CN112109712B - Vehicle crawling control method, device and system and vehicle - Google Patents

Vehicle crawling control method, device and system and vehicle Download PDF

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Publication number
CN112109712B
CN112109712B CN202010997280.3A CN202010997280A CN112109712B CN 112109712 B CN112109712 B CN 112109712B CN 202010997280 A CN202010997280 A CN 202010997280A CN 112109712 B CN112109712 B CN 112109712B
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vehicle
target torque
control unit
front axle
torque
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CN112109712A (en
Inventor
张�杰
王肖
王海澜
张南
张磊
宋海军
孙岩
申亚洲
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Great Wall Motor Co Ltd
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Great Wall Motor 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18063—Creeping
    • 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
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • 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
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • 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
    • B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
    • 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/15—Control strategies specially adapted for achieving a particular effect
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/40—Torque distribution
    • B60W2720/403—Torque distribution between front and rear axle
    • 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
    • Y02T10/62—Hybrid vehicles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

The disclosure relates to a vehicle crawling control method, device and system and a vehicle, comprising the following steps: acquiring vehicle state information; acquiring a current driving mode of the vehicle under the condition that the vehicle state information meets an activation condition of a four-wheel-drive crawling mode, wherein the driving mode comprises an electric driving mode and a hybrid driving mode, and the vehicle crawls through four-wheel drive when being in the four-wheel-drive crawling mode; determining a target torque of a front axle of the vehicle and a target torque of a rear axle of the vehicle according to the vehicle state information; and controlling the vehicle to creep in a four-wheel drive state according to the current driving mode of the vehicle, the target torque of a front axle of the vehicle and the target torque of a rear axle of the vehicle. Therefore, the front axle and the rear axle of the vehicle can be controlled simultaneously, the four-wheel-drive crawling integrated control of the vehicle is achieved, the torque distribution of the front axle and the rear axle in the four-wheel-drive crawling is more reasonable, the control is more accurate, and the driving safety and the riding experience of the vehicle during crawling are guaranteed.

Description

Vehicle crawling control method, device and system and vehicle
Technical Field
The disclosure relates to the field of hybrid vehicles, in particular to a vehicle crawling control method, device and system and a vehicle.
Background
The vehicle crawling mode of the current framework is generally two-wheel crawling or four-wheel crawling, wherein the two-wheel crawling is generally front axle crawling or rear axle crawling, and the four-wheel crawling is generally crawling with front and rear axles separately controlled but driven simultaneously. The two-wheel drive crawling is unstable on a low-attachment road surface due to an inherent structure, the climbing capability is weak, the four-wheel drive crawling controlled separately cannot perform integrated control on the torque of the whole vehicle, real-time distribution of front and rear axle torques according to different road conditions cannot be achieved, the four-wheel drive crawling can only be controlled separately from front to back, the speed acceleration of the whole vehicle cannot be guaranteed, unreasonable problems may occur in the distribution of the front and rear axle torques of the whole vehicle, and the four-wheel drive crawling cannot be really achieved.
Disclosure of Invention
The invention aims to provide a vehicle crawling control method, device and system and a vehicle, which can control a front axle and a rear axle of the vehicle simultaneously, realize the integrated control of four-wheel-drive crawling, ensure more reasonable torque distribution of the front axle and the rear axle in the four-wheel-drive crawling, realize more accurate control and ensure the driving safety and riding experience when the vehicle crawls.
In order to achieve the above object, the present disclosure provides a vehicle creep control method applied to a hybrid control unit HCU, the method including:
acquiring vehicle state information;
acquiring a current driving mode of the vehicle under the condition that the vehicle state information meets an activation condition of a four-wheel-drive crawling mode, wherein the driving mode comprises an electric driving mode and a hybrid driving mode, and the vehicle crawls through four-wheel drive when being in the four-wheel-drive crawling mode;
determining a target torque of the front axle of the vehicle and a target torque of the rear axle of the vehicle according to the vehicle state information;
and controlling the vehicle to creep under the four-wheel drive state according to the current drive mode of the vehicle, the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle.
Optionally, the controlling the vehicle to creep in the four-wheel drive state according to the current driving mode of the vehicle, the target torque of the front axle of the vehicle, and the target torque of the rear axle of the vehicle comprises:
under the condition that the current driving mode of the vehicle is the electric driving mode, determining a first target rotating speed of a first motor corresponding to a front axle of the vehicle according to the target torque of the front axle of the vehicle, and controlling the rotating speed of the first motor according to the first target rotating speed of the first motor;
sending the target torque of the front axle of the vehicle to a Transmission Control Unit (TCU) so that the Transmission Control Unit (TCU) enables the driving torque output by the first motor to reach the target torque of the front axle of the vehicle by controlling a vehicle clutch;
and controlling a second motor corresponding to the rear axle of the vehicle to output the target torque of the rear axle of the vehicle.
Optionally, the controlling the vehicle to creep in a four-wheel drive state according to the current driving mode of the vehicle, the target torque of the front axle of the vehicle, and the target torque of the rear axle of the vehicle further comprises:
under the condition that the current driving mode of the vehicle is the hybrid driving mode, determining a second target rotating speed of a vehicle engine according to the target torque of a front axle of the vehicle, and sending the second target rotating speed to an Engine Control Unit (ECU) so that the Engine Control Unit (ECU) controls the rotating speed of the vehicle engine to reach the second target rotating speed;
sending the target torque of the front axle of the vehicle to a Transmission Control Unit (TCU) so that the Transmission Control Unit (TCU) enables the driving torque output by the engine of the vehicle to reach the target torque of the front axle of the vehicle by controlling the clutch of the vehicle;
and controlling a second motor corresponding to the rear axle of the vehicle to output the target torque of the rear axle of the vehicle.
Optionally, the determining a second target speed of the vehicle engine according to the target torque of the front axle of the vehicle comprises:
acquiring the power generation rotating speed of a vehicle engine;
determining a crawling rotation speed according to the target torque of the front axle of the vehicle;
and determining the rotation speed with a larger rotation speed value in the crawling rotation speed and the power generation rotation speed as the second target rotation speed.
Optionally, the controlling the vehicle to creep in a four-wheel drive state according to the current driving mode of the vehicle, the target torque of the front axle of the vehicle, and the target torque of the rear axle of the vehicle further comprises:
acquiring the power generation torque of a vehicle engine;
and sending the sum of the power generation torque and the target torque of the front axle of the vehicle to an engine control unit ECU so that the engine control unit ECU controls the output torque of the engine of the vehicle to be the sum of the power generation torque and the target torque of the front axle of the vehicle.
Optionally, before the controlling the vehicle to creep in the four-wheel drive state according to the current driving mode of the vehicle, the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle, the method further comprises:
sending a crawling inhibition command to a Transmission Control Unit (TCU) to inhibit the Transmission Control Unit (TCU) from actively carrying out crawling control according to the vehicle state information; and/or
Sending a slip film state maintenance request to a transmission control unit TCU to instruct the transmission control unit TCU to control the vehicle clutch in a slip film control manner.
Optionally, the sending the target torque of the front axle of the vehicle to a transmission control unit TCU, so that the transmission control unit TCU makes the driving torque output by the engine of the vehicle reach the target torque of the front axle of the vehicle by controlling the vehicle clutch, comprises:
and under the condition that the rotating speed of the vehicle engine is smaller than a first preset rotating speed threshold value, stopping sending the target torque of the vehicle front axle to the transmission control unit TCU.
The present disclosure also provides a vehicle creep control apparatus applied to a hybrid control unit HCU, the apparatus including:
the first acquisition module is used for acquiring vehicle state information;
the second acquisition module is used for acquiring the current driving mode of the vehicle under the condition that the vehicle state information meets the activation condition of a four-wheel-drive crawling mode, wherein the driving mode comprises an electric driving mode and a hybrid driving mode, and the vehicle crawls through four-wheel drive when being in the four-wheel-drive crawling mode;
the determining module is used for determining the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle according to the vehicle state information;
and the control module is used for controlling the vehicle to creep in a four-wheel drive state according to the current drive mode of the vehicle, the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle.
The disclosure also provides a vehicle crawling control system, which comprises a hybrid power control unit HCU, a gearbox control unit TCU and an engine control unit ECU, wherein the hybrid power control unit HCU comprises the vehicle crawling control device.
The present disclosure also provides a vehicle comprising the vehicle creep control system described above.
Through the technical scheme, the hybrid control unit HCU can activate the four-wheel-drive crawling under the condition that the activation condition of the four-wheel-drive crawling mode is determined to be met according to the vehicle state information, and the four-wheel-drive crawling of the vehicle is controlled according to the current driving mode of the vehicle, the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle which are simultaneously determined according to the vehicle state information, so that the front axle of the vehicle and the rear axle of the vehicle are simultaneously controlled, the four-wheel-drive crawling of the vehicle is integrally controlled, the torque distribution of the front axle and the rear axle in the four-wheel-drive crawling is more reasonable and more accurate in control, and the driving safety and riding experience of the vehicle in the crawling are ensured.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic illustration of a vehicle creep control system, shown in an exemplary embodiment according to the present disclosure.
FIG. 2 is a flow chart illustrating a method of controlling creep of a vehicle according to an exemplary embodiment of the present disclosure.
FIG. 3 is a flow chart illustrating a method of controlling creep of a vehicle according to an exemplary embodiment of the present disclosure.
FIG. 4 is a flow chart illustrating a method of controlling creep of a vehicle according to yet another exemplary embodiment of the present disclosure.
Fig. 5 is a block diagram illustrating a vehicle creep control apparatus according to an exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
FIG. 1 is a schematic illustration of a vehicle creep control system, shown in an exemplary embodiment according to the present disclosure. As shown in fig. 1, the vehicle creep Control system includes a hybrid Control Unit HCU1(hybrid Control Unit), a Transmission Control Unit TCU2(Transmission Control Unit), and an engine Control Unit ECU3(Electronic Control Unit), the Transmission Control power source TCU2 and a Control Unit for performing an adjustment operation of a vehicle clutch under the Control of the hybrid Control Unit HCU1 to assist the hybrid Control Unit HCU1 in controlling a torque for driving acting on a front axle of a vehicle, thereby realizing creep of the vehicle; the engine control unit ECU3 is configured to perform an operation of adjusting the rotation speed of the vehicle engine under the control of the hybrid control unit HCU1 in a case where the vehicle is in a hybrid drive mode, so that the driving torque output from the vehicle engine to the front axle of the vehicle can satisfy the torque distributed to the front axle of the vehicle by the hybrid control unit HCU1, thereby realizing the creep of the vehicle.
FIG. 2 is a flow chart illustrating a method of controlling creep of a vehicle according to an exemplary embodiment of the present disclosure. The method is applied to a hybrid control unit HCU, as shown in fig. 2, and includes steps 201 to 203.
In step 201, vehicle state information is acquired. The vehicle state information may include any desired vehicle state information such as accelerator pedal state information, brake pedal state information, vehicle speed information, rear axle gear position, ACC state information (Adaptive Cruise Control), APA state information (Auto Parts Alliance), driving mode, and the like.
In step 202, in the case that the vehicle state information satisfies an activation condition of a four-wheel-drive creep mode, a current driving mode of the vehicle is acquired, wherein the driving mode includes an electric driving mode and a hybrid driving mode, and the vehicle creeps by four-wheel drive when in the four-wheel-drive creep mode.
The activation condition of the four-wheel-drive crawling mode can comprise an activation condition of a common crawling mode, and the driving mode is any one of preset modes. For example, when the activation condition of the normal creep mode is satisfied among the vehicle state information acquired in step 201, such as the accelerator pedal state information, the brake pedal state information, the vehicle speed information, the rear axle gear position, the ACC state information, and the APA state information, the activation condition of the four-Wheel creep mode is satisfied if the driving mode is any one of the AWD mode (All-Wheel Drive), the snow mode, the mud mode, and the sand mode.
The current driving mode of the vehicle may be determined by a current engine state of the vehicle, for example, when the engine state is an on state, the driving mode may be determined as a hybrid driving mode, and when the engine state is an off state, the driving mode may be determined as an electric driving mode. Under the condition that the driving mode is a hybrid driving mode, an engine provides driving torque for a front axle of the vehicle, and a motor corresponding to a rear axle of the vehicle provides driving torque for the rear axle of the vehicle; and under the condition that the driving mode is an electric driving mode, the motor corresponding to the front axle of the vehicle provides driving torque for the front axle of the vehicle, and the motor corresponding to the rear axle of the vehicle provides driving torque for the rear axle of the vehicle.
In step 203, determining a target torque of the front axle of the vehicle and a target torque of the rear axle of the vehicle according to the vehicle state information;
the method of determining the target torque of the front axle and the target torque of the rear axle of the vehicle from the vehicle state information is not limited in this disclosure as long as the torques of the front axle and the rear axle of the vehicle are calculated and controlled in real time by the hybrid control unit HCU according to the vehicle state information. For example, the vehicle speed can be calculated by using PID control according to the current target vehicle speed, and the front and rear axle torques can be distributed according to conditions such as SOC, steering wheel rotation angle, steering wheel rotation speed, gradient and gear, so that the vehicle speed can adapt to different working conditions and the whole vehicle can have good performance under different road conditions.
In the four-wheel-drive crawling mode, the maximum torque limit value of a front axle and a rear axle of the vehicle can be set to be higher than the maximum normal crawling limit value, so that the climbing capacity, the power performance and the passing performance of the vehicle in the four-wheel-drive crawling mode are improved.
In step 204, the vehicle is controlled to creep in a four-wheel drive state according to the current driving mode of the vehicle, the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle.
That is, after the target torque of the front axle and the target torque of the rear axle of the vehicle are determined simultaneously according to the vehicle state information, it is also necessary to control the torques actually transmitted and output by the front axle and the rear axle of the vehicle according to the current driving mode of the vehicle so as to respectively reach the target torque of the front axle and the target torque of the rear axle of the vehicle.
Through the technical scheme, the hybrid control unit HCU can activate the four-wheel-drive crawling under the condition that the activation condition of the four-wheel-drive crawling mode is determined to be met according to the vehicle state information, and the four-wheel-drive crawling of the vehicle is controlled according to the current driving mode of the vehicle, the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle which are simultaneously determined according to the vehicle state information, so that the front axle of the vehicle and the rear axle of the vehicle are simultaneously controlled, the four-wheel-drive crawling of the vehicle is integrally controlled, the torque distribution of the front axle and the rear axle in the four-wheel-drive crawling is more reasonable and more accurate in control, and the driving safety and riding experience of the vehicle in the crawling are ensured.
FIG. 3 is a flow chart illustrating a method of controlling creep of a vehicle according to an exemplary embodiment of the present disclosure. As shown in fig. 3, the method further includes steps 301 to 306.
In step 301, determining that a current driving mode of a vehicle is an electric driving mode or a hybrid driving mode, if the current driving mode of the vehicle is the electric driving mode, turning to step 303, and if the current driving mode of the vehicle is the hybrid driving mode, turning to step 306;
in step 302, a first target rotation speed of a first motor corresponding to the front axle of the vehicle is determined according to the target torque of the front axle of the vehicle, and the rotation speed of the first motor is controlled according to the first target rotation speed of the first motor.
In step 303, the target torque of the front axle of the vehicle is sent to a transmission control unit TCU, so that the transmission control unit TCU controls a vehicle clutch to make the driving torque output by the first motor reach the target torque of the front axle of the vehicle.
In step 304, the second electric machine corresponding to the vehicle rear axle is controlled to output the target torque of the vehicle rear axle.
In step 305, a second target rotation speed of the vehicle engine is determined according to the target torque of the front axle of the vehicle, and the second target rotation speed is sent to an engine control unit ECU, so that the engine control unit ECU controls the rotation speed of the vehicle engine to reach the second target rotation speed.
In step 306, the target torque of the vehicle front axle is sent to a transmission control unit TCU, so that the transmission control unit TCU controls the vehicle clutch to make the driving torque output by the vehicle engine reach the target torque of the vehicle front axle.
The first target rotation speed or the second target rotation speed determined according to the target torque of the front axle of the vehicle may be directly determined by the hybrid control unit HCU, or may be obtained by the hybrid control unit HCU by sending the target torque of the front axle of the vehicle to the transmission control unit TCU.
According to the control method flowchart shown in fig. 3, when the current driving mode is the electric driving mode, the output torques of the first motor and the second motor corresponding to the front axle and the rear axle of the vehicle are respectively controlled according to the target torque of the front axle and the target torque of the rear axle of the vehicle, and when the current driving mode is the hybrid driving mode, the output torques of the engine providing the driving torque for the front axle of the vehicle and the second click corresponding to the rear axle of the vehicle are respectively controlled according to the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle. Since the torque of the vehicle front axle is also controlled by the vehicle clutch, it is also necessary to send the target torque of the vehicle front axle to the transmission control unit TCU so that the transmission control unit TCU performs a control operation of the vehicle clutch under the control of the hybrid control unit HCU.
FIG. 4 is a flow chart illustrating a method of controlling creep of a vehicle according to yet another exemplary embodiment of the present disclosure. As shown in fig. 4, the method further includes steps 401 to 404.
In step 401, the power generation rotation speed of the vehicle engine is acquired.
In step 402, a creep speed is determined based on a target torque for a front axle of the vehicle.
In step 403, the revolution speed with the larger revolution speed value among the creep revolution speed and the power generation revolution speed is determined as the second target revolution speed.
In step 404, the second target rotation speed is sent to the engine control unit ECU so that the engine control unit ECU controls the rotation speed of the vehicle engine to reach the second target rotation speed.
Because the working condition that the engine of the vehicle drives the first motor to generate electricity exists under the condition that the current driving mode of the vehicle is the hybrid driving mode, a power generation rotating speed exists at the moment. At this time, in order to ensure that the rotation speed of the vehicle engine can meet the power generation working condition and the requirement of the four-wheel-drive crawling mode, the rotation speed of the vehicle engine is controlled according to the larger rotation speed value of the power generation rotation speed and the crawling rotation speed. In addition, it is possible to ensure that the engine of the vehicle is controlled according to the engine speed when the calculated creep speed is excessively low due to an abnormality occurring in the process of torque distribution by the hybrid control unit HCU, thereby ensuring the running safety of the vehicle.
In one possible embodiment, as shown in fig. 4, the method further comprises step 405 and step 406.
In step 405, the power generation torque of the vehicle engine is acquired.
In step 406, the sum of the generated torque and the target torque of the vehicle front axle is sent to an engine control unit ECU so that the engine control unit ECU controls the output torque of the vehicle engine to be the sum of the generated torque and the target torque of the vehicle front axle.
Since the generated torque output by the first motor is negative with respect to the target torque of the front axle of the vehicle under the condition that the first motor is driven to generate electricity by the vehicle engine under the condition that the driving mode is the hybrid driving mode, when the ECU controls the rotation speed of the vehicle engine by sending the second target rotation speed to the engine control unit, the ECU may also send the sum of the generated torque and the target torque of the front axle of the vehicle to the engine control unit ECU so that the engine control unit ECU can more quickly make the vehicle engine reach the second target rotation speed.
In one possible embodiment, the method further comprises: sending a crawling inhibition command to a Transmission Control Unit (TCU) to inhibit the Transmission Control Unit (TCU) from actively carrying out crawling control according to the vehicle state information; and/or sending a slip film state hold request to the transmission control unit TCU instructing the transmission control unit TCU to control the vehicle clutch by means of slip film control.
The creep inhibit command is used to instruct the transmission control unit TCU not to actively calculate and control the torque of the front axle of the vehicle after entering the four-wheel-drive creep mode, but only under the control of the hybrid control unit HCU as an actuating element for controlling the vehicle clutch.
The slip state maintaining request is used to instruct the transmission control unit TCU to control a vehicle clutch by a slip control method, thereby protecting a drive source, including a vehicle engine or the first electric machine, that supplies a driving torque to the vehicle front axle.
The creep inhibition command and the slip state maintaining request may be sent immediately after the four-wheel-drive creep mode is activated, or may be sent together when the hybrid control unit HCU sends the target torque of the front axle of the vehicle to the transmission control unit TCU.
In one possible embodiment, said sending the target torque of the vehicle front axle to a transmission control unit TCU to cause the transmission control unit TCU to bring the driving torque output by the vehicle engine to the target torque of the vehicle front axle by controlling the vehicle clutch comprises: and under the condition that the rotating speed of the vehicle engine is smaller than a first preset rotating speed threshold value, stopping sending the target torque of the vehicle front axle to the transmission control unit TCU. That is, after the four-wheel-drive creep mode is activated and in the hybrid drive mode, the rotational speed of the vehicle engine cannot be protected by the transmission control unit TCU alone, but the transmission of the target torque of the vehicle front axle to the transmission control unit TCU is stopped in a state where the rotational speed of the vehicle engine is less than the first preset rotational speed threshold value, that is, the target torque distributed to the vehicle front axle is removed, in this way, the transmission control unit TCU is made to reduce the oil pressure, so that the vehicle engine can slowly recover the normal rotational speed through PID rotational speed adjustment. And under the condition that the rotating speed of the vehicle engine is recovered to be larger than the first preset rotating speed threshold value, recovering the normal torque distribution.
Fig. 5 is a block diagram illustrating a vehicle creep control apparatus according to an exemplary embodiment of the present disclosure. As shown in fig. 5, the apparatus is applied to a hybrid control unit HCU, and includes: a first obtaining module 10, configured to obtain vehicle state information; a second obtaining module 20, configured to obtain a current driving mode of the vehicle if the vehicle state information satisfies an activation condition of a four-wheel-drive crawling mode, where the driving mode includes an electric driving mode and a hybrid driving mode, and the vehicle crawls through four-wheel drive when in the four-wheel-drive crawling mode; a determination module 30 for determining a target torque of a front axle of the vehicle and a target torque of a rear axle of the vehicle according to the vehicle state information; and the control module 40 is used for controlling the vehicle to creep in a four-wheel drive state according to the current driving mode of the vehicle, the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle.
Through the technical scheme, the hybrid control unit HCU can activate the four-wheel-drive crawling under the condition that the activation condition of the four-wheel-drive crawling mode is determined to be met according to the vehicle state information, and the four-wheel-drive crawling of the vehicle is controlled according to the current driving mode of the vehicle, the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle which are simultaneously determined according to the vehicle state information, so that the front axle of the vehicle and the rear axle of the vehicle are simultaneously controlled, the four-wheel-drive crawling of the vehicle is integrally controlled, the torque distribution of the front axle and the rear axle in the four-wheel-drive crawling is more reasonable and more accurate in control, and the driving safety and riding experience of the vehicle in the crawling are ensured.
In one possible embodiment, the control module 40 includes: the first submodule is used for determining a first target rotating speed of a first motor corresponding to a front axle of the vehicle according to the target torque of the front axle of the vehicle and controlling the rotating speed of the first motor according to the first target rotating speed of the first motor under the condition that the current driving mode of the vehicle is the electric driving mode; the second submodule is used for sending the target torque of the front axle of the vehicle to a Transmission Control Unit (TCU) so that the transmission control unit TCU can enable the driving torque output by the first motor to reach the target torque of the front axle of the vehicle by controlling a vehicle clutch; and the third submodule is used for controlling a second motor corresponding to the rear axle of the vehicle to output the target torque of the rear axle of the vehicle.
In a possible embodiment, the control module 40 further comprises: the fourth submodule is used for determining a second target rotating speed of a vehicle engine according to the target torque of the front axle of the vehicle and sending the second target rotating speed to an Engine Control Unit (ECU) under the condition that the current driving mode of the vehicle is the hybrid driving mode, so that the Engine Control Unit (ECU) controls the rotating speed of the vehicle engine to reach the second target rotating speed; and the fifth submodule is used for sending the target torque of the front axle of the vehicle to a Transmission Control Unit (TCU) so that the Transmission Control Unit (TCU) enables the driving torque output by the engine of the vehicle to reach the target torque of the front axle of the vehicle by controlling the clutch of the vehicle.
In a possible implementation, the fourth submodule includes: the acquisition submodule is used for acquiring the power generation rotating speed of the vehicle engine; the first determining submodule is used for determining the crawling rotation speed according to the target torque of the front axle of the vehicle; and the second determining submodule is used for determining the rotating speed with the larger rotating speed value in the crawling rotating speed and the generating rotating speed as the second target rotating speed.
In a possible embodiment, the control module 40 further comprises: the sixth submodule is used for acquiring the power generation torque of the vehicle engine; a seventh sub-module for sending the sum of the generated torque and the target torque of the vehicle front axle to an engine control unit ECU so that the engine control unit ECU controls the output torque of the vehicle engine to be the sum of the generated torque and the target torque of the vehicle front axle.
In one possible embodiment, the apparatus further comprises: the first sending module is used for sending a crawling prohibition instruction to the transmission control unit TCU so as to prohibit the transmission control unit TCU from actively carrying out crawling control according to the vehicle state information; and/or a second sending module for sending a slip film state maintaining request to the transmission control unit TCU to instruct the transmission control unit TCU to control the vehicle clutch by means of slip film control.
In one possible embodiment, the fifth submodule is further configured to stop sending the target torque of the vehicle front axle to the transmission control unit TCU in a state where the rotation speed of the vehicle engine is less than a first preset rotation speed threshold value.
The present disclosure also provides a vehicle creep control system as shown in fig. 1, comprising a hybrid control unit HCU1, a transmission control unit TCU2 and an engine control unit ECU3, wherein the vehicle creep control device described above in the hybrid control unit HCU 1.
The present disclosure provides a vehicle including a vehicle creep control system as shown in fig. 1.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (10)

1. A vehicle creep control method applied to a hybrid control unit HCU, the method comprising:
acquiring vehicle state information;
acquiring a current driving mode of the vehicle under the condition that the vehicle state information meets an activation condition of a four-wheel-drive crawling mode, wherein the driving mode comprises an electric driving mode and a hybrid driving mode, and the vehicle crawls through four-wheel drive when being in the four-wheel-drive crawling mode;
determining a target torque of the front axle of the vehicle and a target torque of the rear axle of the vehicle according to the vehicle state information;
controlling the vehicle to creep under the four-wheel drive state according to the current drive mode of the vehicle, the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle;
wherein before said controlling the vehicle to creep in a four-wheel drive state based on said vehicle current drive mode, said vehicle front axle target torque and said vehicle rear axle target torque, said method further comprises:
and sending a creep inhibition command to a Transmission Control Unit (TCU) to inhibit the Transmission Control Unit (TCU) from actively carrying out creep control according to the vehicle state information.
2. The method of claim 1, wherein said controlling the vehicle to creep in a four-wheel drive state based on the vehicle current drive mode, the target torque for the vehicle front axle, and the target torque for the vehicle rear axle comprises:
under the condition that the current driving mode of the vehicle is the electric driving mode, determining a first target rotating speed of a first motor corresponding to a front axle of the vehicle according to the target torque of the front axle of the vehicle, and controlling the rotating speed of the first motor according to the first target rotating speed of the first motor;
sending the target torque of the front axle of the vehicle to a Transmission Control Unit (TCU) so that the Transmission Control Unit (TCU) enables the driving torque output by the first motor to reach the target torque of the front axle of the vehicle by controlling a vehicle clutch;
and controlling a second motor corresponding to the rear axle of the vehicle to output the target torque of the rear axle of the vehicle.
3. The method of claim 1, wherein said controlling the vehicle to creep in a four-wheel drive state based on the vehicle current drive mode, the target torque for the vehicle front axle, and the target torque for the vehicle rear axle comprises:
under the condition that the current driving mode of the vehicle is the hybrid driving mode, determining a second target rotating speed of a vehicle engine according to the target torque of a front axle of the vehicle, and sending the second target rotating speed to an Engine Control Unit (ECU) so that the Engine Control Unit (ECU) controls the rotating speed of the vehicle engine to reach the second target rotating speed;
sending the target torque of the front axle of the vehicle to a Transmission Control Unit (TCU) so that the Transmission Control Unit (TCU) enables the driving torque output by the engine of the vehicle to reach the target torque of the front axle of the vehicle by controlling the clutch of the vehicle;
and controlling a second motor corresponding to the rear axle of the vehicle to output the target torque of the rear axle of the vehicle.
4. The method of claim 3, wherein determining a second target speed of a vehicle engine based on the target torque of the vehicle front axle comprises:
acquiring the power generation rotating speed of a vehicle engine;
determining a crawling rotation speed according to the target torque of the front axle of the vehicle;
and determining the rotation speed with a larger rotation speed value in the crawling rotation speed and the power generation rotation speed as the second target rotation speed.
5. The method of claim 3, wherein controlling the vehicle to creep in a four-wheel drive state based on the vehicle current drive mode, the target torque for the vehicle front axle, and the target torque for the vehicle rear axle further comprises:
acquiring the power generation torque of a vehicle engine;
and sending the sum of the power generation torque and the target torque of the front axle of the vehicle to an engine control unit ECU so that the engine control unit ECU controls the output torque of the engine of the vehicle to be the sum of the power generation torque and the target torque of the front axle of the vehicle.
6. The method according to any one of claims 1-5, wherein before said controlling the vehicle to creep in a four-wheel drive state based on the vehicle's current drive mode, the vehicle's front axle's target torque, and the vehicle's rear axle's target torque, the method further comprises:
sending a slip film state maintenance request to a transmission control unit TCU to instruct the transmission control unit TCU to control the vehicle clutch in a slip film control manner.
7. The method according to any of claims 3-5, wherein said sending the target torque of the vehicle front axle to a Transmission Control Unit (TCU) such that the Transmission Control Unit (TCU) brings the driving torque output by the vehicle engine to the target torque of the vehicle front axle by controlling the vehicle clutch comprises:
and under the condition that the rotating speed of the vehicle engine is smaller than a first preset rotating speed threshold value, stopping sending the target torque of the vehicle front axle to the transmission control unit TCU.
8. A creep control apparatus for a vehicle, applied to a hybrid control unit HCU, comprising:
the first acquisition module is used for acquiring vehicle state information;
the second acquisition module is used for acquiring the current driving mode of the vehicle under the condition that the vehicle state information meets the activation condition of a four-wheel-drive crawling mode, wherein the driving mode comprises an electric driving mode and a hybrid driving mode, and the vehicle crawls through four-wheel drive when being in the four-wheel-drive crawling mode;
the determining module is used for determining the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle according to the vehicle state information;
the control module is used for controlling the vehicle to creep in a four-wheel drive state according to the current drive mode of the vehicle, the target torque of the front axle of the vehicle and the target torque of the rear axle of the vehicle;
wherein before the control module controls the vehicle to creep in a four-wheel drive state, the apparatus further comprises:
the first sending module is used for sending a crawling prohibition instruction to the transmission control unit TCU so as to prohibit the transmission control unit TCU from actively carrying out crawling control according to the vehicle state information.
9. A vehicle creep control system comprising a hybrid control unit HCU, a transmission control unit TCU and an engine control unit ECU, wherein the hybrid control unit HCU includes the vehicle creep control apparatus according to claim 8 therein.
10. A vehicle comprising the vehicle creep control system of claim 9.
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