Vehicle control method, storage medium and vehicle

Abstract

The present disclosure belongs to the technical field of vehicles. Provided are a vehicle control method, a storage medium and a vehicle. The method comprises: when a vehicle is in a low-speed four-wheel drive state, acquiring vehicle state information; and when the vehicle state information meets a mode switching condition, controlling the vehicle to switch from the current drive mode to a low-speed direct-drive mode, and controlling the vehicle to travel in the low-speed direct-drive mode, wherein in the low-speed direct-drive mode, a clutch of the vehicle is in a slipping state, and an engine is in a drive state. In the embodiments of the present disclosure, by means of developing a low-speed direct-drive mode, on the one hand, an engine is enabled to drive a vehicle in a low-speed scenario, so as to effectively solve the problem of the power consumption of the vehicle being excessively high during traveling in winter, thereby improving the power retention capability of the vehicle; on the other hand, the vehicle is enabled to be always maintained in a four-wheel drive state in a low-speed state, so as to effectively avoid the skidding and fishtailing of the vehicle in snowy weather, thereby ensuring the travel safety of the vehicle.

Description

Vehicle control methods, storage media and vehicles Technical Field

[0001] This disclosure relates to the field of vehicle technology, and in particular to a vehicle control method, a storage medium, and a vehicle.

[0002] Background of the Invention

[0003] To adapt to different road conditions and driving needs, new energy vehicles are usually equipped with multiple drive modes, including series mode, pure electric four-wheel drive mode and direct drive mode.

[0004] In related technologies, because the engine is prone to stalling when a vehicle is driving at low speeds in direct drive mode, new energy vehicles typically switch to pure electric four-wheel drive mode to ensure driving safety at low speeds in snowy weather. However, because new energy vehicles consume energy faster in winter, when the high-voltage battery charge is low, the vehicle will not be able to support four-wheel drive and will switch to series mode to drive in two-wheel drive mode. At this time, the vehicle is prone to slippage or fishtailing. Summary of the Invention

[0005] This disclosure provides a vehicle control method, a storage medium, and a vehicle to address the problem that current vehicle driving modes cannot effectively meet the low-speed driving needs of vehicles in snowy weather.

[0006] To solve the above problems, the present disclosure adopts the following technical solution:

[0007] In a first aspect, embodiments of this disclosure provide a vehicle control method, the method comprising:

[0008] When the vehicle is in low-speed four-wheel drive mode, obtain vehicle status information;

[0009] When the vehicle status information meets the mode switching conditions, the vehicle is controlled to switch from the current driving mode to the low-speed direct drive mode, and the vehicle is controlled to drive in the low-speed direct drive mode; wherein, in the low-speed direct drive mode, the vehicle's clutch is in a slipping state and the engine is in a driving state.

[0010] Secondly, based on the same inventive concept, embodiments of this disclosure provide a computer-readable storage medium having an executable program stored thereon, which, when executed by a processor, implements the vehicle control method proposed in the first aspect of this disclosure.

[0011] Thirdly, based on the same inventive concept, embodiments of this disclosure provide a vehicle, including:

[0012] Memory, used to store executable programs;

[0013] processor;

[0014] When the executable program is executed by the processor, the vehicle control method proposed in the first aspect of this disclosure is implemented.

[0015] Compared with the prior art, this disclosure includes the following advantages:

[0016] This disclosure provides a vehicle control method that, when the vehicle is in a low-speed four-wheel drive state, acquires vehicle status information and, when the vehicle status information meets the mode switching conditions, controls the vehicle to switch from the current driving mode to a low-speed direct drive mode, and controls the vehicle to drive in the low-speed direct drive mode. In the low-speed direct drive mode, the vehicle's clutch is in a slipping state, and the engine is in a driving state. This disclosure, by developing a low-speed direct drive mode, on the one hand, enables the engine to drive the vehicle in low-speed scenarios, effectively solving the problem of excessive power consumption during winter driving, thereby improving the vehicle's power reserve capability; on the other hand, it ensures that the vehicle can always maintain a four-wheel drive state at low speeds, effectively preventing the vehicle from slipping and fishtailing in snowy weather, thus ensuring driving safety.

[0017] Brief description of the attached figures

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

[0019] Figure 1 is a flowchart of the steps of a vehicle control method according to an embodiment of the present disclosure;

[0020] Figure 2 is a schematic diagram of the functional modules of a vehicle control device according to an embodiment of the present disclosure;

[0021] Figure 3 is a structural schematic diagram of a vehicle according to an embodiment of the present disclosure;

[0022] Figure 4 is a flowchart of the steps of a vehicle control method according to another embodiment of the present disclosure;

[0023] Figure 5 is a flowchart of the steps of a vehicle control method in another embodiment of the present disclosure;

[0024] Figure 6 is a flowchart of the steps of a vehicle control method in another embodiment of this disclosure.

[0025] Methods of implementing the present invention

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In direct drive mode, the engine is in driving mode, the clutch is engaged, the rear axle motor is in driving mode, and the front axle motor is usually in driving mode. The engine's power directly drives the vehicle through the clutch and the front axle transmission. Because the engine and the front axle motor can jointly drive the front axle in direct drive mode, the overall vehicle driving force is usually greater than in other modes. However, because the engine is directly connected to the wheels in direct drive mode, there is a certain speed ratio between the engine speed and the vehicle speed. When the vehicle is traveling at low speeds, the engine is prone to stalling due to excessively low engine speed.

[0028] Therefore, vehicles typically switch to pure electric four-wheel drive mode when driving at low speeds in snowy weather. However, in winter, in addition to normal driving energy consumption, new energy vehicles also consume energy for passenger cabin heating, seat heating, defrosting, and defogging. Therefore, the energy consumption of new energy vehicles in winter is higher than in other seasons. Because new energy vehicles consume energy faster in winter, when the high-voltage battery charge is low, the vehicle cannot support four-wheel drive and switches to series mode. In series mode, the engine drives the front axle motor to generate electricity, which charges the battery or powers the rear axle motor to drive the vehicle. While series mode charges the battery and prevents further depletion of the battery charge, it causes the vehicle to operate in two-wheel drive mode, making it prone to skidding or fishtailing.

[0029] To address the issue that current vehicle drive modes cannot effectively meet the low-speed driving needs of vehicles in snowy weather, this disclosure aims to provide a vehicle control method. By acquiring vehicle status information when the vehicle is in low-speed four-wheel drive mode, and when the vehicle status information meets the mode switching conditions, the method controls the vehicle to switch from the current drive mode to a low-speed direct drive mode, and controls the vehicle to drive in this mode. In low-speed direct drive mode, the vehicle's clutch is in a slipping state, and the engine is in a driving state. This disclosure, by developing a low-speed direct drive mode, on the one hand, enables the engine to drive the vehicle in low-speed scenarios, effectively solving the problem of excessive power consumption during winter driving, thereby improving the vehicle's power reserve capability; on the other hand, it ensures that the vehicle can always maintain four-wheel drive at low speeds, effectively preventing the vehicle from slipping and fishtailing in snowy weather, thus ensuring driving safety.

[0030] Referring to Figure 1, a vehicle control method of the present disclosure is shown, which may include the following steps:

[0031] S101: Obtain vehicle status information when the vehicle is in low-speed four-wheel drive mode.

[0032] The executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, or an electronic device with the above functions, such as a vehicle computer or onboard computer, such as an Electronic Control Unit (ECU), Hybrid Control Unit (HCU), or Transmission Control Unit (TCU). This embodiment does not impose specific restrictions on the type of executing entity. To shorten the signal transmission link and improve control efficiency, the following description will use a TCU as the executing entity.

[0033] In this embodiment, if the TCU detects that the vehicle is in four-wheel drive mode and the current vehicle speed is less than the vehicle speed threshold, it determines that the vehicle is in low-speed four-wheel drive mode.

[0034] In practical implementation, the TCU can determine whether the vehicle is in four-wheel drive mode by detecting the vehicle's current drive mode. For example, the TCU can determine that the vehicle is in four-wheel drive mode when it detects that the current drive mode is pure electric four-wheel drive mode or direct drive mode. Alternatively, the TCU can also determine that the vehicle is in four-wheel drive mode by obtaining the front axle torque and the rear axle torque, and if it detects that both the front axle torque and the rear axle torque are greater than the torque threshold.

[0035] In this embodiment, if the vehicle is detected to be in a low-speed four-wheel drive state, it means that the vehicle may be driving at low speed on a slippery road surface in winter snow. At this time, traditional four-wheel drive modes such as pure electric four-wheel drive mode or direct drive mode will not be able to effectively meet the vehicle's driving needs. Therefore, the TCU will obtain the vehicle status information and determine whether it is necessary to control the vehicle to switch modes based on the vehicle status information.

[0036] S102: When the vehicle status information meets the mode switching conditions, control the vehicle to switch from the current driving mode to the low-speed direct drive mode, and control the vehicle to drive in the low-speed direct drive mode.

[0037] In this embodiment, the mode switching condition is used to determine whether the vehicle is in a high-energy-consumption state and has a strong four-wheel drive requirement. That is, if the TCU determines, based on the vehicle status information, that the vehicle is in a high-energy-consumption state and has a strong four-wheel drive requirement, then the vehicle status information meets the mode switching condition. High energy consumption means the vehicle's power demand exceeds a power threshold; strong four-wheel drive requirement means there is a strong demand for four-wheel drive. For example, strong four-wheel drive requirement means that both the front and rear axles need to output power simultaneously, such as in parallel four-wheel drive.

[0038] In its implementation, the vehicle status information includes first status information, which may include the current ambient temperature and current road conditions. The TCU determines that the vehicle status information meets the mode switching conditions when the current ambient temperature is below a temperature threshold and the current road condition is slippery. When the current ambient temperature is below the temperature threshold, the user typically activates the heating system, causing the vehicle to enter a high-energy-consumption state; when the current road condition is slippery, the vehicle needs to be in four-wheel drive mode to prevent slippage and improve driving performance.

[0039] In this embodiment, the current road condition can be determined as slippery based on the weather type and / or road surface image. Specifically, the TCU can determine that the current road condition is slippery if it detects that the weather type is rain, snow, or hail; and / or, input the road surface image into a preset road condition recognition model and output a road condition recognition result, which is used to indicate whether the vehicle is in a slippery road condition.

[0040] In its implementation, the vehicle status information includes second status information, which may include the current driving mode. If the TCU detects that the current driving mode is the target driving mode, it determines that the vehicle status information meets the mode switching conditions. In the target driving mode, the vehicle will be in a state of high energy consumption and strong four-wheel drive requirement.

[0041] For example, the target driving mode is the driving mode corresponding to the aforementioned strong four-wheel drive requirement, that is, the driving mode corresponding to a state of high energy consumption and strong four-wheel drive requirement, such as the snow driving mode. The target driving mode may include the snow driving mode. The snow driving mode is mainly suitable for scenarios such as snow accumulation and potholes, primarily to ensure driving stability on low-friction surfaces. Since the vehicle has a strong demand for four-wheel drive and needs to activate the heating system when in snow driving mode, the TCU can quickly determine whether the vehicle status information meets the mode switching conditions by detecting whether the vehicle is in snow driving mode, without needing to judge the first state information.

[0042] In this embodiment, the user can manually control the vehicle to enter the target driving mode, for example, by using a preset physical button, virtual button, or by triggering a mode switching command via voice. In this case, the TCU will respond to the user's mode switching command and switch the vehicle to the target driving mode. The TCU can also automatically switch to the target driving mode when it detects that the vehicle meets the switching conditions. Specifically, the TCU can determine that the vehicle meets the switching conditions for the target driving mode when it detects that the current ambient temperature is below a temperature threshold and the current road condition is slippery.

[0043] In this embodiment, if the TCU detects that the vehicle status information meets the mode switching conditions, it indicates that the vehicle's battery power consumption is high and it needs to be in four-wheel drive mode. At this time, in order to simultaneously meet the user's power needs and driving safety needs, the TCU will control the vehicle to switch from the current drive mode to low-speed direct drive mode. In low-speed direct drive mode, the vehicle's current speed is less than the vehicle speed threshold, the vehicle's clutch is in a slipping state, and the engine is in a driving state; at the same time, the rear axle motor is in a driving state, and the front axle motor is in a generating state or a driving state.

[0044] The slipping state is an intermediate state between the closed and open states. When the clutch is in the slipping state, the clutch is not fully engaged, and there is relative slippage between the two ends of the clutch. In this state, the friction material of the clutch rotates but does not fully transmit engine torque.

[0045] In this embodiment, since the clutch is in a slipping state, the engine and the wheel end are not in a rigid connection state. At this time, the engine can not only transmit engine torque to the wheel end through the clutch and the front axle gearbox, but also run at a higher speed when the vehicle is traveling at low speed, thereby effectively avoiding the phenomenon of the engine stalling due to being dragged at too low a speed.

[0046] In this embodiment, by developing a low-speed direct drive mode, on the one hand, the engine can drive the vehicle in low-speed scenarios, effectively solving the problem of excessive power consumption during winter driving and thus improving the vehicle's power reserve capability; on the other hand, the vehicle can always maintain four-wheel drive at low speeds, effectively preventing the vehicle from skidding and fishtailing in snowy weather, thereby ensuring the vehicle's driving safety.

[0047] In one feasible implementation, the vehicle status information includes clutch status information and the current driving mode; the vehicle control method may further include the following steps:

[0048] S201: If the clutch status information meets the slip-drive condition, the current ambient temperature is less than the temperature threshold, and the current road condition is slipping, then the vehicle status information meets the mode switching condition.

[0049] S202: If the clutch status information meets the slip-drive condition and the current driving mode is the target driving mode, determine that the vehicle status information meets the mode switching condition.

[0050] In this embodiment, considering that the vehicle needs to rely on the clutch to transmit engine torque to the transmission in low-speed direct drive mode, the TCU will also acquire clutch status information to ensure the safe use of the clutch and determine whether the clutch meets the slip drive conditions based on the clutch status information.

[0051] In the specific implementation, the clutch status information includes overheat signals and hardware fault signals. When the overheat signal indicates that the clutch has not overheated and the hardware fault signal indicates that the clutch has no hardware fault, the TCU determines that the clutch status information meets the slip-drive condition.

[0052] In this embodiment, by comprehensively considering the clutch status information based on the first and second state information, it is possible to ensure that the clutch can effectively transmit torque after the vehicle switches to low-speed direct drive mode, thereby ensuring the safety of clutch use and vehicle driving safety.

[0053] In this embodiment, after the TCU detects that the vehicle status information meets the mode switching conditions, it can send a mode switching signal to the HCU. Upon receiving the mode switching signal, the HCU will reduce the effective speed of the direct drive mode from the direct drive enable value to the target value, for example, reducing the effective speed from 25 km / h to 0 km / h. The direct drive enable value represents the minimum speed at which the vehicle can enter direct drive mode. That is, in direct drive mode, the vehicle speed can only be reduced to the direct drive enable value. If the speed is lower than the direct drive enable value, there is a risk of engine stalling, and the vehicle may be switched to another mode. Therefore, by reducing the effective speed of the direct drive mode from the direct drive enable value to the target value, logical conflicts between the low-speed direct drive mode and the vehicle's existing direct drive mode can be effectively avoided, allowing the vehicle to operate smoothly in the low-speed direct drive mode. After the vehicle exits the low-speed direct drive mode, the HCU will restore the effective speed to the direct drive enable value, ensuring the normal operation of the vehicle in direct drive mode.

[0054] In one feasible implementation, as shown in Figure 4, the step of controlling the vehicle to switch from the current driving mode to the low-speed direct drive mode in S102 may specifically include the following sub-steps:

[0055] S102-1: Determine the target clutch pressure based on the engine's current torque and a preset mapping relationship.

[0056] In this embodiment, the mapping relationship characterizes the correlation between engine torque and clutch pressure under clutch slippage conditions. Unlike when the clutch is fully engaged, where the transmitted torque corresponding to clutch pressure is greater than or equal to the engine torque, in the above mapping relationship, the transmitted torque corresponding to clutch pressure will be less than the engine torque, so that the clutch can be in a slippage state. Here, the transmitted torque is the torque transmitted from the engine to the transmission input shaft through the clutch.

[0057] In this embodiment, the mapping relationship can be obtained through experimental calibration. Specifically, the engine can be controlled to output a preset engine torque, and then the clutch pressure can be controlled to change according to a certain gradient. For example, the clutch pressure can be controlled to gradually increase or decrease according to a certain pressure change gradient to make the clutch reach a stable slipping state. When the clutch is in a stable slipping state, the corresponding clutch pressure is recorded to obtain a set of correspondences between engine torque and clutch pressure. By repeating the above calibration steps under different engine torques, multiple sets of experimental data can be obtained. Then, by fitting multiple sets of data, the above mapping relationship can be finally obtained.

[0058] S102-2: Based on the target clutch pressure, control the clutch to switch to a slipping state so that the vehicle can switch from the current drive mode to a low-speed direct drive mode.

[0059] In this embodiment, the TCU adjusts the clutch pressure according to a preset pressure change gradient, gradually shifting the clutch to a slipping state. This effectively avoids large torque fluctuations and improves the smoothness of mode switching. The pressure change gradient represents the amount of change in clutch pressure per unit time.

[0060] In a specific implementation, as shown in Figure 5, S102-2 may include the following sub-steps:

[0061] S102-2-1: When the current drive mode is idle electric four-wheel drive mode, control the current clutch pressure of the clutch to increase to the target clutch pressure so that the clutch switches from the open state to the slipping state.

[0062] In idle electric four-wheel drive mode, the front and rear axle motors are in driving mode, the engine is idling, and the clutch is disengaged. In this mode, the vehicle is propelled forward by the front and rear axle motors, while the engine idles but does not output torque. Compared to traditional pure electric four-wheel drive mode where the engine needs to be turned off, the engine remains idle in idle electric four-wheel drive mode. On one hand, when the vehicle needs to switch from idle electric four-wheel drive mode to direct drive mode, it reduces the need to start the engine, thus improving the mode switching speed and the vehicle's power response performance. On the other hand, since both the front and rear axle motors are in driving mode, it improves ground traction, effectively helping the vehicle get out of trouble. After the vehicle is out of trouble, it can quickly switch back to series mode, thus avoiding repeated engine start-stop cycles and effectively improving the vehicle's driving performance on low-traction surfaces. Therefore, when the high-voltage battery has sufficient remaining charge, the HCU will control the vehicle to drive in idle electric four-wheel drive mode.

[0063] In this embodiment, considering that the engine is idling and the clutch is open when the vehicle's current drive mode is idle electric four-wheel drive mode, the switch from idle electric four-wheel drive mode to low-speed direct drive mode can be achieved simply by controlling the clutch to switch from the open state to the slipping state.

[0064] In practice, the TCU will control the current clutch pressure to gradually increase to the target clutch pressure according to the preset first pressure change gradient, so that the clutch will gradually switch from the open state to the slipping state.

[0065] S102-2-2: When the current drive mode is direct drive mode, control the current clutch pressure of the clutch to reduce to the target clutch pressure so that the clutch switches from the closed state to the slipping state.

[0066] In this embodiment, considering that the engine is in a driving state and the clutch is in a closed state when the vehicle's current driving mode is direct drive mode, the switching from direct drive mode to low-speed direct drive mode can be achieved simply by controlling the clutch to switch from the closed state to the slipping state.

[0067] In its implementation, the TCU will control the clutch pressure to gradually decrease to the target clutch pressure according to a preset second pressure change gradient, so that the clutch gradually switches from the closed state to the slipping state. The second pressure change gradient and the first pressure change gradient can be the same or different.

[0068] In this embodiment, by gradually increasing or decreasing the clutch pressure according to a certain pressure change gradient, the clutch can be switched to the slip friction state more smoothly, avoiding large torque fluctuations caused by large sudden changes in clutch pressure, thereby effectively ensuring the driver's driving experience during mode switching.

[0069] In this embodiment, to ensure stable torque output from the clutch, the TCU detects the speed difference between the two ends of the clutch while adjusting the clutch pressure. If the speed difference is detected to be within a preset speed range, a timer for a stabilization period is triggered. If the stabilization period reaches a threshold, the clutch is determined to be in a slipping state. By detecting the speed difference between the two ends of the clutch, it is ensured that the clutch is in a stable slipping state when switching modes, thereby avoiding torque fluctuations.

[0070] In one feasible implementation, as shown in Figure 6, the step of controlling the vehicle to drive in low-speed direct drive mode in S102 may specifically include the following sub-steps:

[0071] S102-3: Determine the engine torque intervention value when the speed difference between the two ends of the clutch exceeds the preset speed range.

[0072] In this embodiment, the speed difference between the two ends of the clutch represents the speed difference between the engine speed and the gearbox input shaft speed.

[0073] In this embodiment, after the vehicle switches to low-speed direct drive mode, the clutch pressure is still adjusted in real time according to the mapping relationship and the current engine torque. Considering that rapid acceleration or deceleration may cause the clutch pressure adjustment to be untimely, resulting in significant fluctuations in the speed difference between the clutch ends, the TCU will intervene and adjust the engine torque when it detects that the speed difference between the clutch ends exceeds a preset range to maintain stable engine speed, thus preventing excessively low engine speeds or runaway.

[0074] The preset speed range is a closed interval consisting of a lower speed limit and an upper speed limit. When the speed difference between the two ends of the clutch is always within the preset speed range, it means that the speed difference is fluctuating within a reasonable range; when the speed difference is less than the lower speed limit, it means that the engine speed is too low; when the speed difference is greater than the upper speed limit, it means that the engine speed is too high.

[0075] In this embodiment, in order to match a suitable engine torque intervention value, the TCU will comprehensively consider the current engine torque and the speed difference between the two ends of the clutch to determine the engine torque intervention value.

[0076] In its implementation, the TCU stores a preset torque intervention lookup table, which represents the relationship between engine torque and speed difference and engine torque intervention value. After obtaining the current engine torque and speed difference, the TCU can quickly determine the appropriate engine torque intervention value by querying the torque intervention lookup table.

[0077] S102-4: Adjust engine torque based on engine torque intervention value.

[0078] In practice, after determining the engine torque intervention value, the TCU sends the engine torque intervention value to the engine controller, so that the engine controller can determine the target engine torque based on the engine torque intervention value and the current engine torque, and adjust the engine torque according to the target engine torque as the control target.

[0079] In this embodiment, after the vehicle switches to low-speed direct drive mode, the TCU adjusts the clutch pressure and intervenes in the engine torque. This not only controls the clutch to effectively transmit engine torque to the wheels, but also, when speed fluctuations occur at both ends of the clutch, precisely calculates the engine torque intervention value and promptly controls the engine to increase or decrease torque, thereby maintaining stable engine speed. This effectively ensures vehicle safety in low-speed direct drive mode and enhances the user's driving experience.

[0080] Secondly, based on the same inventive concept, referring to FIG2, this disclosure provides a vehicle control device 200, which includes:

[0081] The information acquisition module 201 is used to acquire vehicle status information when the vehicle is in low-speed four-wheel drive mode;

[0082] The mode switching module 202 is used to control the vehicle to switch from the current driving mode to the low-speed direct drive mode when the vehicle status information meets the mode switching conditions, and to control the vehicle to drive in the low-speed direct drive mode; wherein, in the low-speed direct drive mode, the vehicle's clutch is in a slipping state and the engine is in a driving state.

[0083] In one embodiment of this disclosure, the vehicle status information includes clutch status information, and either a first status information or a second status information; wherein the first status information includes the current ambient temperature and the current road conditions; the second status information includes the current driving mode; the vehicle control device 200 includes:

[0084] The first condition determination module is used to determine whether the vehicle status information meets the mode switching conditions when the clutch status information meets the slip drive condition, the current ambient temperature is less than the temperature threshold, and the current road condition is a slipping road condition.

[0085] The second condition determination module is used to determine whether the vehicle status information meets the mode switching conditions when the clutch status information meets the slip-drive conditions and the current driving mode is the target driving mode.

[0086] In one embodiment of this disclosure, the clutch status information includes an overheat signal and a hardware fault signal; the vehicle control device 200 includes:

[0087] The second condition determination module is used to determine whether the clutch status information meets the slip-drive condition when the overheat signal indicates that the clutch has not overheated and the hardware fault signal indicates that the clutch has no hardware fault.

[0088] In one embodiment of this disclosure, the mode switching module 202 includes:

[0089] The pressure determination submodule is used to determine the target clutch pressure based on the current engine torque and a preset mapping relationship; the mapping relationship characterizes the correlation between engine torque and clutch pressure under clutch slippage conditions.

[0090] The mode switching submodule is used to control the clutch to switch to a slipping state based on the target clutch pressure, so that the vehicle can switch from the current drive mode to a low-speed direct drive mode.

[0091] In one embodiment of this disclosure, the mode switching submodule includes:

[0092] The first state switching unit is used to control the current clutch pressure of the clutch to increase to the target clutch pressure when the current drive mode is idle electric four-wheel drive mode, so as to switch the clutch from the open state to the slipping state.

[0093] The second state switching unit is used to control the current clutch pressure of the clutch to decrease to the target clutch pressure when the current drive mode is direct drive mode, so that the clutch switches from the closed state to the slipping state.

[0094] In one embodiment of this disclosure, the first state switching unit is specifically used to control the current clutch pressure of the clutch to gradually increase to the target clutch pressure according to a preset first pressure change gradient; the second state switching unit is specifically used to control the current clutch pressure of the clutch to gradually decrease to the target clutch pressure according to a preset second pressure change gradient.

[0095] In one embodiment of this disclosure, the mode switching module 202 further includes:

[0096] The intervention value determination submodule is used to determine the engine torque intervention value when the speed difference between the two ends of the clutch exceeds the preset speed range;

[0097] The torque regulation submodule is used to regulate the engine torque based on the engine torque intervention value.

[0098] In one embodiment of this disclosure, the intervention value determination submodule is specifically used to determine an engine torque intervention value based on the current engine torque and the speed difference between the two ends of the clutch.

[0099] The specific implementation of the vehicle control device 200 in this disclosure refers to the specific implementation of the vehicle control method proposed in the first aspect of the present disclosure, and will not be repeated here.

[0100] Thirdly, based on the same inventive concept, embodiments of this disclosure provide a computer-readable storage medium having an executable program stored thereon, which, when executed by a processor, implements the vehicle control method proposed in the first aspect of this disclosure.

[0101] The specific implementation of the computer-readable storage medium of the embodiments of this disclosure refers to the specific implementation of the vehicle control method proposed in the first aspect of the embodiments of this disclosure, and will not be repeated here.

[0102] Fourthly, referring to FIG3, based on the same inventive concept, this disclosure provides a vehicle 300, including:

[0103] Memory 301 is used to store executable programs;

[0104] Processor 302;

[0105] When the executable program is executed by the processor 302, the vehicle control method proposed in the first aspect of this disclosure is implemented.

[0106] The specific implementation of the vehicle 300 in this disclosure refers to the specific implementation of the vehicle control method proposed in the first aspect of the present disclosure, and will not be repeated here.

[0107] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0108] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0109] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0110] These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable terminal equipment, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0111] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0112] Finally, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the element.

[0113] The present invention has provided a detailed description of a vehicle control method, storage medium, and vehicle. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A vehicle control method, comprising: When the vehicle is in low-speed four-wheel drive mode, obtain vehicle status information; When the vehicle status information meets the mode switching conditions, the vehicle is controlled to switch from the current driving mode to the low-speed direct drive mode, and the vehicle is controlled to drive in the low-speed direct drive mode; wherein, in the low-speed direct drive mode, the vehicle's clutch is in a slipping state and the engine is in a driving state.

2. The vehicle control method according to claim 1, wherein, The vehicle status information includes clutch status information, and either a first status information or a second status information; wherein, the first status information includes the current ambient temperature and the current road conditions; and the second status information includes the current driving mode. The method further includes: If the clutch status information satisfies the slip-drive condition, the current ambient temperature is below a temperature threshold, and the current road condition is a slippery road condition, then the vehicle status information is determined to satisfy the mode switching condition; or, If the clutch status information satisfies the slip-drive condition and the current driving mode is the target driving mode, then the vehicle status information is determined to satisfy the mode switching condition.

3. The vehicle control method according to claim 2, wherein, The clutch status information includes overheat signals and hardware fault signals; the method further includes: If the overheating signal indicates that the clutch has not overheated and the hardware fault signal indicates that the clutch has no hardware fault, then the clutch status information is determined to meet the slip-drive condition.

4. The vehicle control method according to any one of claims 1 to 3, wherein, The steps for controlling the vehicle to switch from the current drive mode to a low-speed direct drive mode include: Based on the current engine torque and a preset mapping relationship, the target clutch pressure is determined; the mapping relationship characterizes the correlation between engine torque and clutch pressure under clutch slippage conditions. Based on the target clutch pressure, the clutch is controlled to switch to the slipping state, so that the vehicle switches from the current driving mode to the low-speed direct drive mode.

5. The vehicle control method according to claim 4, wherein, The step of controlling the clutch to switch to the slipping state based on the target clutch pressure includes: When the current drive mode is the idle electric four-wheel drive mode, the current clutch pressure of the clutch is increased to the target clutch pressure so that the clutch switches from the open state to the slipping state; When the current drive mode is direct drive mode, the current clutch pressure of the clutch is reduced to the target clutch pressure so that the clutch switches from the closed state to the slipping state.

6. The vehicle control method according to claim 5 further includes: Detect the speed difference between the two ends of the clutch; If the speed difference is detected to be within a preset speed range, a timer for a stable duration is triggered. If the stable duration is detected to have reached a duration threshold, it is determined that the clutch is in a slipping state.

7. The vehicle control method according to claim 5 or 6, wherein, The step of controlling the current clutch pressure of the clutch to increase to the target clutch pressure includes: According to a preset first pressure change gradient, the current clutch pressure of the clutch is controlled to gradually increase to the target clutch pressure; The step of controlling the current clutch pressure of the clutch to decrease to the target clutch pressure includes: According to the preset second pressure change gradient, the current clutch pressure of the clutch is controlled to gradually decrease to the target clutch pressure.

8. The vehicle control method according to any one of claims 1 to 7, wherein, The steps for controlling the vehicle to drive in the low-speed direct drive mode include: When the speed difference between the two ends of the clutch exceeds the preset speed range, the engine torque intervention value is determined; Based on the engine torque intervention value, the engine torque is adjusted.

9. The vehicle control method according to claim 8, wherein, The steps for determining the engine torque intervention value include: The engine torque intervention value is determined based on the current engine torque and the speed difference between the two ends of the clutch.

10. The vehicle control method according to claim 9, wherein, Determining the engine torque intervention value based on the current engine torque and the speed difference between the two ends of the clutch includes: The torque intervention reference table is consulted to determine the engine torque intervention value; wherein, the torque intervention reference table represents the correspondence between the engine torque and speed difference and the engine torque intervention value.

11. The vehicle control method according to any one of claims 1 to 10, wherein, Before acquiring vehicle status information when the vehicle is in low-speed four-wheel drive mode, the method further includes: Detect the vehicle's current drive mode and current speed; When it is detected that the vehicle is in four-wheel drive mode and the current vehicle speed is less than the vehicle speed threshold, it is determined that the vehicle is in low-speed four-wheel drive mode.

12. The vehicle control method according to claim 11, wherein, The current driving mode of the detected vehicle includes: When the current driving mode is detected to be either pure electric four-wheel drive mode or direct drive mode, the vehicle is determined to be in four-wheel drive mode; or The front axle torque and rear axle torque of the vehicle are obtained. If both the front axle torque and the rear axle torque are detected to be greater than the torque threshold, the vehicle is determined to be in the four-wheel drive state.

13. A computer-readable storage medium having an executable program stored thereon, wherein, When the executable program is executed by the processor, it implements the vehicle control method as described in any one of claims 1 to 12.

14. A vehicle comprising: Memory, used to store executable programs; processor; When the executable program is executed by the processor, the vehicle control method as described in any one of claims 1 to 12 is implemented.

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