CN107472251B - Four-wheel drive electric automobile sliding control method and system - Google Patents

Four-wheel drive electric automobile sliding control method and system Download PDF

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Publication number
CN107472251B
CN107472251B CN201710672559.2A CN201710672559A CN107472251B CN 107472251 B CN107472251 B CN 107472251B CN 201710672559 A CN201710672559 A CN 201710672559A CN 107472251 B CN107472251 B CN 107472251B
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wheel
clutch
side clutch
driving unit
vehicle
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CN107472251A (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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18072—Coasting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators

Abstract

The invention discloses a four-wheel drive electric vehicle sliding control method and a system, wherein the method is used for confirming that an electric vehicle is in a sliding state capable of feeding back electric energy, and a vehicle controller controls the opening and closing of a wheel clutch and the working state of a corresponding driving unit according to a brake pedal output signal and vehicle speed; the vehicle control unit controls the driving unit to drive the vehicle to run and perform energy feedback according to the user driving control signal; the system comprises a vehicle control unit, a wheel clutch, a driving unit and a signal acquisition unit; the vehicle control unit controls a wheel-side clutch and a driving unit according to an instruction sent by the signal acquisition unit, the wheel-side clutch controls whether wheels are jointed with a transmission shaft of the driving unit, and the driving unit drives the transmission shaft to rotate according to the instruction of the vehicle control unit; under the condition of sufficient driving power, the energy consumed by useless rotation is reduced, and the effective energy utilization rate of the electric automobile is further improved.

Description

Four-wheel drive electric automobile sliding control method and system
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a four-wheel drive electric automobile sliding control method and system.
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 four-wheel drive electric automobile sliding control method and a system, the method and the system are based on the control of a wheel-side clutch, a method for controlling a front wheel drive unit and a rear wheel drive unit to participate in work according to a brake pedal control signal and a vehicle feedback signal under the sliding state capable of feeding back electric energy is provided, under the condition of sufficient power, a single drive system is used for working, and an inoperative drive system cannot rotate to consume energy, so that the aim of reducing energy consumption is fulfilled;
the four-wheel drive electric automobile coasting control method comprises the following steps:
step 1, confirming that the electric automobile is in a sliding state capable of feeding back electric energy, wherein the sliding state capable of feeding back the electric energy refers to that an output signal of an accelerator pedal is 0V, and an SOC value of a power battery is between a lowest SOC threshold value and a highest SOC threshold value;
step 2, the vehicle controller controls the disengagement or engagement of the wheel-side clutch and the working state of the corresponding driving unit according to the output signal of the brake pedal and the vehicle speed; 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;
step 3, the vehicle control unit controls the driving unit to drive the vehicle to run according to the user driving control signal and performs energy feedback; the user driving control signal comprises an accelerator pedal signal, a brake pedal signal and a gear engaging device output signal.
Further, the output signal of the brake pedal is divided into 0V, a light braking signal, a moderate braking signal and a heavy braking signal in sequence according to the intensity of the output signal within the signal range, wherein the widths of the light braking signal range, the moderate braking signal range and the heavy braking signal range are equal or unequal;
further, a first vehicle speed threshold value is set, and when the vehicle speed is less than the first vehicle speed threshold value and the output signal of a brake pedal is 0V, the whole vehicle controller controls the front wheel-side clutch and the rear wheel-side clutch to be disengaged; the driving unit does not work;
further, a first vehicle speed threshold value is set, and when the vehicle speed is greater than the first vehicle speed threshold value and the output signal of the brake pedal is a light brake signal, the whole vehicle controller controls the front wheel-side clutch to be engaged and the rear wheel-side clutch to be disengaged; the whole vehicle controller controls the front wheel driving unit to work and perform energy feedback, and the rear wheel driving unit does not work;
further, a first vehicle speed threshold value is set, and when the vehicle speed is greater than the first vehicle speed threshold value and the output signal of the brake pedal is a medium brake signal, the wheel-side clutch of the front wheel of the whole vehicle controller is disengaged and the wheel-side clutch of the front wheel is engaged; the whole vehicle controller controls the rear wheel driving unit to work and perform energy feedback, and the front wheel driving unit does not work; the rear wheel mechanical brake performs mechanical braking;
further, a first vehicle speed threshold value is set, and when the vehicle speed is greater than the first vehicle speed threshold value and the output signal of the brake pedal is a heavy brake signal, the wheel-side clutches of the front wheel and the rear wheel of the whole vehicle controller are engaged; the whole vehicle controller controls the front wheel driving unit and the rear wheel driving unit to work and perform energy feedback; the front and rear wheel mechanical brakes perform mechanical braking;
furthermore, the engagement of the wheel-side clutch means that the wheel-side clutch engages the wheel with a transmission shaft of the driving unit to enable the wheel and the driving unit to rotate coaxially; the disengagement of the wheel-side clutch means that the wheel-side clutch separates the wheel from a transmission shaft of the driving unit, so that the wheel rotates independently;
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;
a system for coasting control of a four wheel drive electric vehicle comprising:
the vehicle control unit receives a user driving control instruction and a power battery SOC value signal, judges each instruction and sends a control instruction to the wheel side clutch, the driving unit and the mechanical brake;
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 energy feedback device is used for generating feedback energy during braking;
the signal acquisition unit acquires the SOC value of the power battery and a user driving control signal and sends the acquired signal to the vehicle control unit; the user driving control signal comprises an accelerator pedal signal, a brake pedal signal and a gear engaging device 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;
further, when the vehicle control unit controls the engagement of a rear wheel-side clutch and the disengagement of a front wheel-side clutch, the vehicle control unit sends a control instruction to the rear wheel driving unit according to the driving control instruction of the user, and the front wheel driving unit does not rotate except for the wheels; when the vehicle control unit controls the front wheel and rear wheel to be engaged, the vehicle control unit sends the same control instruction to the front wheel driving unit and the rear wheel driving unit according to the driving control instruction of the user.
The invention has the beneficial effects that: the invention provides a method and a system for controlling the sliding of a four-wheel drive electric automobile, wherein the method and the system are based on the control of a wheel-side clutch, and provide a method for controlling a front wheel drive unit and a rear wheel drive unit to work according to a brake pedal control signal and a vehicle feedback signal under the sliding state capable of feeding back electric energy.
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 flow chart of a four-wheel drive electric vehicle coasting control method according to an embodiment of the present invention;
FIG. 2 is a block diagram of a four-wheel drive electric vehicle coasting control system according to an embodiment of the present invention;
fig. 3 is a system configuration diagram of an electric vehicle with a coasting control system 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 flow chart of a four-wheel drive electric vehicle coasting control method according to an embodiment of the present invention; according to the method steps shown in the flow chart, the driving unit of the electric automobile is controlled according to the output signal of the brake pedal and the instantaneous speed of the automobile in the coasting state, the use condition of the driving unit is switched under the condition of sufficient power, and the energy loss is reduced, and the method comprises the following steps:
step 101, confirming that the electric automobile is in a sliding state capable of feeding back electric energy, wherein the sliding state capable of feeding back the electric energy refers to that an output signal of an accelerator pedal is 0V, and an SOC value of a power battery is between a lowest SOC threshold value and a highest SOC threshold value; under the state, the vehicle is in a non-resistance sliding state or a braking sliding state according to the output signal of the brake pedal; when the SOC value of the power battery is smaller than the lowest SOC threshold value, the power battery is in a low-power state, the output of a power supply is limited, and the vehicle enters a low-speed power-saving mode; when the SOC value of the power battery is larger than the highest SOC threshold value, electric energy feedback is not needed; in this embodiment, the SOC minimum threshold is 10%, and the SOC maximum threshold is 96%; the SOC value of the power battery is collected by the power battery and is sent to the vehicle control unit;
102, controlling the disengagement or engagement of a wheel-side clutch and the working state of a corresponding driving unit by the vehicle controller according to the output signal of a brake pedal and the vehicle speed;
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; the output signal of the brake pedal is divided into 0V, a light brake signal, a moderate brake signal and a heavy brake signal in sequence from small to large in the signal range according to the intensity of the output signal, wherein the widths of the light brake signal range, the moderate brake signal range and the heavy brake signal range are equal or unequal; in the embodiment, the range of the mild braking signal is 0.5-2V, the range of the moderate braking signal is 2-3V, and the range of the severe braking signal is 3-5V;
setting a first threshold value of the vehicle speed, wherein the first threshold value of the vehicle speed is 30km/h in the embodiment;
when the vehicle speed is less than a first threshold value of the vehicle speed and the output signal of a brake pedal is 0V, the vehicle control unit controls the front wheel-side clutch and the rear wheel-side clutch to be disengaged; the driving unit does not work; the vehicle is in a low-resistance sliding state;
when the vehicle speed is greater than a first threshold value of the vehicle speed and the output signal of the brake pedal is a light brake signal, the vehicle control unit controls the front wheel hub clutch to be engaged and the rear wheel hub clutch to be disengaged; the whole vehicle controller controls the front wheel driving unit to work and perform energy feedback, and the rear wheel driving unit does not work;
when the vehicle speed is greater than a first threshold value of the vehicle speed and the output signal of the brake pedal is a moderate brake signal, the wheel-side clutch of the front wheel of the vehicle controller is disengaged and the wheel-side clutch of the front wheel is engaged; the whole vehicle controller controls the rear wheel driving unit to work and perform energy feedback, and the front wheel driving unit does not work; the rear wheel mechanical brake performs mechanical braking;
when the vehicle speed is greater than a first threshold value of the vehicle speed and the output signal of the brake pedal is a heavy brake signal, the wheel-side clutches of the front wheel and the rear wheel of the whole vehicle controller are engaged; the whole vehicle controller controls the front wheel driving unit and the rear wheel driving unit to work and perform energy feedback; the front and rear wheel mechanical brakes perform mechanical braking;
103, controlling a driving unit to drive the whole vehicle to run and performing energy feedback by the vehicle control unit according to the user driving control signal; the user driving control signal comprises an accelerator pedal signal, a brake pedal signal and a gear engaging device output signal;
furthermore, the engagement of the wheel-side clutch means that the wheel-side clutch engages the wheel with a transmission shaft of the driving unit to enable the wheel and the driving unit to rotate coaxially; the disengagement of the wheel-side clutch means that the wheel-side clutch separates the wheel from a transmission shaft of the driving unit, so that the wheel rotates independently;
furthermore, the braking energy feedback means that when the vehicle is in a braking state, the driving motor converts part of mechanical energy acted on the driving motor by the transmission shaft into electric energy and transmits the electric energy back to the power battery;
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 four-wheel drive electric vehicle coasting control system according to an embodiment of the present invention; fig. 3 is a system structure diagram of an electric vehicle, in which the electric vehicle shown in fig. 3 is an electric vehicle implemented by the system capable of performing coasting control shown in fig. 2;
a system for coasting control of a four wheel drive electric vehicle comprising:
the vehicle control unit 201 receives a driving control instruction of a user and a power battery SOC value signal, judges the instructions and sends control instructions to the wheel-side clutch, the driving unit and the mechanical brake;
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 jointed with a transmission shaft of the driving unit or not, and when the wheel-side clutches are jointed, 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 vehicle control unit 201; the energy feedback device is used for generating feedback energy during braking;
the signal acquisition unit 204 is used for acquiring the SOC value of the power battery and a user driving control signal and sending the acquired signal to the vehicle control unit 201; the user driving control signal comprises an accelerator pedal signal, a brake pedal signal and a gear engaging device output signal;
further, the driving unit 203 includes 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;
further, when the vehicle control unit 201 controls the engagement of the rear wheel-side clutch and the disengagement of the front wheel-side clutch, the vehicle control unit 201 sends a control instruction to the rear wheel driving unit according to the driving control instruction of the user, and the other parts of the front wheel driving unit except the wheels do not rotate; when the vehicle control unit 201 controls the front and rear wheel-side clutches to be engaged, the vehicle control unit 201 sends the same control command to the front wheel driving unit and the rear wheel driving unit according to the user driving control command.
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 (11)

1. A four-wheel drive electric vehicle coasting control method, the method comprising:
step 1, confirming that the electric automobile is in a sliding state capable of feeding back electric energy, wherein the sliding state capable of feeding back the electric energy refers to that an output signal of an accelerator pedal is 0V, and an SOC value of a power battery is between a lowest SOC threshold value and a highest SOC threshold value;
step 2, the vehicle controller controls the disengagement or engagement of the wheel-side clutch and the working state of the corresponding driving unit according to the output signal of the brake pedal and the vehicle speed; 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;
step 3, the vehicle control unit controls the driving unit to drive the vehicle to run according to the user driving control signal and performs energy feedback; the user driving control signal comprises an accelerator pedal output signal, a brake pedal output signal and a gear engaging device output signal; the output signal of the brake pedal is divided into 0V, a light brake signal, a moderate brake signal and a heavy brake signal in sequence according to the intensity of the output signal within the signal range, wherein the widths of the light brake signal, the moderate brake signal and the heavy brake signal range are equal or unequal.
2. The method of claim 1, wherein: when the vehicle speed is less than a first threshold value of the vehicle speed and the output signal of a brake pedal is 0V, the vehicle control unit controls the front wheel edge clutch and the rear wheel edge clutch to be disengaged; the front wheel drive unit and the rear wheel drive unit do not operate.
3. The method of claim 1, wherein: setting a first vehicle speed threshold, and when the vehicle speed is greater than the first vehicle speed threshold and the output signal of a brake pedal is a light brake signal, controlling the front wheel hub clutch to be engaged and the rear wheel hub clutch to be disengaged by the vehicle controller; the vehicle control unit controls the front wheel driving unit to work and perform energy feedback, and the rear wheel driving unit does not work.
4. The method of claim 1, wherein: setting a first vehicle speed threshold, and when the vehicle speed is greater than the first vehicle speed threshold and the output signal of the brake pedal is a medium brake signal, disengaging a front wheel rim clutch of the vehicle controller and engaging the front wheel rim clutch; the whole vehicle controller controls the rear wheel driving unit to work and perform energy feedback, and the front wheel driving unit does not work; the rear wheel mechanical brake performs mechanical braking.
5. The method of claim 1, wherein: setting a first vehicle speed threshold, and when the vehicle speed is greater than the first vehicle speed threshold and the output signal of a brake pedal is a heavy brake signal, engaging a front wheel edge clutch and a rear wheel edge clutch of the whole vehicle controller; the whole vehicle controller controls the front wheel driving unit and the rear wheel driving unit to work and perform energy feedback; the front wheel mechanical brake and the rear wheel mechanical brake perform mechanical braking.
6. The method of claim 1, wherein: the engagement of the wheel-side clutch means that the wheel-side clutch engages the wheel with a transmission shaft of the driving unit to enable the wheel and the driving unit to rotate coaxially; the wheel-side clutch is disengaged, namely the wheel-side clutch separates the wheel from a transmission shaft of the driving unit, so that the wheel rotates independently.
7. The method of claim 1, 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.
8. A system for implementing the method of claim 1, the system comprising:
the vehicle control unit receives a user driving control signal and a power battery SOC value signal, judges and sends a control instruction to the wheel side clutch, the driving unit and the mechanical brake;
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 unit is used for generating feedback energy during braking;
the signal acquisition unit acquires the SOC value of the power battery and a user driving control signal and sends the acquired signal to the vehicle control unit; the user driving control signal comprises an accelerator pedal output signal, a brake pedal output signal and a gear engaging device output signal.
9. The system of claim 8, wherein: the driving unit comprises a motor controller, a driving motor, an automatic transmission and a transmission shaft; the motor controller receives a control instruction 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.
10. The system of claim 8, 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.
11. The system of claim 8, wherein: when the vehicle control unit controls the rear wheel clutch to be engaged and the front wheel clutch to be disengaged, the vehicle control unit sends a control instruction to the rear wheel driving unit according to a driving control signal of a user, and the other parts of the front wheel driving unit except wheels do not rotate; when the vehicle control unit controls the front wheel side clutch and the rear wheel side clutch to be connected, the vehicle control unit sends the same control instruction to the front wheel driving unit and the rear wheel driving unit according to the user driving control signal.
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CN108757917A (en) * 2018-08-01 2018-11-06 北京长城华冠汽车科技股份有限公司 The coasting control systems and method of electric vehicle
CN111823857B (en) * 2020-05-29 2021-05-18 西安法士特汽车传动有限公司 Tractor timely four-wheel drive system control method based on mechanical hydraulic stepless gearbox
CN111645536B (en) * 2020-06-05 2021-10-01 中国第一汽车股份有限公司 Method for controlling driving torque of electric four-wheel drive automobile
CN112092612B (en) * 2020-09-18 2021-12-07 中国第一汽车股份有限公司 Four-wheel drive pure electric vehicle power system

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