A control method and device of a vehicle, a vehicle and a storage medium

Abstract

This application provides a vehicle control method, device, vehicle, and storage medium. The method includes: upon receiving a first switching command for the front axle gear or vehicle operating mode, and a second switching command for the rear axle gear, determining the trigger times of the first and second switching commands; based on the trigger times of the first and second switching commands and the current driving conditions of the vehicle, determining a target execution strategy for the first and second switching commands; wherein the target execution strategy includes the execution priorities of the first and second switching commands; and executing the first and second switching commands according to the target execution strategy. This method can effectively avoid simultaneous triggering of front and rear axle gear shifts, preventing the simultaneous unloading of the power source torque of the front and rear axles during simultaneous gear shifts, thereby avoiding power loss of the entire vehicle and ensuring vehicle safety.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to a method, apparatus, vehicle, and storage medium for controlling a vehicle. Background Technology

[0002] Currently, to distribute power more flexibly, some vehicles have gearboxes on both the front and rear axles, with a front axle gearbox and a rear axle gearbox. When the vehicle needs to shift gears, both the front and rear axle gearboxes may need to switch gears. For example, when the vehicle is accelerating with a light to medium throttle, both the front and rear axle gearboxes need to upshift.

[0003] Before shifting gears, the front axle needs to unload its power source torque, and the rear axle also needs to unload its power source torque. Therefore, when both the front and rear axles shift gears simultaneously, their power source torque may be unloaded at the same time, resulting in insufficient power or even loss of power for the entire vehicle, affecting its safety. Summary of the Invention

[0004] This application provides a vehicle control method, device, vehicle, and storage medium. The method can effectively avoid simultaneous triggering of front and rear axle shifting, and prevent the power source torque of the front and rear axles from being unloaded simultaneously during the process of simultaneous shifting, thereby avoiding power loss of the entire vehicle and ensuring vehicle safety.

[0005] In a first aspect, a vehicle control method is provided, comprising: upon receiving a first switching command for a front axle gear or a vehicle operating mode, and upon receiving a second switching command for a rear axle gear, determining the trigger time of the first switching command and the trigger time of the second switching command; based on the trigger time of the first switching command, the trigger time of the second switching command, and the current driving condition of the vehicle, determining a target execution strategy for the first switching command and the second switching command; wherein the target execution strategy includes the execution priority of the first switching command and the second switching command; and executing the first switching command and the second switching command according to the target execution strategy.

[0006] In the above technical solution, upon receiving a first switching command for the front axle gear or the vehicle's operating mode, and a second switching command for the rear axle gear, the trigger times of the first and second switching commands are determined. Based on these trigger times, the optimal target execution strategy can be more accurately determined, ensuring the coordination of command execution. Since the target execution strategy includes the execution priority of the first and second switching commands, executing the first and second switching commands according to the target execution strategy effectively avoids simultaneous front and rear axle gear shifts. This prevents the simultaneous unloading of torque from the front and rear axles during simultaneous gear shifts, thus avoiding power loss and ensuring vehicle safety.

[0007] In conjunction with the first aspect, in some possible implementations, when the first switching instruction is a switching instruction for the front axle gear, the target execution strategy for the first and second switching instructions is determined based on the trigger time of the first switching instruction, the trigger time of the second switching instruction, and the current driving condition of the vehicle. This includes: if the trigger time of the first and second switching instructions are different, the target execution strategy is determined to be: executing the first and second switching instructions in the order of their trigger times from first to last; if the trigger time of the first and second switching instructions are the same, the current operating mode of the vehicle is obtained, and the target execution strategy is determined based on the current operating mode and the current driving condition of the vehicle.

[0008] In the above technical solution, if the first switching command is a front axle gear shifting command, and the trigger times of the first and second switching commands are different, there is no need to consider the vehicle's current driving conditions. The first and second switching commands are executed sequentially according to their trigger times, which helps to avoid simultaneous triggering of front and rear axle gear shifting. However, if the trigger times of the first and second switching commands are the same, the vehicle's current operating mode is obtained, and based on the current operating mode and the vehicle's current driving conditions, the target execution strategy is determined. This allows for the determination of the vehicle's actual needs based on the current operating mode and driving conditions, thereby more accurately determining the target execution strategy that meets the vehicle's current actual needs.

[0009] In combination with the first aspect and the above implementation methods, in some possible implementation methods, based on the current operating mode and the current driving condition of the vehicle, the target execution strategy is determined, including: if the current operating mode is in parallel mode and the vehicle is currently accelerating and the throttle opening is less than the first preset opening threshold, then the target execution strategy is determined to be: first execute the first switching command, and then execute the second switching command; if the current operating mode is in power split mode or pure electric four-wheel drive mode and the vehicle is currently accelerating, then the target execution strategy is determined to be: first execute the second switching command, and then execute the first switching command.

[0010] In the above technical solution, in parallel mode, the front axle motor can also generate electricity with a small output to charge the high-voltage battery. Since the vehicle is accelerating but with a small throttle opening, the power demand is not high. Therefore, it can be determined that the vehicle's current need is to ensure sufficient charge of the high-voltage battery. Thus, the front axle gear can be switched first to prioritize ensuring sufficient charge of the high-voltage battery. When the vehicle is in parallel mode and accelerating with a small throttle opening, prioritizing the execution of the first switching command (i.e., prioritizing the front axle gear switching) allows for better power distribution, avoids power waste, and achieves more economical and smoother vehicle operation.

[0011] In power-split mode or pure electric four-wheel drive mode, if the vehicle is accelerating, due to the characteristics of these modes, more power may be distributed to the rear axle. This causes the rear axle motor's speed to increase faster than the front axle motor, potentially leading to damage to the rear axle motor due to overspeed. Therefore, if the vehicle's current priority is to prevent motor damage, the rear axle gear should be switched first. When the vehicle is in power-split mode or pure electric four-wheel drive mode and accelerating, prioritizing the execution of the second switching command (i.e., prioritizing rear axle gear switching) better avoids damage to motor components due to excessive speed, thus ensuring the reliability and durability of the powertrain.

[0012] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, when the first switching instruction is a switching instruction for the vehicle's operating mode, the target execution strategy for the first switching instruction and the second switching instruction is determined based on the trigger time of the first switching instruction, the trigger time of the second switching instruction, and the current driving condition of the vehicle. This includes: if the trigger time of the first switching instruction and the trigger time of the second switching instruction are different, the target execution strategy is determined to be: executing the first switching instruction and the second switching instruction in the order of their trigger times from first to last; if the trigger time of the first switching instruction and the trigger time of the second switching instruction are the same, the current operating mode of the vehicle and the target operating mode to be switched to indicated by the first switching instruction are obtained, and the target execution strategy is determined based on the current operating mode, the target operating mode, and the current driving condition of the vehicle.

[0013] In the above technical solution, if the first switching command is a command to switch the vehicle's operating mode, and the trigger times of the first and second switching commands are different, there is no need to consider the vehicle's current driving conditions. The first and second switching commands are executed sequentially according to their trigger times. This helps avoid simultaneous triggering of mode switching and rear axle shifting, ensuring that the overall vehicle state adjustment is carried out in an orderly manner and preventing system malfunctions caused by interference between different commands. If the first and second switching commands are different, the vehicle's current operating mode and the target operating mode to be switched to as indicated by the first switching command can be further obtained. Combined with the vehicle's current driving conditions, a comprehensive target execution strategy can be determined. Different vehicle operating modes have their own unique power output characteristics and impacts on the working state of various vehicle components. Different driving conditions have different requirements for vehicle performance and stability. By comprehensively considering multiple factors such as the current operating mode, the target operating mode, and the driving conditions to determine the target execution strategy, it can be ensured that the vehicle determines the most suitable target execution strategy in complex and diverse actual driving scenarios.

[0014] Combining the first aspect and the above implementation methods, in some possible implementation methods, based on the current operating mode, the target operating mode, and the vehicle's current driving condition, a target execution strategy is determined, including: if the current operating mode is parallel mode and the target operating mode is power split mode, and the vehicle is currently decelerating and the throttle opening is less than a second preset opening threshold, then the target execution strategy is determined as follows: first execute the first switching command, then execute the second switching command; if the current operating mode is power split mode and the target operating mode is parallel mode, and the vehicle is currently accelerating and the throttle opening is greater than a third preset opening threshold, then the target execution strategy is determined as follows: first execute the second switching command, then execute the first switching command; if the current operating mode is power split mode and the target operating mode is pure electric four-wheel drive mode, and the vehicle is currently accelerating, then the target execution strategy is determined as follows: first execute the second switching command, then execute the first switching command.

[0015] In the above technical solutions, when switching the operating mode from parallel mode to power-split mode, if the vehicle is decelerating and the throttle opening is small, it indicates that the vehicle's power demand is low. By first executing the first switching command, i.e., the operating mode switch, the advantages of the power-split mode can be utilized to better recover the vehicle's energy and better charge the vehicle's high-voltage battery, thereby avoiding energy waste and improving energy utilization efficiency. When switching the operating mode from power-split mode to parallel mode or from power-split mode to pure electric four-wheel drive mode, if the vehicle is accelerating and the throttle opening is large, it indicates that the vehicle's power demand is high. As the vehicle speed increases, the rear axle motor may be damaged due to overspeed. By first executing the second switching command, i.e., the rear axle gear shift, damage to the rear axle motor due to overspeed can be avoided, ensuring the motor's safety and contributing to the reliability and durability of the powertrain.

[0016] Combining the first aspect and the above implementation methods, in some possible implementation methods, according to the target execution strategy, the first switching instruction is executed, and the second switching instruction is executed, including: executing the first switching instruction and the second switching instruction sequentially according to their execution priorities; wherein, one of the first switching instruction and the second switching instruction is a high-priority switching instruction, and the other is a low-priority switching instruction; when the first switching instruction is a switching instruction for the front axle gear, the low-priority switching instruction is prohibited from being executed during the execution of the high-priority switching instruction; when the first switching instruction is a switching instruction for the vehicle's operating mode, the actual operating parameters of the vehicle are obtained, and based on the actual operating parameters, it is determined whether the low-priority switching instruction should be prohibited from being executed during the execution of the high-priority switching instruction.

[0017] In the above technical solution, during the sequential execution of the first and second switching instructions according to their execution priorities, if the first switching instruction is a front axle gear shifting instruction, then during the execution of the high-priority switching instruction, the execution of low-priority instructions is strictly prohibited. This avoids the loss of vehicle power caused by simultaneous gear shifting of the front and rear axles, thus improving vehicle safety. If the first switching instruction is an operating mode shifting instruction, then by referring to actual operating parameters, it can be determined whether to prohibit the execution of low-priority instructions while executing high-priority instructions. This allows for a more flexible instruction execution strategy, enabling the vehicle to better adapt to various complex operating conditions.

[0018] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, the actual operating parameters include the current speed of the front axle transmission input shaft and the current speed of the rear axle motor. The actual operating parameters of the vehicle are obtained, and based on these parameters, it is determined whether to prohibit the execution of a low-priority switching command during the execution of a high-priority switching command. This includes: if the first switching command is to switch the operating mode from parallel mode to power split mode, and the high-priority switching command is the second switching command, then the current speed of the front axle transmission input shaft is obtained; if the current speed of the front axle transmission input shaft is less than a first preset speed, it is determined that the first switching command is allowed to be executed during the execution of the second switching command; if the first switching command is to switch the operating mode from power split mode to parallel mode or from power split mode to pure electric four-wheel drive mode, and the high-priority switching command is the first switching command, then the current speed of the rear axle motor is obtained; if the current speed of the rear axle motor is greater than a second preset speed, it is determined that the second switching command is allowed to be executed during the execution of the first switching command.

[0019] In the above technical solution, when the first switching command is to switch the operating mode from parallel mode to power split mode, and the high-priority switching command is the second switching command, the current speed of the front axle transmission input shaft is first obtained. If this speed is less than a first preset speed, it is determined that the first switching command can be executed during the execution of the second switching command. The front axle transmission input shaft is usually connected to the engine. If the current speed of the front axle transmission input shaft is too low, it may stall the engine. To avoid engine stalling, the first switching command can be executed during the execution of the second switching command. That is, during the execution of the second switching command, the vehicle's operating mode is controlled to switch from parallel mode to power split mode, thereby adjusting the power distribution in a timely manner and reducing the resistance faced by the engine directly driving the front axle.

[0020] When the first switching command is to switch the operating mode from power-split mode to parallel mode or from power-split mode to pure electric four-wheel drive mode, and the first switching command is the highest priority switching command, the current speed of the rear axle motor is obtained. If this speed is greater than the second preset speed, it is determined that the second switching command can be executed during the execution of the first switching command. A current speed of the rear axle motor greater than the second preset speed indicates a risk of damage due to overspeed. To avoid damage to the rear axle motor due to overspeed, the second switching command can be executed during the execution of the first switching command. That is, the rear axle gears are controlled to switch during the execution of the first switching command, thereby ensuring the safety of the rear axle motor and further ensuring the reliability and durability of the powertrain.

[0021] Secondly, a vehicle control device is provided, comprising: a first determining module, configured to determine the trigger time of the first switching instruction and the trigger time of the second switching instruction upon receiving a first switching instruction for the front axle gear or the vehicle's operating mode, and receiving a second switching instruction for the rear axle gear; a second determining module, configured to determine a target execution strategy for the first switching instruction and the second switching instruction based on the trigger time of the first switching instruction, the trigger time of the second switching instruction, and the current driving condition of the vehicle; wherein the target execution strategy includes the execution priority of the first switching instruction and the second switching instruction; and an execution module, configured to execute the first switching instruction and the second switching instruction according to the target execution strategy.

[0022] In conjunction with the second aspect, in some possible implementations, when the first switching instruction is a switching instruction for the front axle gear, the second determining module is specifically used to: if the trigger times of the first switching instruction and the second switching instruction are different, determine the target execution strategy as follows: execute the first switching instruction and the second switching instruction in order of their trigger times from first to last; if the trigger times of the first switching instruction and the second switching instruction are the same, obtain the current operating mode of the vehicle, and determine the target execution strategy based on the current operating mode and the current driving conditions of the vehicle.

[0023] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the second determining module includes a determining unit, specifically used for: if the current operating mode is in parallel mode, and the vehicle is currently accelerating and the throttle opening is less than the first preset opening threshold, then the target execution strategy is determined to be: first execute the first switching instruction, and then execute the second switching instruction; if the current operating mode is in power split mode or pure electric four-wheel drive mode, and the vehicle is currently accelerating, then the target execution strategy is determined to be: first execute the second switching instruction, and then execute the first switching instruction.

[0024] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, when the first switching instruction is a switching instruction for the vehicle's operating mode, the second determining module is specifically used to: if the trigger time of the first switching instruction and the trigger time of the second switching instruction are different, determine the target execution strategy as follows: execute the first switching instruction and the second switching instruction in order of their trigger times from first to last; if the trigger time of the first switching instruction and the trigger time of the second switching instruction are the same, obtain the vehicle's current operating mode and the target operating mode to be switched indicated by the first switching instruction, and determine the target execution strategy based on the current operating mode, the target operating mode, and the vehicle's current driving conditions.

[0025] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the second determining module includes a determining unit, specifically used for: if the current operating mode is parallel mode and the target operating mode is power split mode, and the vehicle is currently in a driving condition of deceleration and throttle opening less than a second preset opening threshold, then the target execution strategy is determined to be: first execute the first switching instruction, then execute the second switching instruction; if the current operating mode is power split mode and the target operating mode is parallel mode, and the vehicle is currently in a driving condition of acceleration and throttle opening greater than a third preset opening threshold, then the target execution strategy is determined to be: first execute the second switching instruction, then execute the first switching instruction; if the current operating mode is power split mode and the target operating mode is pure electric four-wheel drive mode, and the vehicle is currently in a driving condition of acceleration, then the target execution strategy is determined to be: first execute the second switching instruction, then execute the first switching instruction.

[0026] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the execution module is specifically used to execute the first switching instruction and the second switching instruction sequentially according to their execution priorities; wherein, one of the first switching instruction and the second switching instruction is a high-priority switching instruction and the other is a low-priority switching instruction; when the first switching instruction is a switching instruction for the front axle gear, the execution of the low-priority switching instruction is prohibited during the execution of the high-priority switching instruction; when the first switching instruction is a switching instruction for the vehicle's operating mode, the actual operating parameters of the vehicle are obtained, and based on the actual operating parameters, it is determined whether the execution of the low-priority switching instruction should be prohibited during the execution of the high-priority switching instruction.

[0027] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the actual operating parameters include the current speed of the front axle transmission input shaft and the current speed of the rear axle motor. The execution module includes a judgment unit, specifically used for: if the first switching instruction is to switch the operating mode from parallel mode to power split mode, and the high-priority switching instruction is the second switching instruction, then the current speed of the front axle transmission input shaft is obtained; if the current speed of the front axle transmission input shaft is less than the first preset speed, it is determined that the first switching instruction can be executed during the execution of the second switching instruction; if the first switching instruction is to switch the operating mode from power split mode to parallel mode or switch the operating mode from power split mode to pure electric four-wheel drive mode, and the high-priority switching instruction is the first switching instruction, then the current speed of the rear axle motor is obtained; if the current speed of the rear axle motor is greater than the second preset speed, it is determined that the second switching instruction can be executed during the execution of the first switching instruction.

[0028] Thirdly, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the methods of the first aspect or any possible implementation thereof.

[0029] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0030] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the architecture of a hybrid vehicle provided in an embodiment of this application.

[0032] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

[0033] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0034] Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0035] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0036] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0037] Figure 1 This is a schematic diagram of the architecture of a hybrid vehicle provided in an embodiment of this application.

[0038] For example, such as Figure 1 As shown, the hybrid vehicle 100 includes: an engine 101, a C1 clutch 102, a first motor 103, a first gearbox 104, a second motor 105, a second gearbox 106, a differential 107, a front wheel 108, and a rear wheel 109.

[0039] The engine 101 is one of the power sources of the vehicle, generating power by burning fuel (such as gasoline or diesel). The power generated by the engine is transmitted through the crankshaft to the C1 clutch 102 and the first gearbox 104, ultimately driving the front wheels 108 of the hybrid vehicle 100.

[0040] Clutch C1 102 is used to disconnect or connect the mechanical connection between engine 101 and first transmission 104. Clutch C1 102 has two states: open and closed. When clutch C1 102 is in the open state, the connection between engine 101 and first transmission 104 is disconnected, and even if engine 101 is running, the power generated will not be transmitted to first transmission 104. When clutch C1 102 is in the closed state, the mechanical connection between engine 101 and first transmission 104 is established, and the power generated by engine 101 can be transmitted to first transmission 104, and then to the front wheels 108 of hybrid vehicle 100.

[0041] The first motor 103 is also called a front-drive motor or a TM motor, and in some embodiments, it can be directly referred to as the front motor. The first motor 103 is connected to the sun gear of the planetary gear set in the first gearbox 104, and is used to drive the front wheels 108 of the vehicle through the first gearbox 104 or to function as a generator.

[0042] The first gearbox 104, also known as the front axle gearbox, includes four gears: 1st, 2nd, 3rd, and R (reverse). The first gearbox 104 is used to change the output speed and torque of the engine 101 to adapt to different driving conditions, ensuring efficient vehicle operation under varying speeds and loads. Specifically, the first gearbox 104 includes synchronizer S0, synchronizer S1, and synchronizer S2.

[0043] Synchronizers S0 and S2, also known as front axle shift synchronizers, are typically used to engage specific gears and participate in power transmission. When the vehicle drives the front wheels 108 via the first motor 103 or engine 101, synchronizer S0 or synchronizer S2 engages the gear so that power can be transmitted from the first motor 103 or engine 101 to the front wheels 108.

[0044] Synchronizer S1, also known as the mold-changing synchronizer, includes two positions: pure electric and power-split. It controls and adjusts the power torque output of engine 101 and first motor 103, ensuring effective torque distribution between them in power-split mode and other operating modes. Other operating modes include series mode, pure electric rear-wheel drive mode, and pure electric four-wheel drive mode. Typically, in power-split mode, the synchronizer is in power-split mode; in other operating modes, it is in pure electric mode.

[0045] When the synchronizer S1 is in pure electric mode, it is equivalent to the first motor 103 or C1 clutch 102 being directly connected to the front wheel 108 of the vehicle. At this time, all the power torque output by the first motor 103 or engine 101 is transmitted to the front wheel 108 of the vehicle to drive the vehicle.

[0046] When synchronizer S1 is in power-split mode, the first motor 103 or clutch C1 102 is mechanically connected to the front wheels 108 of the vehicle via gears. Part of the torque output from the engine 101 or the first motor 103 is transmitted to the front wheels 108, driving the vehicle. Another portion of the torque output from the engine 101 can drive the first motor 103 to generate electricity, and the remaining torque output from the first motor 103 can further assist in driving the front wheels 108, providing additional driving force. In other words, in power-split mode, part of the torque output from the engine 101 is used to drive the vehicle, and the other part is used to drive the first motor 103 to generate electricity.

[0047] The second motor 105, also called the rear drive motor or P4 motor, transmits power to the rear wheels 109 of the vehicle through the differential 107 when the second motor 105 is running, thus driving the vehicle.

[0048] The second gearbox 106, also known as the rear axle gearbox or rear axle reduction gearbox, includes two gears: 1st gear and 2nd gear.

[0049] Differential 107 is used to allow the left and right wheels to rotate at different speeds when the vehicle is turning. By using differential 107, the outer wheel can rotate at a faster speed, and the inner wheel can rotate at a slower speed, ensuring smooth turning of the vehicle.

[0050] In existing technologies, when vehicles based on the aforementioned architecture need to shift gears in both the front and rear axle transmissions (e.g., when accelerating with moderate throttle, the front axle transmission shifts from 2nd to 3rd gear while the rear axle transmission shifts from 1st to 2nd gear), the torque from both the front and rear axles needs to be unloaded before the shift. This can lead to insufficient power, or even a complete loss of power, affecting vehicle safety, when both transmissions need to shift simultaneously.

[0051] Based on this, this application proposes a vehicle control method, which is applied to... Figure 1 The vehicle shown is an example. The solution in this application, upon receiving a first switching command for the front axle gear or vehicle operating mode, and simultaneously receiving a second switching command for the rear axle gear, formulates different target execution strategies based on the trigger times of the two switching commands and the vehicle's current driving conditions. The first and second switching commands are executed sequentially according to the target execution strategies, thereby preventing the simultaneous unloading of the power source torque of the front and rear axles during simultaneous gear shifting, avoiding power loss for the entire vehicle, and ensuring vehicle safety.

[0052] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

[0053] For example, such as Figure 2 As shown, the method 200 includes:

[0054] Step 201: Upon receiving a first switching command for the front axle gear or vehicle operating mode, and a second switching command for the rear axle gear, determine the trigger time of the first switching command and the trigger time of the second switching command.

[0055] Step 202: Based on the trigger time of the first switching instruction, the trigger time of the second switching instruction, and the current driving conditions of the vehicle, determine the target execution strategy for the first switching instruction and the second switching instruction;

[0056] The target execution strategy includes the execution priorities of the first switching instruction and the second switching instruction;

[0057] Step 203: Execute the first switching instruction and the second switching instruction according to the target execution strategy.

[0058] exist Figure 2 In the illustrated embodiment, upon receiving a first switching command for the front axle gear or the vehicle's operating mode, and a second switching command for the rear axle gear, the trigger times of the first and second switching commands are determined. Based on these trigger times, the optimal target execution strategy can be more accurately determined, ensuring the coordination of command execution. Since the target execution strategy includes the execution priorities of the first and second switching commands, executing them according to the strategy effectively avoids simultaneous front and rear axle gear shifts. This prevents the simultaneous unloading of torque from the front and rear axles during simultaneous gear shifts, thus avoiding power loss and ensuring vehicle safety.

[0059] The following is about Figure 2 The specific implementation methods of each step in the illustrated embodiment are explained below:

[0060] In step 201, the aforementioned first shift command for the front axle gear usually refers to a shift command for the gear in the front axle transmission. For example, the first shift command could be to shift the gear of the front axle transmission from 2nd gear to 3rd gear.

[0061] The aforementioned first switching command for vehicle operating modes typically refers to a command that switches the vehicle's current operating mode to a target operating mode. For example, this first switching command could be to switch the vehicle's operating mode from parallel mode to power-split mode. It should be understood that, based on... Figure 1 When switching operating modes, the vehicles with the architecture shown typically rely on both the front axle transmission and the front axle motor to switch operating modes.

[0062] The aforementioned second shift command for the rear axle gear usually refers to the shift command for the gear in the rear axle transmission. For example, the second shift command could be to shift the gear in the rear axle transmission from 1st gear to 2nd gear.

[0063] It is understandable that during vehicle operation, certain operations may trigger a second shift command to the rear axle gears at the same time as the first shift command to the front axle gear or operating mode is triggered.

[0064] For example, when the vehicle is traveling at a medium-high speed of 60-120km / h, if the driver controls the vehicle to accelerate with a medium-low throttle opening of 20%-60%, the first shift command of the front axle transmission from 2nd to 3rd gear may be triggered, and the second shift command of the rear axle transmission from 1st to 2nd gear may also be triggered.

[0065] Understandably, when a vehicle is traveling at medium to high speeds, the driver uses a small to medium throttle opening to control the vehicle's acceleration, often hoping to maintain a certain acceleration while further increasing speed and reducing engine speed.

[0066] Based on this, by controlling the front axle transmission to shift from 2nd to 3rd gear, the engine speed can be more reasonably matched with the vehicle speed under medium and low throttle conditions, allowing the vehicle to accelerate more smoothly at medium and high speeds.

[0067] At the same time, by controlling the rear axle transmission to shift from 1st gear to 2nd gear, the power output to the rear wheels can be better adapted to the overall acceleration state of the vehicle, making the power distribution between the front and rear axles more reasonable and enabling the vehicle to accelerate more smoothly.

[0068] Furthermore, when a first switching command for the front axle gear or operating mode is triggered, and a second switching command for the rear axle gear is triggered simultaneously, in order to avoid loss of vehicle power caused by responding to both the first and second switching commands at the same time, the triggering time of the first switching command and the triggering time of the second switching command can be determined, and the specific execution of the first and second switching commands can be determined based on the triggering time.

[0069] In step 202, the triggering time of the first switching command refers to the time when the transmission control unit (TCU) of the front axle transmission receives the command to switch the front axle gear or the time when the electronic control unit (ECU) in the vehicle receives the command to switch the vehicle's operating mode during vehicle operation.

[0070] Similarly, the trigger time of the second switching command mentioned above refers to the time when the TCU of the rear axle transmission receives the command to switch the rear axle gears during vehicle operation.

[0071] The current driving conditions of the aforementioned vehicle may include, but are not limited to: acceleration driving conditions with a small to medium throttle opening, acceleration driving conditions with a large throttle opening, and deceleration driving conditions with a reduced throttle opening.

[0072] Based on the trigger time of the first switching instruction, the trigger time of the second switching instruction, and the current driving conditions of the vehicle, the execution order of the first switching instruction and the second switching instruction, i.e., the target execution strategy, can be determined.

[0073] The execution priority in the above target execution strategy refers to the order in which the first switching instruction and the second switching instruction are executed when they are received simultaneously. The higher the execution priority of an instruction, the earlier it is executed.

[0074] In some embodiments, the specific content of the first switching instruction can be determined first, and the target execution strategy of the first switching instruction and the second switching instruction can be determined based on the specific content of the first switching instruction.

[0075] In one possible implementation, when the first switching instruction is a switching instruction for the front axle gear, the target execution strategy for the first and second switching instructions is determined based on the trigger time of the first switching instruction, the trigger time of the second switching instruction, and the current driving condition of the vehicle. This includes: if the trigger times of the first and second switching instructions are different, the target execution strategy is determined to be: executing the first and second switching instructions in the order of their trigger times from first to last; if the trigger times of the first and second switching instructions are the same, the current operating mode of the vehicle is obtained, and the target execution strategy is determined based on the current operating mode and the current driving condition of the vehicle.

[0076] Understandably, when the trigger times of the first switching instruction and the second switching instruction are different, there is no need to consider the current driving conditions of the vehicle; the target execution strategy can be determined directly based on the order of the trigger times. For example, if the first switching instruction is triggered first and the second switching instruction is triggered later, then the first switching instruction is determined to be a high-priority instruction, and the second switching instruction is determined to be a low-priority instruction.

[0077] When the trigger times of the first switching command and the second switching command are the same, it is usually not possible to arbitrarily choose which command to execute first. Instead, the current operating mode of the vehicle can be obtained, and the target execution strategy can be determined based on the current operating mode and the current driving conditions of the vehicle.

[0078] Under different driving conditions, different operating modes will have different focuses on vehicle performance. For example, in some operating modes, if the current power demand of the vehicle is not high, more attention may be paid to ensuring that the high-voltage battery is not excessively consumed; in other operating modes, if the current battery power is sufficient, more attention may be paid to the vehicle's rapid power response.

[0079] In the above method, if the first switching command is a front axle gear shifting command, and the trigger times of the first and second switching commands are different, there is no need to consider the vehicle's current driving conditions. The first and second switching commands are executed sequentially according to their trigger times, which helps to avoid simultaneous front and rear axle gear shifting. However, if the trigger times of the first and second switching commands are the same, the vehicle's current operating mode is obtained, and the target execution strategy is determined based on the current operating mode and the vehicle's current driving conditions. This allows for the determination of the vehicle's actual needs based on the current operating mode and driving conditions, thereby more accurately determining the target execution strategy that meets the vehicle's current actual needs.

[0080] Therefore, the vehicle's current operating mode and current driving conditions can be used as important references for determining the target execution strategy.

[0081] In one possible implementation, a target execution strategy is determined based on the current operating mode and the vehicle's current driving condition, including: if the current operating mode is in parallel mode and the vehicle is currently accelerating with the throttle opening less than a first preset threshold, then the target execution strategy is determined to be: first execute the first switching command, then execute the second switching command; if the current operating mode is in power split mode or pure electric four-wheel drive mode and the vehicle is currently accelerating, then the target execution strategy is determined to be: first execute the second switching command, then execute the first switching command.

[0082] Understandably, in the parallel operation mode described above, both the vehicle's engine and front-drive motor are in driving mode. When the vehicle is in parallel operation mode, both the engine and the front-drive motor can output power to drive the vehicle.

[0083] For example, when the vehicle is in parallel mode, if the vehicle is accelerating and the throttle opening is less than the first preset opening threshold, and the front and rear axle gear shifting commands are triggered simultaneously (i.e., the first shifting command and the second shifting command are triggered simultaneously), the target execution strategy is determined to be: execute the first shifting command first, and then execute the second shifting command.

[0084] It is understandable that by first adjusting the front axle gear, the vehicle can obtain the appropriate power more quickly to complete the acceleration. Then, the rear axle gear is adjusted to further optimize the power distribution and ensure the stability of the overall vehicle performance. That is, in parallel mode, in order to prioritize power output, the target execution strategy can be determined as follows: execute the first switching command first, and then execute the second switching command.

[0085] In one possible scenario, when the vehicle is in parallel mode, the front drive motor may generate electricity at a lower power level to charge the high-voltage battery while outputting power to drive the vehicle.

[0086] For example, when the vehicle is in parallel mode and the motor is in low-power generation mode, if the vehicle is accelerating and the driver controls the vehicle to accelerate with a small to medium throttle opening (i.e., the throttle opening is less than the first preset opening threshold), if the front and rear axle gear switching commands are triggered at the same time, that is, the first switching command and the second switching command are triggered at the same time, the target execution strategy is determined to be: execute the first switching command first, and then execute the second switching command.

[0087] Understandably, the aforementioned first preset throttle opening threshold can be set according to actual needs, such as 40%. If the throttle opening is less than 40%, it means that the driver is using a medium-low throttle to control the vehicle for acceleration.

[0088] When a vehicle is traveling at medium to high speeds, its stability and handling largely depend on the front axle. When the driver accelerates with a small to medium throttle opening, the vehicle needs to smoothly increase speed or maintain its current speed. Executing the first shift command allows the vehicle to adjust the power output of the front axle more quickly, enabling better utilization of engine power in the initial stages of acceleration. Furthermore, timely adjustment of the front axle gear allows for a faster adaptation to acceleration demands, resulting in a more direct power response in the acceleration direction. After completing the front axle gear shift, executing the second shift command further optimizes the overall power distribution of the vehicle.

[0089] Furthermore, if the vehicle is accelerating and the driver is controlling the acceleration with a small to medium throttle opening (i.e., the throttle opening is less than the first preset threshold), it indicates that the vehicle's power demand is not high, and priority can be given to ensuring the high-voltage battery is fully charged. Since the vehicle is accelerating, it typically requires upshifting both the front and rear axles. By executing the first switching command, the front axle can be prioritized for upshifting, allowing for higher charging power to the high-voltage battery and thus better ensuring its sufficient charge. After the front axle shift is complete, the second switching command is executed to ensure vehicle stability.

[0090] In the above method, in parallel mode, the front axle motor can also generate electricity with a small output to charge the high-voltage battery. Since the vehicle is accelerating but with a small throttle opening, the power demand is not high. Therefore, it can be determined that the vehicle's current need is to ensure sufficient charge of the high-voltage battery. Thus, the front axle gear can be switched first to prioritize ensuring sufficient charge of the high-voltage battery. When the vehicle is in parallel mode and accelerating with a small throttle opening, prioritizing the execution of the first switching command (i.e., prioritizing the front axle gear switching) allows for better power distribution, avoids power waste, and achieves more economical and smoother vehicle operation.

[0091] Furthermore, in the aforementioned power split mode, the vehicle's engine is in driving mode, the front drive motor is in generating mode, and the engine can drive the front drive motor to rotate and generate electricity to charge the high-voltage battery; the rear drive motor is in driving mode.

[0092] In the pure electric four-wheel drive mode described above, the vehicle's engine is off, while the front drive motor and the rear drive motor are both in a driving state.

[0093] It is understandable that the power generation of the front drive motor in the above power split mode is higher than that in the above parallel mode.

[0094] For example, when the vehicle is in power split mode or pure electric four-wheel drive mode, if the vehicle is accelerating, and the front and rear axle gear shifting commands are triggered simultaneously (i.e., the first shifting command and the second shifting command are triggered simultaneously), the target execution strategy is determined to be: execute the second shifting command first, and then execute the first shifting command.

[0095] Understandably, when a vehicle is accelerating, its speed continuously increases, and the rear axle motor's speed is closely related to this speed. As the vehicle speed increases, the wheel speed also increases, causing the rear axle motor's speed to rise as well. This can lead to the rear axle motor exceeding the speed limit specified for the current gear, resulting in damage due to overspeeding. In power-split mode or pure electric four-wheel drive mode, more power may be distributed to the rear axle, causing its motor to speed up faster; while the front axle motor, receiving relatively less power, may experience a slower speed increase. Therefore, the rear axle motor is more prone to overspeeding damage than the front axle motor. To prevent rear axle motor damage due to overspeeding, the rear axle gear can be switched first, i.e., the second shift command can be executed first. After shifting the rear axle gear, the vehicle's power distribution can be further fine-tuned to achieve optimal power coordination between the front and rear axles.

[0096] In the above methods, during power-split mode or pure electric four-wheel drive mode, if the vehicle is accelerating, due to the characteristics of these modes, more power may be distributed to the rear axle. This causes the rear axle motor's speed to increase faster than the front axle motor's, potentially leading to damage to the rear axle motor due to overspeed. Therefore, if the vehicle's current priority is to prevent motor damage, the rear axle gear can be switched first. When the vehicle is in power-split mode or pure electric four-wheel drive mode and accelerating, prioritizing the execution of the second switching command (i.e., prioritizing rear axle gear switching) better avoids damage to motor components due to excessive speed, thus ensuring the reliability and durability of the powertrain.

[0097] For example, if the first switching instruction is a switching instruction for the front axle gear, and a second switching instruction for the rear axle gear is received simultaneously with the first switching instruction for the front axle gear, then the target execution strategies for the first and second switching instructions, determined under different vehicle operating conditions, different operating modes, and different triggering conditions (i.e., the order of triggering times mentioned above), can be as shown in Table 1 below:

[0098] Table 1

[0099]

[0100] It is understandable that the "medium-low throttle acceleration" driving condition in Table 1 above can be interpreted as the "accelerating driving condition with throttle opening less than the first preset opening threshold" mentioned earlier, or it can be one of the "accelerating driving conditions" mentioned earlier. The "front axle shifts first, rear axle shifts later" in Table 1 above can be understood as prioritizing the execution of the first shift command (front axle shift) and then the second shift command (rear axle shift), meaning the execution priority of the first shift command is higher than that of the second shift command. Similarly, the "rear axle shifts first, front axle shifts later" in Table 1 above can be understood as prioritizing the execution of the second shift command (rear axle shift) and then the first shift command (front axle shift), meaning the execution priority of the second shift command is higher than that of the first shift command.

[0101] Table 1 above can be stored in the vehicle in advance. When the first switching command for front axle shifting and the second switching command for rear axle shifting are received simultaneously, the specific target execution strategy corresponding to the first switching command and the second switching command can be determined based on Table 1 above.

[0102] In another possible implementation, when the first switching instruction is a switching instruction for the vehicle's operating mode, the target execution strategy for the first and second switching instructions is determined based on the trigger time of the first switching instruction, the trigger time of the second switching instruction, and the current driving condition of the vehicle. This includes: if the trigger times of the first and second switching instructions are different, the target execution strategy is determined to be: executing the first and second switching instructions in the order of their trigger times from first to last; if the trigger times of the first and second switching instructions are the same, the current operating mode of the vehicle and the target operating mode to be switched to indicated by the first switching instruction are obtained, and the target execution strategy is determined based on the current operating mode, the target operating mode, and the current driving condition of the vehicle.

[0103] Understandably, similar to the previous point, when the trigger times of the first switching instruction and the second switching instruction are different, there is no need to consider the current driving conditions of the vehicle; the target execution strategy can be determined directly based on the order of their trigger times. For example, if the first switching instruction is triggered first and the second switching instruction is triggered later, then the first switching instruction is determined to be a high-priority instruction, and the second switching instruction is determined to be a low-priority instruction.

[0104] When the trigger time of the first switching command is the same as that of the second switching command, it is usually not possible to arbitrarily choose which command to execute first. Instead, the current operating mode of the vehicle and the target operating mode to be switched to indicated by the first switching command can be obtained, and the target execution strategy can be determined based on the current operating mode, the target operating mode and the current driving conditions of the vehicle.

[0105] In some embodiments, since switching the vehicle's operating mode may involve gear shifting, the first switching instruction may also include both a vehicle operating mode switching instruction and a front axle gear shifting instruction.

[0106] Different operating modes will have different emphases on vehicle performance. For example, in some operating modes, the vehicle's current power demand is not high, and the focus may be on ensuring that the high-voltage battery is not excessively depleted; in other operating modes, the vehicle's current power demand is high, and the focus may be on the vehicle's rapid power response. When switching vehicle operating modes, the actual needs of the vehicle can be determined based on the current operating mode, the target operating mode to be switched to, and the vehicle's current driving conditions.

[0107] In the above method, if the first switching command is a command to switch the vehicle's operating mode, and the trigger times of the first and second switching commands are different, there is no need to consider the vehicle's current driving conditions. The first and second switching commands are executed sequentially according to their trigger times. This helps avoid simultaneous triggering of mode switching and rear axle shifting, ensuring orderly adjustment of the vehicle's overall state and preventing system malfunctions caused by interference from different commands. If the first and second switching commands are different, the vehicle's current operating mode and the target operating mode indicated by the first switching command can be further obtained. Combined with the vehicle's current driving conditions, a comprehensive target execution strategy can be determined. Different vehicle operating modes have their own unique power output characteristics and impacts on the working state of various vehicle components. Different driving conditions place different demands on the vehicle's performance and stability. By comprehensively considering multiple factors such as the current operating mode, the target operating mode, and the driving conditions to determine the target execution strategy, the most suitable target execution strategy can be determined for the vehicle in complex and diverse real-world driving scenarios.

[0108] Based on this, the target execution strategy for the first switching instruction and the second switching instruction can be determined based on the current operating mode, the target operating mode, and the current driving conditions of the vehicle.

[0109] In one possible implementation, a target execution strategy is determined based on the current operating mode, the target operating mode, and the vehicle's current driving condition. This includes: if the current operating mode is parallel mode and the target operating mode is power split mode, and the vehicle is currently decelerating with the throttle opening less than a second preset threshold, then the target execution strategy is determined as follows: first execute the first switching command, then execute the second switching command; if the current operating mode is power split mode and the target operating mode is parallel mode, and the vehicle is currently accelerating with the throttle opening greater than a third preset threshold, then the target execution strategy is determined as follows: first execute the second switching command, then execute the first switching command; if the current operating mode is power split mode and the target operating mode is pure electric four-wheel drive mode, and the vehicle is currently accelerating, then the target execution strategy is determined as follows: first execute the second switching command, then execute the first switching command.

[0110] It is understandable that if the current operating mode is parallel mode and the target operating mode is power split mode, the first switching instruction is to switch the operating mode from parallel mode to power split mode.

[0111] For example, when the vehicle is in parallel mode, if the vehicle is in a scenario where the accelerator is released and the brake is applied, that is, the vehicle is currently decelerating and the accelerator opening is less than the second preset opening threshold, if the first switching command of the vehicle's operating mode and the second switching command of the rear axle gear are triggered at the same time, the target execution strategy is determined to be: execute the first switching command first, and then execute the second switching command.

[0112] Understandably, the aforementioned second preset throttle opening threshold can be set according to actual needs, such as 5%. If the throttle opening is less than 5%, it means that the driver is currently controlling the vehicle to decelerate and brake by releasing the throttle.

[0113] If the vehicle is in a scenario where the accelerator and brake are being released, it indicates that the vehicle does not currently require excessive power output. The first switching command is to switch the operating mode from parallel mode to power-split mode. Since the power output of the front-drive motor in power-split mode is higher than that in parallel mode, the vehicle's actual need is to ensure that the high-voltage battery is fully charged. Therefore, the first switching command can be executed first, i.e., switching the operating mode from parallel mode to power-split mode. After completing the switching of operating modes, executing the second switching command can further optimize the overall power distribution of the vehicle.

[0114] Furthermore, if the current operating mode is power-split mode and the target operating mode is parallel mode, the first switching command is to switch the operating mode from power-split mode to parallel mode. Conversely, if the current operating mode is power-split mode and the target operating mode is pure electric four-wheel drive mode, the first switching command is to switch the operating mode from power-split mode to pure electric four-wheel drive mode.

[0115] For example, when the vehicle is in power split mode, if the driver controls the vehicle to accelerate by increasing the throttle opening, that is, the vehicle is currently accelerating and the throttle opening is greater than the third preset opening threshold, if the first switching command of the vehicle's operating mode (switching the power split mode to parallel mode or switching the power split mode to pure electric four-wheel drive mode) and the second switching command of the rear axle gear are triggered at the same time, then the target execution strategy is determined to be: execute the second switching command first, and then execute the first switching command.

[0116] Understandably, the aforementioned third preset throttle opening threshold can also be set according to actual needs, such as 60%. If the throttle opening is greater than 60%, it means that the driver is currently controlling the vehicle's acceleration by applying a large throttle.

[0117] Similarly, as mentioned earlier, when a vehicle is accelerating, its speed continuously increases, and the rear axle motor's speed is closely related to this speed. As the vehicle speed increases, the wheel speed also increases, causing the rear axle motor's speed to rise as well. This can lead to the rear axle motor exceeding the speed limit specified for the current gear, resulting in damage due to overspeeding. In power-split mode, more power may be distributed to the rear axle, causing its motor to speed up faster; and because the front axle motor receives relatively less power, its speed increase may be slower than the rear axle motor. Therefore, the rear axle motor is more prone to overspeeding damage than the front axle motor. To prevent rear axle motor damage due to overspeeding, the rear axle gear can be switched first, i.e., the second switching command can be executed first. After switching the rear axle gear, the first switching command can be executed to quickly switch the vehicle's current operating mode to the target operating mode.

[0118] For example, if the first switching instruction is a switching instruction for the vehicle's operating mode, and a second switching instruction for the rear axle gear is received simultaneously with the first switching instruction for the vehicle's operating mode, then the target execution strategies for the first and second switching instructions, determined under different vehicle operating conditions, different first switching instructions, and different triggering conditions (i.e., the order of triggering times mentioned above), can be as shown in Table 2 below:

[0119] Table 2

[0120]

[0121] It is understandable that the driving condition of "releasing the accelerator and braking to decelerate" in Table 2 above can be understood as the driving condition of "decelerating and the throttle opening is less than the second preset opening threshold" mentioned above; the driving condition of "accelerating with a large throttle and then releasing the accelerator" in Table 2 above can be understood as one of the driving conditions of "accelerating and the throttle opening is greater than the third preset opening threshold" mentioned above, or one of the driving conditions of "accelerating". The condition of "changing the mold first, then shifting the gears of the rear axle" in Table 2 above can be understood as prioritizing the execution of the first switching command (changing the mold) and then the execution of the second switching command (shifting the gears of the rear axle), that is, the execution priority of the first switching command is higher than the execution priority of the second switching command; the condition of "shifting the gears of the rear axle first, then changing the mold" in Table 2 above can be understood as prioritizing the execution of the second switching command (shifting the gears of the rear axle) and then the execution of the first switching command (changing the mold), that is, the execution priority of the second switching command is higher than the execution priority of the first switching command.

[0122] Table 2 above can also be stored in the vehicle in advance. When the first switching command for the vehicle's operating mode and the second switching command for rear axle shifting are received simultaneously, the specific target execution strategy corresponding to the first switching command and the second switching command can be determined based on Table 2 above.

[0123] In the above method, when switching the operating mode from parallel mode to power-split mode, if the vehicle is decelerating and the throttle opening is small, it indicates that the vehicle's power demand is low. By first executing the first switching command, i.e., the operating mode switch, the advantages of the power-split mode can be utilized to better recover the vehicle's energy and better charge the vehicle's high-voltage battery, thereby avoiding energy waste and improving energy utilization efficiency. When switching the operating mode from power-split mode to parallel mode, if the vehicle is accelerating and the throttle opening is large, it indicates that the vehicle's power demand is high. As the vehicle speed increases, the rear axle motor may be damaged due to overspeed. By first executing the second switching command, i.e., the rear axle gear shift, damage to the rear axle motor due to overspeed can be avoided, ensuring the motor's safety and contributing to the reliability and durability of the powertrain.

[0124] Furthermore, after determining the target execution strategy corresponding to the first switching instruction and the second switching instruction, the first switching instruction and the second switching instruction can be executed according to the target execution strategy.

[0125] In step 203, the aforementioned target execution strategy refers to whether the first switching instruction is executed first and then the second switching instruction, or the second switching instruction is executed first and then the first switching instruction.

[0126] In one possible implementation, according to the target execution strategy, a first switching instruction is executed, and a second switching instruction is executed, including: executing the first switching instruction and the second switching instruction sequentially according to their execution priorities; wherein, one of the first switching instruction and the second switching instruction is a high-priority switching instruction, and the other is a low-priority switching instruction; when the first switching instruction is a switching instruction for the front axle gear, the low-priority switching instruction is prohibited from being executed during the execution of the high-priority switching instruction; when the first switching instruction is a switching instruction for the vehicle's operating mode, the actual operating parameters of the vehicle are obtained, and based on the actual operating parameters, it is determined whether the low-priority switching instruction should be prohibited from being executed during the execution of the high-priority switching instruction.

[0127] Understandably, based on the execution priority in the target execution strategy, the higher-priority switching instruction and the lower-priority switching instruction are determined from the first and second switching instructions. For example, if the first switching instruction has a higher priority in the target execution strategy, then the first switching instruction is determined as the higher-priority switching instruction, and the second switching instruction is determined as the lower-priority switching instruction.

[0128] Furthermore, when the first switching command is a switching command for the front axle gear, the execution of low-priority switching commands can be prohibited during the execution of high-priority switching commands.

[0129] Understandably, if a low-priority rear axle gear shift is performed simultaneously during a front axle gear shift, the torque from both the front and rear axles might be simultaneously unloaded, causing the vehicle to lose power. This could also lead to chaotic power distribution between the front and rear axles, affecting vehicle stability and handling precision. Therefore, to ensure the vehicle's power and stability and prevent interference with the powertrain, low-priority shift commands should be prohibited from being executed during high-priority shift commands.

[0130] When the first switching command is a command to switch the vehicle's operating mode, the actual operating parameters of the vehicle can be obtained, and based on these actual operating parameters, it can be determined whether to prohibit the execution of low-priority commands during the execution of high-priority commands.

[0131] Understandably, if the first switching command is a command to switch the vehicle's operating mode, it means that the vehicle's operating mode needs to be switched, and it may also be necessary to switch the rear axle gears simultaneously. Normally, when both the first and second switching commands are received simultaneously, the execution of lower-priority commands can be prohibited while the higher-priority command is being executed. However, in some special cases, failure to execute lower-priority commands quickly may lead to damage or malfunction of vehicle components. Therefore, based on the vehicle's actual operating parameters, it can be determined whether to prohibit the execution of lower-priority commands while the higher-priority command is being executed.

[0132] In the above method, during the sequential execution of the first and second switching commands according to their execution priorities, if the first switching command is a front axle gear shifting command, then during the execution of the high-priority switching command, the execution of low-priority commands is strictly prohibited. This avoids the loss of vehicle power caused by simultaneous gear shifting of the front and rear axles, thus improving vehicle safety. If the first switching command is an operating mode shifting command, then by referring to actual operating parameters, it can be determined whether to prohibit the execution of low-priority commands while executing high-priority commands. This allows for a more flexible command execution strategy, enabling the vehicle to better adapt to various complex operating conditions.

[0133] In one possible implementation, the actual operating parameters include the current speed of the front axle transmission input shaft and the current speed of the rear axle motor. The actual operating parameters of the vehicle are obtained, and based on these parameters, it is determined whether to prohibit the execution of a low-priority switching command during the execution of a high-priority switching command. This includes: if the first switching command is to switch the operating mode from parallel mode to power split mode, and the high-priority switching command is the second switching command, then the current speed of the front axle transmission input shaft is obtained; if the current speed of the front axle transmission input shaft is less than a first preset speed, it is determined that the first switching command is allowed to be executed during the execution of the second switching command; if the first switching command is to switch the operating mode from power split mode to parallel mode or from power split mode to pure electric four-wheel drive mode, and the high-priority switching command is the first switching command, then the current speed of the rear axle motor is obtained; if the current speed of the rear axle motor is greater than a second preset speed, it is determined that the second switching command is allowed to be executed during the execution of the first switching command.

[0134] As is understandable, the aforementioned front axle transmission input shaft refers to the shaft connecting the engine output to the front axle transmission. Specifically, in a vehicle's powertrain, the power generated by the engine is typically transmitted to the transmission input shaft via a clutch. Therefore, the speed of the transmission input shaft is closely related to the engine speed.

[0135] The current speed of the aforementioned front axle transmission input shaft can be obtained through a speed sensor in the vehicle.

[0136] The first preset speed can be set according to actual needs. For example, if the current speed of the front axle transmission input shaft is lower than 1200 rpm, there is a risk that the engine will be stalled. In this case, the first preset speed can be set to 1200 rpm.

[0137] For example, if the first switching instruction is determined to be switching the operating mode from parallel mode to power split mode, and the high-priority switching instruction is the second switching instruction (i.e., prioritizing the shifting of the rear axle gears), then the current speed of the front axle transmission input shaft can be obtained. If the vehicle is currently in a scenario of decelerating by releasing the accelerator and braking, the power transmission between the engine and transmission will change significantly, and in parallel mode, the power output of the engine and motor to the front axle will decrease rapidly. Since the speed of the front axle transmission input shaft is related to the wheel speed, the current speed of the front axle transmission input shaft may also decrease rapidly along with the wheel speed.

[0138] If the current speed of the front axle transmission input shaft is less than the first preset speed, it means that the current speed of the front axle transmission input shaft is too low. Since the speed of the front axle transmission input shaft is closely related to the engine speed, as the speed of the front axle transmission input shaft decreases, the engine needs to overcome greater resistance to drive the transmission input shaft to rotate. If the torque output by the engine is insufficient to overcome this resistance, it may cause the engine speed to drop sharply and eventually stall.

[0139] If the first switching command is executed, which switches the vehicle's operating mode from parallel mode to power-split mode, the power distribution can be adjusted in a timely manner, reducing the resistance encountered by the engine directly driving the front axle. Therefore, if the first switching command is to switch the operating mode from parallel mode to power-split mode and the high-priority switching command is the second switching command, and the current speed of the front axle transmission input shaft is less than the first preset speed, the first switching command can be executed without prohibiting (i.e., allowed) during the execution of the second switching command, thereby preventing the engine from stalling.

[0140] In the above method, when the first switching command is to switch the operating mode from parallel mode to power split mode, and the high-priority switching command is the second switching command, the current speed of the front axle transmission input shaft is first obtained. If this speed is less than a first preset speed, it is determined that the first switching command can be executed during the execution of the second switching command. The front axle transmission input shaft is usually connected to the engine. If the current speed of the front axle transmission input shaft is too low, it may stall the engine. To avoid engine stalling, the first switching command can be executed during the execution of the second switching command. That is, during the execution of the second switching command, the vehicle's operating mode is controlled to switch from parallel mode to power split mode, thereby adjusting the power distribution in a timely manner and reducing the resistance faced by the engine directly driving the front axle.

[0141] Furthermore, the current speed of the aforementioned rear axle motor can be obtained through the motor control unit in the vehicle.

[0142] The aforementioned second preset speed can be set according to the current gear position of the rear axle. For example, if the current gear position of the rear axle is 1st gear, the aforementioned second preset speed can be set to the maximum speed specified by the rear axle motor in 1st gear.

[0143] For example, if the first switching command is determined to be switching the operating mode from power-split mode to parallel mode or switching the operating mode from power-split mode to pure electric four-wheel drive mode, and if the high-priority switching command is the first switching command, meaning the vehicle's operating mode needs to be switched first, then the current speed of the rear axle motor can be obtained. If the vehicle is currently in an acceleration driving condition or an acceleration driving condition where the throttle opening is greater than the third preset opening threshold, when the vehicle accelerates with a large throttle opening, the rear axle motor will usually output a large amount of power to propel the vehicle forward. At this time, the speed of the rear axle motor will increase with the increase of vehicle speed. In power-split mode, the power distribution of the vehicle is more complex. The power of the engine and the motor can be split to the front and rear axles through a complex transmission system. When the driver releases the throttle after acceleration, the power demand of the vehicle may suddenly decrease. However, due to the inertia of the vehicle, the vehicle will still maintain a forward motion trend, which may keep the speed of the rear axle motor at a high level.

[0144] If the current speed of the rear axle motor is greater than the maximum speed specified for the current gear of the rear axle, it means that the rear axle motor is currently overspeeding and the current gear of the rear axle needs to be switched immediately. That is, the reason for triggering the above second switching command is that the rear axle motor is overspeeding.

[0145] However, if the second switching command is prohibited during the execution of the first switching command, it may cause damage to the rear axle motor due to overspeed. Therefore, if the first switching command is determined to be switching the operating mode from power split mode to parallel mode or switching the operating mode from power split mode to pure electric four-wheel drive mode, and the high-priority switching command is the first switching command, if the current speed of the rear axle motor is greater than the maximum speed specified by the current gear of the rear axle, it means that the rear axle motor has overspeeded. In order to prevent the rear axle motor from being damaged due to overspeed, the second switching command can be executed without prohibition (i.e., allowed) during the execution of the first switching command.

[0146] In the above method, when the first switching command is to switch the operating mode from power-split mode to parallel mode or from power-split mode to pure electric four-wheel drive mode, and the high-priority switching command is the first switching command, the current speed of the rear axle motor is obtained. If this speed is greater than a second preset speed, it is determined that the second switching command is allowed to be executed during the execution of the first switching command. The fact that the current speed of the rear axle motor is greater than the second preset speed indicates that the rear axle motor is at risk of being damaged due to overspeed. To avoid damage to the rear axle motor due to overspeed, the second switching command can be executed during the execution of the first switching command, that is, the rear axle gears are controlled to switch during the execution of the first switching command, thereby ensuring the safety of the rear axle motor and further ensuring the reliability and durability of the power system.

[0147] Figure 3This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0148] For example, such as Figure 3 As shown, the device 300 includes:

[0149] The first determining module 301 is used to determine the trigger time of the first switching instruction and the trigger time of the second switching instruction when it receives a first switching instruction for the front axle gear or the vehicle's operating mode and a second switching instruction for the rear axle gear.

[0150] The second determining module 302 is used to determine the target execution strategy of the first switching instruction and the second switching instruction based on the trigger time of the first switching instruction, the trigger time of the second switching instruction, and the current driving condition of the vehicle.

[0151] The target execution strategy includes the execution priorities of the first switching instruction and the second switching instruction;

[0152] The execution module 303 is used to execute the first switching instruction and the second switching instruction according to the target execution strategy.

[0153] In one possible implementation, when the first switching instruction is a switching instruction for the front axle gear, the second determining module is specifically used to: if the trigger time of the first switching instruction and the trigger time of the second switching instruction are different, then determine the target execution strategy as follows: execute the first switching instruction and the second switching instruction in the order of their trigger times from first to last; if the trigger time of the first switching instruction and the trigger time of the second switching instruction are the same, then obtain the current operating mode of the vehicle, and determine the target execution strategy based on the current operating mode and the current driving conditions of the vehicle.

[0154] In one possible implementation, the second determining module includes a determining unit, specifically used for: if the current operating mode is in parallel mode, and the vehicle is currently accelerating and the throttle opening is less than a first preset opening threshold, then the target execution strategy is determined to be: first execute the first switching instruction, then execute the second switching instruction; if the current operating mode is in power split mode or pure electric four-wheel drive mode, and the vehicle is currently accelerating, then the target execution strategy is determined to be: first execute the second switching instruction, then execute the first switching instruction.

[0155] In one possible implementation, when the first switching instruction is a switching instruction for the vehicle's operating mode, the second determining module is specifically used to: if the triggering time of the first switching instruction and the triggering time of the second switching instruction are different, determine the target execution strategy as follows: execute the first switching instruction and the second switching instruction in order of their triggering times from first to last; if the triggering time of the first switching instruction and the triggering time of the second switching instruction are the same, obtain the vehicle's current operating mode and the target operating mode to be switched to indicated by the first switching instruction, and determine the target execution strategy based on the current operating mode, the target operating mode, and the vehicle's current driving conditions.

[0156] In one possible implementation, the second determining module includes a determining unit, specifically configured to: if the current operating mode is parallel mode and the target operating mode is power split mode, and the vehicle is currently in a driving condition of deceleration and throttle opening less than a second preset opening threshold, then determine the target execution strategy as: first execute the first switching instruction, then execute the second switching instruction; if the current operating mode is power split mode and the target operating mode is parallel mode, and the vehicle is currently in a driving condition of acceleration and throttle opening greater than a third preset opening threshold, then determine the target execution strategy as: first execute the second switching instruction, then execute the first switching instruction; if the current operating mode is power split mode and the target operating mode is pure electric four-wheel drive mode, and the vehicle is currently in a driving condition of acceleration, then determine the target execution strategy as: first execute the second switching instruction, then execute the first switching instruction.

[0157] In one possible implementation, the execution module is specifically used to execute the first switching instruction and the second switching instruction sequentially according to their execution priorities; wherein, one of the first switching instruction and the second switching instruction is a high-priority switching instruction and the other is a low-priority switching instruction; when the first switching instruction is a switching instruction for the front axle gear, the low-priority switching instruction is prohibited from being executed during the execution of the high-priority switching instruction; when the first switching instruction is a switching instruction for the vehicle's operating mode, the actual operating parameters of the vehicle are obtained, and based on the actual operating parameters, it is determined whether the low-priority switching instruction should be prohibited from being executed during the execution of the high-priority switching instruction.

[0158] In one possible implementation, the actual operating parameters include the current speed of the front axle transmission input shaft and the current speed of the rear axle motor. The execution module includes a judgment unit, specifically used for: if the first switching instruction is to switch the operating mode from parallel mode to power split mode, and the high-priority switching instruction is the second switching instruction, then obtaining the current speed of the front axle transmission input shaft; if the current speed of the front axle transmission input shaft is less than a first preset speed, determining that the first switching instruction can be executed during the execution of the second switching instruction; if the first switching instruction is to switch the operating mode from power split mode to parallel mode or from power split mode to pure electric four-wheel drive mode, and the high-priority switching instruction is the first switching instruction, then obtaining the current speed of the rear axle motor; if the current speed of the rear axle motor is greater than a second preset speed, determining that the second switching instruction can be executed during the execution of the first switching instruction.

[0159] Figure 4 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0160] For example, such as Figure 4 As shown, the vehicle 400 includes a memory 401 and a processor 402. The memory 401 stores executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform a vehicle control method.

[0161] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a vehicle control method provided in embodiments of this application.

[0162] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0163] When each functional module is divided according to its corresponding function, the device may further include a first determining module, a second determining module, and an execution module. It should be noted that all relevant content regarding the steps involved in the above method embodiments can be referenced from the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0164] It should be understood that the device provided in this embodiment is used to execute the above-described vehicle control method, and therefore can achieve the same effect as the above-described implementation method.

[0165] When using an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing relevant program code and data.

[0166] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits shown in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0167] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiments.

[0168] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement a vehicle control method provided in the above embodiment.

[0169] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method provided in the above embodiment.

[0170] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0171] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0172] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or 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 device, 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; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0173] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that, The method includes: Upon receiving a first switching command for the front axle gear or vehicle operating mode, and upon receiving a second switching command for the rear axle gear, the trigger time of the first switching command and the trigger time of the second switching command are determined. Based on the trigger time of the first switching instruction, the trigger time of the second switching instruction, and the current driving condition of the vehicle, a target execution strategy for the first switching instruction and the second switching instruction is determined; wherein, the target execution strategy includes the execution priority of the first switching instruction and the second switching instruction; According to the target execution strategy, execute the first switching instruction and then execute the second switching instruction.

2. The method according to claim 1, characterized in that, When the first switching instruction is a switching instruction for the front axle gear, determining the target execution strategy for the first switching instruction and the second switching instruction based on the trigger time of the first switching instruction, the trigger time of the second switching instruction, and the current driving condition of the vehicle includes: If the trigger time of the first switching instruction is different from the trigger time of the second switching instruction, then the target execution strategy is determined to be: to execute the first switching instruction and the second switching instruction in the order of their trigger times from first to last; If the trigger time of the first switching instruction is the same as the trigger time of the second switching instruction, then the current operating mode of the vehicle is obtained, and the target execution strategy is determined based on the current operating mode and the current driving conditions of the vehicle.

3. The method according to claim 2, characterized in that, The step of determining the target execution strategy based on the current operating mode and the current driving conditions of the vehicle includes: If the current operating mode is in parallel mode, and the vehicle is currently accelerating and the throttle opening is less than the first preset opening threshold, then the target execution strategy is determined to be: first execute the first switching instruction, and then execute the second switching instruction; If the current operating mode is in power split mode or pure electric four-wheel drive mode, and the vehicle is currently in an acceleration driving condition, then the target execution strategy is determined to be: first execute the second switching instruction, and then execute the first switching instruction.

4. The method according to claim 1, characterized in that, When the first switching instruction is a switching instruction for the vehicle's operating mode, determining the target execution strategy for the first switching instruction and the second switching instruction based on the trigger time of the first switching instruction, the trigger time of the second switching instruction, and the vehicle's current driving condition includes: If the trigger time of the first switching instruction is different from the trigger time of the second switching instruction, then the target execution strategy is determined to be: to execute the first switching instruction and the second switching instruction in the order of their trigger times from first to last; If the trigger time of the first switching instruction is the same as the trigger time of the second switching instruction, then the current operating mode of the vehicle and the target operating mode to be switched to indicated by the first switching instruction are obtained, and the target execution strategy is determined based on the current operating mode, the target operating mode and the current driving conditions of the vehicle.

5. The method according to claim 4, characterized in that, The step of determining the target execution strategy based on the current operating mode, the target operating mode, and the vehicle's current driving conditions includes: If the current operating mode is parallel mode and the target operating mode is power split mode, and the vehicle is currently in a driving condition where it is decelerating and the throttle opening is less than the second preset opening threshold, then the target execution strategy is determined to be: first execute the first switching instruction, and then execute the second switching instruction; If the current operating mode is power split mode and the target operating mode is parallel mode, and the vehicle is currently accelerating and the throttle opening is greater than the third preset opening threshold, then the target execution strategy is determined to be: first execute the second switching instruction, and then execute the first switching instruction; If the current operating mode is power split mode and the target operating mode is pure electric four-wheel drive mode, and the vehicle is currently in an acceleration driving condition, then the target execution strategy is determined to be: first execute the second switching instruction, and then execute the first switching instruction.

6. The method according to claim 1, characterized in that, The step of executing the first switching instruction and the second switching instruction according to the target execution strategy includes: According to the execution priority of the first switching instruction and the second switching instruction, the first switching instruction and the second switching instruction are executed sequentially; wherein, one of the first switching instruction and the second switching instruction is a high-priority switching instruction and the other is a low-priority switching instruction; When the first switching instruction is a switching instruction for the front axle gear, the execution of the low-priority switching instruction is prohibited during the execution of the high-priority switching instruction; When the first switching instruction is a switching instruction for the operating mode of the vehicle, the actual operating parameters of the vehicle are obtained, and based on the actual operating parameters, it is determined whether to prohibit the execution of the low-priority switching instruction during the execution of the high-priority switching instruction.

7. The method according to claim 6, characterized in that, The actual operating parameters include the current speed of the front axle transmission input shaft and the current speed of the rear axle motor. The process of acquiring the actual operating parameters of the vehicle and, based on these parameters, determining whether to prohibit the execution of the low-priority switching command during the execution of the high-priority switching command includes: If the first switching instruction is to switch the operating mode from parallel mode to power split mode, and the high-priority switching instruction is the second switching instruction, then the current speed of the front axle transmission input shaft is obtained; If the current speed of the input shaft of the front axle transmission is less than the first preset speed, it is determined that the execution of the first switching command is permitted during the execution of the second switching command; If the first switching instruction is to switch the operating mode from power split mode to parallel mode or switch the operating mode from power split mode to pure electric four-wheel drive mode, and the high-priority switching instruction is the first switching instruction, then the current speed of the rear axle motor is obtained. If the current speed of the rear axle motor is greater than the second preset speed, it is determined that the execution of the second switching command is permitted during the execution of the first switching command.

8. A vehicle control device, characterized in that, The device includes: The first determining module is used to determine the trigger time of the first switching instruction and the trigger time of the second switching instruction when receiving a first switching instruction for the front axle gear or the vehicle's operating mode and a second switching instruction for the rear axle gear. The second determining module is used to determine the target execution strategy of the first switching instruction and the second switching instruction based on the triggering time of the first switching instruction, the triggering time of the second switching instruction, and the current driving condition of the vehicle; wherein the target execution strategy includes the execution priority of the first switching instruction and the second switching instruction; The execution module is configured to execute the first switching instruction and the second switching instruction in accordance with the target execution strategy.

9. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1 to 7.

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