Vehicle and control method therefor, and computer-readable storage medium

Abstract

A vehicle and a control method therefor. The method comprises: acquiring operation information of a vehicle in a two-wheel drive state (S101); when it is determined according to the operation information that the vehicle has a need to switch to a four-wheel drive state, controlling a rotation speed of a target electric motor to reach a target rotation speed, wherein the target electric motor is an electric motor that is not started when the vehicle is in the two-wheel drive state (S102); controlling the target electric motor to engage with a disengagement apparatus (3) in the vehicle (S103); and during the engagement between the target electric motor and the disengagement apparatus (3), loading the target electric motor with an engagement torque that matches acceleration information of the vehicle (S104). A rotation speed difference between the target electric motor and a gear of the disengagement apparatus (3) is reduced, thereby reducing noise produced by the vehicle entering the four-wheel drive state.

Description

Vehicle, control method thereof, and computer-readable storage medium Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle, a control method thereof, and a computer-readable storage medium. Background Art

[0002] With the improvement of people's living standards, vehicles have become a common means of transportation in people's daily lives.

[0003] The vehicle is equipped with two-wheel drive and four-wheel drive driving modes. Two-wheel drive means that the vehicle drives two wheels to move, and four-wheel drive means that the vehicle drives four wheels to move. When the vehicle has power requirements (such as large throttle) or four-wheel drive requirements (such as slipping, unpaved roads), the vehicle will switch from two-wheel drive to four-wheel drive. The vehicle connects the motor to the drive shaft by combining the motor with the disengagement device, so that the motor is connected to the wheel connected to the drive shaft.

[0004] The motor's gears mesh with the gears of the disengaging device, coupling the motor and the disengaging device. However, due to the vehicle's inherent acceleration, the undriven wheels also experience a certain degree of acceleration. The disengaging device is connected to the undriven wheels via a drive shaft, so the gears of the disengaging device themselves experience a certain degree of acceleration. When the motor's gears mesh with the gears of the disengaging device, the acceleration of the gears creates a certain speed difference between the motor and the gears of the disengaging device, causing a collision between the motor's gears and the gears of the disengaging device, resulting in damage to the vehicle and loud noise.

[0005] Summary of the Invention

[0006] The present application provides a vehicle, a control method thereof, and a computer-readable storage medium, for solving the problem of large noise generated when a vehicle switches from two-wheel drive to four-wheel drive.

[0007] In one aspect, the present application provides a vehicle control method, comprising:

[0008] Obtaining operating information of a vehicle in a two-wheel drive state;

[0009] When it is determined according to the operating information that the vehicle has a need to switch to a four-wheel drive state, controlling the speed of a target motor to reach a target speed, the target motor being a motor that is not started when the vehicle is in a two-wheel drive state;

[0010] controlling the target motor to engage with a disengagement device in the vehicle;

[0011] During the coupling process between the target motor and the disengagement device, a coupling torque matching the acceleration information of the vehicle is applied to the target motor.

[0012] In one possible design, after the step of applying a coupling torque matching the acceleration information of the vehicle to the target motor during coupling between the target motor and the disengagement device, the method further includes:

[0013] After the target motor is coupled with the disengaging device, determining a target torque of the target motor in the four-wheel drive state;

[0014] The torque of the target motor is loaded to the target torque.

[0015] In one possible design, before the step of determining the target torque of the target motor in the four-wheel drive state, the method further includes:

[0016] Stop loading the target motor with the combined torque, and determine a target duration according to the combined torque and a corresponding torque decay rate, where the target duration indicates a duration for the combined torque to decay to zero;

[0017] The target motor is loaded with a distributed torque within the target duration.

[0018] In one possible design, it also includes:

[0019] In the process of loading the torque of the target motor to the target torque, the torque of the power source of the vehicle is controlled so that the sum of the torque of the target motor and the torque of the power source is equal to the total torque required for the vehicle to travel.

[0020] In one possible design, during the process of coupling the target motor with the disengagement device, the step of applying a coupling torque matching the acceleration information of the vehicle to the target motor includes:

[0021] During the coupling process between the target motor and the disengagement device, obtaining the driving acceleration of the vehicle or the speed acceleration of the power source of the vehicle, wherein the acceleration information includes the driving acceleration or the speed acceleration;

[0022] A combined torque is determined according to the driving acceleration or the speed acceleration, and the combined torque is applied to the target motor.

[0023] In one possible design, during the process of coupling the target motor with the disengagement device, the step of applying a coupling torque matching the acceleration information of the vehicle to the target motor includes:

[0024] During the coupling process between the target motor and the disengagement device, obtaining a braking torque of the vehicle, a torque of a power source of the vehicle, and a slope of a road on which the vehicle is located, wherein the acceleration information includes the braking torque, the torque of the power source, and the slope;

[0025] A combined torque is determined according to the braking torque, the torque of the power source, and the slope, and the combined torque is applied to the target motor.

[0026] In one possible design, during the process of coupling the target motor with the disengagement device, the step of applying a coupling torque matching the acceleration information of the vehicle to the target motor includes:

[0027] During the process of coupling the target motor with the disengagement device, obtaining a first opening degree of an accelerator pedal of the vehicle, a second opening degree of a brake pedal of the vehicle, and a slope of a road on which the vehicle is located, the acceleration information including the first opening degree, the second opening degree, and the slope;

[0028] A coupling torque is determined according to the first opening, the second opening, and the slope, and the coupling torque is applied to the target motor.

[0029] In another aspect, the present application also provides a vehicle, comprising:

[0030] An acquisition module, used for acquiring operation information of a vehicle in a two-wheel drive state;

[0031] a first control module configured to control a rotational speed of a target motor to reach a target rotational speed when it is determined according to the operating information that the vehicle has a need to switch to a four-wheel drive state, the target motor being an inactive motor when the vehicle is in a two-wheel drive state;

[0032] a second control module, configured to control the target motor to engage with a disengagement device in the vehicle;

[0033] A loading module is used to load a coupling torque matching the acceleration information of the vehicle onto the target motor during the coupling process between the target motor and the disengagement coupling device.

[0034] In another aspect, the present application also provides a vehicle, comprising:

[0035] An acquisition module, used for acquiring operation information of a vehicle in a two-wheel drive state;

[0036] a first control module configured to control a rotational speed of a target motor to reach a target rotational speed when it is determined according to the operating information that the vehicle has a need to switch to a four-wheel drive state, the target motor being an inactive motor when the vehicle is in a two-wheel drive state;

[0037] a second control module, configured to control the target motor to engage with a disengagement device in the vehicle, wherein the engagement of the target motor with the disengagement device is used to cause the vehicle to enter a four-wheel drive state;

[0038] A loading module is used to load a coupling torque matching the acceleration information of the vehicle onto the target motor during the coupling process between the target motor and the disengagement coupling device.

[0039] In another aspect, the present application further provides a vehicle, comprising: a processor, and a memory communicatively connected to the processor;

[0040] The memory stores computer-executable instructions;

[0041] The processor executes the computer-executable instructions stored in the memory to implement the method described above.

[0042] On the other hand, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the above-mentioned method when executed by a processor.

[0043] The vehicle, control method, and computer-readable storage medium provided in the present application obtain operating information of a vehicle in a two-wheel drive state. When it is determined based on the operating information that the vehicle needs to switch to a four-wheel drive state, the speed of an unactivated target motor is controlled to reach a target speed, and the target motor is then controlled to engage with a disengagement device in the vehicle. During the engagement process between the target motor and the disengagement device, a coupling torque matching the vehicle acceleration information is applied to the target motor. In the present application, during the engagement process between the motor and the disengagement device, a coupling torque matching the vehicle acceleration information is applied to the motor, so that the gears of the motor have a speed matching the vehicle speed, thereby reducing the speed difference between the gears of the disengagement device and the gears of the motor, thereby reducing the impact force generated when the target motor and the gears of the disengagement device are engaged, and reducing the noise generated when the vehicle enters four-wheel drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] FIG1 is a flow chart of a first embodiment of a vehicle control method provided by the present application;

[0045] FIG2 is a schematic structural diagram of a vehicle involved in this application;

[0046] FIG3 is a schematic structural diagram of a first motor assembly of a vehicle involved in this application;

[0047] FIG4 is a schematic structural diagram of the disengagement and coupling device involved in this application;

[0048] FIG5 is a flow chart of a second embodiment of a vehicle control method provided by the present application;

[0049] FIG6 is a flow chart of a third embodiment of a vehicle control method provided by the present application;

[0050] FIG7 is a flow chart of a fourth embodiment of a vehicle control method provided by the present application;

[0051] FIG8 is a flow chart of a fifth embodiment of a vehicle control method provided by the present application;

[0052] FIG9 is a flow chart of a sixth embodiment of a vehicle control method provided by the present application;

[0053] FIG10 is a schematic diagram of a state where the vehicle involved in the present application switches to four-wheel drive control;

[0054] FIG11 is a schematic diagram of the modules of the vehicle of the present application;

[0055] FIG12 is a schematic diagram of the hardware structure of the vehicle of the present application. DETAILED DESCRIPTION

[0056] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0057] With the improvement of people's living standards, vehicles have become a common means of transportation in people's daily lives.

[0058] The vehicle is equipped with two-wheel drive and four-wheel drive driving modes. Two-wheel drive means that the vehicle drives two wheels to move, and four-wheel drive means that the vehicle drives four wheels to move. When the vehicle has power requirements (such as large throttle) or four-wheel drive requirements (such as slipping, unpaved roads), the vehicle will switch from two-wheel drive to four-wheel drive. The vehicle connects the motor to the drive shaft by combining the motor with the disengagement device, so that the motor is connected to the wheel connected to the drive shaft.

[0059] The inventors of this application discovered that meshing the motor's gear with the gear of the disengagement device allows the motor and the disengagement device to be coupled. However, due to the vehicle's inherent acceleration, the undriven wheel also experiences a certain acceleration. Since the disengagement device is connected to the undriven wheel via a drive shaft, the gear of the disengagement device itself experiences a certain acceleration. When the motor's gear engages the gear of the disengagement device, the acceleration of the gear of the disengagement device creates a certain speed difference between the motor and the gear of the disengagement device, causing the motor's gear and the gear of the disengagement device to collide, resulting in damage to the vehicle and generating considerable noise.

[0060] The inventors of the present application therefore conceived that, during the coupling process between the motor and the disengaging device, the motor is loaded with a coupling torque that matches the vehicle acceleration information, so that the gears of the motor have a speed that matches the vehicle speed, thereby reducing the speed difference between the gears of the disengaging device and the gears of the motor, thereby reducing the impact force generated when the target motor and the gears of the disengaging device are engaged, and reducing the noise generated when the vehicle enters four-wheel drive.

[0061] The following describes the application scenarios of the vehicle control method of the present application. In one application scenario, when the vehicle is in a two-wheel drive state, if it is detected that the accelerator of the vehicle is deeply depressed, the vehicle has a need to switch to four-wheel drive. In another application scenario, when the vehicle detects an operation to switch to four-wheel drive mode, the vehicle has a need to switch to four-wheel drive. In yet another application scenario, the vehicle can determine that the vehicle has a need to switch to four-wheel drive when it detects wheel locking, slipping, drive shaft failure, wheel failure, reduced road adhesion coefficient, and the vehicle recognizes that the road is bumpy.

[0062] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0063] 1 , which is a flow chart of a first embodiment of a vehicle control method of the present application, includes the following steps:

[0064] Step S101: Acquire the operating information of a vehicle in a two-wheel drive state.

[0065] In this embodiment, the execution subject may be a vehicle or a control device of the vehicle, and the control device is used to control the vehicle.

[0066] Exemplarily, referring to FIG2 , the vehicle includes a first motor assembly, a second power source assembly, wheels, half-axles, a high-voltage battery, and a control device. The first motor assembly and the second power source assembly are connected to the high-voltage battery via a high-voltage line. The control device may be a CPU (Central Processing Unit), which is connected to the high-voltage battery via a signal line. The first motor assembly is connected to the wheels via half-axles, and the second power source assembly is connected to the wheels via half-axles, and both the first motor assembly and the second power source assembly are signal-connected to the control device. The first motor assembly includes a motor and a disengagement device. The second power source assembly includes a power source, which may be a motor or a fuel engine. The first motor assembly may be connected to the second power source assembly via a shaft or a gear, and the second power source assembly drives the wheels connected to the first motor assembly. In addition, the disengagement device may also be assembled into the second power source assembly.

[0067] Further, referring to Figure 3, the first motor assembly includes a motor 1, a motor output shaft (first shaft) 2, a disengagement device 3, a first gear 4, a second gear 4, a third gear 6, a second shaft 7, a fourth gear 8, a third shaft 9, and a differential 10. The disengagement device 3 transmits and interrupts torque by disconnecting or connecting the mechanical structure between the motor 1 and the differential. The disengagement device 3 can be provided on the motor output shaft 2, the second shaft 7, or the third shaft 9. Preferably, the disengagement device 3 is provided on the motor output shaft 2 or the second shaft 7.

[0068] Referring further to Figure 4 , the disengagement device 3 includes a coupling tooth (passive tooth) 31, a gear hub (active tooth) 32, a gear sleeve 33, and a shift fork slot 34. The shift fork, through the shift fork slot 34, pushes the gear sleeve 33 toward or away from the coupling tooth (passive tooth) 31 to achieve engagement or disengagement. The gear hub (active tooth) 32 is located on the gear sleeve 33. When engaged, the gear hub (active tooth) 32 meshes with the coupling tooth (passive tooth) 31 to achieve a mechanical connection between the motor 1 and the first and second shafts 2 and 7. When disengaged, the gear hub (active tooth) 32 disengages from the coupling tooth (passive tooth) 31.

[0069] For ease of description, this embodiment will be described below with a vehicle as the execution entity.

[0070] In two-wheel drive mode, the motor is not activated. In this mode, the vehicle acquires real-time operating information. This information includes vehicle speed, acceleration, motor speed, shaft speed, wheel speed, motor torque, drive mode (e.g., two-wheel drive, four-wheel drive), accelerator pedal position, brake pedal position, braking force, regenerative torque, brake pedal status, grade, drive mode setting, maximum / minimum drive torque, torque distribution status, available battery discharge power, available battery charge power, anti-skid / anti-lock braking module operating status, anti-skid / anti-lock braking module torque request, and road surface conditions.

[0071] Vehicle speed, acceleration, and slope information can be measured by the vehicle's own sensors or external measurement equipment. Vehicle acceleration can also be calculated from the vehicle's speed. Motor torque can be either the actual torque generated by the motor or the torque required to be generated by the motor. Braking force refers to the braking force provided by the mechanical brake system through friction. Feedback torque refers to the torque generated by the motor's braking.

[0072] Step S102 : When it is determined based on the operating information that the vehicle needs to switch to the four-wheel drive state, the speed of the target motor is controlled to reach a target speed. The target motor is a motor that is not started when the vehicle is in the two-wheel drive state.

[0073] After obtaining the operating information, the vehicle determines whether the vehicle needs to switch to the four-wheel drive state based on the operating information.

[0074] In one example, the vehicle obtains the position of the accelerator pedal from operating information, and the opening of the accelerator pedal can be determined by the position of the accelerator pedal. When the opening is greater than a preset opening, it is determined that the driver has stepped deeply on the accelerator and expects the vehicle to accelerate, that is, the vehicle has the need to switch to four-wheel drive state.

[0075] In another example, the vehicle obtains an instruction from the operating information, and the instruction is an instruction to enter the four-wheel drive state, and the vehicle has a need to switch to the four-wheel drive state.

[0076] In another example, the state of the brake pedal is obtained from the operating information. If the state indicates that the vehicle is in a locked state, the vehicle needs to switch to a four-wheel drive state.

[0077] In another example, if it is determined based on the operating information that there is wheel slippage, drive shaft failure, wheel failure, reduced road adhesion coefficient, or bumpy road surface, the vehicle needs to switch to a four-wheel drive state.

[0078] When it is determined that the vehicle has the need to switch to the four-wheel drive state, the vehicle needs to first adjust the speed of the target motor, that is, control the speed of the target motor to reach the target speed. The target motor is the motor that is not started when the vehicle is in the two-wheel drive state. The vehicle can obtain the target speed by converting the shaft speed or speed of the shaft where the target motor is located by speed ratio. The target speed can also be the speed of the motor in the second power source assembly. In addition, the target speed can also be obtained by converting the speed of the vehicle. In addition, the target speed can be a value within the speed range, and the speed range is obtained by the speed ± speed deviation calculated by the vehicle. Preferably, the speed deviation is less than 50rpm.

[0079] The speed of the target motor is adjusted to the target speed in order to control the speed of the motor and the speed of the disengaged drive shaft within a certain range, so that the disengagement device can smoothly combine the motor and the drive shaft, and can reduce the impact of the gears when the two are combined, thereby reducing collision noise.

[0080] Step S103 , controlling the target motor to engage with a disengagement device in the vehicle.

[0081] Step S104 : During the coupling process between the target motor and the disengaging coupling device, a coupling torque matching the acceleration information of the vehicle is applied to the target motor.

[0082] When the speed of the target motor reaches the target speed, the device controls the target motor to engage with the disengagement device, so that the target motor is connected to the drive shaft, thereby enabling the target motor to drive the wheels connected to the drive shaft, that is, the vehicle switches from a two-wheel drive state to a four-wheel drive state.

[0083] In order to smoothly connect the target motor with the drive shaft, the influence of vehicle acceleration needs to be considered when the target motor is coupled with the disengagement device. If the vehicle acceleration is large, the speed of the drive shaft will increase during the coupling process. The rotation speed of the drive shaft will increase the rotation speed of the gear of the disengagement device, and thus the speed difference between the gear of the target motor and the gear of the disengagement device will also increase, resulting in a greater impact when the motor and the gear of the disengagement device are engaged.

[0084] In this regard, during the process of coupling the target motor with the disengaging coupling device, the vehicle loads the target motor with a coupling torque that matches the acceleration information of the vehicle. And the acceleration information is used to indicate the current acceleration of the vehicle, so the coupling torque can accelerate the target motor, so that the speed difference between the gear of the target motor and the gear of the disengaging coupling device is smaller, thereby reducing the impact force generated by the engagement of the gears of the target motor and the disengaging coupling device, and reducing noise. The coupling torque can be determined by a table stored in the vehicle, which is composed of the vehicle's speed, acceleration information and coupling torque. It should be noted that the vehicle realizes torque loading by controlling the current or voltage of the target motor.

[0085] In this embodiment, operating information of a vehicle in a two-wheel drive state is obtained. When it is determined based on the operating information that the vehicle needs to switch to a four-wheel drive state, the speed of the unactivated target motor is controlled to reach a target speed. The target motor is then controlled to engage with a disengaging device in the vehicle. During the engagement process of the target motor and the disengaging device, a coupling torque matching the vehicle acceleration information is applied to the target motor. In this application, during the engagement process of the motor and the disengaging device, the coupling torque matching the vehicle acceleration information is applied to the motor, so that the gears of the motor have a speed matching the vehicle speed, thereby reducing the speed difference between the gears of the disengaging device and the gears of the motor, thereby reducing the impact force generated when the target motor and the gears of the disengaging device engage, and reducing the noise generated when the vehicle enters four-wheel drive.

[0086] 5 , which shows a second embodiment of the vehicle control method of the present application, based on the first embodiment, after step S204, further comprising:

[0087] Step S501 : After the target motor is coupled with the disengaging device, a target torque of the target motor in a four-wheel drive state is determined.

[0088] Step S502 : Loading the torque of the target motor to the target torque.

[0089] In this embodiment, after the target motor is coupled with the disengaged motor, the vehicle needs to distribute torque to the target motor so that the vehicle moves forward.

[0090] In this regard, after the target motor is coupled to the disengagement device, the vehicle determines the target torque of the target motor in the four-wheel drive state, and then loads the torque of the target motor to the target torque. In one example, the target torque can be a fixed value.

[0091] Furthermore, after the vehicle enters the four-wheel drive state from the two-wheel drive state, the vehicle's required torque is certain, and the sum of the target torque of the target motor and the torque of the power source is equal to the required torque. Therefore, in the process of loading the torque of the target motor to the target torque, the vehicle needs to control the torque of the power source so that the sum of the torque of the target motor and the torque of the power source is equal to the required torque.

[0092] The demanded torque is determined by the driver's needs. Specifically, the vehicle obtains the current accelerator pedal opening and calculates the undetermined torque using a mapping between opening and torque, as well as the current accelerator pedal opening. The demanded torque is then corrected using a correction factor associated with the vehicle's driving mode, such as cruise control.

[0093] In this embodiment, after the target motor is coupled with the disengaging device, the target torque of the target motor in the four-wheel drive state is determined, and the target motor is loaded to the target torque, so that the vehicle can move in the four-wheel drive state.

[0094] 6 , which shows a third embodiment of the vehicle control method of the present application, based on the second embodiment, step S501 includes:

[0095] In step S601 , after the target motor is coupled with the disengaging device, the coupling torque is stopped from being applied to the target motor, and a target duration is determined based on the coupling torque and the corresponding torque decay rate. The target duration indicates the duration for the coupling torque to decay to zero.

[0096] In this embodiment, the coupling torque is loaded to the target motor during the coupling process between the target motor and the disengaging device. When the target motor is coupled with the disengaging motor, the vehicle no longer loads the coupling torque on the motor, that is, stops loading the coupling torque on the target motor, and the coupling torque loaded on the target motor will gradually decay to zero.

[0097] After the target motor is coupled with the disengaging device, the target motor needs a period of time to adapt to the coupling with the disengaging device, that is, after a period of time, the meshing state between the motor and the gears of the disengaging device is adjusted to a better state, so that the target motor can smoothly transition to the target motor loading target torque. The duration of this period of time is defined as the target duration. After the vehicle stops loading the coupling torque on the target motor, the vehicle determines the target duration based on the coupling torque and the torque attenuation rate corresponding to the coupling torque. The torque attenuation rate can be a fixed value. In addition, the torque attenuation rate can also be the real-time value of the coupling torque, that is, the torque attenuation rate is calculated by the coupling torque at the previous moment and the coupling torque at the current moment. It can be understood that the target duration is used to indicate the duration for the coupling torque to decay to zero.

[0098] Step S602 : Loading and distributing torque to the target motor within the target duration to determine the target torque of the target motor in the four-wheel drive state.

[0099] The target motor requires a certain speed to adapt to the disengagement device, so the vehicle loads and distributes torque to the target motor within the target duration.

[0100] Furthermore, the speed difference between the target motor and the gear of the disengaging device needs to be maintained within a certain range, while the engagement torque is attenuated. Therefore, the distributed torque applied to the target motor by the vehicle during the target duration increases over time, thereby ensuring that the torque of the target motor is greater than or equal to the engagement torque at the time the target motor and the disengaging device are fully engaged. For example, the distributed torque may increase at a fixed or variable slope.

[0101] When the current time point reaches the end time point of the target duration, the vehicle still loads the target motor with the distributed torque until the distributed torque reaches the target torque. During the process of the distributed torque reaching the target torque, the distributed torque still increases according to a fixed or variable slope.

[0102] In this embodiment, the vehicle stops loading the coupling torque on the target motor, and determines the target duration based on the coupling torque and the corresponding torque attenuation rate, thereby loading the target motor with the distributed torque within the target duration, so that the target motor and the gear of the disengagement device are within a certain speed difference, thereby reducing the noise generated by the vehicle.

[0103] 7 , which shows a fourth embodiment of the vehicle control method of the present application, based on any one of the first to third embodiments, step S204 includes:

[0104] Step S701 : During the coupling process between the target motor and the disengagement device, the vehicle's driving acceleration or the speed acceleration of the vehicle's power source is obtained, where the acceleration information includes the driving acceleration or the speed acceleration.

[0105] In this embodiment, during the coupling process between the target motor and the disengagement device, the vehicle will obtain the vehicle's driving acceleration or the speed acceleration of the vehicle's power source in real time, that is, the vehicle's acceleration information includes the driving acceleration or the speed acceleration.

[0106] Step S702 : determining a combined torque according to the driving acceleration or the speed acceleration, and applying the combined torque matching the acceleration information of the vehicle to the target motor.

[0107] The combined torque can be determined by the driving acceleration or the speed acceleration, for example, T 12 =K*a, where T 12is the coupling torque, K is the conversion factor, and a is the driving acceleration or speed acceleration. Of course, a can also be the wheel speed acceleration of the power source. Of course, the vehicle can also query the coupling torque corresponding to the driving acceleration or speed acceleration in a table. After the vehicle calculates the coupling torque, it immediately applies the coupling torque to the target motor. It will be understood that during the coupling process between the target motor and the disengagement device, the coupling torque applied to the target motor is determined based on the vehicle's real-time acceleration information.

[0108] In this embodiment, the vehicle accurately determines the engagement torque through driving acceleration or speed acceleration, so that the speed difference between the target motor and the gear of the disengagement device is small, thereby achieving smooth engagement of the target motor and the disengagement device.

[0109] 8 , which shows a fifth embodiment of the vehicle control method of the present application, based on any one of the first to third embodiments, step S204 includes:

[0110] Step S801 , during the coupling process between the target motor and the disengagement device, the braking torque of the vehicle, the torque of the power source of the vehicle, and the slope of the road on which the vehicle is located are obtained, and the acceleration information includes the braking torque, the torque of the power source, and the slope.

[0111] In this embodiment, during the process of the target motor being engaged with the disengagement device, the vehicle will obtain the vehicle's braking torque, the torque of the vehicle's power source, and the slope of the road on which the vehicle is located in real time, that is, the vehicle's acceleration information includes the braking torque, the torque of the power source, and the slope.

[0112] Step S802 : determining a combined torque according to the braking torque, the torque of the power source, and the slope, and applying the combined torque to the target motor.

[0113] The braking torque, the torque of the power source and the slope can determine the combined torque, for example, T 12 =K1*T R +K2*T B +K3*α, where K1, K2, and K3 are conversion coefficients, and T R is the torque of the power source, T B is the braking torque, and α is the road slope.

[0114] Of course, the vehicle can also query the table for the corresponding engagement torque for the braking torque, power source torque, and slope. After the vehicle instantly calculates the engagement torque, it immediately applies the engagement torque to the target motor. It will be understood that during the engagement of the target motor with the disengagement device, the engagement torque applied to the target motor is determined based on the vehicle's real-time acceleration information.

[0115] In this embodiment, the vehicle accurately determines the engagement torque through the braking torque, the torque of the power source and the slope, so that the speed difference between the gears of the target motor and the disengagement device is small, thereby achieving smooth engagement of the target motor and the disengagement device.

[0116] 9 , which shows a sixth embodiment of the vehicle control method of the present application, based on any one of the first to third embodiments, step S204 includes:

[0117] Step S901, during the coupling process between the target motor and the disengagement device, obtain a first opening of the vehicle's accelerator pedal, a second opening of the vehicle's brake pedal, and a slope of the road on which the vehicle is located, wherein the acceleration information includes the first opening, the second opening, and the slope.

[0118] In this embodiment, during the process of the target motor being engaged with the disengagement device, the vehicle will obtain in real time the first opening of the vehicle's accelerator pedal, the second opening of the vehicle's brake pedal, and the slope of the road on which the vehicle is located, that is, the vehicle's acceleration information includes the first opening, the second opening, and the slope.

[0119] Step S902 : determining a coupling torque according to the first opening, the second opening, and the slope, and applying the coupling torque to the target motor.

[0120] The first opening, the second opening and the slope can determine the combined torque. For example, T 12 =K1*Acc+K2*Br+K3*α, where K1, K2, and K3 are conversion coefficients, Acc is the accelerator pedal opening, Br is the brake pedal opening, and α is the road slope.

[0121] Of course, the vehicle can also query the table for the engagement torque corresponding to the first opening degree, the second opening degree, and the slope. After the vehicle instantly calculates the engagement torque, it immediately applies the engagement torque to the target motor. It will be understood that during the engagement of the target motor with the disengagement device, the engagement torque applied to the target motor is determined based on the vehicle's real-time acceleration information.

[0122] In this embodiment, the vehicle accurately determines the engagement torque through the first opening, the second opening and the slope, so that the speed difference between the target motor and the gear of the disengagement device is small, thereby achieving smooth engagement of the target motor and the disengagement device.

[0123] Based on the above embodiment, a brief description is given of how a vehicle switches from a two-wheel drive state to a four-wheel drive state.

[0124] Referring to Figure 10 , the vehicle receives a join request at time t0, indicating a desire for the vehicle to enter four-wheel drive. A join request of 0 indicates the vehicle is still in two-wheel drive, while a join request of 1 indicates the vehicle is switching to or entering four-wheel drive.

[0125] At time t0, the vehicle enters the speed control of the first motor (target motor) from the two-wheel drive state (two-wheel drive state) until the speed of the first motor reaches the target speed. The time when the target speed is reached is t1. During t0-t1, the torque T of the second power source (the second power source is the power source in the above embodiment) R is the driver's required torque, the torque of the first motor T E The speed-regulating torque is controlled by the motor speed loop. That is, the vehicle is driven by the second power source.

[0126] At time t1, the vehicle's control state switches to coupling control and coupling torque control. Coupling control refers to coupling the first motor with the disengagement device. At time t2, the first motor and the disengagement device are completely coupled. That is, the period from t1 to t2 is the period of control of the coupling action of the first motor and the disengagement device. Coupling torque control refers to the period from t1 to t2 when the coupling torque T is applied to the first motor. 12 From t1 to t2, the torque of the second power source is the driver's demand torque.

[0127] At time t2, the vehicle's control state switches to combined torque transition control, and at time t2, the vehicle no longer loads the combined torque on the first motor. Therefore, during the combined torque transition control process, the combined torque is attenuated, and the combined torque is attenuated to 0 at time t3. At time t3, the vehicle completes the combined torque transition control. During the combined torque transition control process, the vehicle will request the first motor to allocate torque T F1 , and T F1 It increases with time, that is, T F1 It increases at a certain slope, so that the combined transition torque T 23 =T F1 +T 23’ , T 23’ is the damped coupling torque, T 23 is the torque of the first motor from t2 to t3.

[0128] At time t3, the vehicle's control state switches to torque distribution transition control. During this stage, the vehicle still loads and distributes torque to the first motor, and the loaded distribution torque is T 34 , and T 34 Changes with a certain slope as time increases ， Until T 34The target torque is reached, and the moment when the target torque is reached is time t4. At time t4, the torque distribution transition control ends, thereby completing the switch from two-wheel drive to four-wheel drive. In addition, T F =T F1 =T 34 , T F It can be expressed as the first motor torque.

[0129] The present application also provides a vehicle. Referring to FIG. 11 , the vehicle 1100 includes:

[0130] An acquisition module 1110 is configured to acquire operating information of a vehicle in a two-wheel drive state;

[0131] a first control module 1120 for controlling the speed of a target motor to reach a target speed when it is determined based on the operating information that the vehicle needs to switch to a four-wheel drive state, the target motor being an inactive motor when the vehicle is in a two-wheel drive state;

[0132] A second control module 1130 is used to control the target motor to engage with the disengagement device in the vehicle;

[0133] The loading module 1140 is configured to load a coupling torque matching the acceleration information of the vehicle onto the target motor during the coupling process between the target motor and the disengagement device.

[0134] In one embodiment, the vehicle 1100 further includes:

[0135] a determination module, configured to determine a target torque of the target motor in a four-wheel drive state after the target motor is coupled with the disengagement device;

[0136] The loading module 1140 is further configured to load the torque of the target motor to the target torque.

[0137] In one embodiment, the determining module includes:

[0138] a determination unit, configured to stop applying the combined torque to the target motor and determine a target duration based on the combined torque and a corresponding torque decay rate, the target duration being used to indicate a duration for the combined torque to decay to zero;

[0139] The first loading unit is configured to load and distribute torque to the target motor within a target duration.

[0140] In one embodiment, the vehicle 1100 further includes:

[0141] The third control module is used to control the torque of the vehicle's power source during the process of loading the torque of the target motor to the target torque so that the sum of the torque of the target motor and the torque of the power source is equal to the total torque required for the vehicle to travel.

[0142] In one embodiment, the loading module 1140 includes:

[0143] a first acquiring unit, configured to acquire a driving acceleration of the vehicle or a speed acceleration of a power source of the vehicle during the coupling process between the target motor and the disengagement device, wherein the acceleration information includes the driving acceleration or the speed acceleration;

[0144] The second loading unit is configured to determine a combined torque according to the driving acceleration or the speed acceleration, and to load the combined torque onto the target motor.

[0145] In one embodiment, the loading module 1140 includes:

[0146] a second acquiring unit, configured to acquire, during the process of coupling the target motor to the disengaging device, a braking torque of the vehicle, a torque of a power source of the vehicle, and a slope of a road on which the vehicle is located, wherein the acceleration information includes the braking torque, the torque of the power source, and the slope;

[0147] The third loading unit is configured to determine a combined torque according to the braking torque, the torque of the power source, and the slope, and to load the combined torque to the target motor.

[0148] In one embodiment, the loading module 1140 includes:

[0149] a third acquiring unit, configured to acquire, during the process of coupling the target motor to the disengaging device, a first opening degree of an accelerator pedal of the vehicle, a second opening degree of a brake pedal of the vehicle, and a slope of a road on which the vehicle is located, wherein the acceleration information includes the first opening degree, the second opening degree, and the slope;

[0150] The fourth loading unit is configured to determine a coupling torque according to the first opening, the second opening, and the slope, and to load the coupling torque onto the target motor.

[0151] FIG12 is a hardware structure diagram of a vehicle according to an exemplary embodiment.

[0152] Vehicle 1200 may include a processor 121, such as a CPU, a memory 122, and a transceiver 123. Those skilled in the art will appreciate that the structure shown in FIG. 12 does not limit the vehicle and may include more or fewer components than shown, or combinations of certain components, or different component arrangements. Memory 122 may be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0153] The processor 121 can call the computer program or computer execution instructions stored in the memory 122 to complete all or part of the steps of the above-mentioned vehicle control method.

[0154] The transceiver 123 is used to receive information sent by an external device and send information to the external device.

[0155] An electronic device comprises: a processor, and a memory communicatively connected to the processor;

[0156] Memory stores computer-executable instructions;

[0157] The processor executes the computer-executable instructions stored in the memory to implement the vehicle control method of any of the above embodiments.

[0158] A non-transitory computer-readable storage medium, when the instructions (computer-executable instructions) in the storage medium are executed by a processor of a vehicle, enables the vehicle to execute the above-mentioned vehicle control method.

[0159] A computer program product includes a computer program, which, when executed by a processor of a vehicle, enables the vehicle to execute the above-mentioned vehicle control method.

[0160] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0161] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: Obtaining operation information of a vehicle in a two-wheel drive state; When it is determined according to the operation information that the vehicle has a need to switch to a four-wheel drive state, controlling the speed of a target motor to reach a target speed, the target motor being a motor that is not started when the vehicle is in a two-wheel drive state; Controlling the target motor to engage with a disengagement device in the vehicle; During the process of coupling the target motor with the disengagement coupling device, a coupling torque matching the acceleration information of the vehicle is loaded on the target motor.

2. The vehicle control method according to claim 1, characterized in that: After the step of loading the target motor with a coupling torque matching the acceleration information of the vehicle during the coupling process between the target motor and the disengagement coupling device, the method further includes: After the target motor is coupled with the disengagement device, determining a target torque of the target motor in the four-wheel drive state; The torque of the target motor is loaded to the target torque.

3. The vehicle control method according to claim 2, characterized in that: Before the step of determining the target torque of the target motor in the four-wheel drive state, the method further includes: Stop loading the target motor with the combined torque, and determine a target duration according to the combined torque and a corresponding torque decay rate, wherein the target duration is used to indicate a duration for the combined torque to decay to zero; The target motor is loaded with a distributed torque within the target time period.

4. The vehicle control method according to claim 2, characterized in that: Also includes: In the process of loading the torque of the target motor to the target torque, the torque of the power source of the vehicle is controlled so that the sum of the torque of the target motor and the torque of the power source is equal to the total torque required for the vehicle to travel.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: The step of loading the target motor with a coupling torque matching the acceleration information of the vehicle during the coupling process between the target motor and the disengagement coupling device comprises: During the process of the target motor being coupled to the disengagement device, obtaining the driving acceleration of the vehicle or the speed acceleration of the power source of the vehicle, wherein the acceleration information includes the driving acceleration or the speed acceleration; A combined torque is determined according to the driving acceleration or the rotational speed acceleration, and the combined torque is applied to the target motor.

6. The vehicle control method according to any one of claims 1 to 4, characterized in that: The step of loading the target motor with a coupling torque matching the acceleration information of the vehicle during the coupling process between the target motor and the disengagement coupling device comprises: During the process of coupling the target motor with the disengagement coupling device, obtaining the braking torque of the vehicle, the torque of the power source of the vehicle, and the slope of the road on which the vehicle is located, wherein the acceleration information includes the braking torque, the torque of the power source, and the slope; A combined torque is determined according to the braking torque, the torque of the power source, and the slope, and the combined torque is applied to the target motor.

7. The vehicle control method according to any one of claims 1 to 4, characterized in that: The step of loading the target motor with a coupling torque matching the acceleration information of the vehicle during the coupling process between the target motor and the disengagement coupling device comprises: During the process of coupling the target motor with the disengagement coupling device, obtaining a first opening degree of an accelerator pedal of the vehicle, a second opening degree of a brake pedal of the vehicle, and a slope of a road on which the vehicle is located, wherein the acceleration information includes the first opening degree, the second opening degree, and the slope; A combined torque is determined according to the first opening, the second opening, and the slope, and the combined torque is applied to the target motor.

8. A vehicle, characterized in that: include: An acquisition module, used for acquiring operation information of a vehicle in a two-wheel drive state; a first control module, configured to control the rotation speed of a target motor to reach a target rotation speed when it is determined according to the operation information that the vehicle has a need to switch to a four-wheel drive state, the target motor being a motor that is not started when the vehicle is in a two-wheel drive state; A second control module, used for controlling the target motor to engage with a disengagement device in the vehicle; A loading module is used to load a coupling torque matching the acceleration information of the vehicle on the target motor during the coupling process between the target motor and the disengagement coupling device.

9. A vehicle, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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