Vehicle control method, electronic equipment and vehicle

Abstract

The invention relates to the technical field of vehicle intelligent driving, and provides a vehicle control method, electronic equipment and a vehicle. Vehicle operation information is obtained, and whether the vehicle meets a preset hill starting condition or not is judged according to the vehicle operation information; in response to the situation that the hill starting condition is met, determining that the vehicle target power driving mode is a pure electric four-wheel driving mode; determining the rotating speed of the gearbox input shaft, determining a target gear according to the rotating speed of the gearbox input shaft, and controlling the vehicle to run according to the target gear. When the target gear is determined, the rotating speed of the input shaft of the gearbox is combined, and the target gear is determined more accurately. Meanwhile, when hill starting is carried out in the pure electric rear drive mode, the power drive mode is switched into pure electric four-wheel drive, the target gear of the corresponding vehicle is determined, the torque required for starting of the whole vehicle is increased, meanwhile, torque distribution of front and rear wheels is adjusted, the problem that the vehicle shakes seriously due to insufficient torque distribution is solved, the driving smoothness is improved, and the driving safety is improved. And the driving experience of the user is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of intelligent driving of vehicles, and in particular to a vehicle control method, an electronic device and a vehicle. BACKGROUND

[0002] When a vehicle is running in a pure electric rear-drive mode, the vehicle is completely driven by a rear axle motor. When the vehicle starts on a slope in the pure electric rear-drive mode, the rear axle motor has problems such as control delay under low-speed high-torque request, which causes periodic slippage and recovery of the rear wheels, and further causes dramatic fluctuations in the longitudinal acceleration of the vehicle body, affecting the driving experience of the user. SUMMARY

[0003] Therefore, the purpose of the present disclosure is to provide a vehicle control method, an electronic device and a vehicle to solve the problem of severe rear wheel start-up vibration of a vehicle, poor driving smoothness and poor ride comfort when the vehicle starts on a slope in a pure electric rear-drive mode.

[0004] To achieve the above purpose, a first aspect of the present disclosure provides a vehicle control method, which comprises: obtaining vehicle running information, and determining whether the vehicle meets a preset slope start condition according to the vehicle running information; in response to the slope start condition being met, determining that the target power drive mode of the vehicle is a pure electric four-wheel drive mode; determining the input shaft speed of the gearbox, determining the target gear position according to the input shaft speed of the gearbox, and controlling the vehicle to run according to the target gear position.

[0005] Specifically, the step of determining whether the vehicle meets the preset slope start condition according to the vehicle running information comprises: obtaining the actual power drive mode of the vehicle and the road slope of the road where the vehicle is located; in response to the actual power drive mode being a pure electric rear-drive mode and the road slope being greater than a preset slope threshold, obtaining the actual speed of the vehicle; in response to the actual speed of the vehicle being less than a preset speed threshold, determining that the vehicle meets the preset slope start condition.

[0006] Specifically, the step of determining the input shaft speed of the gearbox and determining the target gear position according to the input shaft speed of the gearbox comprises: obtaining a preset speed threshold, and determining the target input shaft speed of the gearbox corresponding to the second gear position; comparing the target input shaft speed of the gearbox with the preset speed threshold to obtain a comparison result, and determining the target gear position according to the comparison result.

[0007] Specifically, the step of determining the target gear position according to the comparison result comprises: determining the target gear position as the second gear position in response to the comparison result being that the target transmission input shaft speed is less than or equal to the preset speed threshold; or determining the target gear position as the third gear position in response to the comparison result being that the target transmission input shaft speed is greater than the preset speed threshold.

[0008] Specifically, the determining of the target transmission input shaft speed corresponding to the second gear position comprises: obtaining a vehicle speed, and determining a target transmission output shaft speed according to the vehicle speed; determining a target transmission ratio corresponding to the second gear position, and multiplying the target transmission output shaft speed and the target transmission ratio to obtain the target transmission input shaft speed corresponding to the second gear position.

[0009] Through the above scheme, the target transmission output shaft speed is determined based on the vehicle speed, and then the target transmission input shaft speed corresponding to the second gear position is determined according to the transmission ratio of the second gear position and the target transmission output shaft speed. The target transmission input shaft speed is more accurate.

[0010] Specifically, after judging whether the vehicle meets the preset hill start condition according to the vehicle operation information, the method further comprises: obtaining an actual gear position and an accelerator pedal opening degree of the vehicle in response to the vehicle not meeting the hill start condition; determining a target gear position according to the actual gear position and the accelerator pedal opening degree, and controlling the vehicle to travel according to the target gear position.

[0011] Specifically, the determining of the target gear position according to the actual gear position and the accelerator pedal opening degree comprises: obtaining an actual driving mode of the vehicle, and determining a target upshift speed and a target downshift speed according to the actual driving mode and the accelerator pedal opening degree; obtaining an actual speed of a transmission output shaft, and performing addition processing on the actual gear position and a preset gear position change value to obtain a target gear position in response to the actual speed being greater than the target upshift speed, wherein the target gear position is greater than the actual gear position; or performing subtraction processing on the actual gear position and the preset gear position change value to obtain a target gear position in response to the actual speed being less than the target downshift speed, wherein the target gear position is less than the actual gear position.

[0012] Specifically, after determining the target gear position according to the transmission input shaft speed, the method further comprises: obtaining a road surface adhesion coefficient of a road where the vehicle is located, and determining a target motor torque according to the road surface adhesion coefficient; determining a first target gear position corresponding to the target motor torque according to the target motor torque; controlling the vehicle to travel according to the target gear position in response to the first target gear position being the same as the target gear position; controlling the vehicle to travel according to the first target gear position in response to the first target gear position being different from the target gear position.

[0013] According to the above scheme, after the target gear position is determined according to the input shaft speed of the gearbox, the road adhesion coefficient of the road where the vehicle is located is considered, and then the target gear position is determined according to the road adhesion coefficient, so as to further improve the stability of driving and avoid the problem of vehicle skidding.

[0014] Based on the same inventive concept, a second aspect of the present disclosure provides a vehicle control device, comprising: a data acquisition module configured to acquire vehicle operation information, and determine whether the vehicle meets a preset hill start condition according to the vehicle operation information; a mode determination module configured to determine that the target power drive mode of the vehicle is a pure electric four-wheel drive mode in response to the hill start condition being met; a vehicle control module configured to determine the input shaft speed of the gearbox, determine a target gear position according to the input shaft speed of the gearbox, and control the vehicle to travel according to the target gear position.

[0015] Based on the same inventive concept, a third aspect of the present disclosure provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the vehicle control method as described above when executing the computer program.

[0016] Based on the same inventive concept, a fourth aspect of the present disclosure provides a non-transitory computer readable storage medium, which stores computer instructions for causing a computer to execute the vehicle control method as described above.

[0017] Based on the same inventive concept, a fifth aspect of the present disclosure provides a vehicle, comprising the vehicle control device of the second aspect, the electronic device of the third aspect, or the storage medium of the fourth aspect.

[0018] It can be seen from the above that the present disclosure provides a vehicle control method, an electronic device and a vehicle. Vehicle operation information is obtained, and it is determined whether the vehicle meets a preset hill start condition according to the vehicle operation information. The hill start condition is a condition corresponding to a possible shaking phenomenon of the rear wheel during starting. If the hill start condition is met, the target power driving mode of the vehicle is determined to be the pure electric four-wheel drive mode, i.e., the pure electric rear-wheel drive mode is switched to the pure electric four-wheel drive mode, so that the vehicle power is distributed to the four wheels, the distribution ratio of the wheel torque is adjusted, and the problem of rear wheel shaking caused by single rear axle torque overload is solved. The input shaft speed of the gearbox is determined, the target gear position is determined according to the input shaft speed of the gearbox, and the vehicle is controlled to travel according to the target gear position. When the target gear position is determined, the input shaft speed of the gearbox is combined, and the determination of the target gear position is more accurate. At the same time, when starting on a hill in the pure electric rear-wheel drive mode, the power driving mode is switched to the pure electric four-wheel drive mode and the target gear position of the vehicle is determined, the starting torque demand of the vehicle is increased, and the front and rear wheel torque distribution is adjusted to avoid the problem of serious vehicle shaking caused by insufficient torque distribution, improve the driving smoothness, and thus improve the user's driving experience. Moreover, when the vehicle is in a large slope working condition, the front axle of the vehicle is also driven by switching to the pure electric four-wheel drive mode, thereby realizing the smooth starting of the vehicle and significantly improving the driving smoothness and riding comfort. At the same time, due to the reduction of slipping, the energy consumption of the vehicle is reduced, the energy recovery efficiency is improved, the abnormal wear of the rear wheel tire is effectively reduced, and the service life of the tire is prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present disclosure or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description are only embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creating any inventive labor.

[0020] Figure 1 Flow chart of the vehicle control method of the embodiment of the present disclosure; Figure 2 Structure block diagram of the vehicle control device of the embodiment of the present disclosure; Figure 3 Structure schematic diagram of the electronic device of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the present disclosure more clear, the following will further describe the present disclosure in combination with specific embodiments and with reference to the drawings.

[0022] It should be noted that, unless otherwise defined, technical terms or scientific terms used in the embodiments of the present disclosure shall have the common meaning understood by one of ordinary skill in the art to which the present disclosure belongs. The terms "first", "second" and similar terms used in the embodiments of the present disclosure do not denote any order, quantity or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connected" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to represent relative positional relationships, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] The terms involved in the present disclosure are as follows: EV: EV mode (pure electric mode) is a driving mode specific to hybrid vehicles or plug-in hybrid vehicles. In this mode, the vehicle is driven solely by the electric motor, and the battery is the only energy source, and the engine is completely stopped.

[0024] VCU: Vehicle Control Unit (VCU) is responsible for coordinating and managing the cooperative work of various systems of the vehicle. It collects data from key components such as motors, batteries, vehicle charging systems, braking systems, etc. in real time, makes comprehensive decisions and energy management, and realizes intelligent control of vehicle driving mode, energy distribution, fault diagnosis and safety protection functions.

[0025] Under the current background of rapid development of new energy vehicles, electric four-wheel drive systems have been widely used due to their fast response, precise torque distribution and other advantages. However, under the condition of starting on a large slope, the traditional electric four-wheel drive control strategy generally has the problems of dynamic response lag and torque mutation of the rear-wheel drive system. When the vehicle is running in pure electric rear-wheel drive mode, the vehicle is completely driven by the rear axle motor at this time. The motor of the electric vehicle has the characteristics of zero rotation and high torque, and can output maximum torque at the starting moment.

[0026] When the vehicle starts at low speed on a slope in pure electric rear-wheel drive mode, the required driving force is greater because the vehicle needs to overcome the component force of gravity sliding down the slope. All these torques are only applied to the two rear wheels, and the initial rear wheel torque is too large. At the same time, when starting on a slope, the center of gravity of the vehicle will shift backward, and if the slope is steep or the road adhesion is low, such as wet or sandy road sections, the rear wheel is easy to reach or exceed its grip limit, i.e. the rear wheel grip is insufficient. At this time, when the system detects signs of rear wheel slip, it will immediately reduce the motor torque output. Once the slip stops, the torque will quickly recover, i.e. the vehicle has a shaking phenomenon.

[0027] In the related art, most of the torque distribution is based on fixed proportion or simple PID closed-loop control, and the dynamic change of slope, real-time estimation of road adhesion coefficient and nonlinear characteristics of motor response are not fully considered, which leads to significant decline in system stability under large slope request, and seriously affects the driving comfort and safety.

[0028] That is, when the rear axle motor starts at low speed on the slope, due to the problems such as control delay under low speed and high torque request, periodic slipping and recovery of the rear wheel occur, which further causes the longitudinal acceleration of the vehicle body to fluctuate sharply, affecting the driving experience of the user.

[0029] Therefore, to solve the above problems, the embodiment provides a vehicle control method, as shown in the figure, the method comprises: Figure 1 The method comprises the following steps: Step 101, obtaining vehicle running information, and determining whether the vehicle meets the preset slope starting condition according to the vehicle running information.

[0030] In specific implementation, the vehicle running information is obtained, wherein the vehicle running information is related information of the vehicle when it is currently driving, including related information of the vehicle itself and environmental information of the vehicle, etc. In the embodiment, the vehicle running information includes the actual power driving mode of the vehicle, the actual operation mode of the vehicle, the road slope of the vehicle, the actual speed of the vehicle, etc.

[0031] The vehicle running information is used to determine whether the vehicle meets the preset slope starting condition, wherein the slope starting condition is a condition corresponding to the phenomenon that the rear wheel may shake when starting, i.e., if the slope starting condition is met, it means that the vehicle will shake the rear wheel if it starts driving.

[0032] Step 102, in response to meeting the slope starting condition, determining that the target power driving mode of the vehicle is a pure electric four-wheel drive mode.

[0033] In specific implementation, if it is determined that the slope starting condition is met, it means that the vehicle will shake the rear wheel if it starts driving, and then it is determined that the target power driving mode of the vehicle is a pure electric four-wheel drive mode. Because the current actual power driving mode of the vehicle is a pure electric rear-wheel drive mode, the target power driving mode of the vehicle is switched from the pure electric rear-wheel drive mode to the pure electric four-wheel drive mode.

[0034] In the embodiment, in the pure electric rear-drive mode, the engine and the front axle motor are in the shutdown state, and the rear axle motor is in the running state, power is transmitted to the rear wheels of the vehicle, and the vehicle is driven to run. That is, in the pure electric rear-drive mode, the engine of the vehicle does not participate in driving, the front motor does not participate in driving, only the rear motor participates in driving, and the vehicle is driven to run based on the rear axle. In the pure electric four-wheel drive mode, the engine of the vehicle does not participate in driving, and the front motor and the rear motor participate in driving, and at this time, the two axles of the vehicle output power to drive the vehicle to run.

[0035] That is, under the condition of meeting the hill starting condition, the target power driving mode of the vehicle is switched from the pure electric rear-drive mode to the pure electric four-wheel drive mode, so that the driving task originally borne by the two rear wheels is now borne by the four wheels, thereby reducing the torque allocated to each wheel, away from the respective grip limit, thereby reducing the risk of wheel slip, without frequent and rough intervention of the traction control system, and the power output becomes smooth and continuous. At the same time, the distribution ratio of the wheel torque is adjusted, and the problem of rear wheel shaking caused by single rear axle torque overload is solved.

[0036] In addition, in the four-wheel drive mode, the front wheels also participate in driving, and when the vehicle starts on a slope, the load of the front wheels will decrease slightly. However, since the driving force required by the front wheels is also small due to the dispersion of torque, the ratio of driving force to adhesion remains within a safe range, and the wheels will not slip.

[0037] Step 103, determining the speed of the input shaft of the gearbox, determining the target gear position according to the speed of the input shaft of the gearbox, and controlling the vehicle to run according to the target gear position.

[0038] In specific implementation, the speed of the input shaft of the gearbox is determined, the target gear position is determined according to the speed of the input shaft of the gearbox, and the vehicle is controlled to run according to the target gear position.

[0039] In the embodiment, the speed of the input shaft of the gearbox refers to the rotational speed of the shaft directly connected to the engine crankshaft and responsible for inputting power into the gearbox. The input shaft of the gearbox is located at the front end of the gearbox housing, and as long as the clutch is engaged or the torque converter is locked, the input shaft of the gearbox will rotate synchronously with the engine.

[0040] According to the above scheme, vehicle operation information is obtained, and it is determined whether the vehicle meets a preset hill start condition according to the vehicle operation information. The hill start condition is a condition corresponding to a phenomenon that the rear wheel may shake when starting. If the hill start condition is met, the target power driving mode of the vehicle is determined to be the pure electric four-wheel drive mode, that is, the pure electric rear-wheel drive is switched to the pure electric four-wheel drive mode, so that the vehicle power is distributed to four wheels, the distribution ratio of the wheel torque is adjusted, and the problem of rear wheel shaking caused by single rear axle torque overload is solved. The input shaft speed of the gearbox is determined, the target gear position is determined according to the input shaft speed of the gearbox, and the vehicle is controlled to travel according to the target gear position. When the target gear position is determined, the input shaft speed of the gearbox is combined, the determination of the target gear position is more accurate. At the same time, when starting on a hill in the pure electric rear-wheel drive mode, the operating mode is switched to the pure electric four-wheel drive mode and the target gear position of the vehicle is determined, the starting torque demand of the vehicle is increased, and the front and rear wheel torque distribution is adjusted to avoid the problem of serious vehicle shaking caused by insufficient torque distribution, improve the driving smoothness, and thus improve the driving experience of the user. Moreover, when the vehicle is in a large slope working condition, the front axle of the vehicle is also driven by switching to the pure electric four-wheel drive mode, thereby realizing the smooth starting of the vehicle and significantly improving the driving smoothness and riding comfort. At the same time, due to the reduction of slipping, the energy consumption of the vehicle is reduced, the energy recovery efficiency is improved, the abnormal wear of the rear wheel tire is effectively reduced, and the service life of the tire is prolonged.

[0041] In some embodiments, if the vehicle starts on a hill in the pure electric rear-wheel drive mode, it is easy to cause periodic slipping and recovery of the rear wheel due to control delay and other problems under low-speed high-torque request, thereby causing the vehicle body longitudinal acceleration to fluctuate sharply. Therefore, when the vehicle meets the above conditions, the operating mode is switched, that is, in step 101, it is determined whether the vehicle meets the preset hill start condition according to the vehicle operation information, which specifically includes: Step 1011, obtaining the actual power driving mode of the vehicle and the road slope of the road where the vehicle is located; Step 1012, in response to the actual power driving mode being pure electric rear-wheel drive and the road slope being greater than a preset slope threshold, obtaining the actual speed of the vehicle; Step 1013, in response to the actual speed of the vehicle being less than a preset speed threshold, determining that the vehicle meets the preset hill start condition.

[0042] In specific implementation, the power driving mode of the vehicle refers to the logic and structural combination of the power source and the transmission system working together in different working conditions, wherein the power source includes an engine or a motor. In this embodiment, the power driving mode includes pure electric four-wheel drive, pure electric rear-wheel drive, pure electric front-wheel drive, direct drive front-wheel drive, and direct drive four-wheel drive.

[0043] The actual power driving mode of the vehicle is obtained, and the road slope of the road where the vehicle is located is obtained, wherein the road slope refers to the rate of change of the height of the road along the driving direction, and the road slope can be obtained by a sensor in the vehicle. For example, the pitch angle of the vehicle is measured in real time by an inertial measurement unit, and the road slope is estimated in combination with the vehicle speed.

[0044] If it is determined that the actual power driving mode of the vehicle is pure electric rear drive, and the road slope is greater than a preset slope threshold, the actual speed of the vehicle is obtained at this time. If the actual speed is less than a preset speed threshold, it indicates that the vehicle is on a slope and starts in a pure electric rear drive mode, and problems such as control delay under low-speed high-torque request, periodic slippage and recovery of the rear wheel, and thus the problem of dramatic fluctuations in the longitudinal acceleration of the vehicle body, are prone to occur. Therefore, the slope starting condition is met at this time.

[0045] That is, in the embodiment, the preset slope starting condition is that the actual power driving mode of the vehicle is pure electric rear drive, the vehicle speed is less than a preset speed threshold, and the road slope where the vehicle is located is greater than a certain value.

[0046] In the embodiment, the system operation mode includes a pure electric mode, a series mode, and a direct drive mode. Since the system operation mode corresponding to the pure electric rear drive mode is the pure electric mode, the preset slope starting condition is that the actual system operation mode of the vehicle is the pure electric mode, the actual power driving mode of the vehicle is the pure electric rear drive mode, the vehicle speed is less than a preset speed threshold, and the road slope where the vehicle is located is greater than a certain value.

[0047] In the embodiment, if the actual power driving mode of the vehicle is pure electric front drive, when the vehicle starts on a slope, the center of gravity moves backward, but the driving wheel is the front wheel, and the normal pressure of the front wheel is increased at this time. That is, the front wheel has a higher adhesion limit at this time, and can withstand greater driving torque without slipping. Therefore, the adhesion of the driving wheel is enhanced, the large torque characteristics of the motor can be better utilized without slipping, and the large torque characteristics of the motor do not cause the rear wheel to vibrate. Therefore, when the actual power driving mode of the vehicle is pure electric front drive, the power driving mode does not need to be switched.

[0048] In the embodiment, if the actual system operation mode of the vehicle is the direct drive mode, the driving force comes directly from the engine at this time, the low-speed torque of the engine is relatively limited, and needs to be combined through a clutch or a hydraulic torque converter, and the torque is gradually established and does not burst instantaneously like a motor. Therefore, the torque transmitted to the tire is more gentle, and the risk of exceeding the adhesion limit is greatly avoided. Therefore, when the actual system operation mode of the vehicle is the direct drive mode, the power driving mode does not need to be switched.

[0049] In some embodiments, in determining the target gear position, the target gear position is determined by comparing the transmission input shaft speed with a preset speed threshold. That is, the determination of the transmission input shaft speed in step 103, the determination of the target gear position according to the transmission input shaft speed, specifically includes: Step 1031, obtaining a preset speed threshold to determine a target transmission input shaft speed corresponding to the second gear position; Step 1032, comparing the target transmission input shaft speed with the preset speed threshold to obtain a comparison result, and determining the target gear position according to the comparison result.

[0050] In specific implementation, based on the foregoing description, it can be known that the system operating mode of the power structure adaptation of the vehicle is the pure electric mode, and the gear position of the vehicle in the pure electric mode is usually 2 or 3, and then the target gear position is determined as 2 or 3.

[0051] The preset speed threshold is obtained to determine a target transmission input shaft speed corresponding to the second gear position, wherein the target transmission input shaft speed is the speed of the target transmission input shaft corresponding to the second gear position of the vehicle.

[0052] The target transmission input shaft speed is compared with the preset speed threshold to obtain a comparison result, and the target gear position is determined according to the comparison result. The comparison result includes that the target transmission input shaft speed is less than or equal to the preset speed threshold, or the target transmission input shaft speed is greater than the preset speed threshold.

[0053] Specifically, the determination of the target gear position according to the comparison result specifically includes: Step 10A, in response to the comparison result that the target transmission input shaft speed is less than or equal to the preset speed threshold, determining the target gear position as the second gear position; or, Step 10B, in response to the comparison result that the target transmission input shaft speed is greater than the preset speed threshold, determining the target gear position as the third gear position.

[0054] In specific implementation, the target transmission input shaft speed is compared with the preset speed threshold. If the comparison result is that the target transmission input shaft speed is less than or equal to the preset speed threshold, the target gear position is determined as the second gear position. If the comparison result is that the target transmission input shaft speed is greater than the preset speed threshold, the target gear position is determined as the third gear position.

[0055] Exemplarily, the second gear position is 2nd gear, and the preset rotation speed threshold value is 5900 rpm. If it is determined that the actual power driving mode of the vehicle is the pure electric rear-wheel drive mode, the actual system operation mode of the vehicle is the pure electric mode, and the target power driving mode of the vehicle is the pure electric four-wheel drive mode, the input shaft rotation speed of the gearbox corresponding to the 2nd gear, i.e., the target input shaft rotation speed of the gearbox, is determined to be 6000 rpm. At this time, the target input shaft rotation speed of the gearbox is greater than the preset rotation speed threshold value, and at this time, it is determined that the target gear position is the third gear position, i.e., the target gear position of the vehicle is 3rd gear.

[0056] Another example, the second gear position is 2nd gear, and the preset rotation speed threshold value is 5900 rpm. If it is determined that the actual power driving mode of the vehicle is the pure electric rear-wheel drive mode, the actual system operation mode of the vehicle is the pure electric mode, and the target power driving mode of the vehicle is the pure electric four-wheel drive mode, the input shaft rotation speed of the gearbox corresponding to the 2nd gear, i.e., the target input shaft rotation speed of the gearbox, is determined to be 4900 rpm. At this time, the target input shaft rotation speed of the gearbox is less than the preset rotation speed threshold value, and at this time, it is determined that the target gear position is the second gear position, i.e., the target gear position of the vehicle is 2nd gear.

[0057] In some embodiments, the target input shaft rotation speed corresponding to the second gear position is related to the actual vehicle speed and the transmission ratio of the second gear position, i.e., the determination of the target input shaft rotation speed corresponding to the second gear position in step 1031 specifically includes: Step 10a, obtaining the vehicle speed, and determining the target output shaft rotation speed of the gearbox according to the vehicle speed; Step 10b, determining the target transmission ratio corresponding to the second gear position, and multiplying the target output shaft rotation speed of the gearbox and the target transmission ratio to obtain the target input shaft rotation speed of the gearbox corresponding to the second gear position.

[0058] In specific implementation, the output shaft rotation speed of the gearbox is the rotation speed of the gearbox transmitted to the driving wheel of the vehicle, which is the final output rotation speed after the rotation speed is changed by the gear set inside the gearbox. The output shaft rotation speed of the gearbox determines the driving speed of the vehicle, and the output shaft rotation speed of the gearbox is further reduced and increased in torque by the main reducer and then transmitted to the wheel.

[0059] The vehicle speed is obtained, and the target output shaft rotation speed of the gearbox is determined according to the vehicle speed. Specifically, the target output shaft rotation speed of the gearbox corresponding to the vehicle speed can be determined by searching a database according to the vehicle speed, wherein the database stores the corresponding relationship between the vehicle speed and the output shaft rotation speed of the gearbox.

[0060] The target transmission ratio corresponding to the second gear is determined, specifically, the target transmission ratio corresponding to each gear is pre-stored in the database, and then the target transmission ratio corresponding to the second gear is determined by searching the database. The transmission ratio refers to the ratio of the input shaft (driving gear) speed to the output shaft (driven gear) speed, and the target transmission ratio corresponding to the second gear is the gear transmission ratio when the gearbox is engaged in 2nd gear.

[0061] The target transmission ratio corresponding to the second gear is determined, specifically, the target transmission ratio corresponding to each gear is pre-stored in the database, and then the target transmission ratio corresponding to the second gear is determined by searching the database. The transmission ratio refers to the ratio of the input shaft (driving gear) speed to the output shaft (driven gear) speed, and the target transmission ratio corresponding to the second gear is the gear transmission ratio when the gearbox is engaged in 2nd gear.

[0062] Through the above scheme, the target transmission output shaft speed is determined based on the vehicle speed, and then the target transmission input shaft speed corresponding to the second gear is determined according to the transmission ratio of the second gear and the target transmission output shaft speed. The target transmission input shaft speed is more accurate.

[0063] In some embodiments, if the vehicle does not meet the hill start condition at this time, i.e. the power driving mode does not need to be switched to the pure electric four-wheel drive mode at this time, the target gear can be directly determined according to the shift line. After determining whether the vehicle meets the preset hill start condition according to the vehicle operating information in step 101, the method further comprises: Step A, in response to not meeting the hill start condition, obtaining the actual gear and the accelerator pedal opening degree of the vehicle; Step B, determining the target gear according to the actual gear and the accelerator pedal opening degree, and controlling the vehicle to travel according to the target gear.

[0064] In specific implementation, if the hill start condition is not met, i.e. the actual power driving mode of the vehicle is not the pure electric rear-wheel drive mode, or the vehicle speed is greater than the preset speed threshold, the power driving mode does not need to be switched to the pure electric four-wheel drive mode at this time, and the target gear can be directly determined according to the shift line.

[0065] Specifically, the actual gear and the accelerator pedal opening degree of the vehicle are obtained, and then the target gear is determined according to the actual gear and the accelerator pedal opening degree, and the vehicle is controlled to travel according to the target gear.

[0066] Specifically, the process of determining the target gear according to the actual gear and the accelerator pedal opening degree comprises: Step a, obtaining the actual driving mode of the vehicle, and determining the target upshift speed and the target downshift speed according to the actual driving mode and the accelerator pedal opening degree; Step b, obtaining the actual rotating speed of the gearbox output shaft, and in response to the actual rotating speed being greater than the target upshift rotating speed, adding the actual gear position and a preset gear position change value to obtain a target gear position, wherein the target gear position is greater than the actual gear position; or Step c, in response to the actual rotating speed being less than the target downshift rotating speed, subtracting the actual gear position from a preset gear position change value to obtain a target gear position, wherein the target gear position is less than the actual gear position.

[0067] In a specific implementation, an actual driving mode of the vehicle is obtained, and a target upshift rotating speed and a target downshift rotating speed are determined according to the actual driving mode and the accelerator pedal opening degree, wherein the target upshift rotating speed is a rotating speed threshold corresponding to upshifting, that is, the lowest output shaft rotating speed required for upshifting to a higher gear position under the current accelerator pedal opening degree. The target downshift rotating speed is a rotating speed threshold corresponding to downshifting, that is, the highest output shaft rotating speed required for downshifting to a lower gear position under the current accelerator pedal opening degree. That is, when the rotating speed is too low, downshifting is required to avoid engine shaking or to provide power.

[0068] In this embodiment, different driving modes correspond to different driving styles, and different driving styles correspond to different target upshift rotating speeds and target downshift rotating speeds. For example, in the economy mode, the engine is allowed to run at a low rotating speed as much as possible to save fuel consumption, and therefore the upshift line is low, that is, upshifting is early and downshifting is late. In the sports mode, the engine is allowed to maintain a high rotating speed to achieve timely power response, and therefore the upshift line is high, that is, upshifting is late and downshifting is early.

[0069] The actual rotating speed of the gearbox output shaft is obtained, and if the actual rotating speed is greater than the target upshift rotating speed, it indicates that the rotating speed is high enough to reach the upshift standard. Therefore, the actual gear position is added to a preset gear position change value to obtain a target gear position, wherein the target gear position is greater than the actual gear position.

[0070] For example, the actual gear position is 2, and if the upshift line corresponding to upshifting from 2 to 3 is 2500 rpm, that is, the target upshift rotating speed is 2500 rpm. If the actual rotating speed is 2510 rpm, the actual rotating speed is greater than the target upshift rotating speed, and it is determined that the target gear position is 3.

[0071] If the actual rotating speed is less than the target downshift rotating speed, it indicates that the rotating speed is low enough to reach the downshift standard. The actual gear position is subtracted from a preset gear position change value to obtain a target gear position, wherein the target gear position is less than the actual gear position.

[0072] For example, if the actual gear is 3rd gear, and the downshift threshold for downshifting from 3rd to 2nd gear is 1300 rpm, then the target downshift speed is 1300 rpm. If the actual speed is 1280 rpm, then the actual speed is less than the target downshift speed, and the target gear is determined to be 2nd gear.

[0073] In this embodiment, to prevent frequent shifting across multiple gears at specific vehicle speeds and ensure smooth gear changes, the actual gear position can be compared with the gear corresponding to the target upshift or downshift speed. Specifically, when upshifting, in addition to the actual speed being greater than the target upshift speed, the current gear position must be less than or equal to the gear corresponding to the upshift line. When downshifting, in addition to the actual speed being less than the target upshift or downshift speed, the current gear position must be greater than or equal to the gear corresponding to the upshift line.

[0074] In some embodiments, because the vehicle starts on a slope, the road surface adhesion coefficient affects the grip of the vehicle's drive wheels. If the road surface adhesion coefficient is low, it indicates that the slope on which the vehicle is located is relatively smooth, such as wet, icy, or gravel roads, which can easily lead to slippage. Therefore, when determining the target gear, the influence of the road surface adhesion coefficient must also be considered. That is, after determining the target gear based on the transmission input shaft speed in step 103, the process further includes: Step 1A: Obtain the road surface adhesion coefficient of the road where the vehicle is located, and determine the target motor torque based on the road surface adhesion coefficient; Step 1B: Determine the first target gear corresponding to the target motor torque based on the target motor torque; Step 1C: In response to the first target gear being the same as the target gear, control the vehicle to drive according to the target gear; Step 1D: In response to the first target gear being different from the target gear, control the vehicle to drive according to the first target gear.

[0075] In practice, the road surface adhesion coefficient of the road where the vehicle is located is obtained, the target adhesion force is determined based on the road surface adhesion coefficient, and then the target motor torque is determined based on the target adhesion force. The road surface adhesion coefficient can be obtained through in-vehicle sensors.

[0076] Specifically, the rear axle load of the vehicle is obtained. During acceleration, the vehicle pitches backward, causing an increase in the rear axle load. This rear axle load includes both static weight and weight transfer during acceleration. The rear axle load is multiplied by the road surface adhesion coefficient; the resulting product is the target adhesion force. The wheel rolling radius is obtained, and this product is multiplied by the target adhesion force; the resulting product is the target motor torque.

[0077] Based on the target motor torque, a first target gear corresponding to the target motor torque is determined. Specifically, a first torque threshold range corresponding to the second gear and a second torque threshold range corresponding to the third gear are obtained, and the target motor torque is compared with the first torque threshold range and the second torque threshold range, respectively. The torque value corresponding to the first torque threshold range is greater than the torque value corresponding to the second torque threshold range.

[0078] If the target motor torque meets the first torque threshold range, the first target gear is determined as the second gear. If the target motor torque meets the second torque threshold range, the first target gear is determined as the third gear. That is, on low-traction surfaces, the lower the corresponding target motor torque, the higher the gear should be selected to avoid exceeding the traction limit and preventing slippage. On high-traction surfaces, the higher the corresponding target motor torque, the lower the gear can be used to obtain stronger acceleration.

[0079] The first target gear is compared with the target gear. If the first target gear is the same as the target gear, the vehicle is controlled to move according to the target gear. If the first target gear is different from the target gear, the vehicle is controlled to move according to the first target gear.

[0080] The above scheme, after determining the target gear based on the transmission input shaft speed, takes into account the road surface adhesion coefficient of the road surface where the vehicle is located, and then corrects the target gear determined based on the transmission input shaft speed according to the road surface adhesion coefficient. This ensures that the actual road surface conditions of the vehicle are taken into account when determining the target gear, thereby further improving driving stability and avoiding the problem of vehicle slippage.

[0081] Based on the same inventive concept, another embodiment of this disclosure provides a vehicle control method to solve the problems of severe rear wheel vibration, poor driving smoothness, and poor ride comfort when starting a vehicle under steep inclines. The method specifically includes: The system acquires vehicle operation information and determines whether the vehicle meets preset hill start conditions based on this information. If the hill start conditions are met, the VCU activates the high-gradient four-wheel drive request flag. Specifically, the hill start conditions include: the actual system operating mode is pure electric mode, the actual power drive mode is pure electric rear-wheel drive, the driving mode is economy mode, the engine has no start request and no shutdown suppression request, the vehicle speed is lower than a preset speed threshold, and the road gradient is greater than a preset gradient threshold.

[0082] In this embodiment, since the vehicle operation information is obtained through vehicle sensors, to reduce the impact of sensor errors on subsequent gear selection, timing begins after determining that the vehicle operation information meets the hill start conditions. If the vehicle operation information meets the hill start conditions within a preset time threshold, the VCU activates the high-gradient four-wheel drive request flag.

[0083] After activating the high-gradient four-wheel drive request flag, obtain the synchronous speed corresponding to 2nd gear, wherein the synchronous speed corresponding to 2nd gear represents the target transmission input shaft speed corresponding to 2nd gear, and the target transmission input shaft speed is the speed of the vehicle's target transmission input shaft in 2nd gear.

[0084] Specifically, the gearbox output shaft speed is the speed transmitted from the gearbox to the vehicle's drive wheels, and its final output speed after being changed and torque-adjusted by the gear set inside the gearbox. The gearbox output shaft speed determines the vehicle's travel speed, and the gearbox output shaft speed is further reduced and torque-increased by the final drive before being transmitted to the wheels.

[0085] The vehicle speed is obtained, and the target gearbox output shaft speed is determined based on the vehicle speed. Specifically, the target gearbox output shaft speed corresponding to the vehicle speed can be determined by searching a database based on the vehicle speed. The database stores the correspondence between vehicle speed and gearbox output shaft speed.

[0086] The target gear ratio corresponding to the second gear is determined by pre-storing the target gear ratio for each gear in the database. The target gear ratio for the second gear can then be determined by searching the database. Here, the gear ratio refers to the ratio of the input shaft (driving gear) speed to the output shaft (driven gear) speed. The target gear ratio for the second gear is the gear ratio when the transmission is engaged in second gear.

[0087] The target transmission output shaft speed is multiplied by the target gear ratio, and the resulting product is the target transmission input shaft speed corresponding to the second gear, i.e., the synchronous speed corresponding to 2nd gear. The transmission input shaft speed is the speed transmitted from the engine to the transmission.

[0088] If the actual driving mode is pure electric rear-wheel drive or pure electric four-wheel drive, the target driving mode is pure electric four-wheel drive, and the synchronous speed corresponding to 2nd gear is less than or equal to the preset speed threshold, then the target gear is determined to be 2nd gear. If the actual driving mode is pure electric rear-wheel drive or pure electric four-wheel drive, the target driving mode is pure electric four-wheel drive, and the synchronous speed corresponding to 2nd gear is greater than the preset speed threshold, then the target gear is determined to be 3rd gear.

[0089] In this embodiment, if the driving mode is a mode other than the economy mode and / or the vehicle speed is greater than the preset vehicle speed threshold, the VCU will not activate the high slope request four-wheel drive flag.

[0090] Through the above solution, if the hill start conditions are met, the target power drive mode of the vehicle is determined to be pure electric four-wheel drive mode, i.e., switching from pure electric rear-wheel drive to pure electric four-wheel drive mode. This allows the vehicle's power to be distributed to all four wheels, adjusting the wheel torque distribution ratio and solving the problem of rear wheel vibration caused by single rear axle torque overload. Furthermore, under steep inclines, the vehicle achieves a smooth start through four-wheel drive, significantly improving driving smoothness and ride comfort. Simultaneously, by reducing slippage, overall vehicle energy consumption is reduced, energy recovery efficiency is improved, and abnormal wear of the rear tires is effectively reduced, extending tire life.

[0091] It should be noted that the method of this disclosure embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this disclosure embodiment, and the multiple devices will interact with each other to complete the method described.

[0092] It should be noted that the above description describes some embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0093] Based on the same inventive concept, corresponding to any of the above-described embodiments, this disclosure also provides a vehicle control device.

[0094] refer to Figure 2 , Figure 2 The vehicle control device, as described in this embodiment, includes: The data acquisition module 201 is configured to acquire vehicle operation information and determine whether the vehicle meets the preset hill start conditions based on the vehicle operation information. The mode determination module 202 is configured to determine the target power drive mode of the vehicle as pure electric four-wheel drive mode in response to meeting the hill start conditions. The vehicle control module 203 is configured to determine the speed of the transmission input shaft, determine the target gear based on the speed of the transmission input shaft, and control the vehicle to drive based on the target gear.

[0095] In some embodiments, the data acquisition module 201 specifically includes: The data acquisition unit is configured to acquire the vehicle's actual power drive mode and the road gradient of the road where the vehicle is located. The actual speed acquisition unit is configured to acquire the vehicle's actual speed in response to the actual power drive mode being pure electric rear-wheel drive and the road gradient being greater than a preset gradient threshold. The condition determination unit is configured to determine that the vehicle meets the preset hill start conditions in response to the vehicle's actual speed being less than a preset speed threshold.

[0096] In some embodiments, the vehicle control module 203 specifically includes: The input shaft speed determination unit is configured to acquire a preset speed threshold and determine the target gearbox input shaft speed corresponding to the second gear. The target gear determination unit is configured to compare the target gearbox input shaft speed with the preset speed threshold, obtain a comparison result, and determine the target gear based on the comparison result.

[0097] In some embodiments, the target gear determination unit specifically includes: The first target gear determination subunit is configured to determine the target gear as the second gear in response to the comparison result indicating that the target gearbox input shaft speed is less than or equal to the preset speed threshold; or... The second target gear determination subunit is configured to determine the target gear as the third gear in response to the comparison result that the target gearbox input shaft speed is greater than the preset speed threshold.

[0098] In some embodiments, the input shaft speed determination unit specifically includes: The output shaft speed determination subunit is configured to acquire the vehicle speed and determine the target gearbox output shaft speed based on the vehicle speed. The input shaft speed determination subunit is configured to determine the target gear ratio corresponding to the second gear, and multiply the target gearbox output shaft speed with the target gear ratio to obtain the target gearbox input shaft speed corresponding to the second gear.

[0099] In some embodiments, the device further includes a gear position determination module, the gear position determination module specifically comprising: The vehicle data determination unit is configured to acquire the actual gear and accelerator pedal opening of the vehicle in response to the failure to meet the hill start conditions. The gear determination unit is configured to determine a target gear based on the actual gear and the accelerator pedal opening, and control the vehicle to drive based on the target gear.

[0100] In some embodiments, the gear position determination unit specifically includes: The speed determination subunit is configured to acquire the actual driving mode of the vehicle and determine the target upshift speed and target downshift speed based on the actual driving mode and the accelerator pedal opening. A first target gear determination subunit is configured to acquire the actual rotational speed of the transmission output shaft, and in response to the actual rotational speed being greater than the target upshift speed, to sum the actual gear position with a preset gear position change value to obtain the target gear position, wherein the target gear position is greater than the actual gear position; or... The second target gear determination subunit is configured to, in response to the actual speed being less than the target downshift speed, perform a difference operation between the actual gear and a preset gear change value to obtain the target gear, wherein the target gear is less than the actual gear.

[0101] For ease of description, the above apparatus is described in terms of its functions, divided into various modules. Of course, in implementing this disclosure, the functions of each module can be implemented in one or more software and / or hardware.

[0102] The apparatus of the above embodiments is used to implement the corresponding vehicle control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0103] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle control method described in any of the above embodiments.

[0104] Figure 3 This embodiment illustrates a more specific hardware structure of an electronic device. The device may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0105] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0106] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0107] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0108] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0109] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0110] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0111] The electronic devices described above are used to implement the corresponding vehicle control methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0112] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to execute the vehicle control method as described in any of the above embodiments.

[0113] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0114] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the vehicle control method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0115] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a vehicle, including the vehicle control device, the electronic device, and the computer-readable storage medium in the above embodiments, wherein the vehicle device implements the vehicle control method described in any of the above embodiments.

[0116] The vehicles described in the above embodiments are used to implement the vehicle control method described in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0117] It is understood that before using the technical solutions of the various embodiments in this disclosure, users will be informed of the type, scope of use, and usage scenarios of the personal information involved in an appropriate manner, and user authorization will be obtained.

[0118] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose, based on the prompt message, whether to provide personal information to the software or hardware such as electronic devices, applications, servers, or storage media performing the operations of this disclosed technical solution.

[0119] As an optional but not limited implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0120] It is understood that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of this disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this disclosure.

[0121] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0122] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this disclosure, the provided drawings may or may not show well-known power / ground connections to integrated circuit (IC) chips and other components. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this disclosure, and this also takes into account the fact that the details of implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this disclosure will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this disclosure, it will be apparent to those skilled in the art that the embodiments of this disclosure can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0123] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0124] This disclosure is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A vehicle control method, characterized in that, include: Obtain vehicle operation information and determine whether the vehicle meets the preset hill start conditions based on the vehicle operation information; In response to meeting the hill start conditions, the target power drive mode of the vehicle is determined to be pure electric four-wheel drive mode; Determine the input shaft speed of the gearbox, determine the target gear based on the input shaft speed, and control the vehicle's movement based on the target gear.

2. The method according to claim 1, characterized in that, The step of determining whether the vehicle meets the preset hill start conditions based on the vehicle operation information includes: Obtain the vehicle's actual power drive mode and the road gradient of the road where the vehicle is located; In response to the actual power drive mode being pure electric rear-wheel drive and the road gradient being greater than a preset gradient threshold, the actual vehicle speed is obtained; In response to the vehicle's actual speed being less than a preset speed threshold, it is determined that the vehicle meets the preset hill start conditions.

3. The method according to claim 1, characterized in that, The process of determining the input shaft speed of the gearbox and determining the target gear based on the input shaft speed includes: Obtain a preset speed threshold and determine the target gearbox input shaft speed corresponding to the second gear. The target gearbox input shaft speed is compared with the preset speed threshold to obtain a comparison result, and the target gear is determined based on the comparison result.

4. The method according to claim 3, characterized in that, Determining the target gear based on the comparison result includes: In response to the comparison result indicating that the target gearbox input shaft speed is less than or equal to the preset speed threshold, the target gear is determined to be the second gear; or... In response to the comparison result that the target gearbox input shaft speed is greater than the preset speed threshold, the target gear is determined to be the third gear.

5. The method according to claim 3, characterized in that, Determining the target transmission input shaft speed corresponding to the second gear includes: Obtain the vehicle speed and determine the target gearbox output shaft speed based on the vehicle speed; Determine the target gear ratio corresponding to the second gear, and multiply the target gearbox output shaft speed with the target gear ratio to obtain the target gearbox input shaft speed corresponding to the second gear.

6. The method according to claim 1, characterized in that, After determining whether the vehicle meets the preset hill start conditions based on the vehicle operation information, the process also includes: In response to the failure to meet the hill start conditions, the actual gear position and accelerator pedal opening of the vehicle are obtained; The target gear is determined based on the actual gear position and the accelerator pedal opening, and the vehicle is controlled to move according to the target gear.

7. The method according to claim 6, characterized in that, Determining the target gear based on the actual gear position and the accelerator pedal opening includes: The actual driving mode of the vehicle is obtained, and the target upshift speed and target downshift speed are determined based on the actual driving mode and the accelerator pedal opening. The actual rotational speed of the transmission output shaft is obtained. In response to the actual rotational speed being greater than the target upshift speed, the actual gear position is summed with a preset gear position change value to obtain the target gear position, wherein the target gear position is greater than the actual gear position; or... In response to the actual speed being less than the target downshift speed, the difference between the actual gear position and the preset gear position change value is calculated to obtain the target gear position, wherein the target gear position is less than the actual gear position.

8. The method according to claim 1, characterized in that, After determining the target gear based on the input shaft speed of the gearbox, the process further includes: Obtain the road surface adhesion coefficient of the road where the vehicle is located, and determine the target motor torque based on the road surface adhesion coefficient; Based on the target motor torque, determine the first target gear corresponding to the target motor torque; In response to the first target gear being the same as the target gear, the vehicle is controlled to move according to the target gear; In response to the first target gear being different from the target gear, the vehicle is controlled to drive according to the first target gear.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method as described in any one of claims 1 to 8.

10. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 9.

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