Vehicle control method and apparatus, vehicle, and storage medium

Abstract

The present disclosure provides a vehicle control method and apparatus, a vehicle, and a storage medium. The method is applied to the field of vehicles, and comprises: when a vehicle is in a direct drive mode, shifting a rear axle transmission to a neutral gear; when the driving speed of the vehicle is less than a critical driving speed in the direct drive mode, controlling the rear axle transmission to shift from the neutral gear to a preset gear; and if the rear axle transmission does not enter the preset gear, when the driving speed of the vehicle is less than a vehicle speed when an engine of the vehicle is about to stall, on the basis of the power level of a power battery, controlling the vehicle to shift from the direct drive mode to an idle mode or a series mode. When a preset gear of a rear axle transmission is unavailable, an idle mode can avoid power loss of the vehicle and prevent an engine from stalling, and a series mode can also prevent the engine from stalling. The two modes can improve the safety of the vehicle, and can also prolong the service life of the engine.

Description

A vehicle control method, apparatus, vehicle, and storage medium

[0001] This disclosure claims priority to Chinese Patent Application No. 2024119532827, filed on December 27, 2024, entitled “A vehicle control method, apparatus, vehicle and storage medium”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of vehicles, and more specifically, to a vehicle control method, apparatus, vehicle, and storage medium in the field of vehicles. Background Technology

[0003] With the rapid development of the automotive industry, plug-in hybrid electric vehicles (PHEVs) are becoming increasingly popular due to their significant role in reducing energy consumption. For example, when a PHEV is in direct drive mode, the rear axle transmission can be shifted into neutral to disengage the rear motor from the vehicle, preventing the rear motor from consuming energy even when it has zero torque. Therefore, when exiting direct drive mode, the rear axle transmission needs to be engaged in first gear. However, if first gear is unavailable, shifting the front axle transmission or shifting it into neutral will result in a loss of power, and maintaining direct drive mode indefinitely will cause the engine to stall. Summary of the Invention

[0004] This disclosure provides a vehicle control method, apparatus, vehicle, and storage medium. The method enables the vehicle to enter an idle mode when a preset gear of the rear axle transmission is unavailable, which can prevent the vehicle from losing power and prevent the engine from stalling. The vehicle can also enter a series mode to prevent the engine from stalling. Both modes can improve vehicle safety and extend engine life.

[0005] Firstly, a vehicle control method is provided, comprising: when the vehicle is driving in direct drive mode, if the vehicle's first driving speed is less than a first preset speed, controlling the vehicle's rear axle transmission to shift from neutral to a preset gear; if the rear axle transmission does not shift to the preset gear, monitoring the vehicle's second driving speed; if the second driving speed is less than a second preset speed, controlling the vehicle to switch from direct drive mode to idle mode or series mode based on the battery charge of the vehicle's power battery; the first preset speed is a critical speed threshold for the vehicle to exit direct drive mode, the second preset speed is a critical speed threshold corresponding to the engine stalling speed of the vehicle, and the first preset speed is greater than the second preset speed.

[0006] Through the above technical solution, when the vehicle exits direct drive mode but the rear axle transmission is not engaged in a preset gear, the system monitors the vehicle's second driving speed. If this second speed is lower than a second preset speed, the system controls the vehicle to switch from direct drive mode to idle mode or series mode based on the battery charge level. Idle mode prevents power loss and engine stalling, while series mode also prevents engine stalling. Both modes improve vehicle safety and extend engine lifespan.

[0007] In conjunction with the first aspect, in some possible implementations, before the step of controlling the rear axle transmission of the vehicle to shift from neutral to a preset gear when the vehicle is driving in direct drive mode and the first driving speed of the vehicle is less than the first preset speed, the method further includes: during the driving process of the vehicle, if the third driving speed of the vehicle reaches the third preset speed, controlling the rear axle transmission of the vehicle to shift to neutral and controlling the vehicle to enter direct drive mode, wherein the third driving speed is the critical speed threshold for the vehicle to enter direct drive mode.

[0008] The above technical solution controls the rear axle transmission to be engaged in neutral while the vehicle enters direct drive mode, thus separating the rear motor from the vehicle and preventing the rear motor from consuming the vehicle's energy even when it is in a zero-torque state, thereby reducing the vehicle's energy consumption.

[0009] In combination with the first aspect and the above implementation methods, in some possible implementation methods, before the step of controlling the vehicle to switch from direct drive mode to idle mode or series mode based on the battery charge of the vehicle's power battery if the second driving speed is less than the second preset speed, the method further includes: calculating the second preset speed based on the speed ratio of the vehicle's engine speed to the vehicle's wheel speed, the vehicle's tire circumference, and the engine stall speed when the engine enters the stall state.

[0010] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, the step of controlling the vehicle to switch from direct drive mode to idle mode or series mode based on the battery charge of the vehicle's power battery if the second driving speed is less than the second preset speed includes: if the second driving speed is less than the second preset speed, obtaining the battery charge of the vehicle's power battery; if the battery charge is greater than or equal to the first preset charge, controlling the vehicle to switch from direct drive mode to idle mode; if the battery charge is less than the first preset charge, controlling the front axle transmission of the vehicle to engage neutral gear, and controlling the vehicle to switch from direct drive mode to series mode.

[0011] With the above technical solution, when the battery charge is greater than or equal to the first preset charge, the vehicle is controlled to enter the idle mode, and the engine is in an idle state. When the vehicle accelerates, there is no need to restart the engine to prevent the vehicle from losing power. When the battery charge is less than the first preset charge, the vehicle is controlled to enter the series mode. The engine will not shut off, but will charge the power battery to prevent the battery from being over-discharged.

[0012] In combination with the first aspect and the above implementation methods, in some possible implementation methods, when the vehicle is driving in direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, after the step of controlling the rear axle transmission of the vehicle to shift from neutral to a preset gear, the method further includes: if the rear axle transmission shifts to the preset gear, based on the battery charge of the vehicle's power battery, controlling the vehicle to switch from direct drive mode to pure electric four-wheel drive mode or rear drive mode.

[0013] Through the above technical solution, when the rear axle transmission is in a preset gear, the vehicle can be controlled to enter a pure electric four-wheel drive mode or a rear-wheel drive mode that is more suitable for the current driving speed, thus ensuring the flexibility and intelligence of vehicle control.

[0014] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, the step of controlling the vehicle to switch from direct drive mode to pure electric four-wheel drive mode or rear drive mode based on the battery charge of the vehicle's power battery when the rear axle transmission enters a preset gear includes: if the rear axle transmission enters a preset gear, obtaining the battery charge of the vehicle's power battery; if the battery charge is greater than or equal to a second preset charge, controlling the vehicle's engine to enter a shutdown state and controlling the vehicle to switch from direct drive mode to pure electric four-wheel drive mode; if the battery charge is less than the second preset charge, controlling the vehicle's front axle transmission to engage neutral gear, and controlling the vehicle to switch from direct drive mode to series mode or pure electric rear drive mode based on the engine status of the vehicle's engine.

[0015] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, the step of controlling the front axle transmission of the vehicle to engage neutral if the battery charge is less than the second preset charge, and controlling the vehicle to switch from direct drive mode to series mode or pure electric rear drive mode based on the engine status of the vehicle's engine, includes: controlling the front axle transmission of the vehicle to engage neutral if the battery charge is less than the second preset charge; obtaining the engine status; if the engine status is active, controlling the vehicle to switch from direct drive mode to series mode; if the engine status is off, controlling the vehicle to switch from direct drive mode to pure electric rear drive mode.

[0016] Secondly, a vehicle control device is provided, the device comprising:

[0017] The rear axle shift unit is used to control the rear axle transmission of the vehicle to shift from neutral to a preset gear when the vehicle is driving in direct drive mode and the first driving speed of the vehicle is less than the first preset speed.

[0018] The driving speed monitoring unit is used to monitor the vehicle's second driving speed if the rear axle transmission has not entered a preset gear.

[0019] The mode switching unit is used to control the vehicle to switch from direct drive mode to idle mode or series mode based on the battery charge of the vehicle's power battery if the second driving speed is less than the second preset speed.

[0020] The first preset speed is the critical speed threshold at which the vehicle exits direct drive mode, and the second preset speed is the critical speed threshold at which the vehicle's engine enters stall speed. The first preset speed is greater than the second preset speed.

[0021] Thirdly, a vehicle is provided, the vehicle including: a memory for storing executable program code;

[0022] A processor for calling and running executable program code from memory to perform the methods in the first aspect or any possible implementation of the first aspect described above.

[0023] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0024] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0025] Figure 1 is a system architecture diagram of a vehicle control method provided in an embodiment of this disclosure;

[0026] Figure 2 is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure;

[0027] Figure 3 is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure;

[0028] Figure 4 is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure;

[0029] Figure 5 is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure;

[0030] Figure 6 is a structural schematic diagram of a vehicle control device provided in an embodiment of this disclosure;

[0031] Figure 7 is a structural schematic diagram of a vehicle provided in an embodiment of this disclosure. Embodiments of the present invention

[0032] The technical solutions of this disclosure will now be described clearly and in detail with reference to the accompanying drawings. In the description of the embodiments of this disclosure, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this disclosure, "multiple" refers to two or more than two.

[0033] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0034] Please refer to Figure 1, which is a system architecture diagram of a vehicle control method provided in this embodiment of the disclosure. As shown in Figure 1, the vehicle control method provided in this embodiment of the disclosure is applicable to the driving scenario of a PHEV vehicle. The vehicle includes a front motor control unit (FMCU), a front axle transmission 11, an engine 12, a rear motor (P4 Rear Independent Drive Motor, P4M), a rear axle transmission 14, a power battery 15, and a vehicle controller 16. The front axle is the front drive shaft component for vehicle power transmission, located at the front of the vehicle and supporting the front wheels. The front axle is used to transmit the force between the chassis and the front wheels, and to achieve steering and braking functions. The rear axle is the rear drive shaft component for vehicle power transmission, located at the rear of the vehicle and supporting the rear wheels. The rear axle is used to support and connect the rear wheels, transmit power, and achieve differential operation. The FMCU 10, P4M 13, and engine 12 are all used to drive the vehicle. The front axle transmission 11 is used to transmit power to the front axle of the vehicle, and the rear axle transmission 14 is used to transmit power to the rear axle of the vehicle. The power battery 15 stores electrical energy to power the FMCU10 and P4M13, enabling them to drive the vehicle. The vehicle controller 16, the Hybrid Control Unit (HCU), is the central system of the hybrid vehicle, responsible for energy distribution, torque management, fault diagnosis, and other tasks. In the vehicle's hybrid system, the HCU communicates with various Electronic Control Units (ECUs) via communication protocols such as the CAN bus to achieve tasks such as vehicle speed acquisition, driving mode switching, and transmission gear control. When controlling transmission shifts, the HCU sends a shift request to the front axle transmission 11 or the rear axle transmission 14. The front axle transmission 11 and the rear axle transmission 14 are equipped with Transmission Control Units (TCUs). The TCUs receive the shift request from the HCU and control the front axle transmission 11 or the rear axle transmission 14 to shift gears.

[0035] This architecture allows PHEV models to offer multiple driving modes, including pure electric mode (EV Mode), series mode, direct drive mode, and idle mode. In EV mode, only the electric power from the vehicle's battery powers the electric motor, propelling the vehicle. In EV mode, the engine is off and does not contribute power. In series mode, the engine and electric motor are connected in series. The engine charges the battery, and the battery then powers the electric motor to drive the vehicle. In direct drive mode, the engine directly drives the vehicle. In direct drive mode, the electric motor may not contribute power or may act as an auxiliary power source, working alongside the engine to power the vehicle. In idle mode, the clutch is disengaged, decoupling the engine from the vehicle. The engine idles while the front transmission is not in neutral. Idle mode refers to the engine running at its lowest stable speed. In idle mode, the FMCU (Fuel Microcontroller Unit) provides power to the vehicle, and the engine can also charge the battery while idling.

[0036] In the direct-drive mode of the vehicle provided in this embodiment, the rear axle transmission is engaged in neutral. When the vehicle's speed is less than the critical speed for direct-drive mode, the rear axle transmission is controlled to shift from neutral to a preset gear. If the rear axle transmission does not shift to the preset gear, the vehicle's speed is continuously monitored. When the vehicle's speed is less than the speed at which the engine is about to stall, the vehicle is controlled to switch from direct-drive mode to idle mode or series mode based on the battery charge. When the preset gear of the rear axle transmission is unavailable, idle mode prevents both power loss and engine stalling, while series mode also prevents engine stalling. Both modes improve vehicle safety and extend engine life.

[0037] Based on the system architecture diagram shown in Figure 1, the vehicle control method provided by the embodiments of this disclosure will be described in detail below with reference to Figures 2-5.

[0038] Please refer to Figure 2, which is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure. As shown in Figure 2, the method of this embodiment may include the following steps S101-S103.

[0039] S101, when the vehicle controller detects that the vehicle is driving in direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, the controller will control the rear axle transmission of the vehicle to shift from neutral to a preset gear.

[0040] Specifically, when the vehicle controller detects that the vehicle is driving in direct drive mode, it monitors the vehicle's first driving speed. If the first driving speed is less than a first preset speed, it controls the vehicle to exit direct drive mode. Simultaneously, it sends a shift request to the transmission control unit of the rear axle transmission, thereby controlling the rear axle transmission to shift from neutral to a preset gear. To ensure vehicle safety, the preset gear is preferably first gear. The first preset speed is the critical speed threshold when the vehicle exits direct drive mode. The critical speed threshold is the speed limit between the first state and the second state. Here, the first state refers to the vehicle being in direct drive mode, and the second state refers to the vehicle exiting direct drive mode.

[0041] In direct-drive mode, the vehicle's power is primarily provided by the engine on the front axle. Optionally, the front axle's FMCU can act as an auxiliary power source, working alongside the engine to provide power and enhance the vehicle's power output. During braking or deceleration, the FMCU can also act as a generator, converting the vehicle's kinetic energy into electrical energy for storage, improving energy efficiency and reducing energy consumption. In this situation, the rear axle's P4M is in a zero-torque state, meaning it is energized but does not generate driving torque and cannot provide power to the vehicle. However, current still flows through the P4M, and its internal components remain operational, resulting in friction between these components and consuming some of the vehicle's energy. To reduce energy consumption, the vehicle controller provided in this embodiment, when controlling the vehicle to enter direct-drive mode, engages the rear axle transmission in neutral, disengaging the P4M from the vehicle and thus reducing energy consumption. Therefore, when exiting direct-drive mode, the vehicle controller engages the rear axle transmission from neutral to a preset gear.

[0042] S102, if the vehicle controller detects that the rear axle transmission has not entered the preset gear, then monitor the vehicle's second driving speed;

[0043] Specifically, when the vehicle exits direct drive mode, the vehicle controller sends a shift request to the rear axle transmission to engage a preset gear from neutral. However, if the vehicle experiences an electrical, mechanical, or software malfunction, causing the rear axle transmission to fail to engage the preset gear, and the vehicle's initial speed is lower than the first preset speed, forcibly shifting the front axle transmission or engaging neutral will cause the clutch or shifting mechanism to briefly disconnect from the engine. Combined with the rear axle transmission being in neutral, this will ultimately lead to a loss of power for the entire vehicle. If the vehicle remains in direct drive mode, because the engine is directly connected to the output shaft via the front axle transmission in the vehicle's system architecture, the engine may stall as the vehicle's speed continues to decrease. To ensure vehicle power and prevent engine stalling, the first preset speed for exiting direct drive mode is lowered to a second preset speed. Therefore, the vehicle controller monitors the vehicle's second speed. The engine speed determines the vehicle's speed; the second preset speed is the critical speed threshold corresponding to the engine stalling speed, and the first preset speed is greater than the second preset speed. If the engine remains at a certain engine speed, it may not receive enough energy and eventually shut down. This engine speed is called the stall speed. Here, the first state of the critical speed threshold refers to the engine being in an active state, and the second state refers to the engine shutting down.

[0044] S103, if the vehicle controller detects that the second driving speed is less than the second preset speed, it controls the vehicle to switch from direct drive mode to idle mode or series mode based on the battery charge of the vehicle's power battery.

[0045] Specifically, if the vehicle controller detects that the second driving speed is less than the second preset speed, it obtains the battery charge of the vehicle's power battery. Based on the battery charge, it controls the vehicle to switch from direct drive mode to idle mode or series mode. Since the FMCU obtains power from the power battery to drive the vehicle in idle mode, if the vehicle controller detects that the battery charge is greater than or equal to the first preset charge, it controls the vehicle to switch from direct drive mode to idle mode. In the vehicle provided in this embodiment, the clutch is disengaged in idle mode, so that the engine and the vehicle are decoupled. The engine itself is in an idle state, and the FMCU provides power to the vehicle. Idle state refers to the state in which the engine runs continuously at the lowest stable speed. Idle state means that if the user accelerates again in idle mode, there is no need to start the engine, thus avoiding loss of vehicle power. In series mode, the engine can charge the power battery. Therefore, if the vehicle controller detects that the battery charge is less than the first preset charge, it controls the vehicle to switch from direct drive mode to series mode. At the same time, it sends a shift request to the front axle transmission to control the front axle transmission to enter neutral. Since the rear axle transmission is already in neutral, the vehicle stops moving, but the engine is still working and charging the power battery to prevent the battery from being over-discharged.

[0046] In this embodiment, when the vehicle is in direct drive mode, the vehicle controller engages the rear axle transmission in neutral. When the vehicle speed is less than the critical speed for direct drive mode, the controller controls the rear axle transmission to engage a preset gear. If the rear axle transmission does not engage the preset gear, the controller continues to monitor the vehicle speed. When the vehicle speed is less than the speed at which the engine is about to stall, the controller controls the vehicle to switch from direct drive mode to idle mode or series mode based on the battery charge level. When the preset gear of the rear axle transmission is unavailable, idle mode prevents both power loss and engine stalling, while series mode prevents engine stalling. Both modes improve vehicle safety and extend engine life.

[0047] Please refer to Figure 3, which is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure. As shown in Figure 3, the method of this embodiment may include the following steps S201-S206.

[0048] S201, during vehicle operation, if the vehicle controller detects that the vehicle's third driving speed has reached the third preset speed, it controls the rear axle transmission of the vehicle to shift into neutral and controls the vehicle to enter direct drive mode.

[0049] Specifically, during vehicle operation, the vehicle controller monitors the vehicle's third driving speed. If the detected third driving speed reaches a third preset speed, the controller controls the vehicle to enter direct drive mode and simultaneously sends a shift request to the rear axle transmission to engage neutral. The third preset speed is the critical speed threshold for the vehicle to enter direct drive mode, and the critical speed threshold is the speed limit between the first state and the second state. Here, the first state refers to any mode other than direct drive mode, and the second state refers to the vehicle entering direct drive mode. In the direct drive mode provided by this embodiment, the vehicle's power is primarily provided by the engine on the front axle. Optionally, the front axle's FMCU can act as an auxiliary power source, working with the engine to provide power to the vehicle and improve its power output. When the vehicle brakes or decelerates, the FMCU can also act as a generator to convert the vehicle's kinetic energy into electrical energy for storage, improving energy utilization and reducing energy consumption. In this situation, the P4M on the rear axle of the vehicle is in a zero-torque state, meaning that the P4M is energized but does not generate driving torque and cannot provide power to the vehicle. However, current still flows through the P4M, and the internal components are still working. Friction between these components still exists, leading to the consumption of some of the vehicle's energy. To reduce energy consumption, the vehicle provided in this embodiment of the disclosure engages the rear axle transmission in neutral when entering direct drive mode, disengaging the P4M from the vehicle and thus reducing energy consumption.

[0050] S202, when the vehicle controller detects that the vehicle is driving in direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, the controller will control the rear axle transmission of the vehicle to shift from neutral to a preset gear.

[0051] Specifically, when the vehicle controller detects that the vehicle is driving in direct drive mode, it monitors the vehicle's first driving speed. If the first driving speed is less than a first preset speed, the controller controls the vehicle to exit direct drive mode. As shown in step S201, when the vehicle enters direct drive mode, the vehicle controller also sends a shift request to the transmission control unit of the rear axle transmission, controlling the rear axle transmission to shift into neutral. Therefore, when exiting direct drive mode, the controller controls the rear axle transmission to shift from neutral to a preset gear. To ensure vehicle safety, the preset gear can be selected as first gear. The first preset speed is the critical speed threshold when the vehicle exits direct drive mode. Here, the first state of the critical speed threshold refers to the vehicle being in direct drive mode, and the second state of the critical speed threshold refers to the vehicle exiting direct drive mode. The first preset speed can be the same as or different from the third preset speed.

[0052] S203: If the vehicle controller detects that the rear axle transmission has entered a preset gear, it controls the vehicle to switch from direct drive mode to pure electric four-wheel drive mode or rear drive mode based on the battery charge of the vehicle's power battery.

[0053] Specifically, if the vehicle controller detects that the rear axle transmission has successfully entered a preset gear, it obtains the battery charge of the vehicle's power battery. Based on the battery charge, it controls the vehicle to switch from direct drive mode to pure electric four-wheel drive mode or rear-wheel drive mode. The vehicle provided in this embodiment is a four-wheel drive vehicle. Based on the front and rear axle transmissions, the driving mode can be divided into two types: four-wheel drive mode and two-wheel drive mode. Two-wheel drive mode can be further divided into front-wheel drive mode and rear-wheel drive mode. Four-wheel drive mode means that power is distributed to both the front and rear wheels of the vehicle. Front-wheel drive mode means that the vehicle's power is mainly provided by the front wheels, with the rear wheels in a driven state. Rear-wheel drive mode means that the vehicle's power is mainly provided by the rear wheels, with the front wheels in a driven state. The front and rear axle transmissions determine whether the vehicle is in four-wheel drive, front-wheel drive, or rear-wheel drive mode. When neither the front nor rear axle transmission is in neutral, the vehicle is in four-wheel drive mode; when the rear axle transmission is in neutral and the front axle transmission is not, the vehicle is in front-wheel drive mode; when both the front and rear axle transmissions are in neutral, the vehicle is in rear-wheel drive mode; and when both the front and rear axle transmissions are in neutral, the vehicle stops moving. Pure electric four-wheel drive mode is when the engine is off, and the FMCU and P4M provide power to the vehicle. Rear-wheel drive modes include series mode and pure electric rear-wheel drive mode. In this mode, the vehicle speed is lower and it is suitable for pure electric or series mode. It should be noted that four-wheel drive and two-wheel drive modes are different from pure electric, series, and direct drive modes, and the two can be combined freely.

[0054] S204, If the vehicle controller detects that the rear axle transmission has not entered a preset gear, it will monitor the vehicle's second driving speed.

[0055] Specifically, if the vehicle controller detects a fault such as an electrical, mechanical, or software malfunction causing the rear axle transmission to fail to engage a preset gear, and the vehicle's initial speed is lower than a first preset speed, forcibly shifting the front axle transmission to neutral will cause the clutch or shifting mechanism to briefly disconnect from the engine. Combined with the rear axle transmission being in neutral, this will ultimately lead to a loss of power for the entire vehicle. If the vehicle remains in direct drive mode, because the engine is directly connected to the output shaft via the front axle transmission in the vehicle's system architecture, the engine may stall as the vehicle's speed continues to decrease. To ensure vehicle power and prevent engine stalling, the first preset speed for exiting direct drive mode is lowered to a second preset speed. Therefore, the vehicle's second speed is monitored. The second preset speed is the critical speed threshold corresponding to the engine stalling speed, and the first preset speed is greater than the second preset speed. If the engine remains at a certain engine speed, it may not receive sufficient energy and eventually stall; this engine speed is the stalling speed. Here, the first state of the critical speed threshold refers to the engine being in an active state, and the second state refers to the engine being shut down.

[0056] S205, the vehicle controller calculates the second preset speed based on the ratio of the engine speed to the wheel speed, the tire circumference, and the stall speed when the engine enters the stall state.

[0057] Specifically, the engine speed determines the vehicle's speed. When calculating the second preset speed, the engine speed to wheel speed ratio *i*, the vehicle tire radius *R* (m), and the engine stall speed *N* (r / min) when the engine is nearing stall are obtained. Based on the tire radius *R*, the tire circumference *C* = 2πR is obtained. According to the definition of the speed ratio, the ratio of the engine stall speed *N* to the speed ratio is determined as the wheel speed when the engine enters the stall state. The product of the wheel speed when the engine enters the stall state and the tire circumference is then determined as the second preset speed, i.e., the second preset speed (m / min). Converting the unit of the second preset speed *v* to km / h, we obtain (km / h). The stall state refers to the engine entering a stall state due to insufficient energy supply caused by low engine speed.

[0058] S206 If the vehicle controller detects that the second driving speed is less than the second preset speed, it controls the vehicle to switch from direct drive mode to idle mode or series mode based on the battery charge of the vehicle's power battery.

[0059] Specifically, if the vehicle controller detects that the second driving speed is less than the second preset speed, it exits the direct drive mode again, obtains the battery charge of the vehicle's power battery, and controls the vehicle to switch from direct drive mode to idle mode or series mode based on the battery charge. Since the FMCU obtains power from the power battery to drive the vehicle in idle mode, if the battery charge is greater than or equal to the first preset charge, the vehicle is controlled to switch from direct drive mode to idle mode. In the vehicle provided in this embodiment, in idle mode, the clutch is disengaged, decoupling the engine from the vehicle. The engine itself is in an idle state, and the FMCU provides power to the vehicle. Idle state refers to the state where the engine runs continuously at the lowest stable speed. Idle state ensures that if the user accelerates again by pressing the accelerator in idle mode, the engine does not need to be started, avoiding loss of vehicle power. In series mode, the engine can charge the power battery. Therefore, if the battery charge is less than the first preset charge, the vehicle is controlled to switch from direct drive mode to series mode, and the front axle transmission is simultaneously controlled to shift into neutral. Since the rear axle transmission is already in neutral, the vehicle stops moving, while the engine remains running, charging the power battery to prevent over-discharge.

[0060] In this embodiment, when the vehicle is in direct drive mode, the vehicle controller engages the rear axle transmission in neutral. When the vehicle speed is less than the critical speed for direct drive mode, the controller engages the rear axle transmission from neutral to a preset gear. If the rear axle transmission engages the preset gear, the vehicle is controlled to enter either pure electric four-wheel drive mode or rear-wheel drive mode based on the battery charge. If the rear axle transmission does not engage the preset gear, the controller continues to monitor the vehicle speed. When the vehicle speed is less than the speed at which the engine is about to stall, the controller is controlled to switch the vehicle from direct drive mode to idle mode or series mode based on the battery charge. Simultaneously with entering direct drive mode, engaging the rear axle transmission in neutral disconnects the rear motor from the vehicle, preventing the rear motor from consuming energy even with zero torque, thus reducing overall vehicle energy consumption. Engaging the preset gear allows the vehicle to enter a pure electric four-wheel drive mode or rear-wheel drive mode that better matches the current speed, ensuring flexibility and intelligence in vehicle control. When the preset gears of the rear axle transmission are unavailable, the engine idles in idle mode, preventing it from stalling. During vehicle acceleration, there's no need to restart the engine, thus preventing power loss. In series mode, engine stalling is prevented, allowing the engine to charge the battery and preventing over-discharge. Both modes improve vehicle safety and extend engine life.

[0061] Please refer to Figure 4, which is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure. As shown in Figure 4, the method of this embodiment may include the following steps S301-S305.

[0062] S301: During vehicle operation, if the vehicle controller detects that the vehicle's third driving speed has reached the third preset speed, it will control the rear axle transmission of the vehicle to shift into neutral and control the vehicle to enter direct drive mode.

[0063] Please refer to step S201 for the specific process, which will not be repeated here.

[0064] S302, when the vehicle controller detects that the vehicle is driving in direct drive mode, if the vehicle's first driving speed is less than the first preset speed, the controller will control the vehicle's rear axle transmission to shift from neutral to a preset gear.

[0065] Please refer to step S202 for the specific process, which will not be repeated here.

[0066] S303: If the rear axle transmission is in a preset gear, the battery charge of the vehicle's power battery is obtained.

[0067] S304, if the vehicle controller detects that the battery charge is greater than or equal to the second preset charge, it controls the vehicle's engine to enter a shutdown state and controls the vehicle to switch from direct drive mode to pure electric four-wheel drive mode.

[0068] Specifically, if the vehicle controller detects that the battery charge is greater than or equal to a second preset charge level, it determines that the vehicle's battery charge is high, allowing the engine to enter a shutdown state and switch from direct drive mode to pure electric four-wheel drive mode. The FMCU and P4M then jointly provide driving power to the vehicle. The vehicle provided in this embodiment is a four-wheel drive vehicle. Based on the front and rear axle transmissions, the driving modes can be divided into four-wheel drive mode and two-wheel drive mode. Two-wheel drive mode can be further divided into front-wheel drive mode and rear-wheel drive mode. Four-wheel drive mode means that power is distributed to both the front and rear wheels of the vehicle. Front-wheel drive mode means that the vehicle's power is mainly provided by the front wheels, with the rear wheels in a driven state. Rear-wheel drive mode means that the vehicle's power is mainly provided by the rear wheels, with the front wheels in a driven state. The front and rear axle transmissions determine whether the vehicle is in four-wheel drive, front-wheel drive, or rear-wheel drive mode. When neither the front nor rear axle transmission is in neutral, the vehicle is in four-wheel drive mode. When the rear axle transmission is in neutral and the front axle transmission is not, the vehicle is in front-wheel drive mode. When both the front and rear axle transmissions are in neutral, the vehicle is in rear-wheel drive mode. When both the front and rear axle transmissions are in neutral, the vehicle stops moving. Pure electric four-wheel drive mode is when the engine is off, and the FMCU and P4M provide power to the vehicle. In this mode, the vehicle speed is lower and the battery charge is higher, making it suitable for pure electric four-wheel drive.

[0069] S305: If the vehicle controller detects that the battery level is less than the second preset level, it controls the front axle transmission of the vehicle to be put into neutral, and controls the vehicle to switch from direct drive mode to series mode or pure electric rear drive mode based on the engine status of the vehicle.

[0070] Specifically, when the battery level is lower than the second preset level, it cannot provide power to both the FMCU and P4M. Therefore, the front axle transmission is shifted into neutral, allowing the vehicle to operate in rear-wheel drive mode, powered by the rear wheels. Rear-wheel drive mode includes series mode and pure electric rear-wheel drive mode, suitable for low driving speeds and low battery levels. In series mode, the vehicle's engine provides power to the P4M, enabling the P4M to drive the vehicle. In pure electric rear-wheel drive mode, the P4M drives the vehicle using power derived from the battery. Therefore, the vehicle is controlled to switch between series mode and pure electric rear-wheel drive mode based on the engine status.

[0071] In one feasible implementation, if the vehicle controller detects that the battery charge is less than a second preset charge, it controls the front axle transmission of the vehicle to shift into neutral and obtains the engine status; if the engine status is working, it controls the vehicle to switch from direct drive mode to series mode; if the engine status is faulty, it controls the vehicle to switch from direct drive mode to pure electric rear drive mode.

[0072] It should be noted that driving modes such as four-wheel drive mode and two-wheel drive mode are different from driving modes such as pure electric mode, series mode and direct drive mode. The two can be combined arbitrarily.

[0073] In this embodiment, when the vehicle is in direct drive mode, the vehicle controller engages the rear axle transmission in neutral. When the vehicle speed is less than the critical speed for direct drive mode, the controller engages the rear axle transmission in a preset gear. If the rear axle transmission engages the preset gear, the vehicle is controlled to enter either pure electric four-wheel drive mode or rear-wheel drive mode based on the battery charge level. Simultaneously with entering direct drive mode, engaging the rear axle transmission in neutral disconnects the rear motor from the vehicle, preventing the rear motor from consuming energy even with zero torque, thus reducing overall vehicle energy consumption. Engaging the preset gear allows the vehicle to enter a pure electric four-wheel drive mode or rear-wheel drive mode that better matches the current driving speed, ensuring flexibility and intelligence in vehicle control.

[0074] Please refer to Figure 5, which is a schematic flowchart of a vehicle control method provided in an embodiment of this disclosure. As shown in Figure 5, the method of this embodiment may include the following steps S401-S407.

[0075] S401: During vehicle operation, if the vehicle controller detects that the vehicle's third driving speed has reached the third preset speed, it will control the rear axle transmission of the vehicle to shift into neutral and control the vehicle to enter direct drive mode.

[0076] Please refer to step S301 for the specific process, which will not be repeated here.

[0077] S402, when the vehicle controller detects that the vehicle is driving in direct drive mode, if the vehicle's first driving speed is less than the first preset speed, the controller will control the vehicle's rear axle transmission to shift from neutral to a preset gear.

[0078] Please refer to step S302 for the specific process, which will not be repeated here.

[0079] S403, if the vehicle controller detects that the rear axle transmission has not entered the preset gear, it monitors the vehicle's second driving speed.

[0080] Please refer to step S204 for the specific process, which will not be repeated here.

[0081] S404, the vehicle controller calculates the second preset speed based on the ratio of the engine speed to the wheel speed, the tire circumference, and the stall speed when the engine enters the stall state.

[0082] Please refer to step S205 for the specific process, which will not be repeated here.

[0083] S405, if the vehicle controller detects that the second driving speed is less than the second preset speed, it obtains the battery charge of the vehicle's power battery.

[0084] S406, if the vehicle controller detects that the battery charge is greater than or equal to the first preset charge, it controls the vehicle to switch from direct drive mode to idle mode.

[0085] Specifically, in idle mode, the FMCU draws power from the battery to drive the vehicle. Therefore, if the vehicle controller detects that the battery charge is greater than or equal to a first preset charge level, it determines that the battery can currently provide power to the FMCU, enabling the FMCU to provide driving power to the vehicle. Thus, the vehicle is switched from direct drive mode to idle mode. In idle mode, the clutch is disengaged, and the engine and vehicle are decoupled. The engine itself is idling, and the FMCU provides power to the vehicle. Idle mode refers to the engine continuously running at its lowest stable speed. Idle mode ensures that if the user accelerates again by pressing the accelerator, the engine does not need to be started, preventing loss of power. It should be noted that in idle mode, the engine can also charge the battery.

[0086] S407: If the vehicle controller detects that the battery level is lower than the first preset level, it controls the front axle transmission of the vehicle to shift into neutral and controls the vehicle to switch from direct drive mode to series drive mode.

[0087] Specifically, in series mode, the engine can charge the battery. Therefore, if the vehicle controller detects that the battery level is lower than a first preset level, it determines that the battery cannot provide power to the FMCU and shifts the front axle transmission into neutral. Since the rear axle transmission is already in neutral, the vehicle stops moving. However, the engine remains running. To prevent the engine from stalling, the vehicle is switched from direct drive mode to series mode, causing the engine to rotate and charge the battery, preventing over-discharge.

[0088] In this embodiment, when the vehicle is in direct drive mode, the vehicle controller engages the rear axle transmission in neutral. When the vehicle speed is less than the critical speed for direct drive mode, it controls the rear axle transmission to engage a preset gear. If the rear axle transmission does not engage the preset gear, it continues to monitor the vehicle speed. When the vehicle speed is less than the speed at which the engine is about to stall, it obtains the battery charge. If the battery charge is high, it controls the vehicle to switch from direct drive mode to idle mode; if the battery charge is low, it engages the front axle transmission in neutral and controls the vehicle to switch from direct drive mode to series mode. Simultaneously with entering direct drive mode, the rear axle transmission is engaged in neutral, disconnecting the rear motor from the vehicle and preventing the rear motor from consuming energy even with zero torque, thus reducing overall vehicle energy consumption. When the preset gear of the rear axle transmission is unavailable, the engine remains idle in idle mode, preventing stalling. During vehicle acceleration, there is no need to restart the engine, preventing power loss. The series connection mode prevents engine stalling, allows the engine to charge the battery, and prevents over-discharge. Both modes improve vehicle safety and extend engine life.

[0089] Based on the system architecture diagram in Figure 1, the vehicle control device provided in the embodiments of this disclosure will be described in detail below with reference to Figure 6. It should be noted that the vehicle control device in Figure 6 is used to execute the methods of the embodiments shown in Figures 2-5 of this disclosure. For ease of explanation, only the parts related to the embodiments of this disclosure are shown. For specific technical details not disclosed, please refer to the embodiments shown in Figures 2-5 of this disclosure.

[0090] Please refer to Figure 6, which is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this disclosure. As shown in Figure 6, the vehicle control device 1 of this embodiment may include: a rear axle shifting unit 11, a driving speed monitoring unit 12, and a mode switching unit 13.

[0091] The rear axle shift unit 11 is used to control the rear axle transmission of the vehicle to shift from neutral to a preset gear when the vehicle is driving in direct drive mode and the first driving speed of the vehicle is less than the first preset speed.

[0092] The driving speed monitoring unit 12 is used to monitor the second driving speed of the vehicle if the rear axle transmission has not entered a preset gear.

[0093] The mode switching unit 13 is used to control the vehicle to switch from direct drive mode to idle mode or series mode based on the battery charge of the vehicle's power battery if the second driving speed is less than the second preset speed.

[0094] The first preset speed is the critical speed threshold at which the vehicle exits direct drive mode, and the second preset speed is the critical speed threshold at which the vehicle's engine enters stall speed. The first preset speed is greater than the second preset speed.

[0095] Optionally, the vehicle control device 1 is specifically used to control the rear axle transmission of the vehicle to shift into neutral and control the vehicle to enter direct drive mode if the third driving speed of the vehicle reaches the third preset speed during the driving process. The third driving speed is the critical speed threshold for the vehicle to enter direct drive mode.

[0096] Optionally, the vehicle control device 1 is specifically used to calculate a second preset speed based on the speed ratio of the engine speed of the vehicle's engine to the wheel speed of the vehicle, the tire circumference of the vehicle, and the stall speed when the engine enters the stall state.

[0097] Optionally, the mode conversion unit 13 is specifically used to obtain the battery charge of the vehicle's power battery if the second driving speed is less than the second preset speed.

[0098] If the battery charge is greater than or equal to the first preset charge, the vehicle is controlled to switch from direct drive mode to idle mode.

[0099] If the battery charge is less than the first preset charge, the front axle transmission of the vehicle is put into neutral, and the vehicle is switched from direct drive mode to series drive mode.

[0100] Optionally, the vehicle control device 1 is specifically used to control the vehicle to switch from direct drive mode to pure electric four-wheel drive mode or rear drive mode based on the battery charge of the vehicle's power battery if the rear axle transmission enters a preset gear.

[0101] Optionally, the vehicle control device 1 is specifically used to obtain the battery charge of the vehicle's power battery if the rear axle transmission enters a preset gear.

[0102] If the battery charge is greater than or equal to the second preset charge, the vehicle's engine will be shut down, and the vehicle will be switched from direct drive mode to pure electric four-wheel drive mode.

[0103] If the battery charge is less than the second preset charge, the vehicle's front axle transmission is put into neutral, and based on the engine status, the vehicle is switched from direct drive mode to series mode or pure electric rear drive mode.

[0104] Optionally, the vehicle control device 1 is specifically used to control the front axle transmission of the vehicle to shift into neutral if the battery charge is less than a second preset charge.

[0105] Obtain the engine status;

[0106] If the engine is running, the vehicle is switched from direct drive mode to series drive mode.

[0107] If the engine is off, the vehicle will be switched from direct drive mode to pure electric rear drive mode.

[0108] In this embodiment, when the vehicle is in direct drive mode, the rear axle transmission is engaged in neutral. When the vehicle's speed is less than the critical speed for direct drive mode, the rear axle transmission is engaged in a preset gear. If the rear axle transmission engages the preset gear, the vehicle is controlled to enter either pure electric four-wheel drive mode or rear-wheel drive mode based on the battery charge. If the rear axle transmission does not engage the preset gear, the vehicle's speed is continuously monitored. When the vehicle's speed is less than the speed at which the engine is about to stall, the vehicle is controlled to switch from direct drive mode to idle mode or series mode based on the battery charge. Simultaneously with entering direct drive mode, the rear axle transmission is engaged in neutral, disconnecting the rear motor from the vehicle and preventing it from consuming energy even with zero torque, thus reducing overall vehicle energy consumption. When the rear axle transmission engages the preset gear, the vehicle is controlled to enter a pure electric four-wheel drive mode or rear-wheel drive mode that better matches the current speed, ensuring the flexibility and intelligence of vehicle control. When the preset gears of the rear axle transmission are unavailable, the engine idles in idle mode, preventing it from stalling. During vehicle acceleration, there's no need to restart the engine, thus preventing power loss. In series mode, engine stalling is prevented, allowing the engine to charge the battery and preventing over-discharge. Both modes improve vehicle safety and extend engine life.

[0109] Please refer to Figure 7, which is a structural schematic diagram of a vehicle provided in an embodiment of this disclosure.

[0110] For example, as shown in FIG7, the vehicle 700 includes a processor 701 and a memory 702, wherein the processor 701 is electrically connected to the memory 702.

[0111] The processor 701 is the control center of the vehicle 700 and may include one or more processing cores. The processor 701 connects to various parts of the vehicle via various interfaces and lines, executing various vehicle functions and processing data by running or calling computer programs stored in the memory 702 and calling data stored in the memory 702, thereby providing overall control of the vehicle 700. Optionally, the processor 701 may be implemented using at least one of the following hardware forms: Digital Signal Processing (DSP), Field Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 701 may integrate one or more of the following: CPU, Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user page, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 701 and may be implemented separately using a communication chip.

[0112] The memory 702 can be used to store software programs and modules. The processor 701 executes various functional applications and data processing by running the computer programs and modules stored in the memory 702. The memory 702 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function, etc.; the data storage area may store data created based on the use of the vehicle 700, etc.

[0113] Furthermore, memory 702 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, memory 702 may also include a memory controller to provide processor 701 with access to memory 702.

[0114] In this embodiment, the processor 701 in the vehicle 700 loads the instructions corresponding to the processes of one or more computer programs into the memory 702 according to the following steps, and the processor 701 runs the computer programs stored in the memory 702 to realize various functions, as follows:

[0115] When the vehicle is driving in direct drive mode, if the vehicle's first driving speed is less than the first preset speed, the rear axle transmission of the vehicle will be controlled to shift from neutral to the preset gear.

[0116] If the rear axle transmission does not engage the preset gear, monitor the vehicle's second driving speed;

[0117] If the second driving speed is less than the second preset speed, the vehicle will be controlled to switch from direct drive mode to idle mode or series mode based on the battery charge of the vehicle's power battery.

[0118] The first preset speed is the critical speed threshold at which the vehicle exits direct drive mode, and the second preset speed is the critical speed threshold at which the vehicle's engine enters stall speed. The first preset speed is greater than the second preset speed.

[0119] Optionally, before executing the command "If the vehicle's first driving speed is less than the first preset speed when the vehicle is driving in direct drive mode, the processor 701 also executes the following":

[0120] During vehicle operation, if the vehicle's third driving speed reaches the third preset speed, the rear axle transmission of the vehicle will be shifted into neutral to control the vehicle to enter direct drive mode. The third driving speed is the critical speed threshold for the vehicle to enter direct drive mode.

[0121] Optionally, before executing the command "If the second driving speed is less than the second preset speed, then based on the battery charge of the vehicle's power battery, control the vehicle to switch from direct drive mode to idle mode or series mode", processor 701 also executes:

[0122] The second preset speed is calculated based on the ratio of the vehicle's engine speed to the vehicle's wheel speed, the vehicle's tire circumference, and the engine stall speed when the engine enters a stall state.

[0123] Optionally, when the processor 701 executes the command, "If the second driving speed is less than the second preset speed, then based on the battery charge of the vehicle's power battery, control the vehicle to switch from direct drive mode to idle mode or series mode," the processor 701 specifically performs the following:

[0124] If the second driving speed is less than the second preset speed, the battery charge of the vehicle's power battery is obtained;

[0125] If the battery charge is greater than or equal to the first preset charge, the vehicle is controlled to switch from direct drive mode to idle mode.

[0126] If the battery charge is less than the first preset charge, the front axle transmission of the vehicle is put into neutral, and the vehicle is switched from direct drive mode to series drive mode.

[0127] Optionally, when the vehicle is driving in direct drive mode, if the vehicle's first driving speed is less than a first preset speed, after controlling the rear axle transmission of the vehicle to shift from neutral to a preset gear, the processor 701 also performs the following:

[0128] If the rear axle transmission enters a preset gear, the vehicle will be controlled to switch from direct drive mode to pure electric four-wheel drive mode or rear drive mode based on the battery charge of the vehicle's power battery.

[0129] Optionally, when the processor 701 controls the vehicle to switch from direct drive mode to pure electric four-wheel drive mode or rear drive mode based on the battery charge of the vehicle's power battery if the rear axle transmission enters a preset gear, the specific actions taken are as follows:

[0130] If the rear axle transmission enters a preset gear, the battery charge of the vehicle's power battery is obtained.

[0131] If the battery charge is greater than or equal to the second preset charge, the vehicle's engine will be shut down, and the vehicle will be switched from direct drive mode to pure electric four-wheel drive mode.

[0132] If the battery charge is less than the second preset charge, the vehicle's front axle transmission is put into neutral, and based on the engine status, the vehicle is switched from direct drive mode to series mode or pure electric rear drive mode.

[0133] Optionally, when the processor 701 executes the following steps: if the battery charge is less than the second preset charge, control the front axle transmission of the vehicle to engage neutral, and based on the engine status of the vehicle's engine, control the vehicle to switch from direct drive mode to series mode or pure electric rear drive mode, the processor 701 specifically performs the following actions:

[0134] If the battery charge is less than the second preset charge, the front axle transmission of the vehicle will be put into neutral.

[0135] Obtain the engine status;

[0136] If the engine is running, the vehicle is switched from direct drive mode to series drive mode.

[0137] If the engine is off, the vehicle will be switched from direct drive mode to pure electric rear drive mode.

[0138] In this embodiment, when the vehicle is in direct drive mode, the rear axle transmission is engaged in neutral. When the vehicle's speed is less than the critical speed for direct drive mode, the rear axle transmission is engaged in a preset gear. If the rear axle transmission engages the preset gear, the vehicle is controlled to enter either pure electric four-wheel drive mode or rear-wheel drive mode based on the battery charge. If the rear axle transmission does not engage the preset gear, the vehicle's speed is continuously monitored. When the vehicle's speed is less than the speed at which the engine is about to stall, the vehicle is controlled to switch from direct drive mode to idle mode or series mode based on the battery charge. Simultaneously with entering direct drive mode, the rear axle transmission is engaged in neutral, disconnecting the rear motor from the vehicle and preventing it from consuming energy even with zero torque, thus reducing overall vehicle energy consumption. When the rear axle transmission engages the preset gear, the vehicle is controlled to enter a pure electric four-wheel drive mode or rear-wheel drive mode that better matches the current speed, ensuring the flexibility and intelligence of vehicle control. When the preset gears of the rear axle transmission are unavailable, the engine idles in idle mode, preventing it from stalling. During vehicle acceleration, there's no need to restart the engine, thus preventing power loss. In series mode, engine stalling is prevented, allowing the engine to charge the battery and preventing over-discharge. Both modes improve vehicle safety and extend engine life.

[0139] It should be understood that the apparatus provided in this disclosure is used to execute the vehicle control method described above, and therefore can achieve the same effect as the method described above.

[0140] When using an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing relevant program code.

[0141] The processing module may be a processor or a controller, which can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the present disclosure. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0142] In addition, the device provided in this embodiment may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiment.

[0143] This disclosure also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the aforementioned method steps to implement a vehicle control method provided in the above embodiments.

[0144] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method provided in the above embodiment.

[0145] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0146] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0147] In the embodiments provided in this disclosure, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0148] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A vehicle control method characterized by, The method includes: When the vehicle is driving in direct drive mode, if the first driving speed of the vehicle is less than the first preset speed, the rear axle transmission of the vehicle is controlled to shift from neutral to a preset gear. If the rear axle transmission does not engage the preset gear, then monitor the vehicle's second driving speed; If the second driving speed is less than the second preset speed, then based on the battery charge of the vehicle's power battery, the vehicle is controlled to switch from the direct drive mode to the idle mode or the series mode. The first preset speed is the critical speed threshold at which the vehicle exits the direct drive mode, and the second preset speed is the critical speed threshold at which the vehicle's engine enters stall speed. The first preset speed is greater than the second preset speed.

2. The method of claim 1, wherein, Before controlling the rear axle transmission of the vehicle to shift from neutral to a preset gear when the vehicle is driving in direct drive mode and the first driving speed of the vehicle is less than the first preset speed, the method further includes: During the vehicle's operation, if the vehicle's third driving speed reaches a third preset speed, the rear axle transmission of the vehicle is controlled to shift into neutral, and the vehicle is controlled to enter direct drive mode. The third driving speed is the critical speed threshold for the vehicle to enter the direct drive mode.

3. The method of claim 1, wherein, When the vehicle is driving in direct drive mode, if the vehicle's first driving speed is less than a first preset speed, controlling the vehicle's rear axle transmission to shift from neutral to a preset gear includes: When the vehicle is driving in direct drive mode, monitor the vehicle's initial driving speed; If the first driving speed is less than the first preset speed, a shift request is sent to the rear axle transmission of the vehicle so that the rear axle transmission shifts from neutral to a preset gear.

4. The method of claim 1, wherein, Before controlling the vehicle to switch from direct drive mode to idle mode or series mode based on the battery charge of the vehicle's power battery if the second driving speed is less than the second preset speed, the method further includes: The second preset speed is calculated based on the ratio of the engine speed of the vehicle's engine to the wheel speed of the vehicle, the tire circumference of the vehicle, and the stall speed of the engine when it enters the stall state.

5. The method of claim 4, wherein, The calculation of the second preset speed based on the ratio of the engine speed to the wheel speed of the vehicle, the tire circumference of the vehicle, and the stall speed when the engine enters a stall state includes: The engine speed of the vehicle's engine is obtained as a ratio to the wheel speed of the vehicle; the tire circumference of the vehicle is obtained; and the stall speed of the engine when it enters the stall state is obtained. The ratio of the stall speed to the speed ratio is determined as the wheel speed of the vehicle when the engine enters the stall state; The product of the wheel speed of the vehicle when the engine enters the stall state and the tire circumference is determined as the second preset speed.

6. The method of claim 1, wherein, If the second driving speed is less than the second preset speed, then based on the battery charge of the vehicle's power battery, control the vehicle to switch from the direct drive mode to the idle mode or the series mode, including: If the second driving speed is less than the second preset speed, then the battery charge of the vehicle's power battery is obtained; If the battery charge is greater than or equal to a first preset charge, then control the vehicle to switch from the direct drive mode to the idle mode; If the battery charge is less than a first preset charge, the front axle transmission of the vehicle is put into neutral, and the vehicle is switched from direct drive mode to series drive mode.

7. The method of claim 6, wherein, If the battery charge is less than a first preset charge, then after controlling the front axle transmission of the vehicle to shift into neutral and controlling the vehicle to switch from direct drive mode to series drive mode, the method further includes: In the series mode, the engine is controlled to be in an operating state so that the engine charges the power battery.

8. The method of claim 1, wherein, When the vehicle is driving in direct drive mode, if the vehicle's first driving speed is less than a first preset speed, after controlling the rear axle transmission of the vehicle to shift from neutral to a preset gear, the method further includes: If the rear axle transmission enters the preset gear, the vehicle is controlled to switch from the direct drive mode to the pure electric four-wheel drive mode or the rear drive mode based on the battery charge of the vehicle's power battery.

9. The method of claim 8, wherein, If the rear axle transmission enters the preset gear, then based on the battery charge of the vehicle's power battery, the system controls the vehicle to switch from the direct drive mode to a pure electric four-wheel drive mode or a rear drive mode, including: If the rear axle transmission enters the preset gear, the battery charge of the vehicle's power battery is obtained; If the battery charge is greater than or equal to the second preset charge, the vehicle's engine is controlled to enter a shutdown state, and the vehicle is controlled to switch from the direct drive mode to the pure electric four-wheel drive mode. If the battery charge is less than the second preset charge, the front axle transmission of the vehicle is put into neutral, and based on the engine status of the vehicle's engine, the vehicle is switched from direct drive mode to series mode or pure electric rear drive mode.

10. The method of claim 9, wherein, If the battery charge is greater than or equal to a second preset charge, the vehicle's engine is controlled to enter a shutdown state. After controlling the vehicle to switch from the direct drive mode to the pure electric four-wheel drive mode, the method further includes: In the pure electric four-wheel drive mode, the power battery is controlled to provide power to the front motor and rear motor of the vehicle, so that the front motor and rear motor provide driving power to the vehicle.

11. The method of claim 9, wherein, If the battery charge is less than a second preset charge, the front axle transmission of the vehicle is shifted into neutral, and based on the engine status of the vehicle's engine, the vehicle is switched from direct drive mode to series mode or pure electric rear drive mode, including: If the battery charge is less than the second preset charge, then control the front axle transmission of the vehicle to be put into neutral. Obtain the engine status of the engine; If the engine is in a working state, then control the vehicle to switch from the direct drive mode to the series mode; If the engine is in a fault state, the vehicle is controlled to switch from the direct drive mode to the pure electric rear drive mode.

12. The method of claim 11, wherein, If the engine is in a working state, after controlling the vehicle to switch from the direct drive mode to the series mode, the method further includes: In the series mode, the engine is controlled to provide electrical power to the rear motor of the vehicle so that the rear motor drives the vehicle.

13. A vehicle control device characterized by comprising: The device includes: The rear axle shift unit is used to control the rear axle transmission of the vehicle to shift from neutral to a preset gear when the vehicle is driving in direct drive mode and the first driving speed of the vehicle is less than the first preset speed. A driving speed monitoring unit is used to monitor the second driving speed of the vehicle if the rear axle transmission does not engage the preset gear. The mode switching unit is used to control the vehicle to switch from the direct drive mode to the idle mode or the series mode based on the battery charge of the vehicle's power battery if the second driving speed is less than the second preset speed. The first preset speed is the critical speed threshold at which the vehicle exits the direct drive mode, and the second preset speed is the critical speed threshold at which the vehicle's engine enters stall speed. The first preset speed is greater than the second preset speed.

14. A vehicle characterized by comprising: The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program code that, when executed, implements the method as described in any one of claims 1 to 12.

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