CN107433880B - Method and system for driving and controlling electric automobile according to load state - Google Patents

Method and system for driving and controlling electric automobile according to load state Download PDF

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Publication number
CN107433880B
CN107433880B CN201710672560.5A CN201710672560A CN107433880B CN 107433880 B CN107433880 B CN 107433880B CN 201710672560 A CN201710672560 A CN 201710672560A CN 107433880 B CN107433880 B CN 107433880B
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vehicle
side clutch
load state
wheel
driving
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CN107433880A (en
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陆群
张伟建
刘泽锋
陈宁川
曹洋
高要卫
赵建强
宋微
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CH Auto Technology Co Ltd
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CH Auto Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/28—Four wheel or all wheel drive
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)
  • Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a method and a system for driving and controlling an electric automobile according to a load state, wherein the method confirms the load state of the automobile, sends a starting control instruction to a wheel-side clutch and a corresponding driving unit according to the load state, and sends an adjusting control instruction after the driving state meets a specific requirement; the starting control instruction and the adjusting control instruction are issued according to the load state of the vehicle and are used for adjusting whether the wheel-side clutch connects the driving unit with the wheels and whether the corresponding driving unit works; the system comprises a vehicle control unit, a wheel clutch, a driving unit and a user driving control unit, wherein the vehicle control unit is used for controlling the opening and closing of the wheel clutch and the working state of the driving unit according to a signal of the driving control unit; the wheel-side clutch is used for combining or separating a transmission shaft of the driving unit and wheels according to a control command, and the driving unit is used for driving the motor to drive the transmission shaft to rotate.

Description

Method and system for driving and controlling electric automobile according to load state
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a method and a system for driving and controlling an electric automobile according to a load state.
Background
With the increasingly developed modern transportation, automobiles become an important choice for people to go out, and the influence on air and living environment due to the exhaust emission of the automobiles becomes another problem to be solved urgently; in order to respond to the call for energy conservation and emission reduction, in recent years, electric vehicles using rechargeable power batteries as vehicle energy sources instead of fuel oil have been developed; the advent of electric vehicles has provided a solution and direction for automobile exhaust emission to a great extent, but the existing electric vehicles basically use the conventional automobile power transmission system, that is, no matter what driving state the vehicle is in, all the components of the power transmission system (such as half shaft, differential, final drive, shaft and gear, and motor rotor) are rotating, when the electric vehicle converts electric energy into mechanical energy for wheel rotation, the rotation of some components of the power transmission system consumes a part of energy, and the energy is not finally converted into mechanical energy for wheel rotation, and in order to improve the effective utilization rate of energy, the conventional power transmission system and the corresponding driving control method need to be improved.
Disclosure of Invention
In order to solve the problem of low energy effective utilization rate of the existing electric automobile in the background technology, the invention provides a method and a system for driving and controlling the electric automobile according to the load state, wherein the method and the system provide a method for controlling a front wheel driving unit and a rear wheel driving unit to participate in working under different load states based on the control of a wheel-side clutch;
the method for driving and controlling the electric automobile according to the load state comprises the following steps:
step 1, starting a vehicle according to a driving control instruction of a user, and confirming a load state of the vehicle by a vehicle control unit; the vehicle load state comprises a light load state, a medium load state and a heavy load state;
step 2, the vehicle control unit sends a starting control instruction to the wheel-side clutch and the corresponding driving unit according to the vehicle load state; the wheel side clutch comprises a front wheel side clutch and a rear wheel side clutch; the drive unit comprises a front wheel drive unit and a rear wheel drive unit;
and 3, when the running speed of the vehicle exceeds M and the instantaneous speed variance within the time T is smaller than N, the vehicle controller sends an adjustment control command to the wheel-side clutch and the corresponding driving unit according to the load state of the vehicle, wherein M is larger than or equal to S, T, N is a set constant, and S is a set vehicle speed threshold.
Further, the load state is mainly determined by a user driving control signal and vehicle instantaneous acceleration when the vehicle starts, and when the vehicle instantaneous acceleration is in an expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, the vehicle load state is determined to be a medium load state; when the instantaneous acceleration of the vehicle is higher than the expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the load state of the vehicle is a light load state; when the instantaneous acceleration of the vehicle is lower than the expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the load state of the vehicle is a heavy load state; the user driving control unit signal comprises an accelerator pedal output signal and a gear shifter output signal;
further, when the vehicle load state is a light load state, the starting control command sent by the vehicle control unit to the wheel-side clutch is that the rear wheel-side clutch is engaged, the front wheel-side clutch is disengaged, the rear wheel drive unit works, and the front wheel drive unit does not work; when the vehicle load state is a middle load state or a heavy load state, the vehicle controller sends a starting control command to the wheel-side clutch, wherein the front wheel-side clutch and the rear wheel-side clutch are both engaged, and the front wheel driving unit and the rear wheel driving unit both work;
further, when the vehicle load state is a light load state, the vehicle control unit sends adjustment control instructions to the wheel-side clutch, wherein the adjustment control instructions are that the rear wheel-side clutch is disengaged, the front wheel-side clutch is engaged, the rear wheel driving unit does not work, and the front wheel driving unit works; when the vehicle load state is a middle load state, the vehicle control unit sends an adjusting control instruction to the wheel-side clutch, wherein the adjusting control instruction is that the rear wheel-side clutch is engaged, the front wheel-side clutch is disengaged, the rear wheel driving unit works, and the front wheel driving unit does not work; when the vehicle load state is a heavy load state, the vehicle control unit sends a regulating control command to the wheel-side clutch, the wheel-side clutch of the front wheel and the wheel-side clutch of the rear wheel are engaged, and the front wheel driving unit and the rear wheel driving unit work;
furthermore, the engagement or disengagement of the wheel-side clutch means that the wheel-side clutch enables the wheel to be engaged with or disengaged from the transmission shaft, and when the wheel-side clutch is engaged, the wheel rotates coaxially with the transmission shaft; when the wheel-side clutch is separated, the wheels rotate independently by the friction force with the ground;
furthermore, the front wheel side clutch comprises a left front wheel side clutch and a right front wheel side clutch, and control instructions sent by the whole vehicle controller to the left front wheel side clutch and the right front wheel side clutch are the same; the rear wheel hub clutch comprises a left rear wheel hub clutch and a right rear wheel hub clutch, and the control commands sent by the vehicle control unit to the left rear wheel hub clutch and the right rear wheel hub clutch are the same;
further, the premise that the vehicle control unit sends the adjustment control command to the wheel-side clutch according to the load state of the vehicle is that when the running speed of the vehicle exceeds M and the absolute value of the acceleration is not greater than P within the time T, wherein M is greater than or equal to S, T, P is a set constant, and S is a set vehicle speed threshold.
The system for driving and controlling the electric vehicle according to the load state comprises:
the vehicle control unit is used for determining the load state of the vehicle and controlling the engagement or disengagement of the wheel side clutch according to the load state; the vehicle control unit receives a driving control signal and sends a control instruction to the driving unit according to the instruction;
the wheel-side clutch comprises a front wheel-side clutch and a rear wheel-side clutch and is used for controlling whether the wheels are jointed with the transmission shaft of the driving unit or not, and when the wheel-side clutch is jointed, the wheels and the transmission shaft of the driving unit rotate coaxially;
the driving unit comprises a front wheel driving unit and a rear wheel driving unit and is used for driving the motor to drive the transmission shaft to rotate according to the instruction of the whole vehicle controller;
the driving control unit of the user is used for receiving a driving control signal sent by the user during driving and sending the driving control signal to the vehicle control unit, and the driving control signal comprises an accelerator pedal output signal, a brake pedal output signal and a gear device output signal;
further, the load state is mainly determined by a user driving control signal and vehicle instantaneous acceleration when the vehicle starts, and when the vehicle instantaneous acceleration is in an expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, the vehicle load state is determined to be a medium load state; when the instantaneous acceleration of the vehicle is higher than the expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the load state of the vehicle is a light load state; when the instantaneous acceleration of the vehicle is lower than the expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the load state of the vehicle is a heavy load state; the user driving control unit signal comprises an accelerator pedal output signal and a gear shifter output signal;
further, the driving unit comprises a motor controller, a driving motor, an automatic transmission and a transmission shaft; the motor controller receives a control signal of the whole machine controller and controls the driving motor and the automatic transmission to drive the transmission shaft to rotate; when the wheel-side clutch is engaged, the transmission shaft drives the wheels to rotate;
furthermore, the front wheel side clutch comprises a left front wheel side clutch and a right front wheel side clutch, and control instructions sent by the whole vehicle controller to the left front wheel side clutch and the right front wheel side clutch are the same; the rear wheel hub clutch comprises a left rear wheel hub clutch and a right rear wheel hub clutch, and the control commands sent by the vehicle control unit to the left rear wheel hub clutch and the right rear wheel hub clutch are the same;
furthermore, when the whole vehicle controller controls the engagement of a rear wheel-side clutch and the disengagement of a front wheel-side clutch, the other parts of the front wheel driving unit except wheels do not rotate; when the vehicle control unit controls the front wheel and rear wheel clutches to be engaged, the vehicle control unit sends the same control command to the front wheel driving unit and the rear wheel driving unit according to the driving control command of the user, and the vehicle is in a four-wheel driving state.
The invention has the beneficial effects that: the technical scheme of the invention provides a method and a system for driving and controlling an electric automobile according to a load state, wherein the method and the system control whether a wheel-side clutch is engaged or not and the working state of a corresponding driving unit according to the load state and the driving state of the automobile, the driving of the driving unit is optimized according to actual road conditions and driving requirements, the energy consumed by useless rotation is reduced, and the effective energy utilization rate of the electric automobile is further improved.
Drawings
A more complete understanding of exemplary embodiments of the present invention may be had by reference to the following drawings in which:
fig. 1 is a flowchart illustrating a method for driving and controlling an electric vehicle according to a load state according to an embodiment of the present invention;
fig. 2 is a block diagram of a system for driving and controlling an electric vehicle according to a load state according to an embodiment of the present invention;
fig. 3 is a system configuration diagram of an electric vehicle that performs driving control according to a load state according to an embodiment of the present invention.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the present invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
Fig. 1 is a flowchart illustrating a method for driving and controlling an electric vehicle according to a load state according to an embodiment of the present invention; according to the method steps shown in the flow chart, the electric automobile is subjected to drive control according to the load state, and the service condition of a drive unit is switched under the condition of sufficient power, so that the energy loss is reduced; the method comprises the following steps:
step 101, starting a vehicle according to a driving control instruction of a user, and confirming a load state of the vehicle by a vehicle control unit; the vehicle load state comprises a light load state, a medium load state and a heavy load state;
the load state is mainly determined by a user driving control signal and vehicle instantaneous acceleration when the vehicle starts, the relation between an accelerator pedal output signal and the vehicle instantaneous acceleration under different gear states in the load state is preset according to vehicle performance, when a gear is fixed, an interval of the accelerator pedal output signal corresponding to the vehicle instantaneous acceleration is an expected instantaneous acceleration interval, and the expected instantaneous acceleration interval corresponds to the output of the user driving control signal; the user driving control unit signal comprises an accelerator pedal output signal and a gear shifter output signal;
when the vehicle instantaneous acceleration is within an expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the vehicle load state is a medium load state; when the instantaneous acceleration of the vehicle is higher than the expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the load state of the vehicle is a light load state; when the instantaneous acceleration of the vehicle is lower than the expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the load state of the vehicle is a heavy load state;
102, the vehicle controller sends a starting control instruction to a wheel side clutch and a corresponding driving unit according to the load state of the vehicle; the wheel side clutch comprises a front wheel side clutch and a rear wheel side clutch; the drive unit comprises a front wheel drive unit and a rear wheel drive unit;
when the vehicle load state is a light load state, the vehicle control unit sends a starting control command to the wheel-side clutch, wherein the starting control command is that the rear wheel-side clutch is engaged, the front wheel-side clutch is disengaged, the rear wheel driving unit works, and the front wheel driving unit does not work; at the moment, a transmission shaft of the rear wheel driving unit is connected with rear wheels through a rear wheel hub clutch, and the transmission shaft and the wheels are driven to coaxially rotate when the driving unit works; each part in the front wheel driving unit does not rotate and does not work, and the front wheels are not connected with the transmission shaft and rotate by the friction force of the ground;
when the vehicle load state is a middle load state or a heavy load state, the vehicle controller sends a starting control command to the wheel-side clutch, wherein the front wheel-side clutch and the rear wheel-side clutch are both engaged, and the front wheel driving unit and the rear wheel driving unit both work; at the moment, the transmission shafts of the front and rear wheel driving units are connected with the corresponding wheels through the corresponding wheel-side clutches, and the driving units drive the corresponding transmission shafts and the wheels to coaxially rotate when working;
step 3, when the vehicle running speed exceeds M and the instantaneous speed variance within the time T is smaller than N, the vehicle controller sends an adjustment control instruction to the wheel-side clutch and the corresponding driving unit according to the vehicle load state, wherein M is larger than or equal to S, T, N is a set constant, S is a set vehicle speed threshold, and in the embodiment, S is 20M/S;
in the embodiment, when the driving speed of the vehicle exceeds 30M/s and within 1 min, sampling the instantaneous speed every 5s, and when the variance of 20 groups of instantaneous speed values is smaller than N, determining that the vehicle controller needs to send an adjustment control command; the vehicle control unit sends an adjustment control instruction to the wheel side clutch and the corresponding driving unit according to the vehicle load state;
when the vehicle load state is a light load state, the vehicle control unit sends an adjusting control instruction to the wheel-side clutch, wherein the adjusting control instruction is that the rear wheel-side clutch is disengaged, the front wheel-side clutch is engaged, the rear wheel driving unit does not work, and the front wheel driving unit works; when the vehicle load state is a middle load state, the vehicle control unit sends an adjusting control instruction to the wheel-side clutch, wherein the adjusting control instruction is that the rear wheel-side clutch is engaged, the front wheel-side clutch is disengaged, the rear wheel driving unit works, and the front wheel driving unit does not work; when the vehicle load state is a heavy load state, the vehicle control unit sends a regulating control command to the wheel-side clutch, the wheel-side clutch of the front wheel and the wheel-side clutch of the rear wheel are engaged, and the front wheel driving unit and the rear wheel driving unit work;
further, step 103 may be replaced by that the vehicle controller sends the adjustment control command to the wheel-side clutch according to the vehicle load state on the premise that when the vehicle running speed exceeds M and the absolute value of the acceleration is not greater than P within time T, where M is greater than or equal to S, T, P is a set constant, and S is a set vehicle speed threshold, where S is 20M/S in this embodiment; under the condition, when the speed exceeds M, the vehicle is confirmed to run stably according to the fact that the absolute value of the acceleration is not more than P within the time T, and then the whole vehicle controller sends out an adjusting control command, wherein the adjusting control command is as described above;
furthermore, the front wheel side clutch comprises a left front wheel side clutch and a right front wheel side clutch, and control instructions sent by the whole vehicle controller to the left front wheel side clutch and the right front wheel side clutch are the same; the rear wheel hub clutch comprises a left rear wheel hub clutch and a right rear wheel hub clutch, and the control commands sent by the vehicle control unit to the left rear wheel hub clutch and the right rear wheel hub clutch are the same.
Fig. 2 is a block diagram of a system for driving and controlling an electric vehicle according to a load state according to an embodiment of the present invention; fig. 3 is a system configuration diagram of an electric vehicle, in which the electric vehicle shown in fig. 3 is implemented by the system for performing driving control according to a load state shown in fig. 2;
the system for driving and controlling the electric vehicle according to the load state comprises:
the vehicle control unit 201 is used for determining a vehicle load state and controlling the engagement or disengagement of the wheel side clutch according to the load state; the vehicle control unit 201 receives a driving control signal and sends a control instruction to the driving unit according to the instruction;
the wheel-side clutch 202 comprises a front wheel-side clutch and a rear wheel-side clutch, and is used for controlling whether the wheels are connected with a transmission shaft of the driving unit or not, and when the wheel-side clutch 202 is connected, the wheels and the transmission shaft of the driving unit rotate coaxially;
the driving unit 203 comprises a front wheel driving unit and a rear wheel driving unit, and is used for driving the motor to drive the transmission shaft to rotate according to the instruction of the whole vehicle controller;
the driving control unit 204 is used for receiving a driving control signal sent by a user during driving and sending the driving control signal to the vehicle control unit, wherein the driving control signal comprises an accelerator pedal output signal, a brake pedal output signal and a gear device output signal;
further, the load state is mainly determined by a user driving control signal and vehicle instantaneous acceleration when the vehicle starts, and when the vehicle instantaneous acceleration is in an expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, the vehicle load state is determined to be a medium load state; when the instantaneous acceleration of the vehicle is higher than the expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the load state of the vehicle is a light load state; when the instantaneous acceleration of the vehicle is lower than the expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the load state of the vehicle is a heavy load state; the user driving control unit signal comprises an accelerator pedal output signal and a gear shifter output signal;
further, the driving unit comprises a motor controller, a driving motor, an automatic transmission and a transmission shaft; the motor controller receives a control signal of the whole machine controller and controls the driving motor and the automatic transmission to drive the transmission shaft to rotate; when the wheel-side clutch is engaged, the transmission shaft drives the wheels to rotate;
furthermore, the front wheel side clutch comprises a left front wheel side clutch and a right front wheel side clutch, and control instructions sent by the whole vehicle controller to the left front wheel side clutch and the right front wheel side clutch are the same; the rear wheel hub clutch comprises a left rear wheel hub clutch and a right rear wheel hub clutch, and the control commands sent by the vehicle control unit to the left rear wheel hub clutch and the right rear wheel hub clutch are the same;
furthermore, when the whole vehicle controller controls the engagement of a rear wheel-side clutch and the disengagement of a front wheel-side clutch, the other parts of the front wheel driving unit except wheels do not rotate; when the vehicle control unit controls the front wheel and rear wheel clutches to be engaged, the vehicle control unit sends the same control command to the front wheel driving unit and the rear wheel driving unit according to the driving control command of the user, and the vehicle is in a four-wheel driving state.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (9)

1. A method of drive control of an electric vehicle according to a load state, the method comprising:
step 1, starting a vehicle according to a driving control instruction of a user, and confirming a load state of the vehicle by a vehicle control unit; the vehicle load state comprises a light load state, a medium load state and a heavy load state; the load state is mainly determined by a user driving control signal and vehicle instantaneous acceleration when the vehicle starts, and when the vehicle instantaneous acceleration is within an expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, the vehicle load state is determined to be a medium load state; when the instantaneous acceleration of the vehicle is higher than the expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the load state of the vehicle is a light load state; when the instantaneous acceleration of the vehicle is lower than the expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the load state of the vehicle is a heavy load state; the user driving control unit signal comprises an accelerator pedal output signal and a gear shifter output signal;
step 2, the vehicle control unit sends a starting control instruction to the wheel-side clutch and the corresponding driving unit according to the vehicle load state; the wheel side clutch comprises a front wheel side clutch and a rear wheel side clutch; the drive unit comprises a front wheel drive unit and a rear wheel drive unit;
and 3, when the running speed of the vehicle exceeds M, the instantaneous speed variance is smaller than N within the time T, and the absolute value of the acceleration is not larger than P, the vehicle controller sends an adjustment control command to the wheel-side clutch and the corresponding driving unit according to the load state of the vehicle, wherein M is larger than or equal to S, T, P, N is a set constant, and S is a set vehicle speed threshold.
2. The method of claim 1, wherein: when the vehicle load state is a light load state, the vehicle control unit sends a starting control command to the wheel-side clutch, wherein the starting control command is that the rear wheel-side clutch is engaged, the front wheel-side clutch is disengaged, the rear wheel driving unit works, and the front wheel driving unit does not work; when the vehicle load state is a middle load state or a heavy load state, the vehicle control unit sends a starting control command to the wheel-side clutch, the front wheel-side clutch and the rear wheel-side clutch are both engaged, and the front wheel driving unit and the rear wheel driving unit both work.
3. The method of claim 1, wherein: when the vehicle load state is a light load state, the vehicle control unit sends an adjusting control instruction to the wheel-side clutch, wherein the adjusting control instruction is that the rear wheel-side clutch is disengaged, the front wheel-side clutch is engaged, the rear wheel driving unit does not work, and the front wheel driving unit works; when the vehicle load state is a middle load state, the vehicle control unit sends an adjusting control instruction to the wheel-side clutch, wherein the adjusting control instruction is that the rear wheel-side clutch is engaged, the front wheel-side clutch is disengaged, the rear wheel driving unit works, and the front wheel driving unit does not work; when the vehicle load state is a heavy load state, the vehicle control unit sends a regulating control command to the wheel-side clutch, the front wheel-side clutch and the rear wheel-side clutch are engaged, and the front wheel driving unit and the rear wheel driving unit work.
4. A method according to claim 1, 2 or 3, characterized in that: the wheel-side clutch is engaged or disengaged, namely the wheel-side clutch enables the wheel to be engaged with or disengaged from the transmission shaft, and when the wheel-side clutch is engaged, the wheel rotates coaxially with the transmission shaft; when the wheel-side clutch is disengaged, the wheels rotate independently by friction with the ground.
5. The method of claim 4, wherein: the front wheel side clutch comprises a left front wheel side clutch and a right front wheel side clutch, and control instructions sent by the vehicle control unit to the left front wheel side clutch and the right front wheel side clutch are the same; the rear wheel hub clutch comprises a left rear wheel hub clutch and a right rear wheel hub clutch, and the control commands sent by the vehicle control unit to the left rear wheel hub clutch and the right rear wheel hub clutch are the same.
6. A system for implementing the method of claim 1, the system comprising:
the vehicle control unit is used for determining the load state of the vehicle and controlling the engagement or disengagement of the wheel side clutch according to the load state; the vehicle control unit receives a driving control signal and sends a control instruction to the driving unit according to the instruction; the load state is mainly determined by a user driving control signal and vehicle instantaneous acceleration when the vehicle starts, and when the vehicle instantaneous acceleration is within an expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, the vehicle load state is determined to be a medium load state; when the instantaneous acceleration of the vehicle is higher than the expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the load state of the vehicle is a light load state; when the instantaneous acceleration of the vehicle is lower than the expected instantaneous acceleration interval corresponding to the user driving control signal when the vehicle starts, determining that the load state of the vehicle is a heavy load state; the user driving control unit signal comprises an accelerator pedal output signal and a gear shifter output signal;
the wheel-side clutch comprises a front wheel-side clutch and a rear wheel-side clutch and is used for controlling whether the wheels are jointed with the transmission shaft of the driving unit or not, and when the wheel-side clutch is jointed, the wheels and the transmission shaft of the driving unit rotate coaxially;
the driving unit comprises a front wheel driving unit and a rear wheel driving unit and is used for driving the motor to drive the transmission shaft to rotate according to the instruction of the whole vehicle controller;
the driving control unit of the user is used for receiving driving control signals sent by the user during driving and sending the driving control signals to the vehicle control unit, and the driving control signals comprise accelerator pedal output signals, brake pedal output signals and gear device output signals.
7. The system of claim 6, wherein: the driving unit comprises a motor controller, a driving motor, an automatic transmission and a transmission shaft; the motor controller receives a control signal of the whole vehicle controller and controls the driving motor and the automatic transmission to drive the transmission shaft to rotate; when the wheel-side clutch is engaged, the transmission shaft drives the wheels to rotate.
8. The system of claim 6, wherein: the front wheel side clutch comprises a left front wheel side clutch and a right front wheel side clutch, and control instructions sent by the vehicle control unit to the left front wheel side clutch and the right front wheel side clutch are the same; the rear wheel hub clutch comprises a left rear wheel hub clutch and a right rear wheel hub clutch, and the control commands sent by the vehicle control unit to the left rear wheel hub clutch and the right rear wheel hub clutch are the same.
9. The system of claim 6, wherein: when the whole vehicle controller controls the rear wheel side clutch to be connected and the front wheel side clutch to be disconnected, the other parts of the front wheel driving unit except the wheels do not rotate; when the vehicle control unit controls the front wheel and rear wheel clutches to be engaged, the vehicle control unit sends the same control command to the front wheel driving unit and the rear wheel driving unit according to the driving control command of the user, and the vehicle is in a four-wheel driving state.
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