Vehicle control method and device and readable storage medium

Abstract

The invention discloses a vehicle control method and device and a readable storage medium, and relates to the technical field of new energy vehicles. The vehicle control method comprises the steps that in the vehicle running process, the vehicle speed value of a vehicle, the first opening degree of an accelerator pedal, the second opening degree of a brake pedal and the electric quantity value of a battery are obtained; according to the vehicle speed value, the first opening degree, the second opening degree and the electric quantity value, the driving mode of the vehicle is determined; determining a torque distribution mode of a front axle motor and a rear axle motor based on the driving mode; and according to the torque distribution mode, the torque of the front axle motor and the torque of the rear axle motor are adjusted, so that the torque zero-crossing process of the front axle motor and the rear axle motor is completed. The torque zero-crossing stability of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of new energy vehicle technology, and in particular to a vehicle control method, device, and readable storage medium. Background Technology

[0002] Currently, optimizing the smoothness and efficiency of torque zero-crossing (driving / braking state switching) in electric vehicle motor drive systems is a recognized technical challenge in the industry. Because of their independent torque control capabilities, motor drive systems have become an important technological direction for improving vehicle power performance and energy efficiency. However, vehicle control methods suffer from technical problems such as poor stability during torque zero-crossing. Summary of the Invention

[0003] This application provides a vehicle control method, device, and readable storage medium to solve technical problems such as poor torque zero-crossing stability in the prior art.

[0004] A first aspect of this application provides a vehicle control method, the vehicle including a front axle motor, a rear axle motor, an accelerator pedal, a brake pedal, and a battery, the method comprising: During vehicle operation, the vehicle speed, the first opening of the accelerator pedal, the second opening of the brake pedal, and the battery charge level are obtained. The vehicle's driving mode is determined based on the vehicle speed, first opening degree, second opening degree, and battery level. Based on the driving mode, determine the torque distribution method between the front axle motor and the rear axle motor; Based on the torque distribution method, adjust the torque of the front axle motor and the rear axle motor so that the front axle motor and the rear axle motor complete the torque zero crossing process.

[0005] The vehicle control method in this embodiment determines the real-time driving mode of the vehicle based on real-time parameters such as vehicle speed, first opening degree, second opening degree, and battery level. Different torque distribution methods are adopted for different driving modes to ensure the real-time performance and accuracy of the torque distribution method. According to the torque distribution method, the torque of the front axle motor and the rear axle motor are adjusted so that the front axle motor and the rear axle motor can stably pass through the torque zero crossing process, thus ensuring the driving stability of the vehicle.

[0006] A second aspect of this application provides a vehicle control device. The vehicle includes a front axle motor, a rear axle motor, an accelerator pedal, a brake pedal, and a battery. The device includes: The acquisition unit is used to acquire the vehicle speed, the first opening of the accelerator pedal, the second opening of the brake pedal, and the battery charge value during vehicle operation. The determining unit is used to determine the vehicle's driving mode based on the vehicle speed value, the first opening degree, the second opening degree, and the battery level value. The processing unit is used to determine the torque distribution method between the front axle motor and the rear axle motor based on the driving mode; The control unit is used to adjust the torque of the front axle motor and the rear axle motor according to the torque distribution method, so that the front axle motor and the rear axle motor can complete the torque zero crossing process.

[0007] The vehicle control device in this embodiment determines the real-time driving mode of the vehicle based on real-time parameters such as vehicle speed, first opening degree, second opening degree, and battery level. Different torque distribution methods are adopted for different driving modes to ensure the real-time performance and accuracy of the torque distribution method. According to the torque distribution method, the torque of the front axle motor and the rear axle motor are adjusted so that the front axle motor and the rear axle motor can stably pass through the torque zero crossing process, thus ensuring the driving stability of the vehicle.

[0008] A third aspect of this application provides another vehicle control device, including a processor and a memory. The memory stores a computer program that, when executed by the processor, implements the steps of the vehicle control method as described in any of the above embodiments. Therefore, this vehicle control device possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here.

[0009] A fourth aspect of this application provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle control method as described in any of the above embodiments. Therefore, this readable storage medium possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application; Figure 2 Functional block diagram of the vehicle control device provided in the embodiments of this application; Figure 3 This is a structural block diagram of a vehicle control device provided in an embodiment of this application. Detailed Implementation

[0012] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0013] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The term "two or more" includes two or more cases.

[0014] In some embodiments, such as Figure 1 As shown, an embodiment of this application provides a vehicle control method, including: Step S101: During the vehicle's operation, acquire the vehicle's speed, the first opening of the accelerator pedal, the second opening of the brake pedal, and the battery's charge level. Step S102: Determine the vehicle's driving mode based on the vehicle speed, first opening degree, second opening degree, and battery level. Step S103: Determine the torque distribution method between the front axle motor and the rear axle motor based on the driving mode; Step S104: Adjust the torque of the front axle motor and the rear axle motor according to the torque distribution method so that the front axle motor and the rear axle motor complete the torque zero crossing process.

[0015] In this embodiment, a vehicle control method is proposed to control the vehicle to smoothly pass through the torque zero crossing process, wherein the vehicle includes a front axle motor, a rear axle motor, an accelerator pedal, a brake pedal, and a battery.

[0016] For example, the front axle motor and the rear axle motor are the drive devices for the front and rear axles in the four-wheel drive system of an electric vehicle. They have a clear division of labor and together determine the vehicle's performance and driving experience.

[0017] For example, the front axle motor is mounted on the front axle of the vehicle and is primarily responsible for driving the front wheels.

[0018] The front axle motor is mostly an AC asynchronous motor. Because its current control and the depth of the accelerator pedal are relatively linear, the driving experience is more linear and it is suitable for dealing with frequent acceleration needs in the city.

[0019] The front axle motor is often used as an auxiliary power source to provide initial torque when the vehicle starts or at low speeds, thus relaying power with the rear axle motor.

[0020] For example, the front axle motor, as the main regenerative braking motor, has the following advantages during deceleration regenerative braking: The front axle main recovery system matches the deceleration axle load transfer, suppressing vehicle body nodding.

[0021] When a vehicle decelerates or brakes, inertia causes the vehicle body to tilt forward, and the axle load is transferred from the rear to the front, increasing the ground pressure on the front axle and decreasing the pressure on the rear axle.

[0022] Placing the main energy recovery (regenerative braking) on ​​the front axle, allowing the regenerative braking torque to act on the front axle with a larger axle load, has the following advantages: The front axle motor can withstand greater regenerative braking torque and has higher energy recovery efficiency (achieving higher recovery torque and reducing the need for mechanical braking). The regenerative braking torque acts on the front axle motor, forming a torque balance with the forward inertia of the vehicle body. This significantly reduces the problem of "excessive mechanical braking force on the front axle causing violent body nodding" caused by traditional braking. The vehicle body posture is more stable during deceleration, improving passenger comfort. At the same time, the vehicle's center of gravity fluctuates less, resulting in stronger driving stability.

[0023] For example, the rear axle motor is mounted on the rear axle of the vehicle and is primarily responsible for driving the rear wheels, and typically serves as the main drive motor.

[0024] The rear axle motor is mostly a permanent magnet synchronous motor. Because of its fast response speed and high efficiency, it can quickly output maximum torque and is suitable for providing the main driving force when strong power is required (such as rapid acceleration and high-speed cruising).

[0025] The rear axle motor serves as the main driving force, bearing the main load when the vehicle requires continuous power output, and works in conjunction with the front axle motor to achieve four-wheel drive and torque vectoring control.

[0026] For example, in a dual-motor system, the front and rear axle motors can achieve independent drive for all four wheels. The system can intelligently distribute the torque between the front and rear axles according to road conditions (such as slippery surfaces) and driving modes (such as off-road and sport), thereby improving handling and stability.

[0027] The layout of the front and rear axle motors provides a more linear acceleration experience, stronger traction, and better handling, with significant advantages, especially in complex road conditions.

[0028] For example, when the accelerator pedal (accelerator) is pressed, the engine power increases and the car accelerates; when it is released, the car decelerates.

[0029] For example, the brake pedal (brake) is pressed to slow down or stop the vehicle via a hydraulic or electronic braking system.

[0030] For example, the battery provides power to the vehicle to drive it.

[0031] During vehicle operation, the system acquires the vehicle speed, the first opening of the accelerator pedal, the second opening of the brake pedal, and the battery charge value. The vehicle speed represents the real-time speed of the vehicle, the first opening represents the displacement of the accelerator pedal, the second opening represents the displacement of the brake pedal, and the battery charge value represents the remaining battery charge.

[0032] For example, the vehicle speed value can be specifically 50 km / h.

[0033] For example, the value of the first opening ranges from 0 to 100%, and the first opening can be specifically 30%.

[0034] For example, the second opening value ranges from 0 to 100%, and the first opening value can be specifically 10%.

[0035] For example, the power value ranges from 0 to 100%.

[0036] The vehicle's driving mode is determined based on the vehicle speed, first opening degree, second opening degree, and battery level. The driving mode represents the vehicle's driving scenario.

[0037] For example, the driving mode can be specifically a high torque scenario or a low torque scenario.

[0038] Based on the driving mode, the torque distribution method between the front axle motor and the rear axle motor is determined, where the torque distribution method represents the torque distribution strategy between the front axle motor and the rear axle motor.

[0039] For example, different torque distribution methods are used for different driving modes of the vehicle to ensure the accuracy and stability of torque zero-crossing control.

[0040] Based on the torque distribution method, adjust the torque of the front axle motor and the rear axle motor so that the front axle motor and the rear axle motor complete the torque zero crossing process.

[0041] For example, the torque distribution method is the optimal torque distribution strategy for the current driving mode. By adjusting the torque of the front axle motor and the rear axle motor according to the torque distribution method, the front axle motor and the rear axle motor can stably pass through the torque zero crossing process, thus ensuring the driving stability of the vehicle.

[0042] It should be noted that the vehicle control method in this embodiment determines the real-time driving mode of the vehicle based on real-time parameters such as vehicle speed, first opening degree, second opening degree, and battery level. Different torque distribution methods are adopted for different driving modes to ensure the real-time performance and accuracy of the torque distribution method. According to the torque distribution method, the torque of the front axle motor and the rear axle motor are adjusted so that the front axle motor and the rear axle motor can stably pass through the torque zero crossing process, thus ensuring the driving stability of the vehicle.

[0043] In some embodiments, this application provides a vehicle control method that determines the vehicle's driving mode based on a vehicle speed value, a first opening degree, a second opening degree, and a battery level value, including: Based on the vehicle speed value, determine the speed fluctuation value and acceleration of the vehicle speed; Based on the first opening degree, determine the first rate of change of the accelerator pedal opening degree, and based on the second opening degree, determine the second rate of change of the brake pedal opening degree. Obtain the temperature values ​​of the front axle motor and the rear axle motor; The driving mode is determined based on the vehicle speed, first opening degree, second opening degree, battery level, temperature, speed fluctuation value, acceleration, first rate of change, and second rate of change.

[0044] In this embodiment, the speed fluctuation value and acceleration of the vehicle speed are determined based on the vehicle speed value, wherein the speed fluctuation value represents the fluctuation of the vehicle speed and the acceleration represents the rate of change of the vehicle speed.

[0045] For example, the acceleration can be obtained by differentiating the vehicle speed value.

[0046] Based on the first opening degree, a first rate of change of the accelerator pedal opening degree is determined, and based on the second opening degree, a second rate of change of the brake pedal opening degree is determined, wherein the first rate of change represents the rate of change of the accelerator pedal opening degree, and the second rate of change represents the rate of change of the brake pedal opening degree.

[0047] For example, the first rate of change can be specifically 15% / s.

[0048] For example, the second rate of change can be specifically 5% / s.

[0049] Obtain the temperature values ​​of the front axle motor and the rear axle motor, where the temperature values ​​represent the real-time temperatures of the front axle motor and the rear axle motor.

[0050] For example, a temperature sensor is installed inside the vehicle to collect the temperature values ​​of the front axle motor and the rear axle motor.

[0051] The driving mode is determined based on the vehicle speed, first opening degree, second opening degree, battery level, temperature, speed fluctuation value, acceleration, first rate of change, and second rate of change.

[0052] For example, the specific parameters of the vehicle are shown in Table 1.

[0053] Table 1

[0054] In some embodiments, this application provides a vehicle control method that determines a driving mode based on vehicle speed, a first opening degree, a second opening degree, battery level, temperature, speed fluctuation value, acceleration, a first rate of change, and a second rate of change, including: If both the first opening and the second opening are less than the first preset opening, and the speed fluctuation value is less than the preset speed threshold, the driving mode is determined to be the smooth driving mode. When both the first opening and the second opening are less than the second preset opening and both are greater than the first preset opening, and the first rate of change and the second rate of change are less than the first preset rate of change, the driving mode is determined to be the low torque driving mode. If the battery level is lower than the preset battery level or the temperature is higher than the preset temperature, the driving mode is set to low torque driving mode. If the first opening is greater than the third preset opening and the first rate of change is greater than the second preset rate of change, the driving mode is determined to be the high torque driving mode. If the second opening is greater than the fourth preset opening and the acceleration is greater than the preset acceleration, the driving mode is determined to be the high torque driving mode. Among them, the first preset opening is less than the first preset opening, the second preset opening is less than the fourth preset opening, the fourth preset opening is less than the third preset opening, and the first preset change rate is less than the second preset change rate.

[0055] In this embodiment, a first preset opening, a second preset opening, a third preset opening, and a fourth preset opening are obtained, wherein the first preset opening is less than the first preset opening, the second preset opening is less than the fourth preset opening, and the fourth preset opening is less than the third preset opening.

[0056] Obtain a first preset rate of change and a second preset rate of change, wherein the first preset rate of change is less than the second preset rate of change.

[0057] When both the first opening and the second opening are less than the first preset opening and the speed fluctuation value is less than the preset speed threshold, the driving mode is determined to be the smooth driving mode, wherein the smooth driving mode is the operating state of the motor torque being stable.

[0058] For example, the first preset opening degree can be 10%, and the preset speed threshold can be 5 km / h.

[0059] When both the first opening and the second opening are less than the second preset opening and both are greater than the first preset opening, and the first rate of change and the second rate of change are less than the first preset rate of change, the driving mode is determined to be a low torque driving mode, wherein the low torque driving mode is an operating state in which the motor torque is relatively low.

[0060] For example, the second preset opening can be 30%, and the first preset change rate can be 5% / s.

[0061] If the battery level is lower than the preset battery level or the temperature is higher than the preset temperature, the driving mode will be set to low torque driving mode.

[0062] For example, the preset battery level can be 15% and the preset temperature can be 150°C.

[0063] For example, in the event of a system power limiting or speed limiting fault in the vehicle, the driving mode is determined to be a low torque driving mode.

[0064] When the first opening degree is greater than the third preset opening degree and the first rate of change is greater than the second preset rate of change, the driving mode is determined to be the high torque driving mode, where the high torque driving mode is the operating state of the motor with a large torque.

[0065] For example, the third preset opening degree can be 70%, and the second preset change rate can be 15% / s.

[0066] If the second opening is greater than the fourth preset opening and the acceleration is greater than the preset acceleration, the driving mode is determined to be the high torque driving mode.

[0067] For example, the fourth preset opening can be 50%, and the preset acceleration can be a deceleration of 0.6g.

[0068] In some embodiments, this application provides a vehicle control method that determines the torque distribution method between the front axle motor and the rear axle motor based on the driving mode, including: When the driving mode is smooth driving mode, obtain the preset torque ratio between the front axle motor and the rear axle motor; Based on the preset torque ratio, determine the first torque value corresponding to the front axle motor and the second torque value corresponding to the rear axle motor; The torque distribution method is determined based on the first torque value and the second torque value.

[0069] In this embodiment, when the driving mode is a smooth driving mode, a preset torque ratio between the front axle motor and the rear axle motor is obtained, wherein the preset torque ratio represents the torque ratio between the front axle motor and the rear axle motor.

[0070] Based on the preset torque ratio, a first torque value corresponding to the front axle motor and a second torque value corresponding to the rear axle motor are determined. The first torque value is the torque value that needs to be provided to the front axle motor, and the second torque value is the torque value that needs to be provided to the rear axle motor.

[0071] For example, the ratio of the first torque value and the second torque value is equal to a preset torque ratio.

[0072] The torque distribution method is determined based on the first torque value and the second torque value.

[0073] For example, in a smooth driving mode, the control objective is to optimize system efficiency. The optimal operating point of each motor is calculated in real-time based on the motor MAP diagram to improve overall system efficiency. For instance, when driving at a constant speed of 60 km / h, the highest efficiency point for the front axle motor corresponds to a torque of 80 Nm, while for the rear axle motor it corresponds to 75 Nm; therefore, the torque distribution ratio is automatically adjusted to 47:53.

[0074] In some embodiments, this application provides a vehicle control method that determines the torque distribution method between the front axle motor and the rear axle motor based on the driving mode, including: When the driving mode is low torque driving mode, determine the vehicle's demand status; When the demand state is driving demand, the torque distribution method is determined to provide driving torque to the rear axle motor; When the demand status is recovery demand, the torque distribution method is determined to be to provide recovery torque to the front axle motor.

[0075] In this embodiment, when the driving mode is a low-torque driving mode, the vehicle's demand state is determined, wherein the demand state is either driving demand or regeneration demand.

[0076] For example, the demand state can be small driving demand or small recycling demand.

[0077] When the demand state is driving demand, the torque distribution method is determined to provide driving torque to the rear axle motor.

[0078] For example, when the demand state is drive demand, the front axle motor applies a reverse preload torque of -1Nm to -2Nm ("gear" torque) to eliminate transmission backlash, and the rear axle motor provides 100% drive torque; this can reduce the number of zero crossings and improve system efficiency.

[0079] When the demand status is recovery demand, the torque distribution method is determined to be to provide recovery torque to the front axle motor.

[0080] For example, when the demand state is recycling demand, the rear axle motor applies a positive preload torque of 1Nm~2Nm, and the front axle motor provides 100% recycling torque to avoid energy loss caused by the drive motors crossing zero at the same time.

[0081] In some embodiments, this application provides a vehicle control method that determines the torque distribution method between the front axle motor and the rear axle motor based on the driving mode, including: When the driving mode is high torque driving mode, obtain the vehicle's required torque and real-time torque; Determine the difference between the required torque and the real-time torque to obtain the torque difference; Obtain the preset first and second coefficients; The supplementary torque is determined based on the first coefficient, the second coefficient, and the torque difference. The torque distribution method is determined to provide supplementary torque to the front axle motor from the rear axle motor.

[0082] In this embodiment, when the driving mode is a high-torque driving mode, the required torque and real-time torque of the vehicle are obtained, wherein the required torque is the torque value required by the vehicle, and the real-time torque is the real-time torque value of the vehicle.

[0083] Determine the difference between the required torque and the real-time torque to obtain the torque difference value, where the torque difference value is the difference between the required torque and the real-time torque.

[0084] Obtain the preset first coefficient and second coefficient, and determine the supplementary torque based on the first coefficient, the second coefficient and the torque difference. The first coefficient and the second coefficient are preset calculation coefficients, and the supplementary torque is the torque supplemented by the rear axle motor to the front axle motor.

[0085] The torque distribution method is determined to provide supplementary torque to the front axle motor from the rear axle motor.

[0086] For example, in high-torque driving mode, the control objective is quick response and smooth power delivery. The compensation torque is determined using a "priority compensation" algorithm: ΔT=Kp×(T_req-T_actual)+Ki×∫(T_req-T_actual)dt; Where ΔT is the compensation torque, T_req is the required torque, T_actual is the real-time torque, Kp is the first coefficient, and Ki is the second coefficient. Kp=2.5, Ki=0.1, and the dynamic adjustment period is 10ms.

[0087] Kp and Ki are scene adaptation coefficients. In high torque scenarios, Kp is increased to improve response speed, while Ki is increased in low torque scenarios to reduce steady-state error.

[0088] Torque distribution methods include: In rapid acceleration: within the initial 0 to 300ms, the rear axle motor prioritizes outputting 100% of the required torque (based on its shorter electromagnetic response time). After the front axle motor completes zero crossing (approximately 150ms), it gradually intervenes according to the ideal distribution ratio (e.g., 60:40). The rear axle motor synchronously reduces to the target ratio. During this period, the rear axle motor provides an additional maximum of 15% compensation torque to eliminate power gaps.

[0089] Emergency recovery: The front axle motor prioritizes establishing recovery torque, while the rear axle motor provides reverse compensation during zero crossing, with a total response delay of <80ms.

[0090] In some embodiments of this application, a vehicle control method is provided. After adjusting the torques of the front axle motor and the rear axle motor according to a torque distribution method, the method further includes: Obtain the torque values ​​of the front axle motor and the rear axle motor; The operating status of the front axle motor and the rear axle motor is determined based on their torque values.

[0091] In this embodiment, the torque values ​​of the front axle motor and the rear axle motor are obtained, and the operating status of the front axle motor and the rear axle motor is determined based on the torque values ​​of the front axle motor and the rear axle motor.

[0092] For example, the real-time torque values ​​of the front axle motor and the rear axle motor are obtained, and the real-time operating status of the front axle motor and the rear axle motor is determined based on the real-time torque values ​​of the front axle motor and the rear axle motor.

[0093] In some embodiments, such as Figure 2 As shown, an embodiment of this application provides a vehicle control device 200, including: The acquisition unit 202 is used to acquire the vehicle speed, the first opening of the accelerator pedal, the second opening of the brake pedal, and the battery charge value during the vehicle's operation. The determining unit 204 is used to determine the vehicle's driving mode based on the vehicle speed value, the first opening degree, the second opening degree, and the battery level value. Processing unit 206 is used to determine the torque distribution method between the front axle motor and the rear axle motor based on the driving mode; Control unit 208 is used to adjust the torque of the front axle motor and the rear axle motor according to the torque distribution method so that the front axle motor and the rear axle motor complete the torque zero crossing process.

[0094] The vehicle control device 200 in this embodiment determines the real-time driving mode of the vehicle based on real-time parameters such as vehicle speed, first opening degree, second opening degree, and battery level. Different torque distribution methods are adopted for different driving modes to ensure the real-time performance and accuracy of the torque distribution method. According to the torque distribution method, the torque of the front axle motor and the rear axle motor are adjusted so that the front axle motor and the rear axle motor can stably pass through the torque zero crossing process, thus ensuring the driving stability of the vehicle.

[0095] In some embodiments of this application, a vehicle control device 200 and a determining unit 204 are provided, which are further used for Based on the vehicle speed value, determine the speed fluctuation value and acceleration of the vehicle speed; Based on the first opening degree, determine the first rate of change of the accelerator pedal opening degree, and based on the second opening degree, determine the second rate of change of the brake pedal opening degree. Obtain the temperature values ​​of the front axle motor and the rear axle motor; The driving mode is determined based on the vehicle speed, first opening degree, second opening degree, battery level, temperature, speed fluctuation value, acceleration, first rate of change, and second rate of change.

[0096] In some embodiments of this application, a vehicle control device 200 and a determining unit 204 are provided, which are further used for If both the first opening and the second opening are less than the first preset opening, and the speed fluctuation value is less than the preset speed threshold, the driving mode is determined to be the smooth driving mode. When both the first opening and the second opening are less than the second preset opening and both are greater than the first preset opening, and the first rate of change and the second rate of change are less than the first preset rate of change, the driving mode is determined to be the low torque driving mode. If the battery level is lower than the preset battery level or the temperature is higher than the preset temperature, the driving mode is set to low torque driving mode. If the first opening is greater than the third preset opening and the first rate of change is greater than the second preset rate of change, the driving mode is determined to be the high torque driving mode. If the second opening is greater than the fourth preset opening and the acceleration is greater than the preset acceleration, the driving mode is determined to be the high torque driving mode. Among them, the first preset opening is less than the second preset opening, the second preset opening is less than the fourth preset opening, the fourth preset opening is less than the third preset opening, and the first preset change rate is less than the second preset change rate.

[0097] In some embodiments of this application, a vehicle control device 200 and a processing unit 206 are provided, which are also used for When the driving mode is smooth driving mode, obtain the preset torque ratio between the front axle motor and the rear axle motor; Based on the preset torque ratio, determine the first torque value corresponding to the front axle motor and the second torque value corresponding to the rear axle motor; The torque distribution method is determined based on the first torque value and the second torque value.

[0098] In some embodiments of this application, a vehicle control device 200 and a processing unit 206 are provided, which are also used for When the driving mode is low torque driving mode, determine the vehicle's demand status; When the demand state is driving demand, the torque distribution method is determined to provide driving torque to the rear axle motor; When the demand status is recovery demand, the torque distribution method is determined to be to provide recovery torque to the front axle motor.

[0099] In some embodiments of this application, a vehicle control device 200 and a processing unit 206 are provided, which are also used for When the driving mode is high torque driving mode, obtain the vehicle's required torque and real-time torque; Determine the difference between the required torque and the real-time torque to obtain the torque difference; Obtain the preset first and second coefficients; The supplementary torque is determined based on the first coefficient, the second coefficient, and the torque difference. The torque distribution method is determined to provide supplementary torque to the front axle motor from the rear axle motor.

[0100] In some embodiments of this application, a vehicle control device 200 is provided, which further includes a monitoring unit, the monitoring unit being used for: Obtain the torque values ​​of the front axle motor and the rear axle motor; The operating status of the front axle motor and the rear axle motor is determined based on their torque values.

[0101] In some embodiments, such as Figure 3 As shown, a vehicle control device 300 is proposed. The vehicle control device 300 includes a processor 302 and a memory 304. The memory 304 stores a computer program, which, when executed by the processor 302, implements the steps of the vehicle control method as described in any of the above embodiments. Therefore, the vehicle control device 300 possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here.

[0102] In some embodiments, a readable storage medium is provided having a program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method as described in any of the above embodiments, and thus has all the beneficial technical effects of the vehicle control method described in any of the above embodiments.

[0103] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0104] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0105] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0106] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0107] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0108] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to execute a process of a vehicle control method.

[0109] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0110] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0111] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms.

[0112] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0113] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0114] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0115] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0116] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.

[0117] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.

Claims

1. A method for controlling a vehicle, characterized in that, The vehicle includes a front axle motor, a rear axle motor, an accelerator pedal, a brake pedal, and a battery; the method includes: During the vehicle's operation, the vehicle's speed, the first opening of the accelerator pedal, the second opening of the brake pedal, and the battery's charge level are acquired. The vehicle's driving mode is determined based on the vehicle speed value, the first opening degree, the second opening degree, and the battery level value. Based on the driving mode, the torque distribution method between the front axle motor and the rear axle motor is determined; According to the torque distribution method, the torques of the front axle motor and the rear axle motor are adjusted so that the front axle motor and the rear axle motor complete the torque zero crossing process.

2. The method according to claim 1, characterized in that, Determining the vehicle's driving mode based on the vehicle speed value, the first opening degree, the second opening degree, and the battery level value includes: Based on the vehicle speed value, determine the speed fluctuation value and acceleration of the vehicle speed; Based on the first opening degree, a first rate of change of the accelerator pedal opening degree is determined, and based on the second opening degree, a second rate of change of the brake pedal opening degree is determined; Obtain the temperature values ​​of the front axle motor and the rear axle motor; The driving mode is determined based on the vehicle speed value, the first opening degree, the second opening degree, the battery level value, the temperature value, the speed fluctuation value, the acceleration, the first rate of change, and the second rate of change.

3. The method according to claim 2, characterized in that, The step of determining the driving mode based on the vehicle speed value, the first opening degree, the second opening degree, the battery level value, the temperature value, the speed fluctuation value, the acceleration, the first rate of change, and the second rate of change includes: When both the first opening and the second opening are less than the first preset opening, and the speed fluctuation value is less than the preset speed threshold, the driving mode is determined to be a smooth driving mode. When both the first opening and the second opening are less than the second preset opening and both are greater than the first preset opening, and the first rate of change and the second rate of change are less than the first preset rate of change, the driving mode is determined to be a low torque driving mode. If the battery level is less than a preset battery level or the temperature value is greater than a preset temperature, the driving mode is determined to be a low-torque driving mode. If the first opening is greater than the third preset opening and the first rate of change is greater than the second preset rate of change, the driving mode is determined to be a high torque driving mode. If the second opening is greater than the fourth preset opening and the acceleration is greater than the preset acceleration, the driving mode is determined to be a high torque driving mode. Wherein, the first preset opening is less than the second preset opening, the second preset opening is less than the fourth preset opening, the fourth preset opening is less than the third preset opening, and the first preset change rate is less than the second preset change rate.

4. The method according to claim 3, characterized in that, Determining the torque distribution method between the front axle motor and the rear axle motor based on the driving mode includes: When the driving mode is the smooth driving mode, obtain the preset torque ratio between the front axle motor and the rear axle motor; Based on the preset torque ratio, determine the first torque value corresponding to the front axle motor and the second torque value corresponding to the rear axle motor; The torque distribution method is determined based on the first torque value and the second torque value.

5. The method according to claim 3, characterized in that, Determining the torque distribution method between the front axle motor and the rear axle motor based on the driving mode includes: When the driving mode is the low torque driving mode, determine the vehicle's demand state; When the demand state is a drive demand, the torque distribution method is determined to be to provide drive torque to the rear axle motor; When the demand state is a recovery demand, the torque distribution method is determined to be to provide recovery torque to the front axle motor.

6. The method according to claim 3, characterized in that, Determining the torque distribution method between the front axle motor and the rear axle motor based on the driving mode includes: When the driving mode is the high torque driving mode, the required torque and real-time torque of the vehicle are obtained; Determine the difference between the required torque and the real-time torque to obtain the torque difference; Obtain the preset first and second coefficients; The supplementary torque is determined based on the first coefficient, the second coefficient, and the torque difference. The torque distribution method is determined to be that the rear axle motor provides the supplementary torque to the front axle motor.

7. The method according to any one of claims 1 to 6, characterized in that, After adjusting the torques of the front axle motor and the rear axle motor according to the torque distribution method, the method further includes: Obtain the torque values ​​of the front axle motor and the rear axle motor; The operating status of the front axle motor and the rear axle motor is determined based on the torque values ​​of the front axle motor and the rear axle motor.

8. A vehicle control device, characterized in that, The vehicle includes a front axle motor, a rear axle motor, an accelerator pedal, a brake pedal, and a battery; the device includes: The acquisition unit is used to acquire the vehicle speed, the first opening of the accelerator pedal, the second opening of the brake pedal, and the battery charge value during the vehicle's operation. The determining unit is used to determine the driving mode of the vehicle based on the vehicle speed value, the first opening degree, the second opening degree, and the battery level value; The processing unit is used to determine the torque distribution method between the front axle motor and the rear axle motor based on the driving mode. The control unit is used to adjust the torque of the front axle motor and the rear axle motor according to the torque distribution method, so that the front axle motor and the rear axle motor complete the torque zero crossing process.

9. A vehicle control device, characterized in that, include: processor; A memory, which stores programs or instructions, wherein a processor, when executing the programs or instructions in the memory, implements the steps of the vehicle control method as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that, A program or instructions are stored on a readable storage medium, which, when executed by a processor, implement the steps of the vehicle control method as described in any one of claims 1 to 7.

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