Driving mode switching method and vehicle

Abstract

This application provides a drive mode switching method and a vehicle, relating to the field of vehicle control technology. The method includes responding to a target command instructing the vehicle to switch to a target operating mode; acquiring the vehicle's actual operating mode and the engine's engagement state, whereby the engagement state characterizes the engine's participation in vehicle driving; and switching the vehicle to the target drive mode based on the actual operating mode and engagement state, ensuring that the engagement state is consistent with the engine's engagement state in the target drive mode. This application simplifies the drive mode switching logic, effectively solving the problem of abnormal drive mode switching caused by cumbersome and unclear drive mode switching conditions, thus improving the user's driving experience and driving safety.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a drive mode switching method and a vehicle in the field of vehicle control technology. Background Technology

[0002] In the existing hybrid vehicle drive mode control process, the control logic of the target drive mode is limited by the arbitration result of the vehicle operation mode and cannot be used as an independent variable to directly trigger the switching of drive state. Moreover, there are many types of vehicle operation modes and multiple switching paths between each operation mode, which makes the jump conditions of the actual drive mode extremely complicated. This can easily lead to a mismatch between the operation mode and the actual drive mode, resulting in abnormal jumps in drive mode, which seriously affects the driving experience and driving safety. Summary of the Invention

[0003] This application provides a driving mode switching method and a vehicle. This application aims to solve the problem of abnormal driving mode switching caused by complicated and unclear driving mode switching conditions, so as to improve the user's driving experience and driving safety.

[0004] In a first aspect, a driving mode switching method is provided, the driving mode switching method comprising: responding to a target command instructing the vehicle to switch to a target operating mode; acquiring the actual operating mode of the vehicle and the participation state of the engine, the participation state representing the state in which the engine participates in driving the vehicle; and switching the vehicle to the target driving mode according to the actual operating mode and the participation state, so that the participation state is consistent with the state in which the engine participates in driving the vehicle in the target driving mode.

[0005] Based on the above technical solution, after the vehicle executes the target instruction to switch to the target operating mode, the target driving mode of the vehicle is determined according to the actual operating mode of the vehicle and the engine's participation status. This ensures that the engine's participation status is consistent with the engine's participation in vehicle driving in the target driving mode. This simplifies the driving mode switching logic by introducing the vehicle's actual operating mode as an independent state variable into the transition conditions between engine participation and non-participation in driving, or vice versa. Furthermore, maintaining consistency between the engine's participation status and the engine's participation in vehicle driving in the target driving mode serves as a clear boundary condition for driving mode switching, eliminating the ambiguity of driving mode switching boundaries. This effectively solves the problem of abnormal driving mode transitions caused by cumbersome and unclear driving mode transition conditions, thus improving the user's driving experience and driving safety.

[0006] In one possible implementation, switching the vehicle to the target drive mode based on the actual operating mode and the participation state includes: if the participation state is a non-participating drive state and the actual operating mode is a specific operating mode, determining whether the vehicle meets a first condition and obtaining a determination result, the first condition including at least one of the vehicle's rear axle, rear drive motor, and battery pack being faulty, and the specific operating mode being an operating mode that indicates switching the engine from a non-participating drive state to a participating drive state; determining the target drive mode from the direct-drive four-wheel drive mode and the direct-drive front-wheel drive mode based on the determination result; and switching the vehicle to the target drive mode.

[0007] In one possible implementation, if the participation state is a non-driving state and the actual operation mode is a specific operation mode, the vehicle is judged to determine whether it meets the first condition, and the judgment result includes: if the participation state is a non-driving state and the actual operation mode is one of the direct drive mode, the first idle mode, and the second idle mode in the target operation mode, the vehicle is judged to determine whether it meets the first condition, and the judgment result is obtained; wherein, in the direct drive mode, the vehicle is in the first forward gear, and the engine, the front drive motor, and the rear drive motor are in the driving state; in the first idle mode, the vehicle is in the second forward gear, and the engine, the front drive motor, and the rear drive motor are in the driving state, the first forward gear is higher than the second forward gear, and the second forward gear is the lowest forward gear; in the second idle mode, the engine and the rear drive motor are in the driving state, and the front drive motor is in the generating state.

[0008] In one possible implementation, determining the target drive mode from the direct-drive four-wheel drive mode and the direct-drive front-wheel drive mode based on the judgment result includes: if the judgment result indicates that the vehicle does not meet the first condition, the direct-drive four-wheel drive mode is determined as the target drive mode; if the judgment result indicates that the vehicle meets the first condition, the direct-drive front-wheel drive mode is determined as the target drive mode.

[0009] In one possible implementation, switching the vehicle to the target drive mode based on the actual operating mode and participation status includes: if the participation status is participation drive mode and the actual operating mode is series mode, determining the pure electric rear-wheel drive mode as the target drive mode; and switching the vehicle to the pure electric rear-wheel drive mode.

[0010] In one possible implementation, switching the vehicle to the target drive mode based on the actual operating mode and participation state includes: if the participation state is the participation drive state and the actual operating mode is the third idle mode, determining the pure electric four-wheel drive mode as the target drive mode, wherein in the third idle mode, the engine is in an idle state and the front drive motor and the rear drive motor are in a driving state; and switching the vehicle to the pure electric four-wheel drive mode.

[0011] In one possible implementation, switching the vehicle to the target drive mode based on the actual operating mode and participation status includes: if the participation status is participation drive mode, the actual operating mode is pure electric mode, and the vehicle meets a second condition, determining the pure electric front-wheel drive mode as the target drive mode, the second condition including a failure of the vehicle's rear axle and / or rear drive motor; and switching the vehicle to the pure electric front-wheel drive mode.

[0012] In one possible implementation, switching the vehicle to the target drive mode based on the actual operating mode and participation status includes: if the participation status is participation drive mode, the actual operating mode is pure electric mode, and the vehicle meets a third condition, the pure electric rear-wheel drive mode is determined as the target drive mode, the third condition being that the torque demand power corresponding to the driver's demand torque is less than the power threshold; and the vehicle is switched to the pure electric rear-wheel drive mode.

[0013] In one possible implementation, switching the vehicle to the target drive mode based on the actual operating mode and participation status includes: if the participation status is participation drive mode, the actual operating mode is pure electric mode, and the vehicle meets the fourth condition, the pure electric four-wheel drive mode is determined as the target drive mode, the fourth condition includes the driver's required torque being greater than the torque threshold, or the flag of the pure electric four-wheel drive mode being activated; and the vehicle is switched to the pure electric four-wheel drive mode.

[0014] Secondly, a drive mode switching device is provided, the drive mode switching device comprising: The information acquisition module is used to respond to the target command that instructs the vehicle to switch to the target operating mode, acquire the actual operating mode of the vehicle and the participation status of the engine, and the participation status represents the state of the engine participating in the vehicle driving. The mode switching module is used to switch the vehicle to the target drive mode according to the actual operating mode and participation status, so that the participation status is consistent with the state in which the engine participates in driving the vehicle in the target drive mode.

[0015] In one possible implementation, the mode switching module is used to determine whether the vehicle meets a first condition if the participation state is a non-driving state and the actual operation mode is a specific operation mode, and obtain a judgment result. The first condition includes at least one of the vehicle's rear axle, rear drive motor, and battery pack failing. The specific operation mode is an operation mode that indicates switching the engine from a non-driving state to a driving state. Based on the judgment result, a target driving mode is determined from the direct-drive four-wheel drive mode and the direct-drive front-wheel drive mode. The vehicle is then switched to the target driving mode.

[0016] In one possible implementation, the mode switching module is used to determine whether the vehicle meets a first condition and obtain a judgment result if the participation state is a non-driving state and the actual operation mode is one of the direct drive mode, the first idle mode, and the second idle mode in the target operation mode; wherein, in the direct drive mode, the vehicle is in the first forward gear, and the engine, the front drive motor, and the rear drive motor are in the driving state; in the first idle mode, the vehicle is in the second forward gear, and the engine, the front drive motor, and the rear drive motor are in the driving state, the first forward gear is higher than the second forward gear, and the second forward gear is the lowest forward gear; in the second idle mode, the engine and the rear drive motor are in the driving state, and the front drive motor is in the generating state.

[0017] In one possible implementation, the mode switching module is used to determine the direct-drive four-wheel drive mode as the target drive mode if the judgment result indicates that the vehicle does not meet the first condition; and to determine the direct-drive front-wheel drive mode as the target drive mode if the judgment result indicates that the vehicle meets the first condition.

[0018] In one possible implementation, the mode switching module is used to determine the pure electric rear-wheel drive mode as the target drive mode if the participation state is the participation drive state and the actual operation mode is the series mode; and switch the vehicle to the pure electric rear-wheel drive mode.

[0019] In one possible implementation, the mode switching module is used to determine the pure electric four-wheel drive mode as the target drive mode if the participation state is the participation drive state and the actual operation mode is the third idle speed mode. In the third idle speed mode, the engine is in an idle state, and the front drive motor and the rear drive motor are in a drive state; and switch the vehicle to the pure electric four-wheel drive mode.

[0020] In one possible implementation, the mode switching module is used to determine the pure electric front-wheel drive mode as the target drive mode if the participation state is the participation drive state, the actual operation mode is the pure electric mode, and the vehicle meets a second condition, the second condition including a failure of the vehicle's rear axle and / or rear drive motor; and switch the vehicle to the pure electric front-wheel drive mode.

[0021] In one possible implementation, the mode switching module is used to determine the pure electric rear-wheel drive mode as the target drive mode if the participation state is the participation drive state, the actual operation mode is the pure electric mode, and the vehicle meets a third condition, the third condition being that the torque demand power corresponding to the driver's demand torque is less than the power threshold; and to switch the vehicle to the pure electric rear-wheel drive mode.

[0022] In one possible implementation, the mode switching module is used to determine the pure electric four-wheel drive mode as the target driving mode if the participation state is the participation driving state, the actual operation mode is the pure electric mode, and the vehicle meets the fourth condition, the fourth condition being that the driver's required torque is greater than the torque threshold, or the flag of the pure electric four-wheel drive mode is in an active state; and to switch the vehicle to the pure electric four-wheel drive mode.

[0023] 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 drive mode switching method in the first aspect or any possible implementation thereof.

[0024] Fourthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer, causes the computer to perform the drive mode switching method described in the first aspect or any possible implementation thereof.

[0025] 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 drive mode switching method described in the first aspect or any possible implementation thereof. Attached Figure Description

[0026] Figure 1 A schematic flowchart of a drive mode switching method provided in an embodiment of this application is shown; Figure 2 A hardware architecture diagram of a hybrid vehicle provided in an embodiment of this application is shown; Figure 3 A schematic diagram of the drive logic for the pure electric rear-wheel drive mode provided in an embodiment of this application is shown; Figure 4 A schematic diagram of the drive logic for the pure electric four-wheel drive mode provided in an embodiment of this application is shown; Figure 5 A schematic diagram of the drive logic for the pure electric front-drive mode provided in an embodiment of this application is shown; Figure 6 A schematic diagram of the drive logic for the direct-drive four-wheel drive mode provided in an embodiment of this application is shown; Figure 7 A schematic diagram of the drive logic for the direct-drive front-drive mode provided in an embodiment of this application is shown; Figure 8 A state machine diagram illustrating the transition method of the driving mode in the prior art is shown; Figure 9This illustration shows a schematic diagram of the driving logic for the Idle H mode provided in an embodiment of this application; Figure 10 A schematic diagram of the driving logic for the serial mode provided in an embodiment of this application is shown; Figure 11 A state machine diagram illustrating the transition mode of the driving mode provided in this application is shown; Figure 12 This paper shows a schematic diagram of the structure of a drive mode switching device provided in an embodiment of this application; Figure 13 A schematic diagram of the structure of a vehicle provided in an embodiment of this application is shown. Detailed Implementation

[0027] 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.

[0028] 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.

[0029] In hybrid vehicles, the drive mode is typically defined as a signal characterizing the actual power output of the front and rear axles, specifically divided into target drive mode and actual drive mode. Drive modes include pure electric (EV) front-wheel drive mode, pure electric rear-wheel drive mode, pure electric four-wheel drive mode, direct-drive four-wheel drive mode, and direct-drive front-wheel drive mode. In existing technologies, the target drive mode directly controls the gear shifting mechanisms of the front and rear axles, enabling switching between pure electric front-wheel drive, pure electric rear-wheel drive, and pure electric four-wheel drive modes. It can also switch between direct-drive four-wheel drive and direct-drive front-wheel drive modes by controlling the rear axle gears. However, this control logic has significant limitations: the target drive mode essentially only issues gear shifting commands from the generator side and cannot independently execute the transition from "participating in driving" to "not participating in driving." Specifically, switching from a pure electric mode where the engine is not participating in driving to a direct-drive mode where the engine is participating involves complex physical processes such as engine start-stop, clutch engagement, and torque coupling. Such critical state transitions must rely on the arbitration result of the vehicle's overall operating mode. Under the existing architecture, there are many types of vehicle operation modes, and there are multiple switching paths between each operation mode. This makes the conditions for switching actual driving modes extremely complicated, which can easily lead to a mismatch between the operation mode and the actual driving mode, causing abnormal switching of driving modes and seriously affecting the driving experience and driving safety.

[0030] Based on the above problems, this application provides a driving mode switching method and vehicle. This application aims to simplify the driving mode switching logic and effectively solve the problem of abnormal driving mode switching caused by complicated and unclear driving mode switching conditions, which is conducive to improving the user's driving experience and driving safety.

[0031] The following is an embodiment of a drive mode switching method provided in this application specification.

[0032] Figure 1 A schematic flowchart of a drive mode switching method provided in an embodiment of this application is shown, such as... Figure 1 As shown in the embodiment of this application, a drive mode switching method is applied to a hybrid vehicle (hereinafter referred to as "vehicle"). Figure 2 This application illustrates a hardware architecture diagram of a hybrid vehicle according to an embodiment of the present application, such as... Figure 2As shown, the vehicle includes an engine, a battery pack (i.e., a power battery), a front axle assembly, and a rear axle assembly. The front axle assembly includes a front drive motor, a front axle transmission, a differential, and front wheels. The front axle transmission includes a first clutch K1, a second clutch K2, and four forward gears: G1 (1st gear), G2 (2nd gear), G3 (3rd gear), and G4 (4th gear). The rotor shaft of the front drive motor is coupled to the input shaft of the front axle transmission via K1 / K2. The crankshaft of the engine is connected to the input shaft of the front axle transmission via a dual-mass flywheel. The rear axle assembly includes a rear drive motor, a rear axle transmission, a differential, and rear wheels. The connection relationships between the engine, front drive motor, rear drive motor, battery pack, front axle assembly, and rear axle assembly, as well as the specific fit and installation structure of the various transmission components in the front and rear axle assemblies, are all implemented using existing technology and will not be elaborated upon in this application.

[0033] The vehicle's drive modes include pure electric front-wheel drive mode, pure electric rear-wheel drive mode, pure electric four-wheel drive mode, direct drive four-wheel drive mode, and direct drive front-wheel drive mode. The drive logic of pure electric front-wheel drive mode, pure electric rear-wheel drive mode, pure electric four-wheel drive mode, direct drive four-wheel drive mode, and direct drive front-wheel drive mode is explained below.

[0034] Regarding the pure electric rear-wheel drive mode Figure 3 A schematic diagram of the drive logic for the pure electric rear-wheel drive mode provided in an embodiment of this application is shown. Figure 3 As shown, after the vehicle switches to pure electric rear-wheel drive mode, the even-numbered gears (G2 / G4) in the front axle transmission connected to the second clutch K2 are in neutral, and the first clutch K1 is disengaged; power is output only by the rear drive motor, which drives the vehicle through the rear axle transmission.

[0035] Regarding the pure electric four-wheel drive mode Figure 4 A schematic diagram of the drive logic for the pure electric four-wheel drive mode provided in an embodiment of this application is shown. Figure 4 As shown, after the vehicle switches to pure electric four-wheel drive mode, the odd-numbered gears (G1 / G3) of the front axle transmission and the rear axle transmission are both in gear; the front drive motor and the rear drive motor output power simultaneously to drive the vehicle.

[0036] Regarding the pure electric front-wheel drive mode Figure 5 A schematic diagram of the drive logic for a pure electric front-drive mode provided in an embodiment of this application is shown. Figure 5 As shown, after the vehicle switches to pure electric front-wheel drive mode, the rear axle transmission is in neutral; the front drive motor outputs power, which drives the vehicle by engaging the second clutch K2 and the even-numbered shaft in the front axle transmission.

[0037] Regarding the direct drive four-wheel drive mode Figure 6 A schematic diagram of the drive logic for the direct-drive four-wheel drive mode provided in an embodiment of this application is shown. Figure 6 As shown, after the vehicle switches to direct drive four-wheel drive mode, both the front axle transmission and the rear axle transmission are in gear; the engine directly drives the front axle through the front axle transmission, while the rear drive motor outputs power to drive the rear axle, and the front drive motor selectively outputs power to assist the engine in driving the vehicle, thus achieving four-wheel drive.

[0038] Regarding the direct drive front-wheel drive mode Figure 7 A schematic diagram of the drive logic for the direct-drive front-drive mode provided in an embodiment of this application is shown. Figure 7 As shown, after the vehicle switches to direct drive front-wheel drive mode, the rear axle transmission is in neutral and the front axle transmission is in gear; the engine drives the vehicle directly through the front axle transmission, and the front drive motor selectively outputs power to assist the engine in driving the vehicle.

[0039] Figure 8 This diagram illustrates a state machine representation of the transition mechanism in the driving mode in the prior art, such as... Figure 8 As shown, Figure 8 The lack of a valid transition condition between the drive mode transition logic for "engine not participating in driving" and the drive mode transition logic for "engine participating in driving" stems from a gap in the state transition logic. Specifically, the drive mode transition logic for "engine not participating in driving" covers all pure electric drive modes (pure electric front-wheel drive, pure electric four-wheel drive, pure electric rear-wheel drive), while the drive mode transition logic for "engine participating in driving" covers all engine direct drive modes (direct drive front-wheel drive, direct drive four-wheel drive). Figure 8 The logic shown lists the transitions between various specific drive modes (such as the transition between pure electric four-wheel drive mode and pure electric front-wheel drive mode), but it completely lacks the transition path from "pure electric mode" to "direct drive mode" or from "direct drive mode" to "pure electric mode". This results in a problem of abnormal drive mode transitions due to the complicated and unclear conditions for drive mode transitions.

[0040] The lack of a valid transition condition between the "engine not participating in driving" and "engine participating in driving" logic state modules stems from a gap in the state transition logic. Specifically, the "engine not participating in driving" transition logic state module covers pure electric front-wheel drive, pure electric four-wheel drive, and pure electric rear-wheel drive modes, while the "engine participating in driving" transition logic state module covers direct-drive front-wheel drive and direct-drive four-wheel drive modes. Figure 8 As shown, while the existing logic clearly defines the internal transition paths between specific drive modes (such as the transition between pure electric four-wheel drive mode and pure electric front-wheel drive mode), it completely lacks a trigger mechanism for cross-module switching. This lack of transition conditions prevents the two major transition logic state modules from forming a closed loop, which can easily lead to abnormal transitions in drive modes, seriously affecting the driving experience and driving safety.

[0041] based on Figure 8 The jump logic state modules for "engine not participating in driving" and "engine participating in driving" shown in the previous paper lack a valid jump condition, which can easily lead to abnormal jumps in driving modes. This application analyzes the relationship between the vehicle's operating mode and driving mode, and uses the operating mode as the jump connection between the jump logic state modules for "engine not participating in driving" and "engine participating in driving" to ensure that the driving mode can jump correctly and effectively.

[0042] The vehicle operating modes provided in this application include: direct drive mode, first idle mode (referred to as "Idle C mode"), second idle mode (referred to as "Idle H mode"), third idle mode (referred to as "Idle E mode"), series mode, and pure electric mode.

[0043] In direct drive mode, the vehicle is in the first forward gear, and the engine, front drive motor and rear drive motor are in driving mode, with the front drive motor assisting the engine. In the first idle mode, the vehicle is in the second forward gear, and the engine, front drive motor and rear drive motor are in driving mode, with the front drive motor assisting the engine; the first forward gear is higher than the second forward gear, the second forward gear is the lowest forward gear (i.e. forward gear G1), and the first forward gear is one of forward gears G2, G3 and G4. In the second idle mode, the engine and rear drive motor are in driving mode, while the front drive motor is in generating mode, i.e., charging the battery pack.

[0044] In the third idle mode, the engine is in an idle state (idling state), and the front drive motor and the rear drive motor are in a driving state.

[0045] In series mode, the engine drives the front drive motor to generate electricity to charge the battery pack, while the rear drive motor is in driving mode.

[0046] In pure electric mode, the front drive motor and / or the rear drive motor are in driving mode.

[0047] The relationship between the vehicle's operating mode and drive mode is explained in this application as follows: In direct drive mode or first idle mode, the engine directly participates in the driving force. First idle mode is suitable for low-speed driving conditions that reduce driver torque demand; direct drive mode is suitable for high-speed driving conditions with high driver torque demand. For low-speed driving conditions with low driver torque demand, first idle mode is the optimal choice from the perspective of overall vehicle power and fuel economy; for high-speed driving conditions with high driver torque demand, direct drive mode is the optimal choice from the same perspective. Figure 6 As shown, in direct drive mode, the engine connects to the front axle transmission via the first clutch K1, and outputs power through one of the gears G2-G4 of the front axle transmission. The front drive motor provides power assistance or regenerates electricity through gear G2 or G4, and the rear drive motor outputs power through the rear axle transmission. In the first idle mode, the engine connects to the front axle transmission via the first clutch K1, and outputs power through gear G1 of the front axle transmission. The front drive motor provides power assistance or regenerates electricity through gear G2 or G4, and the rear drive motor outputs power through the rear axle transmission. Therefore, the drive mode corresponding to the direct drive mode or the first idle mode in the operating mode should be a direct drive four-wheel drive mode.

[0048] Figure 9 This document illustrates a schematic diagram of the driving logic for the Idle H mode provided in an embodiment of this application, as shown below. Figure 9 As shown, the second idle mode is suitable for low vehicle speed, low State of Charge (SOC), and no high driver torque demand. Under these conditions, the engine participates in driving, the front axle transmission is in gear G1, and the front drive motor connects to the engine via the second clutch K2 to generate electricity to charge the battery pack. The engine connects to the front axle transmission via the first clutch K1 to output power, and the rear drive motor outputs power via the rear axle transmission. Therefore, the drive mode corresponding to the second idle mode in the operating mode should be a direct-drive four-wheel drive mode.

[0049] The third idle mode is suitable for low vehicle speeds and conditions where there is no high torque demand from the driver. Considering the vehicle's economy and power, it eliminates the need for engine involvement in driving, such as... Figure 4 As shown, the engine is not connected to the front axle transmission and is idling. The vehicle is driven by the front and rear drive motors. Therefore, the third idle mode in the operating modes corresponds to the pure electric four-wheel drive mode.

[0050] Figure 10 A schematic diagram of the driving logic for the serial mode provided in an embodiment of this application is shown, as follows: Figure 10As shown, in series mode, the engine drives the front drive motor to charge the battery pack, while the rear drive motor drives the vehicle. In this state, although the engine is running, it does not participate in driving. Therefore, the drive mode corresponding to series mode in the operating mode should be pure electric rear drive mode.

[0051] Based on the above analysis, the relationship between the driving mode and the operating mode obtained after summarizing and generalizing in this application is shown in Table 1: Table 1

[0052] Figure 11 This application provides a schematic diagram of the state machine for the transition method of the driving mode. Figure 11 As shown, Figure 11 The state machine diagram shown is a state machine diagram of the driving mode jump method optimized based on the content of Table 1. In this application, a jump condition is added between the jump logic state modules of "engine does not participate in driving" and "engine participates in driving". Specifically, the actual operation mode is introduced as an independent state variable into the jump condition of the driving mode from engine participation to engine non-participation, so as to solve the problem of abnormal jump of driving mode caused by the complicated and unclear jump condition of driving mode.

[0053] As shown in Table 1, Figure 1 as well as Figure 11 As shown, the execution subject of the drive mode switching method provided in this application embodiment is the vehicle control unit (VCU), and the drive mode switching method includes the following scheme: S110: In response to the target command instructing the vehicle to switch to the target operating mode, obtain the actual operating mode of the vehicle and the participation status of the engine. The participation status represents the state in which the engine participates in driving the vehicle. S120: Switch the vehicle to the target drive mode according to the actual operating mode and participation status. The target mode refers to the mode in which the drive motor and / or engine participate in the vehicle drive.

[0054] The vehicle configuration of this application has multiple operating modes and multiple drive modes. The operating modes include direct drive mode, first idle mode, second idle mode, third idle mode, series mode and pure electric mode; the drive modes include pure electric front drive mode, pure electric rear drive mode, pure electric four-wheel drive mode, direct drive four-wheel drive mode and direct drive front drive mode; the drive motors include front drive motor and rear drive motor.

[0055] In one exemplary embodiment, the target instruction is an instruction to switch the vehicle to a target operating mode, which can be one of the following: direct drive mode, first idle mode, second idle mode, third idle mode, series mode, and pure electric mode. The target instruction can be triggered actively by the user or automatically by the vehicle. For example, the user can trigger the target instruction by operating the mode switching button on the central control screen, or the vehicle controller can automatically generate it based on the current vehicle operating conditions and a preset control strategy.

[0056] After receiving and executing the target instruction, the system acquires the vehicle's actual operating mode and the engine's engagement status (i.e., actual engagement state). The vehicle's actual operating mode is the current operating mode, which can be one of the following: direct drive mode, first idle mode, second idle mode, third idle mode, series mode, or pure electric mode. This mode may or may not be the same as the target operating mode. The engine engagement state characterizes the engine's participation in driving the vehicle, specifically including engaged driving mode and non-engaged driving mode. If the engagement state is engaged driving mode, it means the engine is driving the vehicle; if the engagement state is non-engaged driving mode, it means the engine is not driving the vehicle.

[0057] After obtaining the vehicle's actual operating mode and the engine's engagement status, the target drive mode is determined based on these parameters. The target drive mode refers to the mode in which the drive motor and / or engine participate in vehicle driving. When the drive modes include pure electric front-wheel drive, pure electric rear-wheel drive, pure electric four-wheel drive, direct-drive four-wheel drive, and direct-drive front-wheel drive, the target drive mode is determined based on the vehicle's actual operating mode and the engine's engagement status. Specifically, based on the vehicle's actual operating mode and the engine's engagement status, a unique drive mode matching the target drive mode is identified from the direct-drive four-wheel drive, direct-drive front-wheel drive, pure electric four-wheel drive, pure electric front-wheel drive, and pure electric rear-wheel drive modes. The target drive mode is then one of these four modes: direct-drive four-wheel drive, direct-drive front-wheel drive, pure electric four-wheel drive, pure electric front-wheel drive, and pure electric rear-wheel drive. The vehicle is then switched to the target drive mode to ensure that the engine's engagement status matches the engine's engagement status in the target drive mode (i.e., whether it is engaged or not engaged), thereby controlling the vehicle to drive based on the target drive mode. For example, if the target drive mode is a direct-drive four-wheel drive mode, then the vehicle's driving will be controlled based on the direct-drive four-wheel drive mode; similarly, if the target drive mode is a pure electric rear-wheel drive mode, then the vehicle's driving will be controlled based on the pure electric rear-wheel drive mode, and so on. The actual operating mode indicates the engine's target engagement state (i.e., whether it is engaged in driving or not). The engine's engagement state in the determined target drive mode is the same as this target engagement state. When the vehicle switches to the target drive mode, the engine's engagement state also needs to switch to the target engagement state indicated by the actual operating mode; that is, the engine's engagement state will remain consistent with the engine's engagement state in the target drive mode.

[0058] Based on the above technical solution, after the vehicle executes the target instruction to switch to the target operating mode, the target driving mode of the vehicle is determined according to the actual operating mode of the vehicle and the engine's participation status. This ensures that the engine's participation status is consistent with the engine's participation in vehicle driving in the target driving mode. This simplifies the driving mode switching logic by introducing the vehicle's actual operating mode as an independent state variable into the transition conditions between engine participation and non-participation in driving, or vice versa. Furthermore, maintaining consistency between the engine's participation status and the engine's participation in vehicle driving in the target driving mode serves as a clear boundary condition for driving mode switching, eliminating the ambiguity of driving mode switching boundaries. This effectively solves the problem of abnormal driving mode transitions caused by cumbersome and unclear driving mode transition conditions, thus improving the user's driving experience and driving safety.

[0059] In one possible implementation, the driver mode switching method also includes the following schemes: S110: In response to the target command instructing the vehicle to switch to the target operating mode, obtain the actual operating mode of the vehicle and the engine engagement status; S1211: If the participation state is non-participation driving state and the actual operation mode is a specific operation mode, determine whether the vehicle meets the first condition and obtain the judgment result. The first condition includes at least one of the vehicle's rear axle, rear drive motor and battery pack failing. The specific operation mode is an operation mode that indicates switching the engine from non-participation driving state to participation driving state. S1212: Determine the target drive mode from the direct drive four-wheel drive mode and the direct drive front-wheel drive mode based on the judgment result; S130: Switch the vehicle to the target drive mode, that is, switch the vehicle to direct drive four-wheel drive mode or direct drive front-wheel drive mode.

[0060] After the vehicle completes the target command, if the engine is detected to be in a non-driving state and the vehicle's actual operating mode is a specific operating mode, it means that the engine needs to be switched from a non-driving state to a driving state. After the engine is switched from a non-driving state to a driving state, the pure electric four-wheel drive mode, pure electric front-wheel drive mode, and pure electric rear-wheel drive mode will not be the target driving mode option. Therefore, the remaining direct-drive four-wheel drive mode and direct-drive front-wheel drive mode will be the target driving mode option.

[0061] When the engine is detected to be in a non-driving state and the vehicle's actual operating mode is a specific operating mode, this application selects either a direct-drive four-wheel drive mode or a direct-drive front-wheel drive mode as the target driving mode based on whether the vehicle meets a first condition (including a failure of at least one of the vehicle's rear axle, rear-drive motor, and battery pack), thereby achieving accurate matching between the target driving mode and the actual operating mode.

[0062] In this application, the direct drive mode, first idle mode, and second idle mode mentioned in the operating modes are all specific operating modes. That is, the direct drive mode, first idle mode, and second idle mode are all operating modes that indicate switching the engine from a non-driving state to a driving state. Therefore, if the driving state is a non-driving state and the actual operating mode is a specific operating mode, determining whether the vehicle meets the first condition and obtaining the determination result specifically includes: if the driving state is a non-driving state and the actual operating mode is one of the direct drive mode, first idle mode, and second idle mode in the target operating mode, then determining whether the vehicle meets the first condition to obtain the determination result.

[0063] Furthermore, the process of determining the target drive mode from the direct-drive four-wheel drive mode and the direct-drive front-wheel drive mode based on the judgment result specifically includes: if the judgment result indicates that the vehicle does not meet the first condition, the direct-drive four-wheel drive mode is determined as the target drive mode; if the judgment result indicates that the vehicle meets the first condition, the direct-drive front-wheel drive mode is determined as the target drive mode.

[0064] If the judgment result indicates that the vehicle meets the first condition, meaning the vehicle cannot drive the rear wheels via the rear axle, then the front wheels can only be driven by the engine and / or drive motor. Since both the direct-drive four-wheel drive mode and the direct-drive front-wheel drive mode among the candidate drive modes require engine participation, the direct-drive front-wheel drive mode is determined as the target drive mode, and the vehicle's movement is then controlled based on this mode. If the judgment result indicates that the vehicle does not meet the first condition, meaning the vehicle can drive the rear wheels via the rear drive motor and also drive the front wheels via the engine and / or drive motor, since both the direct-drive four-wheel drive mode and the direct-drive front-wheel drive mode among the candidate drive modes require engine participation, the direct-drive four-wheel drive mode is determined as the target drive mode, and the vehicle's movement is then controlled based on this mode.

[0065] In one possible implementation, the driver mode switching method also includes the following schemes: S110: In response to the target command instructing the vehicle to switch to the target operating mode, obtain the actual operating mode of the vehicle and the engine engagement status; S1221: If the participation state is the participation drive state and the actual operation mode is the series mode, the pure electric rear drive mode is determined as the target drive mode. S130: Switch the vehicle to pure electric rear-wheel drive mode.

[0066] After the vehicle completes the target command, if the engine is detected to be in a driving state and the vehicle's actual operating mode is in series mode, it means that the engine needs to be switched from a driving state to a non-driving state. The engine still needs to be started to drive the front drive motor to charge the battery pack. The only power source to maintain the vehicle's drive is the rear drive motor. Therefore, based on the vehicle's actual operating mode and the engine's driving state, the target driving mode is determined from the following: direct drive four-wheel drive mode, direct drive front-wheel drive mode, pure electric four-wheel drive mode, pure electric front-wheel drive mode, and pure electric rear-wheel drive mode. Specifically, the pure electric rear-wheel drive mode is determined as the target driving mode, and then the vehicle's driving is controlled based on the pure electric rear-wheel drive mode.

[0067] In one possible implementation, the driver mode switching method also includes the following schemes: S110: In response to the target command instructing the vehicle to switch to the target operating mode, obtain the actual operating mode of the vehicle and the engine engagement status; S1231: If the participation state is the participation driving state and the actual operation mode is the third idle speed mode, the pure electric four-wheel drive mode is determined as the target driving mode; in the third idle speed mode, the engine is in the idle state, and the front drive motor and the rear drive motor are in the driving state. S130: Switch the vehicle to pure electric four-wheel drive mode.

[0068] After the vehicle completes the target command, if the engine is detected to be in a driving state and the vehicle's actual operating mode is the third idle mode, it means that the engine needs to be switched from a driving state to a non-driving state, that is, the engine will not drive the vehicle. The power sources that can drive the vehicle include the front drive motor and the rear drive motor. Therefore, based on the vehicle's actual operating mode and the engine's driving state, the target driving mode is determined from the following modes: direct drive four-wheel drive mode, direct drive front drive mode, pure electric four-wheel drive mode, pure electric front drive mode, and pure electric rear drive mode. Specifically, the pure electric four-wheel drive mode is determined as the target driving mode, and then the vehicle is controlled to drive based on the pure electric four-wheel drive mode.

[0069] In one possible implementation, the driver mode switching method also includes the following schemes: S110: In response to the target command instructing the vehicle to switch to the target operating mode, obtain the actual operating mode of the vehicle and the engine engagement status; S1241: If the participation state is the participation driving state, the actual operation mode is the pure electric mode, and the vehicle meets the second condition, the pure electric front drive mode is determined as the target driving mode. The second condition includes the failure of the vehicle's rear axle and / or rear drive motor. S130: Switch the vehicle to pure electric front-wheel drive mode.

[0070] After the vehicle executes the target command, if the engine is detected to be in a driving state and the vehicle's actual operating mode is pure electric mode, it indicates that the engine needs to be switched from a driving state to a non-driving state. That is, the engine will not drive the vehicle. The power sources capable of driving the vehicle include the front-drive motor and the rear-drive motor. Therefore, the options for the target driving mode include pure electric four-wheel drive mode, pure electric front-wheel drive mode, and pure electric rear-wheel drive mode. To determine which of these three driving modes is selected as the target driving mode, further judgment is made regarding whether the vehicle meets a second condition. The second condition includes a failure of the vehicle's rear axle and / or rear-drive motor. When the engine is engaged in driving mode and the vehicle's actual operating mode is pure electric mode, if the vehicle meets the second condition, it means that the rear wheels cannot be driven by the rear drive motor, and only the front drive motor can drive the front wheels to drive the vehicle. Therefore, based on the vehicle's actual operating mode and the engine's engagement state, the target driving mode is determined from the following: direct drive four-wheel drive mode, direct drive front-wheel drive mode, pure electric four-wheel drive mode, pure electric front-wheel drive mode, and pure electric rear-wheel drive mode. Specifically, the pure electric front-wheel drive mode is determined as the target driving mode, and then the vehicle is controlled based on the pure electric front-wheel drive mode.

[0071] In one possible implementation, the driver mode switching method also includes the following schemes: S110: In response to the target command instructing the vehicle to switch to the target operating mode, obtain the actual operating mode of the vehicle and the engine engagement status; S1251: If the participation state is the participation driving state, the actual operation mode is the pure electric mode, and the vehicle meets the third condition, the pure electric rear drive mode is determined as the target driving mode. The third condition is that the torque demand power corresponding to the driver's demand torque is less than the power threshold. S130: Switch the vehicle to pure electric rear-wheel drive mode.

[0072] After the vehicle executes the target command, if the engine is detected to be in a driving state and the vehicle's actual operating mode is pure electric mode, it indicates that the engine needs to be switched from a driving state to a non-driving state. That is, the engine will not drive the vehicle. The power sources capable of driving the vehicle include the front-drive motor and the rear-drive motor. Therefore, the options for the target driving mode include pure electric four-wheel drive mode, pure electric front-wheel drive mode, and pure electric rear-wheel drive mode. To determine which of these three driving modes is selected as the target driving mode, further judgment is made regarding whether the vehicle meets a third condition. If so, the pure electric rear-wheel drive mode is determined as the target driving mode. The third condition is that the torque demand power corresponding to the driver's required torque is less than a power threshold. When the engine is engaged in driving mode and the vehicle is operating in pure electric mode, if the vehicle meets the third condition, it indicates that the vehicle is under low load. The power demand can be met solely by the output of the rear-drive motor, without needing to control the front-drive motor or the clutch in the front axle transmission. This avoids mechanical losses and control energy consumption caused by front axle intervention, and also reduces transmission losses through the short-path characteristics of the rear-drive motor's direct drive. Therefore, based on the vehicle's actual operating mode and the engine's engagement status, the target driving mode is determined from direct-drive four-wheel drive mode, direct-drive front-wheel drive mode, pure electric four-wheel drive mode, pure electric front-wheel drive mode, and pure electric rear-wheel drive mode. Specifically, the pure electric rear-wheel drive mode is determined as the target driving mode, and then the vehicle's movement is controlled based on the pure electric rear-wheel drive mode.

[0073] In one possible implementation, the driver mode switching method also includes the following schemes: S110: In response to the target command instructing the vehicle to switch to the target operating mode, obtain the actual operating mode of the vehicle and the engine engagement status; S1261: If the participation state is the participation driving state, the actual operation mode is the pure electric mode, and the vehicle meets the fourth condition, the pure electric four-wheel drive mode is determined as the target driving mode. The fourth condition includes the driver's required torque being greater than the torque threshold, or the flag of the pure electric four-wheel drive mode being activated. S130: Switch the vehicle to pure electric four-wheel drive mode.

[0074] After the vehicle executes the target command, if the engine is detected to be in a driving state and the vehicle's actual operating mode is pure electric mode, it indicates that the engine needs to be switched from a driving state to a non-driving state. That is, the engine will not drive the vehicle. Power sources capable of driving the vehicle include the front-drive motor and the rear-drive motor. Therefore, the options for the target driving mode include pure electric four-wheel drive mode, pure electric front-wheel drive mode, and pure electric rear-wheel drive mode. To determine which of these driving modes is selected as the target driving mode, further judgment is made regarding whether the vehicle meets a fourth condition. If so, the pure electric four-wheel drive mode is determined as the target driving mode. The fourth condition includes the driver's required torque being greater than the torque threshold, or the pure electric four-wheel drive mode flag being active. When the engine is engaged in driving mode and the vehicle's actual operating mode is pure electric mode, if the vehicle meets the fourth condition, it means that the vehicle is under high load (such as rapid acceleration, hill climbing, etc.), and the output capacity of a single front-drive motor or rear-drive motor is insufficient to meet the driver's torque requirements. Both the front-drive motor and the rear-drive motor need to work together to drive the vehicle. Alternatively, it means that the user has chosen to have both the front-drive motor and the rear-drive motor work together to drive the vehicle based on their driving needs. Therefore, based on the vehicle's actual operating mode and the engine's engagement status, the target driving mode is determined from the following options: direct-drive four-wheel drive mode, direct-drive front-wheel drive mode, pure electric four-wheel drive mode, pure electric front-wheel drive mode, and pure electric rear-wheel drive mode. Specifically, the pure electric four-wheel drive mode is determined as the target driving mode, and then the vehicle is controlled based on the pure electric four-wheel drive mode.

[0075] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0076] Figure 12 This paper shows a schematic diagram of the structure of a drive mode switching device provided in an embodiment of this application, as shown below. Figure 12 As shown, the drive mode switching device 1200 includes: The information acquisition module 1210 is used to respond to the target command that instructs the vehicle to switch to the target operating mode, acquire the actual operating mode of the vehicle and the participation status of the engine, and the participation status represents the state of the engine participating in the vehicle driving. The mode switching module 1220 is used to switch the vehicle to the target drive mode according to the actual operating mode and participation status, so that the participation status is consistent with the state in which the engine participates in driving the vehicle in the target drive mode.

[0077] In one possible implementation, the mode switching module 1220 is used to determine whether the vehicle meets a first condition if the participation state is a non-driving state and the actual operation mode is a specific operation mode, and obtain a judgment result. The first condition includes at least one of the vehicle's rear axle, rear drive motor, and battery pack failing. The specific operation mode is an operation mode that indicates switching the engine from a non-driving state to a driving state. Based on the judgment result, a target driving mode is determined from the direct-drive four-wheel drive mode and the direct-drive front-wheel drive mode. The vehicle is then switched to the target driving mode.

[0078] In one possible implementation, the mode switching module 1220 is used to determine whether the vehicle meets a first condition and obtain a judgment result if the participation state is a non-driving state and the actual operation mode is one of the direct drive mode, the first idle mode, and the second idle mode in the target operation mode; wherein, in the direct drive mode, the vehicle is in the first forward gear, and the engine, the front drive motor, and the rear drive motor are in the driving state; in the first idle mode, the vehicle is in the second forward gear, and the engine, the front drive motor, and the rear drive motor are in the driving state, the first forward gear is higher than the second forward gear, and the second forward gear is the lowest forward gear; in the second idle mode, the engine and the rear drive motor are in the driving state, and the front drive motor is in the generating state.

[0079] In one possible implementation, the mode switching module 1220 is used to determine the direct drive four-wheel drive mode as the target drive mode if the judgment result indicates that the vehicle does not meet the first condition; and to determine the direct drive front-wheel drive mode as the target drive mode if the judgment result indicates that the vehicle meets the first condition.

[0080] In one possible implementation, the mode switching module 1220 is used to determine the pure electric rear-wheel drive mode as the target drive mode if the participation state is the participation drive state and the actual operation mode is the series mode; and switch the vehicle to the pure electric rear-wheel drive mode.

[0081] In one possible implementation, the mode switching module 1220 is used to determine the pure electric four-wheel drive mode as the target drive mode if the participation state is the participation drive state and the actual operation mode is the third idle speed mode. In the third idle speed mode, the engine is in the idle state and the front drive motor and the rear drive motor are in the drive state; and switch the vehicle to the pure electric four-wheel drive mode.

[0082] In one possible implementation, the mode switching module 1220 is used to determine the pure electric front-wheel drive mode as the target drive mode if the participation state is the participation drive state, the actual operation mode is the pure electric mode, and the vehicle meets a second condition, the second condition including the failure of the vehicle's rear axle and / or rear drive motor; and switch the vehicle to the pure electric front-wheel drive mode.

[0083] In one possible implementation, the mode switching module 1220 is used to determine the pure electric rear-wheel drive mode as the target drive mode if the participation state is the participation drive state, the actual operation mode is the pure electric mode, and the vehicle meets a third condition, the third condition being that the torque demand power corresponding to the driver's demand torque is less than the power threshold; and to switch the vehicle to the pure electric rear-wheel drive mode.

[0084] In one possible implementation, the mode switching module 1220 is used to determine the pure electric four-wheel drive mode as the target drive mode if the participation state is the participation drive state, the actual operation mode is the pure electric mode, and the vehicle meets the fourth condition, the fourth condition being that the driver's required torque is greater than the torque threshold, or the flag of the pure electric four-wheel drive mode is in an active state; and to switch the vehicle to the pure electric four-wheel drive mode.

[0085] It should be noted that the drive mode switching device provided in the above embodiments is only illustrated by the division of the above functional modules when executing the drive mode switching method. 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. In addition, the drive mode switching device and drive mode switching method embodiments provided in the above embodiments belong to the same concept. Therefore, for details not disclosed in the device embodiments of this application, please refer to the above embodiments of the drive mode switching method of this application, which will not be repeated here.

[0086] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0087] Figure 13 This application provides a schematic diagram of the structure of a vehicle according to an embodiment of the present application. Figure 13 As shown, the vehicle 1300 includes a memory 1301 and a processor 1302. The memory 1301 stores executable program code 13011, and the processor 1302 is used to call and execute the executable program code 13011 to perform a drive mode switching method.

[0088] This embodiment can divide the vehicle into functional modules according to the above method example. For example, each function can be assigned to a separate module, 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.

[0089] When each functional module is divided according to its corresponding function, the vehicle may include: an information acquisition module, a mode switching module, etc. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0090] The vehicle provided in this embodiment is used to execute the above-described drive mode switching method, and thus can achieve the same effect as the above implementation method.

[0091] When using integrated units, the vehicle may include a processing module and a storage module. The processing module is used to control and manage the vehicle's movements. The storage module is used to support the vehicle in executing relevant program code and data.

[0092] The processing module may be a processor or a controller, which can implement or execute the various exemplary logic blocks, modules, and circuits described 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.

[0093] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, it causes the computer to execute the above-described related method steps to implement a drive mode switching method in the above embodiment.

[0094] 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 drive mode switching method as described in the above embodiment.

[0095] In addition, the vehicle provided in the embodiments of this application may specifically be a chip, component or module. The vehicle may include a connected processor and a memory. The memory is used to store instructions. When the vehicle is running, the processor may call and execute the instructions to make the chip execute a drive mode switching method in the above embodiments.

[0096] In this embodiment, the vehicle, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding drive mode switching method provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects in the corresponding drive mode switching method provided above, and will not be repeated here.

[0097] 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.

[0098] 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.

[0099] 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 switching drive modes, characterized in that, The drive mode switching method includes: In response to a target command instructing the vehicle to switch to a target operating mode, the actual operating mode of the vehicle and the participation status of the engine are obtained, wherein the participation status represents the state in which the engine participates in driving the vehicle; The vehicle is switched to the target drive mode according to the actual operating mode and the participation state, so that the participation state is consistent with the state in which the engine participates in driving the vehicle in the target drive mode.

2. The drive mode switching method according to claim 1, characterized in that, The step of switching the vehicle to the target driving mode according to the actual operating mode and the participation status includes: If the participation state is a non-driving state and the actual operation mode is a specific operation mode, determine whether the vehicle meets the first condition and obtain the determination result. The first condition includes at least one of the vehicle's rear axle, rear drive motor and battery pack failing. The specific operation mode is an operation mode that indicates switching the engine from a non-driving state to a driving state. The target drive mode is determined from the direct-drive four-wheel drive mode and the direct-drive front-wheel drive mode based on the judgment result; Switch the vehicle to the target drive mode.

3. The drive mode switching method according to claim 2, characterized in that, If the participation state is a non-participation driving state and the actual operation mode is a specific operation mode, the determination of whether the vehicle meets the first condition and the determination result includes: If the participation state is non-participation driving state and the actual operation mode is one of the direct drive mode, first idle mode and second idle mode in the target operation mode, determine whether the vehicle meets the first condition and obtain the determination result; In the direct drive mode, the vehicle is in the first forward gear, and the engine, front drive motor and rear drive motor are in a driving state. In the first idle mode, the vehicle is in the second forward gear, and the engine, the front drive motor and the rear drive motor are in a driving state. The first forward gear is higher than the second forward gear, and the second forward gear is the lowest forward gear. In the second idle mode, the engine and the rear drive motor are in driving mode, and the front drive motor is in generating mode.

4. The drive mode switching method according to claim 2, characterized in that, The step of determining the target drive mode from the direct-drive four-wheel drive mode and the direct-drive front-wheel drive mode based on the judgment result includes: If the judgment result indicates that the vehicle does not meet the first condition, the direct drive four-wheel drive mode is determined as the target drive mode; If the judgment result indicates that the vehicle meets the first condition, the direct drive front-wheel drive mode is determined as the target drive mode.

5. The drive mode switching method according to claim 1, characterized in that, The step of switching the vehicle to the target driving mode according to the actual operating mode and the participation status includes: If the participation state is the participation driving state and the actual operation mode is the series mode, the pure electric rear-drive mode is determined as the target driving mode. Switch the vehicle to the pure electric rear-wheel drive mode.

6. The drive mode switching method according to claim 1, characterized in that, The step of switching the vehicle to the target driving mode according to the actual operating mode and the participation status includes: If the participation state is the participation driving state and the actual operation mode is the third idle speed mode, the pure electric four-wheel drive mode is determined as the target driving mode, wherein, in the third idle speed mode, the engine is in the idle speed state and the front drive motor and the rear drive motor are in the driving state. Switch the vehicle to the pure electric four-wheel drive mode.

7. The drive mode switching method according to claim 1, characterized in that, The step of switching the vehicle to the target driving mode according to the actual operating mode and the participation status includes: If the participation state is the participation driving state, the actual operation mode is the pure electric mode, and the vehicle meets the second condition, the pure electric front-wheel drive mode is determined as the target driving mode, and the second condition includes the failure of the rear axle and / or the rear drive motor of the vehicle. Switch the vehicle to the pure electric front-wheel drive mode.

8. The drive mode switching method according to claim 1, characterized in that, The step of switching the vehicle to the target driving mode according to the actual operating mode and the participation status includes: If the participation state is the participation driving state, the actual operation mode is the pure electric mode, and the vehicle meets the third condition, the pure electric rear-wheel drive mode is determined as the target driving mode, and the third condition is that the torque demand power corresponding to the driver's demand torque is less than the power threshold. Switch the vehicle to the pure electric rear-wheel drive mode.

9. The drive mode switching method according to claim 1, characterized in that, The step of switching the vehicle to the target driving mode according to the actual operating mode and the participation status includes: If the participation state is the participation driving state, the actual operation mode is the pure electric mode, and the vehicle meets the fourth condition, the pure electric four-wheel drive mode is determined as the target driving mode. The fourth condition includes the driver's required torque being greater than the torque threshold, or the flag of the pure electric four-wheel drive mode being in an active state. Switch the vehicle to the pure electric four-wheel drive mode.

10. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor is configured to call and run the executable program code from the memory, causing the vehicle to perform the drive mode switching method as described in any one of claims 1 to 9.

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