Vehicle control method and vehicle

Abstract

The application relates to the technical field of vehicle control, in particular to a vehicle control method and a vehicle. The method comprises the following steps: after the vehicle is powered on, before starting, acquiring an initial axle gear position of the vehicle and a current state parameter of the vehicle; in response to the fact that the initial axle gear position does not match a target axle gear position and the current state parameter of the vehicle meets a preset activation condition, setting a torque mode flag of an axle motor to an activation state; after the torque mode flag of the axle motor enters the activation state, controlling the axle gear position to be corrected from the initial axle gear position to the target axle gear position. In this way, the axle gear position can be corrected to the target axle gear position before starting, so that when the starting process is performed, the axle can quickly respond under the target axle gear position, the situation that the starting is delayed is avoided, and thus the situation that the vehicle slides on a slope due to the starting delay is reduced, and the safety of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle control method and a vehicle. Background Technology

[0002] Currently, for some vehicles, the axle may shift to an unwanted gear when the power is last turned off.

[0003] In response to the above situation, if the vehicle is powered on and the driver starts normally, the starting gear may be delayed because the axle is not in the required gear, resulting in a short period of weakness when starting and a tendency to roll backward. Summary of the Invention

[0004] In view of this, the purpose of this application is to propose a vehicle control method and a vehicle that can properly correct the axle gears before starting, thereby avoiding the problem of vehicle slippage due to axle gear mismatch during start-up.

[0005] To achieve the above objectives, this application provides a vehicle control method, which, after the vehicle is powered on but before starting, includes:

[0006] Obtain the vehicle's initial axle gear and the vehicle's current status parameters; In response to the mismatch between the initial axle gear and the target axle gear, and the fact that the current vehicle status parameters meet the preset activation conditions, the torque mode flag of the axle motor is set to the active state. The target axle gear is the gear in which the axle operates normally after the vehicle is powered on, and the preset activation conditions are the parameter conditions corresponding to each vehicle status parameter that needs to be corrected for the axle gear. After the torque mode flag of the axle motor is activated, the axle gear position is controlled to be corrected from the initial axle gear to the target axle gear.

[0007] In some embodiments, the vehicle current status parameters include: power system power status, axle shift signal status, and axle motor operating mode; The step of controlling the torque mode flag of the axle motor to be set to active state in response to the mismatch between the initial axle gear and the target axle gear, and the fact that the current vehicle state parameters meet the preset activation conditions, includes: In response to the mismatch between the initial axle gear and the target axle gear, the power system power status, axle shift signal status, and axle motor operating mode in the current vehicle status parameters are analyzed. In response to the power system power supply being in a ready state, the axle shift signal being in an enabled state, and the axle motor operating mode being in a standby state, if the preset activation conditions are met, the torque mode flag of the axle motor is set to the activated state.

[0008] In some embodiments, the gear position correction from the initial axle gear to the target axle gear includes: After the torque mode flag of the axle motor is activated, the axle motor operating mode is adjusted to torque execution mode. Based on the torque execution state of the axle motor, the axle gear position is controlled to be corrected from the initial axle gear position to the target axle gear position.

[0009] In some embodiments, adjusting the axle motor operating mode to torque execution mode after the torque mode flag of the axle motor enters an activated state includes: After the torque mode flag of the axle motor enters the active state, a control request is generated and sent to the power-on / off module; Based on the control request, the power-on / off module adjusts the axle motor's operating mode from standby to torque execution mode.

[0010] In some embodiments, the gear correction from the initial axle gear to the target axle gear based on the torque execution state of the axle motor includes: Based on the torque execution state of the axle motor, the gear adjustment torque is determined and sent to the axle gear controller. The axle gear position controller adjusts the torque according to the gear position, and drives the axle motor to correct and adjust the gear position from the initial axle gear position to the target axle gear position.

[0011] In some embodiments, the process of correcting the axle gear position further includes: Determine the limiting torque of the axle motor and send the limiting torque to the axle motor, wherein the limiting torque is the maximum torque value that allows the vehicle to remain stationary; When correcting the gear position of the axle, the axle motor's operating torque is less than or equal to the specified torque.

[0012] In some embodiments, after the axle gear position is corrected from the initial axle gear to the target axle gear, the method further includes: In response to the completion of axle gear correction, or the vehicle's current state parameters meeting a preset inactive condition, the torque mode flag of the axle motor is set to an inactive state. The preset inactive condition is a parameter condition corresponding to at least one vehicle state parameter for which axle gear correction is not required.

[0013] In some embodiments, the vehicle current state parameters include at least one of the following: power system power status, axle shift signal status, and axle motor operating mode; The step of controlling the torque mode flag of the axle motor to be set to an inactive state in response to the completion of axle gear correction or the vehicle's current state parameters meeting preset inactivation conditions includes: In response to the completion of axle gear correction, the torque mode flag of the axle motor is set to an inactive state; or, In response to the power system power state not being in a ready state, the torque mode flag of the axle motor is set to an inactive state; or, In response to the axle shift signal being in a prohibited state, the torque mode flag of the axle motor is set to an inactive state; or, In response to the axle motor operating mode not being in standby, torque execution, or drive mode, the torque mode flag of the axle motor is set to inactive.

[0014] In some embodiments, after the torque mode flag of the axle motor is set to an inactive state, the method further includes: Obtain the current power status of the power system; In response to the current power system power state being in a ready state, the control axle motor operating mode is changed from the current torque execution state back to the standby state.

[0015] Based on the same inventive concept, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method described above when executing the computer program.

[0016] Based on the same inventive concept, this application also provides a vehicle including the electronic equipment described above.

[0017] As can be seen from the above, the vehicle control method and vehicle provided in this application, after the vehicle is powered on and before starting, determine the initial axle gear and the current state parameters of the vehicle axle. If it is found that the initial axle gear does not match the target axle gear, it proves that the axle gear needs to be corrected. If the current state parameters of the vehicle meet the preset activation conditions, it proves that the axle can perform the axle gear correction function at this time, and the torque mode flag of the axle motor is set to the active state. When the torque mode flag of the axle motor is in the active state, the axle motor is controlled to correct the gear from the initial axle gear to the target axle gear. After the gear correction, the axle motor gear can be in the target axle gear in normal operation before the vehicle starts. In this way, when the vehicle starts again, the axle motor can directly execute the corresponding starting process based on the target axle gear, so that the starting process can respond quickly, avoid the delay in starting, and thus reduce the vehicle's slippage due to the delay in starting, thereby improving the vehicle's safety. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of this application; Figure 2 This is a structural block diagram of a vehicle control device according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0021] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0022] VCU: Vehicle Control Unit.

[0023] RMCU: Rear Motor Control Unit.

[0024] FMCU: Front Motor Control Unit, front axle motor controller.

[0025] ACU: Area Control Unit. For example, the rear axle ACU is the rear axle area control unit, and the front axle ACU is the front axle area control unit.

[0026] In related technologies, this applies to front-wheel drive vehicles (e.g., pure electric front-wheel drive vehicles), rear-wheel drive vehicles (e.g., hybrid rear-wheel drive vehicles and / or pure electric rear-wheel drive vehicles), or four-wheel drive vehicles (e.g., hybrid four-wheel drive vehicles and / or pure electric four-wheel drive vehicles).

[0027] After the vehicle is powered off, the axles (including the front and / or rear axles) may shift to an unnecessary gear. If the vehicle is powered on again and the driver attempts to start the vehicle, the axles will be in an unnecessary gear (e.g., they are in neutral when they should be in 1st gear, or in 1st when they should be in 2nd gear, or in 2nd when they should be in 1st gear, etc.). The driver will need to shift gears first before starting the vehicle. This can easily lead to a prolonged starting process, resulting in a delay, or the vehicle may lack power during the initial start due to the gear shift, making it prone to rolling backwards.

[0028] The following are specific scenarios to illustrate this: Scenario 1: After the vehicle is powered off, with the axle in neutral, the driver applies the brakes and engages a forward gear (e.g., D) to start the vehicle. The power system's power mode will switch to "run," and the braking force will be released. Because some front-wheel drive or rear-wheel drive vehicles require the axle to be in 1st gear to start, the axle first performs the process of shifting from neutral to 1st gear. Before entering 1st gear, the axle motor cannot provide torque output, which can easily lead to a rollback.

[0029] Scenario 2: After the vehicle is powered off, if the axle is not in neutral and the driver applies the brakes and engages a drive gear (e.g., D) to start the vehicle, the power system's power mode will switch to "run," and the braking force will be released. For four-wheel drive vehicles (e.g., vehicles with a 4L engine), the axle gear required for starting needs to be determined based on the current driving mode (e.g., in low-speed mode, the gear required for starting is 1st; in other modes, the gear required is 2nd). If the axle's current gear does not match the required gear (e.g., the current gear is 1st, and the required gear is 2nd, or vice versa), the axle needs to be adjusted before starting. During gear adjustment, the axle motor cannot provide torque output, which can easily lead to rollback.

[0030] In response to the above situation, during the gear shifting process of the axle, if the axle motor is in standby mode (e.g., standby) and the VCU (vehicle control unit) requests the axle to perform gear correction, the axle may fail to perform gear correction. This is because when the power system power is in a ready state (e.g., ready with the brake not applied), the axle motor in standby mode (e.g., standby) cannot provide torque to rotate the gears of the shifting mechanism. If the axle gear controller performs axle gear shifting (e.g., shifting from neutral to 1st gear, or from 1st to 2nd gear, or shifting from 2nd to 1st gear) and there is a gear-to-gear mismatch, it will cause the axle gear shifting timeout.

[0031] If a vehicle experiences a gear shift timeout, the axle will not be in gear, resulting in a delay in starting the vehicle when braking and shifting gears. This can cause a brief period of weakness, leaving the vehicle without torque control and making it prone to rolling backwards. Extensive real-vehicle testing has confirmed that this starting delay is approximately 0.5 seconds.

[0032] Based on the above, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0033] The vehicle control method proposed in the embodiments of this application corresponds to the vehicle implementing the vehicle control method being selected as a front-wheel drive vehicle (e.g., a pure electric front-wheel drive vehicle), a rear-wheel drive vehicle (e.g., a hybrid rear-wheel drive vehicle and / or a pure electric rear-wheel drive vehicle), or a four-wheel drive vehicle (e.g., a hybrid four-wheel drive vehicle and / or a pure electric four-wheel drive vehicle).

[0034] This vehicle control method is mainly applied to controllers (e.g., vehicle control unit, VCU) that can control the corresponding functions of vehicle axles.

[0035] The vehicle control method in this embodiment involves adjusting the axle gears after the vehicle is powered on but before starting. This ensures that the axle gears are adjusted to the normal position before starting, allowing subsequent starting to proceed based on the normal gears and resulting in a faster starting response.

[0036] like Figure 1 As shown, the vehicle control method includes: Step 101: Obtain the vehicle's initial axle gear and the vehicle's current status parameters.

[0037] In specific implementation, the corresponding axle includes: a front axle and / or a rear axle, preferably a rear axle. The initial axle gear is the gear currently held by the vehicle's axle. The vehicle's current state parameters are state parameters that can characterize the vehicle's state related to the axle state, including at least one of the following: power system power supply state, axle shift signal state, and axle motor operating mode.

[0038] For a vehicle to start normally, the axle gear must be in the normal target axle gear corresponding to the current driving mode before starting. Only then can the axle provide the torque power required for starting without shifting gears.

[0039] The initial axle gear might remain in a non-target axle gear state after the vehicle was last powered off, or it might be in the gear state of the previous driving mode after the driver switches driving modes, which is also a non-target axle gear state. In this case, the axle gear needs to be adjusted, so it is also necessary to acquire the vehicle's current state parameters to determine whether the axle can perform the axle gear correction function at this time.

[0040] Step 102: In response to the mismatch between the initial axle gear and the target axle gear, and the fact that the current vehicle state parameters meet the preset activation conditions, the torque mode flag of the axle motor is set to the active state. The target axle gear is the gear in which the axle operates normally after the vehicle is powered on, and the preset activation conditions are the parameter conditions corresponding to each vehicle state parameter that needs to be corrected for the axle gear.

[0041] In practice, the target axle gear is the gear in which the axle normally operates under the current vehicle driving mode before starting. For example, the target axle gear for a front-wheel drive or rear-wheel drive vehicle is 1st gear, the target axle gear for the low-speed mode (4L mode) of a four-wheel drive vehicle is 1st gear, and the target axle gear for the non-low-speed mode of a four-wheel drive vehicle is 2nd gear.

[0042] If the initial axle gear does not match the target axle gear, it indicates that the axle gear needs to be corrected. If the current vehicle status parameters meet the preset activation conditions, it means that the axle can perform the axle gear correction function. In this case, the controllers corresponding to the axle motors (e.g., the front axle motor controller FMCU and / or the rear axle motor controller RMCU) will be controlled to set the torque mode flag to the active state.

[0043] Step 103: After the torque mode flag of the axle motor enters the active state, control the axle gear position to correct from the initial axle gear to the target axle gear.

[0044] In practice, because the torque mode indicator of the axle motor is active, it can perform axle gear correction. This adjusts the initial axle gear corresponding to the axle motor to the target axle gear, ensuring the axle is in the target axle gear before starting. If the driver engages a forward gear (e.g., D) to start, the axle, being in the target axle gear, does not need to perform a gear shifting process and can quickly respond to the "forward gear" action. This allows the axle motor to normally execute torque output and initiate vehicle start-up, preventing rollback.

[0045] The above scheme determines the initial axle gear and the vehicle's current status parameters after power-on and before starting the vehicle. If a mismatch is found between the initial and target axle gears, the axle gear needs correction. If the vehicle's current status parameters meet preset activation conditions, indicating the axle is capable of gear correction, the axle motor's torque mode flag is activated. With the torque mode flag active, the axle motor is controlled to correct its gear from the initial to the target axle gear. This correction ensures the axle motor is in the target gear before starting, allowing for a faster start-up response and reducing delays. This minimizes rollback due to start-up delays and improves vehicle safety.

[0046] In some embodiments, the vehicle current status parameters include: power system power status, axle shift signal status, and axle motor operating mode.

[0047] Among them, the power system power status refers to the operating status of the power system that provides power to the vehicle, including: Low voltage state (LV), which is the state in which the vehicle is powered off; The ready state is the high-voltage ready state in which the vehicle is powered on but has not applied the brakes or started. High-pressure state (run) is the state in which a vehicle can start and drive.

[0048] Among them, the axle shift signal status is the signal status of whether the axle shift action is allowed, including: allowed status and disallowed status.

[0049] The axle motor operating mode is the operating state represented by the state machine of the axle motor, including: In the pre-charge state, when the power system power supply is in the low voltage state (LV), the axle motor completes self-test and enters the pre-charge state. Standby mode: When the power system is in a ready state, the axle motor is in standby mode. Torque execution state (torque) means that when the power system power supply is in high voltage state (run), the axle motor is in torque execution state to output torque in a timely manner, or when the power system power supply is in ready state and the axle gear is adjusted, being in torque execution state can ensure the smooth execution of the gear adjustment process. In the driving state (speed), when the power system is in a high-voltage state (run), the axle motor outputs torque, enabling the vehicle to travel at a certain speed.

[0050] Step 102 includes: Step 1021: In response to the mismatch between the initial axle gear and the target axle gear, analyze the power system power status, axle shift signal status, and axle motor operating mode in the current vehicle status parameters.

[0051] In practice, the initial axle gear is the actual axle gear fed back by the axle area control unit (ACU). If the initial axle gear does not match the target axle gear (e.g., the target axle gear that the vehicle controller (VCU) determines based on the driving mode so that the axle can operate normally), it indicates that axle gear correction is necessary. However, whether the axle gear correction function can be executed at this point requires analysis of the power system power supply status, axle shift signal status, and axle motor operating mode to determine whether these parameters meet their respective conditions.

[0052] Step 1022: In response to the power system power supply being in a ready state, the axle shift signal being in an enabled state, and the axle motor operating mode being in a standby state, it is determined that the preset activation conditions are met, and the torque mode flag of the axle motor is set to the activated state.

[0053] In practice, when the power system power supply status is determined to be ready, it proves that the vehicle is not in a starting state (the axle motor can perform gear shifting in the non-starting state); when the axle shift signal status is enabled, it proves that the axle is allowed to perform gear shifting; when the axle motor operating mode is standby, it proves that the axle motor is not in torque execution state, which meets the prerequisite for performing axle shifting.

[0054] Only when the initial axle gear does not match the target axle gear, and the power system power status is confirmed to be ready, the axle shift signal status is enabled, and the axle motor operating mode is in standby mode, can the torque mode flag of the axle motor be set to active state.

[0055] Specifically, setting the torque mode flag of the axle motor to the active state means setting the torque mode request flag for static shifting of the axle motor to the active state. Only when the axle is in the active state can the axle perform the shifting process.

[0056] With the above scheme, the torque mode flag of the axle motor can only be set to active state after the initial axle gear does not match the target axle gear, and the power system power status is confirmed to be ready, the axle shift signal status is enabled, and the axle motor operating mode is in standby state. If any of the above conditions are not met, the axle gear switching cannot be performed, thus ensuring the safety and stability of the axle gear switching process.

[0057] In some embodiments, step 103 includes: Step 1031: After the torque mode flag of the axle motor enters the activated state, the operating mode of the axle motor is adjusted to the torque execution state.

[0058] In practice, since the torque mode flag of the axle motor is in an active state, the torque mode request flag representing the static shift of the axle motor is also set to an active state. In this active state, the operating mode of the axle motor can be adjusted.

[0059] Since the axle motor is currently in standby mode (specifically determined by the activation conditions mentioned above), gear shifting cannot be performed normally because all axle functions are in standby mode and not executed. Therefore, it is necessary to control the axle motor to change its operating mode from standby to torque execution mode. In this way, the axle gear shifting process can be performed in torque execution mode.

[0060] Step 1032: Based on the torque execution state of the axle motor, control the axle gear position to correct from the initial axle gear position to the target axle gear position.

[0061] In practice, because the axle motor operating mode is adjusted to torque execution mode, all functions of the axle are in torque execution mode and can respond to gear shifting. The axle gear position will be corrected from the initial axle gear to the target axle gear, so that the axle is in the target axle gear and can respond to starting operations in a timely manner.

[0062] The above solution allows for adjustment of the axle motor's operating mode based on its active state. The axle motor's operating mode is changed from a standby state (where it cannot perform gear shifting) to a torque execution state (where it can perform gear shifting). This ensures that the axle motor can respond to gear shifting in torque execution mode, thus correcting the axle gear position from the initial gear to the target gear. This ensures the axle is in the target gear, allowing for a rapid response during subsequent starting operations and preventing start-up delays.

[0063] In some embodiments, step 1031 includes: Step 10311: After the torque mode flag of the axle motor enters the active state, a control request is generated and the control request is sent to the power-on / off module.

[0064] In practice, the control request is a request signal that can control the power-on / off modules (including the power-on / off modules of the vehicle controller or the power-on / off modules of the axle) to adjust the state of the axle motor operating mode.

[0065] Because the axle motor is in an active state, that is, the torque mode request flag for static shifting of the axle motor is set to an active state, it proves that the channel for adjusting the operating mode of the axle motor is opened. The vehicle controller (VCU) will generate a control request and send the control request to the power-on / off module.

[0066] Step 10312: Based on the control request, the power-on / off module adjusts the axle motor's operating mode from standby to torque execution mode.

[0067] In practice, after receiving the control request, the power-on / off module will provide the corresponding electrical signal to the axle motor, thereby changing the axle motor's operating mode from standby to torque execution mode. In this torque execution mode, the axle gear switching process can be performed.

[0068] The above solution utilizes the existing power-on / off modules without the need for additional hardware modules. By sending a control request to the power-on / off modules, the modules respond to the request and provide the necessary electrical signals to the axle motor. This changes the axle motor's operating mode from standby to torque execution mode, ensuring that the axle gear shifting process can be performed normally in torque execution mode, thereby improving the efficiency of axle gear shifting.

[0069] In some embodiments, step 1032 includes: Step 10321: Based on the torque execution state of the axle motor, determine the gear adjustment torque and send the gear adjustment torque to the axle gear controller.

[0070] In practice, the gear adjustment torque is the torque value required to correctly adjust the axle gear. This gear adjustment torque is specifically determined based on the initial axle gear position and the target axle gear position.

[0071] The axle gear position controller is a motor controller that adjusts and controls the gear position of the axle.

[0072] Once the axle motor is in torque execution mode, the required torque value for gear adjustment (i.e., gear adjustment torque) is determined. This gear adjustment torque is then sent to the axle gear controller, which can then be used to perform gear adjustment according to the gear adjustment torque.

[0073] Step 10322: The axle gear position controller adjusts the torque according to the gear position to correct and adjust the gear position of the axle motor from the initial axle gear position to the target axle gear position.

[0074] In practice, the axle gear controller controls the axle gear switching motor to apply the corresponding gear adjustment torque to the axle gear, thereby allowing the axle gear to move from the initial axle gear to the target axle gear under the push of the gear adjustment torque, and then stop after reaching the target axle gear. This completes the process of correcting the axle gear, so that the axle gear is in the target axle gear that can operate normally.

[0075] The above scheme allows for the determination of the required gear adjustment torque for correct axle gear shifting. This torque is then sent to the axle gear controller, which applies the corresponding gear adjustment torque to the axle gear. Under the influence of this torque, the axle gear shifts from the initial gear to the target gear, ensuring that the axle is in the target gear for normal operation. This guarantees that the axle will not need to shift gears again during subsequent starting operations, thus improving starting response efficiency.

[0076] In some embodiments, the process of correcting the axle gear position in step 1032 further includes: Step A1: Determine the limiting torque of the axle motor and send the limiting torque to the axle motor, wherein the limiting torque is the maximum torque value that allows the vehicle to remain stationary.

[0077] In practice, in order to correct the gear position of the axle before starting, the axle motor is adjusted to torque execution mode during the gear correction process. However, in order to ensure that the vehicle is stationary, the maximum torque value (e.g., 5 Nm) that the vehicle can maintain a stationary state is determined based on the current road conditions and sent to the axle motor as a limit torque.

[0078] In step A2, when correcting the axle gear position, the axle motor's operating torque is less than or equal to the specified torque.

[0079] In practice, after the axle motor receives the limited torque, during the process of correcting the axle gear position from the initial axle gear to the target axle gear, the corresponding execution torque of the axle motor cannot exceed the limited torque. This can prevent the axle motor from having excessive execution torque that could cause abnormal vehicle movement or displacement when the vehicle's braking system fails or the gear lever position is abnormally shifted out of P gear.

[0080] The above solution allows for the limitation of the axle motor's execution torque when correcting the axle gear position. This ensures that the axle motor's execution torque does not exceed the limit, preventing the vehicle from driving abnormally or shifting due to excessive execution torque. This guarantees the vehicle's safety and stability before starting.

[0081] In some embodiments, after step 103, the method further includes: Step 104: In response to the completion of axle gear correction or the vehicle's current state parameters meeting the preset inactive conditions, control the torque mode flag of the axle motor to be set to inactive.

[0082] In practice, the conditions for determining the completion of axle gear correction are as follows: the axle area control unit (ACU) will switch the actual gear signal to the target axle gear. If the actual gear signal received from the axle area control unit (ACU) is the target axle gear (for example, the target axle gear that the vehicle controller (VCU) determines based on the driving mode so that the axle can operate normally), then the axle gear correction can be determined to be complete.

[0083] Once the axle gear position correction is completed, the activation condition corresponding to the actual axle gear position signal of the target axle gear position is not met, so the torque mode flag of the axle motor will be set to an inactive state.

[0084] Alternatively, if any of the vehicle's current status parameters meet the preset inactivation condition, it proves that the activation state of the axle motor cannot be met at this time, and the torque mode flag of the axle motor will be set to inactivation.

[0085] The above scheme sets the torque mode flag of the axle motor to an inactive state, so that the axle motor can be controlled to return to the inactive state in a timely manner when the activation condition is not met, thus avoiding abnormal operation or energy waste of the axle motor.

[0086] In some embodiments, the vehicle current status parameters include at least one of the following: power system power status, axle shift signal status, and axle motor operating mode.

[0087] Among them, the power system power status refers to the operating status of the power system that provides power to the vehicle, including: Low voltage state (LV), which is the state in which the vehicle is powered off; The ready state is the high-voltage ready state in which the vehicle is powered on but has not applied the brakes or started. High-pressure state (run) is the state in which a vehicle can start and drive.

[0088] Among them, the axle shift signal status is the signal status of whether the axle shift action is allowed, including: allowed status and disallowed status.

[0089] The axle motor operating mode is the operating state represented by the state machine of the axle motor, including: In the pre-charge state, when the power system power supply is in the low voltage state (LV), the axle motor completes self-test and enters the pre-charge state. Standby mode: When the power system is in a ready state, the axle motor is in standby mode. Torque execution state (torque) means that when the power system power supply is in high voltage state (run), the axle motor is in torque execution state to output torque in a timely manner, or when the power system power supply is in ready state and the axle gear is adjusted, being in torque execution state can ensure the smooth execution of the gear adjustment process. In the driving state (speed), when the power system is in a high-voltage state (run), the axle motor outputs torque, enabling the vehicle to travel at a certain speed.

[0090] Step 104 includes: Step 104a: In response to the completion of axle gear correction, the torque mode flag of the axle motor is set to an inactive state.

[0091] In practice, the Axle Area Control Unit (ACU) switches the actual gear signal to the target axle gear. Thus, when the ACU sends a signal indicating the actual gear position as the target axle gear (e.g., the target axle gear that the Vehicle Control Unit (VCU) determines based on the driving mode, the axle gear correction is complete. Since the actual gear signal matches the target axle gear, it proves that the ACU's signal matches the VCU's target gear, confirming the axle gear correction is complete. However, the activation conditions for the corresponding axle motor are no longer met, necessitating the generation of an inactivation request flag. Based on this flag, the torque mode flag of the axle motor is set to inactive.

[0092] Alternatively, in step 104b, in response to the power system power state not being in a ready state, the torque mode flag of the axle motor is controlled to be set to an inactive state.

[0093] In practice, if the power system power state changes to low voltage (LV), it means the vehicle is powered off and the axle motor cannot be activated, so it will return to the inactive state; or if the power system power state changes to high voltage (run), it means the vehicle is powered on and under high voltage. At this time, the vehicle can start, but the axle motor cannot be activated to adjust gears, so an inactive request flag needs to be generated. Based on this inactive request flag, the torque mode flag of the axle motor is set to inactive, and the process of responding to the high voltage (run) state begins based on the original inactive state.

[0094] Alternatively, in step 104c, in response to the axle shift signal being in a prohibited state, the torque mode flag of the axle motor is set to an inactive state.

[0095] In practice, if the axle shift signal is in a prohibited state, it means that the axle shift operation is not allowed at this time. Therefore, an inactivation request flag needs to be generated. Based on the inactivation request flag, the torque mode flag of the axle motor is set to an inactive state, thereby stopping the axle shift process.

[0096] Alternatively, in step 104d, in response to the axle motor operating mode not being in standby, torque execution, or drive mode, the torque mode flag of the axle motor is set to inactive.

[0097] In practice, if the axle motor is not in standby, torque execution, or speed mode, it means that the axle motor is in precharge mode. In this case, the axle motor cannot perform any function, so an inactivation request flag needs to be generated. Based on this inactivation request flag, the torque mode flag of the axle motor is set to inactivation mode.

[0098] With the above solution, if any of these inactivation conditions occur, the axle motor cannot continue to be in an active state to allow the axle to complete the gear shifting process. Once any inactivation condition is met, the torque mode flag of the axle motor will be set to an inactive state to ensure the safety of the axle motor. At the same time, it avoids the axle motor being in an active state, which would affect other vehicle performance, and also avoids the axle motor being in an active state, which would waste energy.

[0099] In some embodiments, after the torque mode flag of the axle motor is set to an inactive state in step 104, the method further includes: Step 105: Obtain the current power system status.

[0100] Step 106: In response to the current power system power state being in the ready state, control the axle motor operating mode to return from the current torque execution state to the standby state.

[0101] In practice, if the torque mode flag of the axle motor is set to inactive, and the current power system power status is still ready, the axle motor operating mode of the corresponding axle motor should be standby when the power system power status is ready. Therefore, the axle motor operating mode will be adjusted from the current torque execution state to standby, so that the vehicle can return to its initial state.

[0102] With the above solution, after the torque mode flag of the axle motor is set to the inactive state, and when it is determined that the current power system power status is still in the ready state, the axle motor can be controlled to return from the current torque execution state to the standby state, so that the vehicle can be restored to the initial state and the vehicle can continue to operate based on the initial state.

[0103] The vehicle control method of this application is described below with a specific embodiment, which is executed by the vehicle control unit (VCU). The specific process is as follows: 1. The vehicle control unit (VCU) determines the torque mode request flag for static shifting of the axle corresponding to the axle motor (e.g., the front axle motor or the rear axle motor, preferably the rear axle motor).

[0104] 1. The vehicle control unit (VCU) will activate the torque mode request flag for the axle motor when all of the following conditions are met.

[0105] 1) The vehicle control unit (VCU) determines the power supply status of the power system to be ready (without applying the brakes). 2) The actual axle gear position (i.e., the initial axle gear position) fed back by the axle area control unit (ACU) does not match the target axle gear position determined by the vehicle controller (VCU) (e.g., actual axle gear position ≠ target axle gear position). 3) The axle shift signal determined by the vehicle control unit (VCU) is enabled; 4) The axle motor (RMCU) sends the axle motor operating mode as standby.

[0106] 2. The vehicle control unit (VCU) will set the axle motor torque mode request flag to inactive when any of the following conditions are met.

[0107] 1) The vehicle control unit (VCU) determines that the power supply status of the power system is not ready (the brake is not applied). 2) The actual axle gear position (i.e., the initial axle gear position) fed back by the axle area control unit (ACU) is matched with the target axle gear position determined by the vehicle controller (VCU) (e.g., actual axle gear position = target axle gear position). 3) The axle shift signal determined by the vehicle control unit (VCU) is not allowed; 4) The axle motor operating mode sent by the axle motor (RMCU) is not standby, torque execution, or speed.

[0108] 2. The vehicle control unit (VCU) corrects the operating mode of the axle motor.

[0109] 1. When the vehicle control unit (VCU) determines that the axle motor torque mode request flag (caused by axle shifting) is active, it will generate a control request and send it to the power-on / off module. After receiving the control request, the power-on / off module will provide the corresponding electrical signal to the axle motor, thereby changing the axle motor's operating mode from standby to torque execution mode.

[0110] 2. If the vehicle control unit (VCU) determines that the axle motor torque mode request flag (caused by axle shifting) is inactive, then it will not correct the axle motor operating mode.

[0111] Third, when the axle motor is in torque execution mode, the execution torque of the axle motor will be limited during the process of correcting the axle gear.

[0112] The vehicle control unit (VCU) determines the gear adjustment torque based on the torque execution status of the axle motor, sends the gear adjustment torque to the axle gear controller, and uses the axle gear controller to adjust the gear according to the gear adjustment torque, advancing from the initial axle gear to the target axle gear, and then stopping after reaching the target axle gear.

[0113] Furthermore, during the axle gear correction process, the vehicle control unit (VCU) determines the maximum torque value (e.g., 5 Nm) that allows the vehicle to remain stationary based on the current road conditions, and sends this limit torque to the axle motor. Upon receiving the limit torque, the axle motor will correct the axle gear position from the initial gear to the target gear. During this process, the axle motor's execution torque must not exceed this limit torque. This prevents the axle motor from generating excessive torque, causing abnormal vehicle movement or displacement, should the vehicle's braking system fail or the gear lever be misaligned when shifting out of Park (P).

[0114] 4. Once the axle gear correction is complete, the torque mode flag of the axle motor is set to inactive.

[0115] When the vehicle control unit (VCU) receives the actual gear position signal from the axle area control unit (ACU) and finds that the target axle gear is correct, it can determine that the axle gear correction is complete. It then needs to generate an inactivation request flag and control the torque mode flag of the axle motor to be set to an inactive state based on the inactivation request flag.

[0116] At this time, if the vehicle control unit (VCU) determines that the current power system power status is still ready, it will control the axle motor corresponding to the axle motor to change the operating mode from the current torque execution state to the standby state. This allows the vehicle to return to the initial state and ensures that the vehicle can continue to operate based on the initial state.

[0117] It should be noted that the method in this embodiment can be executed by a single device, such as a computer or server. The method can also be applied in 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 in this embodiment, and the multiple devices will interact with each other to complete the method described.

[0118] It should be noted that the above description describes some embodiments of this application. 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.

[0119] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a vehicle control device.

[0120] refer to Figure 2 The device includes: The acquisition module 201 is configured to acquire the initial axle gear and the current state parameters of the vehicle after the vehicle is powered on and before starting. The state adjustment module 202 is configured to control the torque mode flag of the axle motor to be activated in response to the mismatch between the initial axle gear and the target axle gear, and the fact that the current state parameters of the vehicle meet the preset activation conditions. The target axle gear is the gear in which the axle operates normally after the vehicle is powered on, and the preset activation conditions are the parameter conditions corresponding to each vehicle state parameter that needs to be corrected for the axle gear. The gear correction module 203 is configured to control the axle gear position to correct from the initial axle gear to the target axle gear after the torque mode flag of the axle motor enters the activated state.

[0121] In some embodiments, the vehicle current status parameters include: power system power status, axle shift signal status, and axle motor operating mode; The state adjustment module 202 is specifically configured as follows: In response to the mismatch between the initial axle gear and the target axle gear, the power system power status, axle shift signal status, and axle motor operating mode in the current vehicle status parameters are analyzed. In response to the power system power supply being in a ready state, the axle shift signal being in an enabled state, and the axle motor operating mode being in a standby state, if the preset activation conditions are met, the torque mode flag of the axle motor is set to the activated state.

[0122] In some embodiments, the gear correction module 203 is specifically configured as follows: After the torque mode flag of the axle motor is activated, the axle motor operating mode is adjusted to torque execution mode. Based on the torque execution state of the axle motor, the axle gear position is controlled to be corrected from the initial axle gear position to the target axle gear position.

[0123] In some embodiments, the gear correction module 203 is further configured to: After the torque mode flag of the axle motor enters the active state, a control request is generated and sent to the power-on / off module; Based on the control request, the power-on / off module adjusts the axle motor's operating mode from standby to torque execution mode.

[0124] In some embodiments, the gear correction module 203 is further configured to: Based on the torque execution state of the axle motor, the gear adjustment torque is determined and sent to the axle gear controller. The axle gear position controller adjusts the torque according to the gear position, thereby correcting and adjusting the gear position of the axle motor from the initial axle gear position to the target axle gear position.

[0125] In some embodiments, the device further includes a torque limiting module configured to: During the gear shift correction process of the axle, a limit torque of the axle motor is determined and the limit torque is sent to the axle motor, wherein the limit torque is the maximum torque value that allows the vehicle to remain stationary; When correcting the gear position of the axle, the axle motor's operating torque is less than or equal to the specified torque.

[0126] In some embodiments, the state adjustment module 202 is further configured to: After the axle gear position is corrected from the initial axle gear to the target axle gear, in response to the completion of the axle gear correction or the vehicle's current state parameters meeting a preset inactive condition, the torque mode flag of the axle motor is set to an inactive state. The preset inactive condition is a parameter condition corresponding to at least one vehicle state parameter for which the axle gear does not need to be corrected.

[0127] In some embodiments, the vehicle current state parameters include at least one of the following: power system power status, axle shift signal status, and axle motor operating mode; The status adjustment module 202 is also configured as follows: In response to the completion of axle gear correction, the torque mode flag of the axle motor is set to an inactive state; or, In response to the power system power state not being in a ready state, the torque mode flag of the axle motor is set to an inactive state; or, In response to the axle shift signal being in a prohibited state, the torque mode flag of the axle motor is set to an inactive state; or, In response to the axle motor operating mode not being in standby, torque execution, or drive mode, the torque mode flag of the axle motor is set to inactive.

[0128] In some embodiments, the gear correction module 203 is further configured to: After the torque mode flag of the axle motor is set to the inactive state, the current power system power status is obtained; In response to the current power system power state being in a ready state, the control axle motor operating mode is changed from the current torque execution state back to the standby state.

[0129] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

[0130] The apparatus of the above embodiments is used to implement the corresponding method in any of the foregoing embodiments and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0131] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application 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 computer program to implement the methods described in any of the above embodiments.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.).

[0137] 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.

[0138] 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.

[0139] The electronic devices described above are used to implement the corresponding methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0140] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to perform the methods described in any of the above embodiments.

[0141] 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, compact disc read-only memory (CD-ROM), digital video disc (DVD) or other optical storage, magnetic tape, 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.

[0142] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to perform the methods described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0143] Based on the same concept, corresponding to any of the above embodiments, this application also provides a computer program product, including computer program instructions, which, when run on a computer, cause the computer to perform the method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0144] Based on the same inventive concept, this application also provides a vehicle including the device or electronic device described in the above embodiments. The beneficial effects of embodiments having corresponding devices or electronic devices will not be elaborated further here.

[0145] It is understood that before using the technical solutions of the various embodiments in this application, 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.

[0146] 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 described in this application.

[0147] 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.

[0148] It is understood that the above notification and user authorization process is merely illustrative and does not limit the implementation of this application. Other methods that comply with relevant laws and regulations may also be applied to the implementation of this application.

[0149] 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 application (including the claims) is limited to these examples; within the framework of this application, 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 application as described above, which are not provided in the details for the sake of brevity.

[0150] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application 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 application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0151] Although this application 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.

[0152] The embodiments of this application are 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 the embodiments of this application should be included within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, After the vehicle is powered on but before starting, the method includes: Obtain the vehicle's initial axle gear and the vehicle's current status parameters; In response to the mismatch between the initial axle gear and the target axle gear, and the fact that the current vehicle status parameters meet the preset activation conditions, the torque mode flag of the axle motor is set to the active state. The target axle gear is the gear in which the axle operates normally after the vehicle is powered on, and the preset activation conditions are the parameter conditions corresponding to each vehicle status parameter that needs to be corrected for the axle gear. After the torque mode flag of the axle motor is activated, the axle gear position is controlled to be corrected from the initial axle gear to the target axle gear.

2. The method according to claim 1, characterized in that, The vehicle's current status parameters include: power system power status, axle shift signal status, and axle motor operating mode. The step of controlling the torque mode flag of the axle motor to be set to active state in response to the mismatch between the initial axle gear and the target axle gear, and the fact that the current vehicle state parameters meet the preset activation conditions, includes: In response to the mismatch between the initial axle gear and the target axle gear, the power system power status, axle shift signal status, and axle motor operating mode in the current vehicle status parameters are analyzed. In response to the power system power supply being in a ready state, the axle shift signal being in an enabled state, and the axle motor operating mode being in a standby state, if the preset activation conditions are met, the torque mode flag of the axle motor is set to the activated state.

3. The method according to claim 1, characterized in that, After the torque mode flag of the axle motor enters the active state, the axle gear position is corrected from the initial axle gear to the target axle gear, including: After the torque mode flag of the axle motor is activated, the axle motor operating mode is adjusted to torque execution mode. Based on the torque execution state of the axle motor, the axle gear position is controlled to be corrected from the initial axle gear position to the target axle gear position.

4. The method according to claim 3, characterized in that, After the torque mode flag of the axle motor enters the activated state, the axle motor operating mode is adjusted to torque execution state, including: After the torque mode flag of the axle motor enters the active state, a control request is generated and sent to the power-on / off module; Based on the control request, the power-on / off module adjusts the axle motor's operating mode from standby to torque execution mode.

5. The method according to claim 3, characterized in that, The gear correction from the initial axle gear to the target axle gear based on the torque execution state of the axle motor includes: Based on the torque execution state of the axle motor, the gear adjustment torque is determined and sent to the axle gear controller. The axle gear position controller adjusts the torque according to the gear position, and drives the axle motor to correct and adjust the gear position from the initial axle gear position to the target axle gear position.

6. The method according to claim 1, characterized in that, The process of correcting the axle gear position also includes: Determine the limiting torque of the axle motor and send the limiting torque to the axle motor, wherein the limiting torque is the maximum torque value that allows the vehicle to remain stationary; When correcting the gear position of the axle, the axle motor's operating torque is less than or equal to the specified torque.

7. The method according to claim 1, characterized in that, After the gear position of the control axle is corrected from the initial axle gear to the target axle gear, the method further includes: In response to the completion of axle gear correction, or the vehicle's current state parameters meeting a preset inactive condition, the torque mode flag of the axle motor is set to an inactive state. The preset inactive condition is a parameter condition corresponding to at least one vehicle state parameter for which axle gear correction is not required.

8. The method according to claim 7, characterized in that, The vehicle current status parameters include at least one of the following: power system power status, axle shift signal status, and axle motor operating mode; The step of controlling the torque mode flag of the axle motor to be set to an inactive state in response to the completion of axle gear correction or the vehicle's current state parameters meeting preset inactivation conditions includes: In response to the completion of axle gear correction, the torque mode flag of the axle motor is set to an inactive state; or, In response to the power system power state not being in a ready state, the torque mode flag of the axle motor is set to an inactive state; or, In response to the axle shift signal being in a prohibited state, the torque mode flag of the axle motor is set to an inactive state; or, In response to the axle motor operating mode not being in standby, torque execution, or drive mode, the torque mode flag of the axle motor is set to inactive.

9. The method according to claim 7, characterized in that, After the torque mode flag of the axle motor is set to the inactive state, the following is also included: Obtain the current power status of the power system; In response to the current power system power state being in a ready state, the control axle motor operating mode is changed from the current torque execution state back to the standby state.

10. A vehicle, including electronic equipment, characterized in that, An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as claimed in any one of claims 1 to 9.

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