CN105015364B - A kind of four-drive electric car drive control method and device - Google Patents
A kind of four-drive electric car drive control method and device Download PDFInfo
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- CN105015364B CN105015364B CN201510421389.1A CN201510421389A CN105015364B CN 105015364 B CN105015364 B CN 105015364B CN 201510421389 A CN201510421389 A CN 201510421389A CN 105015364 B CN105015364 B CN 105015364B
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Abstract
The present invention provides a kind of four-drive electric car drive control method and device.This method includes：Determine the current drive pattern of four-drive electric car；Drive pattern includes：Force single motor drive mode, preferential single motor drive mode, 4 wheel driven pattern；If the current drive pattern of four-drive electric car is forces single motor drive mode, one motor of vehicle control unit controls participates in driving, and another motor is in off position；If the current drive pattern of four-drive electric car is preferential single motor drive mode, when driving request torque is no more than rear motor torque, motor participates in driving after vehicle control unit controls, and front motor is in off position；Front motor only participates in driving when four-drive electric car suddenly accelerates；If the current drive pattern of four-drive electric car is 4 wheel driven pattern, motor simultaneously participates in driving before and after vehicle control unit controls, and gives front and rear motor by Torque distribution by fore-aft loads distribution.
Description
Technical field
The present invention relates to Control of Electric Vehicles field, more particularly to a kind of four-drive electric car drive control method and dress
Put.
Background technology
Increase with modern society to the idea of environmental protection, electric automobile is by increasing big well-established.Electricity
Electrical automobile refers to, using vehicle power as power, be travelled with power wheel, meets road traffic, security legislation requirements
Vehicle.Because the relatively conventional automobile of effect on environment is smaller, its prospect is had an optimistic view of extensively.
For pure electric automobile, limited, accelerated by tire adhesion force using the rear-guard or precursor vehicle of single motor
Performance is extremely difficult to target requirement, so general take front and rear arrangement motor（Bi-motor）Carry out four-wheel drive, such vehicle control
Device processed is accomplished by the current torque of rational distribution front and back wheel.
In the prior art, the current torque of entire car controller distribution front and back wheel is based primarily upon following 2 points of considerations：1.
Energy Angle, electric vehicle is limited by battery technology at present, and continual mileage is generally shorter, and energy-conservation requires higher compared with traditional vehicle, such as
Fruit is certain to improve power consumption reduction continual mileage always using 4 wheel driven pattern, so needing output torque before and after reasonable distribution
Improve drive system overall efficiency.2. performance perspective：Four-wheel drive system is commonly used to high performance vehicle, and high performance vehicle moment of torsion all compares
It is larger, moved during acceleration after center of gravity, full car weight amount will be moved to rear axle, cause front axle load to reduce.The car of front-wheel drive is
Make also skid on good road surface, distribution torque can ensure wheel in good time before slipping occurs for wheel for four-wheel drive
Acceleration.Work as two-wheeled（Front-wheel or trailing wheel）When tire slipping occurs for the automobile of driving, engine can only be reduced
Torque, and the automobile of four-wheel drive just distributes each wheel torque automatically by electronic system, significantly more efficient can prevent wheel
The situation of skidding occurs.
Based on above-mentioned consideration, referring again to traditional 4 wheel driven vehicle, then 4 wheel driven pure electric automobile can have 3 kinds of 4 wheel driven types：
AWD, and when 4 wheel driven, in good time 4 wheel driven.
AWD：Front and back wheel maintains four-wheel drive pattern forever, and output torque is in fixed allocation ratio point during traveling
Fit in front and back wheel.Full-time driving is handling with traveling tracking with good driving, front and rear electricity when having the disadvantage at the uniform velocity to travel
Machine is low all in Smaller load working region overall efficiency, and economy is bad.
4 wheel driven when simultaneous：By driver according to surface conditions, whether 4 wheel driven is entered by model selection, has the disadvantage that driver will
Switching time can be just grasped with certain experience.
In good time 4 wheel driven：Using the vehicle driven in good time, which kind of drive pattern it selects by computer control, and normal road surface is general
Using two drivings, if road surface is bad or driving wheel skids, controller can be measured and immediately by engine output torque point automatically
The other two-wheeleds of dispensing, are switched to four-wheel drive state, manipulate simple.It has the disadvantage to need to increase the related sensing of road conditions detection
Device, controller algorithm complexity immediate reaction is slower, lacks Driving.
The content of the invention
From aforementioned background art, for pure electric automobile, if necessary to improve the service efficiency of drive system,
Then need preferentially to use two-wheel drive；If necessary to improve the security performance of traveling and by performance, then need to be maintained at 4 wheel driven
Pattern.And 3 kinds of 4 wheel driven types of the prior art：AWD, and when 4 wheel driven, in good time 4 wheel driven exist in varying degrees lack
Fall into.And the present invention is then 4 wheel driven pure electric automobile acceleration to be solved, at the uniform velocity travel, how front and rear motor torque divides under bad road conditions
With the problem of, to ensure vehicle economy and security performance.
In order to solve the above technical problems, the present invention provides a kind of four-drive electric car drive control method, including：
Determine the current drive pattern of four-drive electric car；The drive pattern includes：Force single motor drive mode, it is excellent
First list motor drive mode, 4 wheel driven pattern；
If the current drive pattern of four-drive electric car is the single motor drive mode of pressure, vehicle control unit controls one
Motor participates in driving, and another motor is in off position；
If the current drive pattern of four-drive electric car is preferential single motor drive mode, do not surpass in driving request torque
Later during motor torque, motor participates in driving after vehicle control unit controls, and front motor is in off position；The front motor is only
Driving is participated in when the four-drive electric car suddenly accelerates；
If the current drive pattern of four-drive electric car is 4 wheel driven pattern, motor is joined simultaneously before and after vehicle control unit controls
With driving, and front and rear motor is given by Torque distribution by fore-aft loads distribution.
Wherein, if the four-drive electric car has a motor failure, the four-drive electric car is using pressure
Single motor drive mode, the normal motor of vehicle control unit controls participates in driving, in addition at the motor of a failure
In off position.
Wherein, when the current drive pattern of the four-drive electric car is preferential single motor drive mode, judge described
Whether four-drive electric car needs to enter 4 wheel driven pattern；
If judging, the four-drive electric car needs to enter 4 wheel driven pattern, reminds user to be switched to 4 wheel driven pattern or automatic
It is switched to 4 wheel driven pattern；If judging, the four-drive electric car need not enter 4 wheel driven pattern, keep current preference list motor
Drive pattern.
Wherein, it is described to judge whether the four-drive electric car needs the factor into 4 wheel driven pattern to include：Vehicle trouble
State, user model selection, the judgement of network end server road conditions, wheel slip monitoring.
Wherein, the user model selection includes：Two drive pattern, in good time 4 wheel driven pattern and real-time 4 wheel driven pattern；
When user model selection drives pattern for two, preferential list motor driving is no more than current motor in driving request torque
During torque, single motor driving is always maintained at, another motor is in off position；Asked when single motor torque is unsatisfactory for driving
When seeking torque, network end server, to user's pushed information, points out user selection by four-drive electric car instrument or multimedia
4 wheel driven pattern；
When user model selection is in good time 4 wheel driven, if network end server does not recommend 4 wheel driven pattern or not occurred
During wheelslip, the pattern preferential single motor as two drive patterns drives；When network end server recommends 4 wheel driven pattern
Or wheel when sliding automatically into 4 wheel driven pattern, entire car controller is according to front and rear wheel load by Torque distribution to front and rear electricity
Machine；When network end server no longer recommends 4 wheel driven pattern or wheel no longer slides, delay a period of time returns preferential
Single motor driving；
When user model selection is real-time 4 wheel driven, entire car controller is by fore-aft loads pro rate torque to front and rear motor.
Wherein, network end server road conditions judge to include：
Network end server is directed to four-drive electric car drive system, pavement state database is set up, with reference to real-time road
Road congestion information and Weather information determine whether that the road conditions for recommending the four-drive electric car to be switched to 4 wheel driven pattern judge.
Wherein, network end server also counting user actively opens the section of 4 wheel driven pattern, enters 4 wheel driven mould as one
The condition of formula, judges to determine whether to recommend vehicle to be switched to 4 wheel driven pattern after comprehensive analysis with reference to the road conditions.
Corresponding, the present invention also provides a kind of four-drive electric car drive dynamic control device, including：Drive pattern selecting module
And drive control module；
Drive pattern selecting module, the drive pattern current for determining four-drive electric car；The drive pattern includes：
Force single motor drive mode, preferential single motor drive mode, 4 wheel driven pattern；
Drive control module, drives for the drive pattern according to determined by the drive pattern selecting module to motor
It is dynamic；
If the current drive pattern of four-drive electric car is forces single motor drive mode, drive control module controls one
Individual motor participates in driving, and another motor is in off position；
If the current drive pattern of four-drive electric car is preferential single motor drive mode, do not surpass in driving request torque
Later during motor torque, motor participates in driving after drive control module control, and front motor is in off position；The front motor
Only driving is participated in when the four-drive electric car suddenly accelerates；
If the current drive pattern of four-drive electric car is 4 wheel driven pattern, the front and rear motor of drive control module control is simultaneously
Driving is participated in, and front and rear motor is given by Torque distribution by fore-aft loads distribution.
Wherein, the drive pattern selecting module includes：Mode selecting unit and mode switch element；
Mode selecting unit, the drive pattern current for determining four-drive electric car；The drive pattern includes：Force
Single motor drive mode, preferential single motor drive mode, 4 wheel driven pattern；
Mode switch element, for being preferential single motor drive mode in the current drive pattern of the four-drive electric car
When, judge whether the four-drive electric car needs to enter 4 wheel driven pattern；
If judging, the four-drive electric car needs to enter 4 wheel driven pattern, reminds user to be switched to 4 wheel driven pattern or automatic
It is switched to 4 wheel driven pattern；If judging, the four-drive electric car need not enter 4 wheel driven pattern, keep current preference list motor
Drive pattern.
Wherein, the mode switch element includes：Vehicle trouble states subelement, wheel slip monitoring subelement, use
Family model selection subelement, network service subelement, switching judging subelement；
Vehicle trouble states subelement is used to detect that four-drive electric car motor whether there is failure；
Wheel slip monitoring subelement is used for the wheel slip for detecting four-drive electric car；
User model selection subelement is used to provide a user in two drive patterns, in good time 4 wheel driven and real-time 4 wheel driven 3 to drive mould
Formula；
Network service subelement, the information for receiving network end server；The network end server is used to be directed to four
Drive electric automobile drive system sets up pavement state database, and combination road congestion conditions information and Weather information determine whether
Recommended user is switched to 4 wheel driven pattern；
Switching judging subelement is used to be determined whether to recommend the user of the four-drive electric car to cut according to above-mentioned subelement
Change to 4 wheel driven pattern or the four-drive electric car is switched to 4 wheel driven pattern automatically.
Wherein, the two drives pattern is：Preferential list motor driving, current motor torque is no more than in driving request torque
When, single motor driving is always maintained at, another motor is in off position；When single motor torque is unsatisfactory for driving request power
During square, network end server, to user's pushed information, points out user selection 4 wheel driven by four-drive electric car instrument or multimedia
Pattern；
The in good time 4 wheel driven is：If network end server does not recommend 4 wheel driven pattern or without generation wheelslip
When, the pattern preferential single motor as two drive patterns drives；When network end server recommends 4 wheel driven pattern or wheel hair
Automatically into 4 wheel driven pattern during raw sliding, Torque distribution is given front and rear motor by entire car controller according to front and rear wheel load；Work as network
End server no longer recommends 4 wheel driven pattern or delay a period of time returns to preferential single motor and driven when wheel no longer slides
It is dynamic；
The real-time 4 wheel driven is：Entire car controller is by fore-aft loads pro rate torque to front and rear motor.
Wherein, network end server also counting user actively opens the section of 4 wheel driven pattern, enters 4 wheel driven mould as one
The condition of formula, judges to determine whether to recommend vehicle to be switched to 4 wheel driven pattern after comprehensive analysis with reference to the road conditions.
The four-drive electric car drive control method and device that the present invention is provided realizes fuel oil 4 wheel driven by Dual-motors Driving
The 4 wheel driven function of car, and by Torque distribution front and rear motor is given by the way that vehicle control unit controls are more flexible, realize more reasonably
Front and rear Torque distribution, it is ensured that driving safety performance.Meanwhile, the four-drive electric car drive control method and device that the present invention is provided
The 4 wheel driven schema recommendation of network end server offer can also be provided, user is reminded or directly switch 4 wheel driven pattern, reduce and use
Family forgets to turn on the situation of 4 wheel driven function in bad road conditions, improves driving safety performance.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
The four-drive electric car drive control method first embodiment schematic flow sheet that Fig. 1 provides for the present invention；
The four-drive electric car drive control method second embodiment schematic flow sheet that Fig. 2 provides for the present invention；
Entire car controller Torque distribution flow is illustrated in the four-drive electric car drive control method that Fig. 3 provides for the present invention
Figure；
Fig. 4 for the four-drive electric car drive control method that provides of present invention entire car controller in a failure mode torque
Allocation flow schematic diagram；
Four-drive electric car drive control method vehicle control under preferential single motor drive mode that Fig. 5 provides for the present invention
The Torque distribution strategy schematic diagram of device processed；
The torque for four-drive electric car drive control method entire car controller under 4 wheel driven pattern that Fig. 6 provides for the present invention
Allocation strategy schematic diagram；
Drive pattern judges schematic flow sheet in the four-drive electric car drive control method that Fig. 7 provides for the present invention；
The four-drive electric car drive dynamic control device first embodiment structural representation that Fig. 8 provides for the present invention；
The four-drive electric car drive dynamic control device mode switch element structural representation that Fig. 9 provides for the present invention；
The four-drive electric car configuration schematic diagram that Figure 10 provides for the present invention.
Embodiment
The four-drive electric car drive control method and device that the present invention is provided realizes fuel oil 4 wheel driven by Dual-motors Driving
The 4 wheel driven function of car, and by Torque distribution front and rear motor is given by the way that vehicle control unit controls are more flexible, realize more reasonably
Front and rear Torque distribution, it is ensured that driving safety performance.Meanwhile, the four-drive electric car drive control method and device that the present invention is provided
The 4 wheel driven schema recommendation of network end server offer can also be provided, user is reminded or directly switch 4 wheel driven pattern, reduce and use
Family forgets to turn on the situation of 4 wheel driven function in bad road conditions, improves driving safety performance.
Referring to Fig. 1, the four-drive electric car drive control method first embodiment schematic flow sheet provided for the present invention, such as
Shown in Fig. 1, the four-drive electric car drive control method includes：
Step S101, determines the current drive pattern of four-drive electric car；The drive pattern includes：Single motor is forced to drive
Dynamic model formula, preferential single motor drive mode, 4 wheel driven pattern；If the current drive pattern of four-drive electric car drives for the single motor of pressure
Dynamic model formula, then perform step S102；If the current drive pattern of four-drive electric car is preferential single motor drive mode, perform
Step S103 and S104；If the current drive pattern of four-drive electric car is 4 wheel driven pattern, step S105 is performed.
Step S102, the current drive pattern of four-drive electric car is the single motor drive mode of pressure, entire car controller control
One motor of system participates in driving, and another motor is in off position.
Step S103, the current drive pattern of four-drive electric car is preferential single motor drive mode, in driving request power
When square is no more than rear motor torque, motor participates in driving after vehicle control unit controls, and front motor is in off position.
Step S104, when the four-drive electric car suddenly accelerates, the front motor participates in driving.
Step S105, the current drive pattern of four-drive electric car is motor before and after 4 wheel driven pattern, vehicle control unit controls
Driving is simultaneously participated in, and front and rear motor is given by Torque distribution by fore-aft loads distribution.
The four-drive electric car drive control method and device that the present invention is provided realizes fuel oil 4 wheel driven by Dual-motors Driving
The 4 wheel driven function of car, and by Torque distribution front and rear motor is given by the way that vehicle control unit controls are more flexible, realize more reasonably
Front and rear Torque distribution, it is ensured that driving safety performance.
Referring to Fig. 2, the four-drive electric car drive control method second embodiment schematic flow sheet provided for the present invention.
In the present embodiment, the four-drive electric car drive control method, which will be described in greater detail, to be included：
Step S201, determines the current drive pattern of four-drive electric car；The drive pattern includes：Single motor is forced to drive
Dynamic model formula, preferential single motor drive mode, 4 wheel driven pattern；If the current drive pattern of four-drive electric car drives for the single motor of pressure
Dynamic model formula, then perform step S202；If the current drive pattern of four-drive electric car is preferential single motor drive mode, perform
Step S203；If the current drive pattern of four-drive electric car is 4 wheel driven pattern, step S204 is performed.
More specifically, for pure electric automobile, normal controller can drive driving request torque by parsing
（Speed and throttle）, then carry out Torque distribution（Referring to Fig. 3）, control front axle motor（Front motor）With rear axle motor
（Motor afterwards）Realize forerunner, rear-guard and 4 wheel driven.But motor driving acceleration single in actual use is weak so can only preferentially make
Driven with single motor, when throttle is larger, another motor is exerted oneself guarantee acceleration.So of the invention by vehicle traction mould
Formula is divided into following 3 kinds：Force single motor drive mode, preferential single motor drive mode, 4 wheel driven pattern.
Step S202, the current drive pattern of four-drive electric car is the single motor drive mode of pressure, entire car controller control
One motor of system participates in driving, and another motor is in off position.
It will be appreciated by persons skilled in the art that force single motor drive mode can also as electrical fault pattern,
Using the electric automobile of Dual-motors Driving, when single motor breaks down, Torque distribution can be given by entire car controller
Another normal motor（See Fig. 4 Torque distributions）.In single electrical fault, vehicle performance declines but energy normally travel, can have
Effect reduction causes the situation that vehicle power is interrupted because of electrical fault.
Step S203, the current drive pattern of four-drive electric car is preferential single motor drive mode（As shown in Figure 5）,
When driving request torque is no more than rear motor torque, motor participates in driving after vehicle control unit controls, and front motor is in and do not worked
State.Front motor only participates in driving when the four-drive electric car suddenly accelerates.
Step S204, the current drive pattern of four-drive electric car is 4 wheel driven pattern（As shown in Figure 6）, entire car controller control
Motor simultaneously participates in driving before and after system, and gives front and rear motor by Torque distribution by fore-aft loads distribution.Motor and front motor power afterwards
Square makes a concerted effort to be equal to driving request torque.
Further, also include after the step S203：
Step S205, when the current drive pattern of the four-drive electric car is preferential single motor drive mode, judges
Whether the four-drive electric car needs to enter 4 wheel driven pattern；If judging, the four-drive electric car needs to enter 4 wheel driven pattern,
Step S206 is then performed, reminds user to be switched to 4 wheel driven pattern or automatically switch to 4 wheel driven pattern；If judging, the 4 wheel driven is electronic
Automobile need not enter 4 wheel driven pattern, then perform step S207, keep current preference list motor drive mode.
More specifically, it is described to judge whether four-drive electric car needs the factor into 4 wheel driven pattern to include：Vehicle event
Barrier state, user model selection, the judgement of network end server road conditions, wheel slip monitoring.Vehicle trouble states monitoring is main
It is whether detection dual-motor drive system breaks down, the driving of another motor is switched to when one of motor abnormality,
Vehicle is reduced because electrical fault runs out of steam.The general controller by collection vehicle wheel rotational speed of wheel slip monitoring（Such as ABS）Come
Complete.It specifically judges that flow is as shown in Figure 7.
Further, the user model selection described in the present embodiment includes：Two drive patterns, in good time 4 wheel driven pattern and in real time
4 wheel driven pattern.It is specific as follows：
When user model selection drives pattern for two, preferential list motor driving is no more than current motor in driving request torque
During torque, single motor driving is always maintained at, another motor is in off position；Asked when single motor torque is unsatisfactory for driving
When seeking torque, network end server, to user's pushed information, points out user selection by four-drive electric car instrument or multimedia
4 wheel driven pattern；When suddenly accelerating, another motor just participates in the acceleration that driving ensures traveling.
When user model selection is in good time 4 wheel driven, if network end server does not recommend 4 wheel driven pattern or not occurred
During wheelslip, the pattern preferential single motor as two drive patterns drives；When network end server recommends 4 wheel driven pattern
Or wheel when sliding automatically into 4 wheel driven pattern, entire car controller is according to front and rear wheel load by Torque distribution to front and rear electricity
Machine；When network end server no longer recommends 4 wheel driven pattern or wheel no longer slides, delay a period of time returns preferential
Single motor driving.
When user model selection is real-time 4 wheel driven, entire car controller presses fore-aft loads pro rate torque to front and rear motor,
To improve vehicle safety energy and by performance.
Further, the network end server road conditions described in the present embodiment judge to include：
Network end server is directed to four-drive electric car drive system, pavement state database is set up, with reference to real-time road
Road congestion information and Weather information determine whether that the road conditions for recommending the four-drive electric car to be switched to 4 wheel driven pattern judge.
It is preferred that, server also counting user in network end actively opens the section of 4 wheel driven pattern, as a condition for entering 4 wheel driven pattern,
Judge to determine whether to recommend vehicle to be switched to 4 wheel driven pattern after comprehensive analysis with reference to the road conditions.Those skilled in the art can manage
Solution, it is pure in the case where pure electric automobile provided in an embodiment of the present invention needs to do information exchange with network end server
The information exchange with network end server should be completed on electric automobile equipped with corresponding communication module.
The four-drive electric car drive control method that the present invention is provided realizes the four of fuel oil 4-wheel driven car by Dual-motors Driving
Drive function, and by Torque distribution front and rear motor is given by the way that vehicle control unit controls are more flexible, realize more reasonably front and rear power
Square is distributed, it is ensured that driving safety performance.Meanwhile, the four-drive electric car drive control method that the present invention is provided can also obtain net
The 4 wheel driven schema recommendation that network end server is provided, reminds user or directly switches 4 wheel driven pattern, reduce user in bad road conditions
On forget to turn on the situation of 4 wheel driven function, improve driving safety performance.
Corresponding, the present invention also provides a kind of four-drive electric car drive dynamic control device, four-drive electric car driving control
Device processed can realize foregoing four-drive electric car drive control method.
Referring to Fig. 8, the four-drive electric car drive dynamic control device first embodiment structural representation provided for the present invention, such as
Shown in Fig. 8, the four-drive electric car drive dynamic control device includes：Drive pattern selecting module 1 and drive control module 2；
Drive pattern selecting module 1, the drive pattern current for determining four-drive electric car；The drive pattern bag
Include：Force single motor drive mode, preferential single motor drive mode, 4 wheel driven pattern；
Drive control module 2, is carried out for the drive pattern according to determined by the drive pattern selecting module 1 to motor
Driving.More specifically, if the current drive pattern of four-drive electric car is the single motor drive mode of pressure, drive control mould
Block controls a motor to participate in driving, and another motor is in off position；If the driving mould of four-drive electric car currently
Formula is preferential single motor drive mode, then when driving request torque is no more than rear motor torque, after drive control module control
Motor participates in driving, and front motor is in off position；The front motor is only participated in when the four-drive electric car suddenly accelerates
Driving；If the current drive pattern of four-drive electric car is 4 wheel driven pattern, motor is joined simultaneously before and after drive control module control
With driving, and front and rear motor is given by Torque distribution by fore-aft loads distribution.
More specifically, the drive pattern selecting module 1 includes：Mode selecting unit 11 and mode switch element 12.
Mode selecting unit 11, the drive pattern current for determining four-drive electric car；The drive pattern includes：By force
The single motor drive mode of system, preferential single motor drive mode, 4 wheel driven pattern.
Mode switch element 12, for being preferential single motor driving mould in the current drive pattern of the four-drive electric car
During formula, judge whether the four-drive electric car needs to enter 4 wheel driven pattern.If judging, the four-drive electric car needs entrance
4 wheel driven pattern, then remind user to be switched to 4 wheel driven pattern or automatically switch to 4 wheel driven pattern；If judging the four-drive electric car
4 wheel driven pattern need not be entered, then keep current preference list motor drive mode.
Further, the Main Basiss vehicle trouble states of mode switch element 12, user model selection, network service
Device road conditions judge, wheel slip monitors 4 aspects and judges whether to need to be switched to 4 wheel driven pattern.Therefore, the pattern is cut
Change unit 12（As shown in Figure 9）Including：Vehicle trouble states subelement 121, wheel slip monitoring subelement 122, Yong Humo
Formula selection subelement 123, network service subelement 124, switching judging subelement 125.Specifically：
Vehicle trouble states subelement 121 is used to detect that four-drive electric car motor whether there is failure；When one of them
The driving of another motor is switched to during motor abnormality, vehicle is reduced because electrical fault runs out of steam.
Wheel slip monitoring subelement 122 is used for the wheel slip for detecting four-drive electric car；Slip rate monitoring one
As by collection wheel rotating speed controller（Such as ABS）To complete.
User model selection subelement 123, which is used to provide a user in two drive patterns, in good time 4 wheel driven and real-time 4 wheel driven 3, to be driven
Pattern.As described in preceding method embodiment, so-called two drives pattern refers to：Preferential list motor driving, in driving request power
When square is no more than current motor torque, single motor driving is always maintained at, another motor is in off position；When single motor
When torque is unsatisfactory for driving request torque, network end server is pushed by four-drive electric car instrument or multimedia to user to be believed
Breath, points out user selection 4 wheel driven pattern；
So-called in good time 4 wheel driven refers to：If network end server does not recommend 4 wheel driven pattern or without generation wheelslip
When, the pattern preferential single motor as two drive patterns drives；When network end server recommends 4 wheel driven pattern or wheel hair
Automatically into 4 wheel driven pattern during raw sliding, Torque distribution is given front and rear motor by entire car controller according to front and rear wheel load；Work as network
End server no longer recommends 4 wheel driven pattern or delay a period of time returns to preferential single motor and driven when wheel no longer slides
It is dynamic；
So-called real-time 4 wheel driven refers to：Entire car controller is by fore-aft loads pro rate torque to front and rear motor.
Network service subelement 124, the information for receiving network end server；The network end server is used to be directed to
Four-drive electric car drive system sets up pavement state database, and combination road congestion conditions information and Weather information determination are
No recommended user is switched to 4 wheel driven pattern.It is preferred that, network end server also counting user actively opens the section of 4 wheel driven pattern,
As a condition for entering 4 wheel driven pattern, judge to determine whether to recommend vehicle to be switched to four after comprehensive analysis with reference to the road conditions
Drive pattern.
Switching judging subelement 125, for being determined whether to recommend the use of the four-drive electric car according to above-mentioned subelement
Family is switched to 4 wheel driven pattern or the four-drive electric car is switched into 4 wheel driven pattern automatically.
It will be understood by those skilled in the art that the four-drive electric car drive dynamic control device that the present invention is provided can be existing
Four-drive electric car on implement, go out upgrading on entire car controller software unexpected, in addition it is also necessary to increase network service subelement, use
With the information exchange with network end server.As shown in Figure 10, entire car controller 3 is 4 wheel driven electricity provided in an embodiment of the present invention
Electrical automobile drive dynamic control device, network service subelement 124 is used to and network-side as the One function module of entire car controller 3
The information exchange of server 4.For the four-drive electric car of part, network service has been integrated with its entire car controller 10
Subelement, thus need not extra adding hardware again, and software need to only be upgraded.
The four-drive electric car drive dynamic control device that the present invention is provided realizes the four of fuel oil 4-wheel driven car by Dual-motors Driving
Drive function, and by Torque distribution front and rear motor is given by the way that vehicle control unit controls are more flexible, realize more reasonably front and rear power
Square is distributed, it is ensured that driving safety performance.Meanwhile, the four-drive electric car drive dynamic control device that the present invention is provided can also obtain net
The 4 wheel driven schema recommendation that network end server is provided, reminds user or directly switches 4 wheel driven pattern, reduce user in bad road conditions
On forget to turn on the situation of 4 wheel driven function, improve driving safety performance.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with
The hardware of correlation is instructed to complete by computer program, described program can be stored in computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory（Read-Only Memory, ROM）Or random access memory（Random Access
Memory, RAM）Deng.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (8)
1. a kind of four-drive electric car drive control method, it is characterised in that including：
Determine the current drive pattern of four-drive electric car；The drive pattern includes：Force single motor drive mode, preferential list
Motor drive mode, 4 wheel driven pattern；
If the current drive pattern of four-drive electric car is the single motor drive mode of pressure, one motor of vehicle control unit controls
Driving is participated in, another motor is in off position；
If the current drive pattern of four-drive electric car is preferential single motor drive mode, after driving request torque is no more than
During motor torque, motor participates in driving after vehicle control unit controls, and front motor is in off position；The front motor is only in institute
State when four-drive electric car suddenly accelerates and participate in driving；
If the current drive pattern of four-drive electric car is 4 wheel driven pattern, motor simultaneously participates in drive before and after vehicle control unit controls
It is dynamic, and give front and rear motor by Torque distribution by fore-aft loads distribution；
When the current drive pattern of the four-drive electric car is preferential single motor drive mode, the electronic vapour of the 4 wheel driven is judged
Whether car needs to enter 4 wheel driven pattern；If judging, the four-drive electric car needs to enter 4 wheel driven pattern, reminds user's switching
To 4 wheel driven pattern or automatically switch to 4 wheel driven pattern；If judging, the four-drive electric car need not enter 4 wheel driven pattern, protect
Hold current preference list motor drive mode；It is described to judge whether the four-drive electric car needs the factor bag into 4 wheel driven pattern
Include：Vehicle trouble states, user model selection, the judgement of network end server road conditions, wheel slip monitoring.
2. four-drive electric car drive control method as claimed in claim 1, it is characterised in that if the four-drive electric car
There is a motor failure, then the four-drive electric car is using single motor drive mode is forced, and vehicle control unit controls are just
A normal motor participates in driving, and the motor of a failure is in off position in addition.
3. four-drive electric car drive control method as claimed in claim 1, it is characterised in that the user model selection bag
Include：Two drive pattern, in good time 4 wheel driven pattern and real-time 4 wheel driven pattern；
When user model selection drives pattern for two, preferential list motor driving is no more than current motor torque in driving request torque
When, single motor driving is always maintained at, another motor is in off position；When single motor torque is unsatisfactory for driving request power
During square, network end server, to user's pushed information, points out user selection 4 wheel driven by four-drive electric car instrument or multimedia
Pattern；
When user model selection is in good time 4 wheel driven, if network end server does not recommend 4 wheel driven pattern or without generation wheel
During sliding, the pattern preferential single motor as two drive patterns drives；When network end server recommends 4 wheel driven pattern or car
Automatically into 4 wheel driven pattern when wheel slides, Torque distribution is given front and rear motor by entire car controller according to front and rear wheel load；When
Network end server no longer recommends 4 wheel driven pattern or delay a period of time returns to preferential single electricity when wheel no longer slides
Machine drives；
When user model selection is real-time 4 wheel driven, entire car controller is by fore-aft loads pro rate torque to front and rear motor.
4. four-drive electric car drive control method as claimed in claim 1, it is characterised in that network end server road conditions are sentenced
It is disconnected to include：
Network end server is directed to four-drive electric car drive system, sets up pavement state database, is gathered around with reference to real-time road
Stifled condition information and Weather information determine whether that the road conditions for recommending the four-drive electric car to be switched to 4 wheel driven pattern judge.
5. four-drive electric car drive control method as claimed in claim 4, it is characterised in that network end server is also counted
User actively opens the section of 4 wheel driven pattern, and as a condition for entering 4 wheel driven pattern, total score is judged with reference to the road conditions
Determine whether to recommend vehicle to be switched to 4 wheel driven pattern after analysis.
6. a kind of four-drive electric car drive dynamic control device, it is characterised in that including：Drive pattern selecting module and drive control
Module；
Drive pattern selecting module, the drive pattern current for determining four-drive electric car；The drive pattern includes：Force
Single motor drive mode, preferential single motor drive mode, 4 wheel driven pattern；
Drive control module, is driven for the drive pattern according to determined by the drive pattern selecting module to motor；
If the current drive pattern of four-drive electric car is forces single motor drive mode, drive control module controls an electricity
Machine participates in driving, and another motor is in off position；
If the current drive pattern of four-drive electric car is preferential single motor drive mode, after driving request torque is no more than
During motor torque, motor participates in driving after drive control module control, and front motor is in off position；The front motor only exists
Driving is participated in when the four-drive electric car suddenly accelerates；
If the current drive pattern of four-drive electric car is 4 wheel driven pattern, motor is simultaneously participated in before and after drive control module control
Driving, and give front and rear motor by Torque distribution by fore-aft loads distribution；
The drive pattern selecting module includes：Mode selecting unit and mode switch element；
Mode selecting unit, the drive pattern current for determining four-drive electric car；The drive pattern includes：Force single electricity
Machine drive pattern, preferential single motor drive mode, 4 wheel driven pattern；
Mode switch element, for when the current drive pattern of the four-drive electric car is preferential single motor drive mode,
Judge whether the four-drive electric car needs to enter 4 wheel driven pattern；
If judging, the four-drive electric car needs to enter 4 wheel driven pattern, reminds user to be switched to 4 wheel driven pattern or automatic switchover
To 4 wheel driven pattern；If judging, the four-drive electric car need not enter 4 wheel driven pattern, keep the driving of current preference list motor
Pattern；
The mode switch element includes：Vehicle trouble states subelement, wheel slip monitoring subelement, user model selection
Subelement, network service subelement, switching judging subelement；
Vehicle trouble states subelement is used to detect that four-drive electric car motor whether there is failure；
Wheel slip monitoring subelement is used for the wheel slip for detecting four-drive electric car；
User model selection subelement is used to provide a user two drive patterns, 3 kinds of driving models of in good time 4 wheel driven and real-time 4 wheel driven；
Network service subelement, the information for receiving network end server；The network end server is used for for 4 wheel driven electricity
Electrical automobile drive system sets up pavement state database, and combination road congestion conditions information and Weather information determine whether to recommend
User is switched to 4 wheel driven pattern；
Switching judging subelement is used to be determined whether to recommend the user of the four-drive electric car to be switched to according to above-mentioned subelement
The four-drive electric car is switched to 4 wheel driven pattern by 4 wheel driven pattern automatically.
7. four-drive electric car drive dynamic control device as claimed in claim 6, it is characterised in that
The two drives pattern is：Preferential list motor driving, when driving request torque is no more than current motor torque, is always maintained at
Single motor driving, another motor is in off position；When single motor torque is unsatisfactory for driving request torque, network-side
Server, to user's pushed information, points out user selection 4 wheel driven pattern by four-drive electric car instrument or multimedia；
The in good time 4 wheel driven is：, should if network end server does not recommend 4 wheel driven pattern or no generation wheelslip
Pattern preferential single motor as two drive patterns drives；When network end server recommends 4 wheel driven pattern or wheel slides
When automatically into 4 wheel driven pattern, Torque distribution is given front and rear motor by entire car controller according to front and rear wheel load；When network-side service
Device no longer recommends 4 wheel driven pattern or delay a period of time returns to preferential single motor driving when wheel no longer slides；
The real-time 4 wheel driven is：Entire car controller is by fore-aft loads pro rate torque to front and rear motor.
8. four-drive electric car drive dynamic control device as claimed in claim 6, it is characterised in that network end server is also counted
User actively opens the section of 4 wheel driven pattern, and as a condition for entering 4 wheel driven pattern, combining road condition is judged after comprehensive analysis
Determine whether to recommend vehicle to be switched to 4 wheel driven pattern.
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| CN106240402B (en) * | 2016-08-12 | 2019-02-15 | 北京长城华冠汽车科技股份有限公司 | The drive control method and device of dual-motor electric automobile |
| CN106585403A (en) * | 2016-11-30 | 2017-04-26 | 山西吉利汽车部件有限公司 | Driving system for electric vehicle and electric vehicle driving method |
| CN108312894B (en) * | 2017-01-17 | 2020-10-02 | 郑州宇通客车股份有限公司 | Distributed driving urban bus multi-motor fault control method |
| CN107097686A (en) * | 2017-04-21 | 2017-08-29 | 阿尔特汽车技术股份有限公司 | The driving torque distribution control method of dual-motor electric automobile |
| CN108569168B (en) * | 2017-11-08 | 2021-07-23 | 蔚来(安徽)控股有限公司 | Electric vehicle driving system control method and system |
| CN108162800B (en) * | 2017-12-26 | 2019-03-01 | 航天安华(深圳)科技有限公司 | Automobile drive control method and device |
| CN108773267A (en) * | 2018-06-04 | 2018-11-09 | 北京长城华冠汽车科技股份有限公司 | The electric vehicle of single motor four-wheel drive is got rid of poverty control method |
| CN111746295B (en) * | 2019-03-29 | 2022-03-11 | 北京新能源汽车股份有限公司 | Distributed drive control method and device for electric automobile |
| CN112133084B (en) * | 2019-06-25 | 2022-04-12 | 浙江吉智新能源汽车科技有限公司 | Road information sharing method, device and system |
| CN113232657A (en) * | 2021-05-20 | 2021-08-10 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Vehicle energy management method and device and vehicle |
| CN114537160B (en) * | 2022-03-11 | 2022-12-06 | 浙江极氪智能科技有限公司 | Motor drive switching method and device |
| CN114834265A (en) * | 2022-05-13 | 2022-08-02 | 中国第一汽车股份有限公司 | Vehicle driving control method and device, vehicle and storage medium |
| CN115056656A (en) * | 2022-08-03 | 2022-09-16 | 中国第一汽车股份有限公司 | Control method and device for electric vehicle, electric vehicle and storage medium |
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| US20100187024A1 (en) * | 2009-01-29 | 2010-07-29 | Tesla Motors, Inc. | All wheel drive electric vehicle power assist drive system |
| CN102642479A (en) * | 2012-04-27 | 2012-08-22 | 浙江吉利汽车研究院有限公司杭州分公司 | Electric vehicle |
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