off signal and determines that the vehicle needs to exit the power take-off mode. By controlling the electromagnetic valve of the power take-off to be turned off, the gearbox controller of the first electric drive axle cancels the neutral gear, and the torque of the second electric drive axle is distributed to the first electric drive axle, thereby restoring the driving state of the vehicle.

[0083] The second preset speed can be the same as the first preset speed, or it can be set according to actual conditions.

[0084] In one specific embodiment, the power take-off control method of the vehicle of the present application, the power take-off request is sent to the vehicle controller through the instrument and the gateway. The vehicle controller enables the electromagnetic valve when the conditions are met, combines the power take-off, enters the speed control, and outputs power.

[0085] Before entering the driving power take-off mode, the following conditions must be met: the key ON signal is valid, the vehicle is in a ready state, the hand brake is released, the motor has no fault above level 2, the battery level is not less than a certain value (which can be calibrated), and the vehicle has no fault above level 3. In addition, the vehicle can first press the power take-off and then shift to the driving gear to take power in the stationary state, or the power take-off operation can be performed during driving.

[0086] As follows FIG. 3 In driving, the power take-off switch is pressed, the vehicle controller detects that the power take-off conditions are met, enters the driving power take-off mode, adjusts the torque distribution, distributes the torque of the first electric drive axle (e.g., the middle axle) to the second electric drive axle (e.g., the rear axle), reduces the motor speed of the middle axle to 0, and requests the gearbox controller (TCU) of the middle axle to be neutral. After the middle axle TCU is neutral, the electromagnetic valve of the power take-off is attracted, combined with the power take-off, enters the speed control mode, adjusts the power take-off speed through the cruise control key, presses the acceleration key to increase the target speed, and presses the deceleration key to reduce the target speed.

[0087] Exit driving power take-off: turn off the power take-off request, reduce the target speed to a certain value, and exit the speed control mode. When the speed is detected to have been reduced to the target value, the electromagnetic valve combination command is turned off, the neutral request is canceled. Adjust the torque distribution to evenly distribute the torque of the rear axle to the middle axle.

[0088] The power take-off control method of the vehicle of the present application, when the vehicle currently enters the driving power take-off mode, detects that the current gear is in the forward gear or the reverse gear when the vehicle is parked, the power take-off signal is valid, and the power take-off can continue without shifting back to neutral, and the power take-off will not stop. The vehicle can both shift and take power at the same time, and can enter the power take-off at any time during driving as needed, and can take power while driving at a specific speed. After entering the power take-off mode, the maximum torque can still be output, and the power take-off bridge torque can be transferred and distributed to the driving bridge.

[0089] Full consideration is given to the convenience of the driver's operation. The driver can realize power take-off or exit power take-off by turning on or off the power take-off switch, without too much operation, which can be more convenient, and has less impact on the whole vehicle and does not affect the realization of other functions of the whole vehicle.

[0090] In addition, the vehicle driving and driving power take-off are independently operated, and the power take-off demand is also executed during driving, without the need to first park to enter the power take-off mode and then drive, solving the limitation of vehicle driving speed on power take-off and enriching the use scenarios of commercial vehicles. Without independent upper motor, power take-off can be realized in reverse gear, which can be applied to some special working conditions.

[0091] Example apparatus

[0092] Correspondingly, the present application also provides a power take-off control device for a vehicle, the vehicle comprising a first electric drive axle and a second electric drive axle, the device comprising:

[0093] a monitoring unit configured to monitor whether the vehicle enters a power take-off mode during driving of the vehicle;

[0094] a control unit configured to, in the case that the vehicle enters the power take-off mode, control the first electric drive axle to take power, and control the torque adjustment of the second electric drive axle to be the sum of the first electric drive axle torque and the second electric drive axle torque during driving of the vehicle.

[0095] The power take-off control device for a vehicle provided by the present embodiment belongs to the same application concept as the power take-off control method for a vehicle provided by the above-mentioned embodiments of the present application, can execute the method provided by any of the above-mentioned embodiments of the present application, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in the present embodiment can be referred to the specific processing content of the power take-off control method for a vehicle provided by the above-mentioned embodiments of the present application, which will not be described here.

[0096] The functions realized by each unit in the above power take-off control device for a vehicle can be realized by the same or different processors, which is not limited in the present embodiment.

[0097] It should be understood that each unit in the above apparatus can be implemented in the form of processor calling software. For example, the apparatus includes a processor connected with a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of each unit of the apparatus, wherein the processor can be a general processor such as CPU or microprocessor, and the memory can be an internal memory or an external memory of the apparatus. Alternatively, the units in the apparatus can be implemented in the form of hardware circuit, and the functions of part or all of the units can be realized by the design of the hardware circuit, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is ASIC, and the functions of part or all of the units are realized by the design of the logical relationship of elements in the circuit. For another example, in another implementation, the hardware circuit can be realized by PLD, and FPGA is taken as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of part or all of the units. All the units of the above apparatus can be realized in the form of processor calling software, or realized in the form of hardware circuit, or part of them are realized in the form of processor calling software, and the remaining part is realized in the form of hardware circuit.

[0098] In the embodiments of the present application, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as CPU, microprocessor, GPU, or DSP, etc. In another implementation, the processor can realize certain functions through the logical relationship of hardware circuit, which is fixed or can be reconfigured, such as ASIC or PLD implemented hardware circuit, such as FPGA, etc. In the reconfigurable hardware circuit, the process of the processor loading configuration document to realize hardware circuit configuration can be understood as the process of the processor loading instructions to realize the functions of part or all of the units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as a kind of ASIC, such as NPU, TPU, DPU, etc.

[0099] It can be seen that each unit in the above apparatus can be one or more processors (or processing circuits) configured to implement the above methods, such as CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0100] In addition, all or part of each unit in the above apparatus can be integrated together or can be independently implemented. In one implementation, these units are integrated together to be implemented in the form of a SOC. The SOC can include at least one processor for implementing the functions of any of the above methods or implementing the functions of each unit of the apparatus. The at least one processor can be of different types, such as including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0101] Example electronic device

[0102] Another embodiment of the present application also provides an electronic device, as shown in FIG. 4 The device includes:

[0103] a memory 400 and a processor 410;

[0104] The memory 400 is connected with the processor 410, and is configured to store programs.

[0105] The processor 410 is configured to realize the power taking control method of the vehicle disclosed in any of the above embodiments by running the programs stored in the memory 400.

[0106] Specifically, the power taking control device of the vehicle can further include a bus, a communication interface 420, an input device 430 and an output device 440.

[0107] The processor 410, the memory 400, the communication interface 420, the input device 430 and the output device 440 are connected with each other through the bus. Among them:

[0108] The bus can include a path for transmitting information between various components of a computer system.

[0109] The processor 410 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or can be an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs of the present application. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a ready-to-use programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0110] The processor 410 can include a main processor, and can also include a baseband chip, a modem, etc.

[0111] The memory 400 stores programs for implementing the technical solutions of the present application, and can also store an operating system and other key services. Specifically, the programs can include program codes, and the program codes include computer operation instructions. More specifically, the memory 400 can include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk memory, a flash, and the like.

[0112] The input device 430 can include devices that receive data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor, and the like.

[0113] The output device 440 can include devices that allow information to be output to a user, such as a display screen, a printer, a speaker, and the like.

[0114] The communication interface 420 can include devices using any transceiver to communicate with other devices or communication networks, such as an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), and the like.

[0115] The processor 410 executes programs stored in the memory 400 and calls other devices, which can be used to implement each step of the vehicle power take-off control method provided by any of the above-described embodiments.

[0116] Example computer program product and storage medium

[0117] In addition to the above methods and devices, the embodiments of the present application can also be computer program products that include computer program instructions that, when executed by a processor, cause the processor to perform the steps of the vehicle power take-off control method according to various embodiments of the present application described in any of the above-described embodiments.

[0118] The computer program product can be written in any combination of one or more programming languages to perform the operations of the embodiments of the present application, including an object-oriented programming language, such as Java, C++, and the like, and a conventional procedural programming language, such as "C" language or similar programming languages. The program code can be executed entirely on a user computing device, partially on a user device, as an independent software package, partially on a user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0119] In addition, the embodiments of the present application can also be storage media having a computer program stored thereon, and the computer program is executed by a processor to perform the steps in the power take-off control method of the vehicle according to various embodiments of the present application described in any of the embodiments of the present specification. Specifically, the following steps can be implemented:

[0120] During the driving of the vehicle, it is monitored whether the vehicle enters the power take-off mode;

[0121] In the case where the vehicle enters the power take-off mode, the first electric drive axle is controlled to take off power, and the torque of the second electric drive axle is adjusted to the sum of the first electric drive axle torque and the second electric drive axle torque during the driving of the vehicle.

[0122] For each of the foregoing method embodiments, in order to simply describe, they are all expressed as a combination of a series of actions, but those skilled in the art should know that the present application is not limited by the order of the described actions, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0123] It should be noted that each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiments, since they are basically similar to the method embodiments, they are described more simply, and the relevant parts are referred to the part of the method embodiments.

[0124] The steps in the method of each embodiment of the present application can be adjusted, combined and deleted in sequence according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0125] The modules and sub-modules in the devices and terminals in each embodiment of the present application can be combined, divided and deleted according to actual needs.

[0126] In several embodiments provided by the present application, it should be understood that the disclosed terminal, device and method can be implemented by other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or sub-modules is only a logical function division, and there can be another division way in actual implementation, for example, a plurality of sub-modules or modules can be combined or integrated into another module, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed each other can be indirect coupling or communication connection through some interfaces, devices or modules, and can be electrical, mechanical or other forms.

[0127] The modules or sub-modules described as separate components may or may not be physically separate, and the components of the modules or sub-modules may or may not be physical modules or sub-modules, i.e., may be located in one place or distributed over multiple network modules or sub-modules. Some or all of the modules or sub-modules can be selected as needed to achieve the purposes of the embodiments.

[0128] In addition, each functional module or sub-module in the various embodiments of the present application can be integrated in one processing module, or each module or sub-module can exist physically alone, or two or more modules or sub-modules can be integrated in one module. The integrated module or sub-module can be realized in the form of hardware or in the form of a software functional module or sub-module.

[0129] The skilled person can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in general terms in the above description. Whether the functions are performed 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.

[0130] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be directly implemented by hardware, software units executed by a processor, or a combination of both. The software units can be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0131] Finally, it should be noted that, in this document, relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0132] The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to those skilled in the art and are within the scope of the application as defined by the appended claims, the general principles defined herein can be applied to other embodiments without departing from the spirit or essential characteristics of the application. Thus, the present application is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A power take-off control method of a vehicle, characterized by, The vehicle comprises a first electric drive axle and a second electric drive axle, and the method comprises: During driving of the vehicle, it is monitored whether the vehicle enters a power take-off mode; In the case where the vehicle enters the power take-off mode, the first electric drive axle is controlled to take power, and the torque of the second electric drive axle is adjusted to be the sum of the torque of the first electric drive axle and the torque of the second electric drive axle during driving of the vehicle.

2. The method of claim 1, wherein, Controlling the first electric drive axle to take power comprises: Controlling the motor speed of the first electric drive axle to be adjusted to a first preset speed; In the case where it is determined that the first electric drive axle has been connected to the power take-off device, the motor speed of the first electric drive axle is controlled to be adjusted to a target speed.

3. The method of claim 2, wherein, Determining that the first electric drive axle has been connected to the power take-off device comprises: Requesting a controller of a gearbox of the first electric drive axle to be in neutral; Sucking an electromagnetic valve of the power take-off device; In the case where it is determined that the gearbox has been in neutral and the electromagnetic valve of the power take-off device has been sucked, it is determined that the first electric drive axle has been connected to the power take-off device.

4. The method of claim 1, wherein, Monitoring whether the vehicle enters the power take-off mode comprises: Monitoring whether a power take-off signal is acquired, the power take-off signal being used to indicate that the vehicle enters the power take-off mode; In the case where the power take-off signal is acquired, it is judged whether the vehicle satisfies an enabling condition for entering the power take-off mode; If yes, it is determined that the vehicle enters the power take-off mode; If no, it is determined that the vehicle does not enter the power take-off mode.

5. The method of claim 4, wherein, The enabling condition comprises at least one of the following: The vehicle has released a hand brake, the vehicle motor has no first preset fault, the remaining power of the vehicle is greater than a preset power, the whole vehicle enters a preparation state, and the whole vehicle has no second preset fault.

6. The method of claim 1, wherein, Further comprising: Acquiring power take-off adjustment information; Based on the power take-off adjustment information, the motor speed of the first electric drive axle is adjusted.

7. The method of claim 1, wherein, Further comprising: Monitoring whether the vehicle exits the power take-off mode; If the vehicle exits the power take-off mode, the motor speed of the first electric drive axle is reduced to a second preset speed, the electromagnetic valve of the power take-off device is controlled to be turned off, the controller of the gearbox of the first electric drive axle cancels the neutral, and the torque of the second electric drive axle is distributed to the first electric drive axle.

8. A vehicle characterized by comprising: Comprise a first electric drive axle, a second electric drive axle, a monitoring unit, and a control unit; The monitoring unit is configured to monitor whether the vehicle enters a power take-off mode during driving of the vehicle; The control unit is configured to, in the case where the vehicle enters the power take-off mode, control the first electric drive axle to take power, and control the torque of the second electric drive axle to be adjusted to be the sum of the torque of the first electric drive axle and the torque of the second electric drive axle during driving of the vehicle.

9. An electronic device, comprising: Comprise a memory and a processor; The memory is connected with the processor and is configured to store programs; The processor is configured to realize the power take-off control method of the vehicle according to any one of claims 1 to 7 by running the programs in the memory.

10. A storage medium, characterized by The storage medium has a computer program stored thereon, and the computer program is run by a processor to realize the power take-off control method of the vehicle according to any one of claims 1 to 7.

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