CN114834265A - Vehicle driving control method and device, vehicle and storage medium - Google Patents
Vehicle driving control method and device, vehicle and storage medium Download PDFInfo
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- CN114834265A CN114834265A CN202210522526.0A CN202210522526A CN114834265A CN 114834265 A CN114834265 A CN 114834265A CN 202210522526 A CN202210522526 A CN 202210522526A CN 114834265 A CN114834265 A CN 114834265A
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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
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- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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- 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
- B60K2023/085—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 automatically actuated
- B60K2023/0858—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 automatically actuated with electric means, e.g. electro-hydraulic means
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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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- 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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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a vehicle driving control method, a vehicle driving control device, a vehicle and a storage medium, wherein the vehicle driving control method comprises the following steps: acquiring running information corresponding to a target vehicle in real time in the running process of the target vehicle; according to the running information of the target vehicle, when the target vehicle is detected to have the requirement of dynamic property or operation stability, controlling the target vehicle to enter a four-wheel drive mode, and determining target torques respectively corresponding to a front motor and a rear motor according to a target efficiency ratio; and controlling the target vehicle to enter a two-wheel drive mode when the target vehicle is detected to have no dynamic property or operation stability requirement according to the running information of the target vehicle. According to the technical scheme of the embodiment of the invention, the electric energy consumption of the double-motor four-wheel drive electric automobile can be reduced, and the driving range is effectively increased.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle driving control method and apparatus, a vehicle, and a storage medium.
Background
At present, the dual-motor four-wheel drive electric automobile has the characteristics of good dynamic property and good operation stability, so that the four-wheel drive electric automobile is widely applied to the field of vehicle driving. However, because two motors in the four-wheel drive electric automobile always work simultaneously, the efficiency of the automobile power assembly system is lower, and the driving range is shorter.
For a dual-motor four-wheel drive electric automobile, if the driving range is to be increased, the problem can be solved only by increasing the efficiency of a driving system under the condition that the energy of a battery and the power consumption of accessories are not changed. In the prior art, when the efficiency of a driving system is improved, a clutch of a shaft where a motor is located in a dual-motor four-wheel drive electric automobile is generally controlled, and the switching between two-wheel drive and four-wheel drive is realized by controlling the combination and separation of the clutch.
However, in the existing method, after the electric vehicle enters four-wheel drive, the efficiency is only distributed according to an average algorithm or simple subtraction, and optimal efficiency distribution is not performed, so that the vehicle driving range improvement effect is poor; secondly, after the electric automobile enters two-wheel drive in the existing method, the driving efficiency cannot be further improved because a fixed motor is used for driving.
Disclosure of Invention
The invention provides a vehicle drive control method, a vehicle drive control device, a vehicle and a storage medium, which can realize dynamic switching from two-wheel drive to four-wheel drive of the vehicle, reduce the electric energy consumption and effectively improve the driving range.
According to an aspect of the present invention, there is provided a vehicle driving control method applied to a dual-motor four-wheel drive electric vehicle, including:
acquiring running information corresponding to a target vehicle in real time in the running process of the target vehicle;
according to the running information of the target vehicle, when the target vehicle is detected to have dynamic property or operation stability requirements, controlling the target vehicle to enter a four-wheel drive mode, and determining target torques respectively corresponding to a front motor and a rear motor according to a target efficiency ratio;
and controlling the target vehicle to enter a two-wheel drive mode when the target vehicle is detected to have no dynamic property or operation stability requirement according to the running information of the target vehicle.
According to another aspect of the present invention, there is provided a vehicle driving control apparatus applied to a two-motor four-wheel drive electric vehicle, the apparatus including:
the information acquisition module is used for acquiring running information corresponding to a target vehicle in real time in the running process of the target vehicle;
the four-wheel drive mode control module is used for controlling the target vehicle to enter a four-wheel drive mode when the target vehicle is detected to have dynamic property or operation stability requirement according to the running information of the target vehicle, and determining target torques respectively corresponding to a front motor and a rear motor according to a target efficiency ratio;
and the two-drive mode control module is used for controlling the target vehicle to enter a two-drive mode when the target vehicle is detected to have no dynamic property or operation stability requirement according to the running information of the target vehicle.
According to another aspect of the present invention, there is provided a vehicle including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the vehicle drive control method according to any of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle drive control method according to any one of the embodiments of the present invention when executed.
The technical proposal provided by the embodiment of the invention obtains the running information corresponding to the target vehicle in real time during the running process of the target vehicle, when the target vehicle is detected to have dynamic property or steering stability requirement according to the running information of the target vehicle, controlling the target vehicle to enter a four-wheel drive mode, determining target torques respectively corresponding to a front motor and a rear motor according to a target efficiency ratio, a technical means for controlling the target vehicle to enter a two-drive mode when the target vehicle is detected to have no dynamic property or steering stability requirement according to the running information of the target vehicle, the method can control the vehicle to enter four-wheel drive when the target vehicle has the operation stability or dynamic requirement, so as to ensure the operation stability or dynamic of the vehicle, and control the vehicle to enter two-wheel drive when the operation stability or dynamic requirement does not exist; the combination and separation of the front motor, the rear motor and the wheels can be mechanically realized, so that the dynamic switching from two-wheel drive to four-wheel drive of the vehicle is realized, the electric energy consumption is reduced, and the driving range is effectively increased.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1a is a flowchart of a vehicle drive control method provided according to an embodiment of the invention;
FIG. 1b is a schematic diagram of a vehicle drive control system according to an embodiment of the present invention;
fig. 2 is a flowchart of another vehicle drive control method provided according to an embodiment of the invention;
fig. 3 is a flowchart of another vehicle drive control method provided according to an embodiment of the invention;
fig. 4 is a schematic structural diagram of a vehicle drive control apparatus provided according to an embodiment of the invention;
fig. 5 is a schematic structural diagram of a vehicle implementing the vehicle drive control method of the embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Fig. 1a is a flowchart of a vehicle driving control method according to an embodiment of the present invention, where the embodiment is applicable to a case of controlling a dual-motor four-wheel drive electric vehicle, and the method may be executed by a vehicle driving control device, where the vehicle driving control device may be implemented in a form of hardware and/or software, and the vehicle driving control device may be configured in the dual-motor four-wheel drive electric vehicle. As shown in fig. 1a, the method comprises:
and 110, acquiring running information corresponding to the target vehicle in real time in the running process of the target vehicle.
In this embodiment, the target vehicle is the dual-motor four-wheel drive electric vehicle. In the running process of the target vehicle, the running information corresponding to the target vehicle, such as gear information, driving mode and the like, can be acquired in real time.
And 120, controlling the target vehicle to enter a four-wheel drive mode when the target vehicle is detected to have a dynamic property or a manipulation stability requirement according to the running information of the target vehicle, and determining target torques respectively corresponding to a front motor and a rear motor according to a target efficiency ratio.
In the present embodiment, it is optional to detect whether the target vehicle has a dynamic property or an operation stability demand, based on the travel information of the target vehicle. For example, assuming that the current driving mode of the target vehicle is a sport mode, or a stability requirement signal corresponding to the target vehicle is triggered, it may be determined that the target vehicle has a dynamic or operational stability requirement.
In this step, when it is detected that the target vehicle has a dynamic-property-obtaining steering stability demand, the positional states of the front disconnect device and the rear disconnect device of the target vehicle may be both controlled to be in the engaged state, so that the target vehicle enters the four-wheel drive mode.
In the present embodiment, a front cut-off device and a rear cut-off device are respectively disposed in the target vehicle. The front disconnecting device is located between a front axle motor and a differential of the target vehicle, and the rear disconnecting device is located between a rear axle motor and the differential of the target vehicle.
In this step, after the target vehicle is controlled to enter the four-wheel drive mode, the target torques respectively corresponding to the front motor and the rear motor may be determined according to a preset optimal efficiency ratio (i.e., a target efficiency ratio), so that the front motor and the rear motor drive the target vehicle together to run. The optimal efficiency ratio can be calculated according to the rotating speeds and the efficiency Map which correspond to the front motor and the rear motor respectively.
Compared with the scheme that the efficiency is distributed only according to an average algorithm or a simple subtraction method after the electric automobile enters the four-wheel drive mode in the prior art, the efficiency of a power system can be improved, the economy of the whole automobile is improved, and the driving range of the automobile is prolonged on the basis of ensuring the dynamic property and the operation stability of the automobile.
And step 130, controlling the target vehicle to enter a two-drive mode when the target vehicle is detected to have no power or operation stability requirement according to the running information of the target vehicle.
In the present embodiment, it is possible to detect whether the target vehicle does not have a demand for power or operational stability, based on the travel information of the target vehicle. Alternatively, it may be determined that the target vehicle does not have a dynamic or operational stability requirement, assuming that the current driving mode of the target vehicle is the economy mode or the smooth electric-only mode.
In this step, when it is detected that the target vehicle does not have a power or handling stability requirement, the position state of the front disconnect device or the rear disconnect device may be controlled to be a disconnected state, and the target vehicle may be driven to travel by the front motor or the rear motor, so that the target vehicle enters a two-drive mode.
The technical proposal provided by the embodiment of the invention obtains the running information corresponding to the target vehicle in real time during the running process of the target vehicle, when the target vehicle is detected to have dynamic property or steering stability requirement according to the running information of the target vehicle, controlling the target vehicle to enter a four-wheel drive mode, determining target torques respectively corresponding to a front motor and a rear motor according to a target efficiency ratio, a technical means for controlling the target vehicle to enter a two-drive mode when the target vehicle is detected to have no dynamic property or steering stability requirement according to the running information of the target vehicle, the method can control the vehicle to enter four-wheel drive when the target vehicle has the operation stability or dynamic requirement, so as to ensure the operation stability or dynamic of the vehicle, and control the vehicle to enter two-wheel drive when the operation stability or dynamic requirement does not exist; the combination and separation of the front motor, the rear motor and the wheels can be mechanically realized, so that the dynamic switching from two-wheel drive to four-wheel drive of the vehicle is realized, the electric energy consumption is reduced, and the driving range is effectively increased.
On the basis of the foregoing embodiments, this embodiment further provides a schematic structural diagram of a vehicle driving control system, as shown in fig. 1b, where the vehicle driving control system is applied to the foregoing dual-motor four-wheel drive electric vehicle.
The Vehicle drive Control System includes a Vehicle Control Unit (VCU) 1, a Driver 2, a chassis Control System (ESP) 3, a hydraulic brake actuator 4, a Battery Control System (BMS) 5, a power Battery (i.e., a power lithium ion Battery) 6, a front Motor Control Unit (MCU) 7, a front Motor 8, a rear Motor 9, a front axle disconnect controller (Electronic Differential System, EDD)10, a front disconnect device 11, a driving mode controller (DMS) 12, a shift lever 13, a rear axle disconnect controller (rear EDD)14, a rear disconnect device 15, and a rear Motor Control Unit (rear MCU) 16.
In this embodiment, the driver 2 may operate the target vehicle and feed back the operation result of the driver to the VCU through the sensors and the controller on the target vehicle. Specifically, the operation result of the driver may include accelerator pedal information, brake pedal information, steering information, shift lever position information, driving mode information, and the like.
The vehicle control unit 1 is used for receiving or collecting related information detected by the driver 2, the ESP3, the BMS 5, the front MCU7, the rear MCU16, the front EDD10, the rear EDD14, and the DMS 12, judging whether the front and rear disconnectors need to be combined or separated, and sending an instruction to the front MCU7, the rear MCU16, the front EDD10, and the rear EDD14 to control the front motor 8, the rear motor 9, the front disconnectors 11, and the rear disconnectors 15 to perform a disconnector combining or separating operation when the combining or separating requirement exists.
The ESP3 is used to report vehicle state information such as a wheel speed, a vehicle speed, an acceleration, a Traction-Control-System (TCS) signal, an Antilock Brake System (ABS) signal, and an engine drag torque Control System (MSR) of each wheel, and to Control a hydraulic Brake actuator.
The hydraulic brake actuator 4 is configured to receive a control command of the ESP3 and execute hydraulic brake control according to the control command.
The BMS 5 is configured to detect a working state of the power battery 6 and report available discharging and charging capabilities of the power battery 6 to the vehicle control unit 1.
The power battery 6 is used for providing electric energy for vehicle running and recovering electric energy generated by the front motor 8 and the rear motor 9 in the process of speed reduction control.
The front MCU7 is used for detecting the working state of the front motor 8, reporting the available electric and recovery capabilities of the front motor 8 to the whole vehicle control unit 1, and controlling the front motor 8 to execute the command of the whole vehicle control unit 1.
The rear MCU16 is used for detecting the working state of the rear motor 9, reporting the available electric and recovery capacities of the rear motor 9 to the vehicle control unit 1, and controlling the rear motor 9 to execute the command of the vehicle control unit 1.
The front motor 8 is used for receiving and executing control commands of the front MCU 7.
The rear motor 9 is used for receiving and executing control instructions of the rear MCU 16.
The front EDD10 is used to report the position state of the front disconnect device 11 to the vehicle control unit 1, execute a command of the vehicle control unit 1, and control the front disconnect device 11 to be engaged or disengaged.
The rear EDD14 is configured to report the position state of the rear disconnect device 15 to the vehicle control unit 1, execute a command of the vehicle control unit 1, and control the engagement or disengagement of the rear disconnect device 15.
The front disconnecting device 11 is used for receiving and executing the control instruction of the front EDD 10.
The rear disconnecting device 15 is used for receiving and executing a control command of the rear EDD 14.
Fig. 2 is a flowchart of another vehicle driving control method provided in this embodiment, the technical solution of this embodiment may be combined with one or more methods in the solutions of the foregoing embodiments, as shown in fig. 2, the method provided in this embodiment may further include:
In the present embodiment, when the vehicle is stationary, the front and rear disconnecting devices are both in the disconnected state after the vehicle is successfully powered on at high voltage by the driver operating the key door. During the driving process of the target vehicle, the gear lever state can be acquired in real time through a VCU in the target vehicle.
In this step, it may be determined whether the current gear of the target vehicle is a forward gear or a reverse gear according to the gear state of the target vehicle.
And step 203, controlling the position state of a front disconnecting device of the target vehicle to be a combined state when the target vehicle is determined to be in a forward gear or a reverse gear currently according to the gear information of the target vehicle.
In this step, when it is determined that the current gear of the target vehicle is a forward gear or a reverse gear, the VCU on the target vehicle may request the front MCU to control the rotation speed of the front motor, so that the difference between the rotation speeds of the input shaft and the output shaft of the front disconnect device is less than a certain value, and then the VCU may request the front EDD to control the front disconnect device to engage.
And 204, driving the target vehicle to run through a front motor of the target vehicle.
In this step, after the position state of the front disconnecting device fed back by the front EDD is the engaged state, the VCU may calculate a driver required torque corresponding to the target vehicle according to information such as an accelerator pedal and a vehicle speed, and then transmit the driver required torque to the front MCU, and control the front motor to drive the target vehicle to run through the front MCU.
In this step, the VCU on the target vehicle may determine whether the target vehicle is in the moving mode according to the driving mode transmitted by the DMS.
In this step, the VCU on the target Vehicle may determine whether the operation stability requirement signal of the target Vehicle is triggered according to the operating states of the TCS, Vehicle Dynamic Control (VDC), and the like signals transmitted by the ESP. Specifically, it may be determined whether signals such as TCS and VDC are set, and if so, it is determined that the operation stability requirement signal is triggered.
In this step, the VCU on the target vehicle may calculate the driver required torque based on the vehicle speed and the accelerator opening, and determine whether the driver required torque is greater than the first threshold.
And 208, judging whether the driver required torque corresponding to the target vehicle is larger than a second threshold and smaller than a first threshold, if so, executing step 209 and 214, otherwise, returning to execute step 203.
And step 209, controlling the position state of the rear disconnecting device of the target vehicle to be in a combined state.
In the present embodiment, when it is detected that the driver required torque corresponding to the target vehicle is greater than the second threshold value and less than the first threshold value, the position state of the rear disconnect device of the target vehicle is controlled to the engaged state.
In one embodiment, the VCU on the target vehicle may request that the rear MCU control the rear motor speed such that the rear disconnect device engagement is controlled by the rear EDD after the VCU requests that the difference between the rotational speeds on the input shaft and the output shaft of the rear disconnect device be less than a certain value.
And step 210, controlling the position state of the front disconnecting device of the target vehicle to be a disconnecting state.
In this step, the VCU on the target vehicle may send a zero torque request to the front MCU, and when the front motor torque fed back by the front MCU is zero torque, the VCU may send a disengagement request to the front EDD to disengage the front EDD control front disconnect device.
And step 211, driving the target vehicle to run through a rear motor of the target vehicle.
In this step, after the position state of the rear disconnecting device is fed back by the rear EDD to be the engaged state, the VCU may calculate the driver required torque according to information such as an accelerator pedal and a vehicle speed, and transmit all the driver required torque to the rear MCU, so that the rear MCU controls the rear motor to drive the vehicle to run.
And step 213, controlling the position state of the front disconnecting device of the target vehicle to be in a combined state.
In this step, the VCU on the target vehicle may request the front MCU to control the rotation speed of the front motor, so that the VCU requests the front EDD to control the front disconnect device to be engaged after the difference between the rotation speeds of the input shaft and the output shaft of the front disconnect device is less than a certain value.
And step 215, controlling the position state of the rear disconnecting device of the target vehicle to be in a combined state.
In this embodiment, when the target vehicle is determined to be in the moving mode according to the driving mode of the target vehicle, or when the operation stability requirement signal of the target vehicle is detected to be triggered, or when the driver requirement torque corresponding to the target vehicle is detected to be greater than the first threshold value, the position state of the rear disconnect device of the target vehicle is controlled to be the engaged state.
Specifically, the VCU on the target vehicle may request the rear MCU to control the rear motor rotational speed, so that the rear disconnect device is engaged after the VCU requests the rear EDD control after the rotational speed difference between the input shaft and the output shaft of the rear disconnect device is smaller than a certain value.
And step 216, determining target torques respectively corresponding to the front motor and the rear motor according to the target efficiency ratio, and driving the target vehicle to run through the front motor and the rear motor of the target vehicle together.
In this embodiment, after the VCU receives the manipulation stability requirement signals such as TCS, VDC, etc. transmitted by the ESP, if the TCS signal or VDC signal is set to 1, the VCU forwards the corresponding torque requests to the front MCU and the rear MCU respectively according to the torque requests transmitted by the ESP. When the TCS signal or the VDC signal is set to 0, the VCU calculates a driver-required torque according to a vehicle speed, an accelerator opening degree, and the like, and determines target torques respectively corresponding to the front motor and the rear motor according to the driver-required torque and a preset optimal efficiency ratio (i.e., a target efficiency ratio).
According to the technical scheme provided by the embodiment of the invention, the driving information corresponding to the target vehicle is obtained in real time in the driving process of the target vehicle, the gear information of the target vehicle is used for determining that the position state of the front disconnecting device of the target vehicle is a combined state when the target vehicle is currently in a forward gear or a reverse gear; the method comprises the steps that a target vehicle is driven to run through a front motor of the target vehicle, when the target vehicle is determined to be in a motion mode through a driving mode of the target vehicle, or when an operation stability requirement signal of the target vehicle is detected to be triggered, or when a driver requirement torque corresponding to the target vehicle is detected to be larger than a first threshold value, the position state of a rear disconnecting device of the target vehicle is controlled to be a combined state, and the vehicle can realize dynamic switching from two-drive to four-drive through the technical means that the front motor and the rear motor of the target vehicle are jointly driven to run, so that the power consumption is reduced, and the driving range is effectively increased.
Fig. 3 is a flowchart of another vehicle driving control method provided in this embodiment, the technical solution of this embodiment may be combined with one or more methods in the solutions of the foregoing embodiments, as shown in fig. 3, the method provided in this embodiment may further include:
In this embodiment, the driving information may optionally include vehicle-related state information such as vehicle speed, accelerator pedal opening, brake pedal state, gear, driving mode, and ESP state.
Step 302, according to the running information of the target vehicle, when the target vehicle is detected to have a dynamic property or a manipulation stability requirement, controlling the target vehicle to enter a four-wheel drive mode, and determining target torques respectively corresponding to a front motor and a rear motor according to a target efficiency ratio.
And 303, judging whether the target vehicle is in a motion mode, if so, returning to execute the step 302, and if not, executing the step 304.
And 304, judging whether the operation stability requirement signal of the target vehicle is triggered or not, if so, returning to the step 302, otherwise, executing the step 305.
And 305, judging whether the driver required torque corresponding to the target vehicle is smaller than a third threshold, if so, returning to execute the step 302, and if not, executing the step 306.
In this embodiment, the VCU on the target vehicle may calculate the first required torque according to information such as a vehicle speed and an accelerator opening, then calculate a braking energy recovery torque (i.e., the second required torque) through the ESP, and finally superimpose the first required torque and the second required torque to obtain the driver required torque.
And 307, distributing all the driver required torques corresponding to the target vehicle to a rear motor, and controlling the position state of a front disconnecting device of the target vehicle to be in a separated state.
In this embodiment, the VCU on the target vehicle may fully distribute the driver demanded torque to the rear electric machines with a torque request for the front electric machines of zero. When the torque of the motor reaches zero before the current MCU feeds back, the VCU sends a separation request to the front disconnecting device, and after the disconnecting device completes separation before the front EDD feeds back, the MCU controls the front motor rotating speed to reach zero rapidly before the VCU requests.
In the step, the VCU on the target vehicle requests the front MCU to control the front motor to regulate the speed, so that the VCU requests the front EDD to control the front disconnecting device to be combined after the difference between the input and output shaft rotating speeds of the front disconnecting device is smaller than a certain value, the VCU requests the rear EDD to control the rear disconnecting device to be separated after the current disconnecting device is combined, and after the rear EDD feeds back the position of the rear disconnecting device to be separated, the VCU requests the rear MCU to control the rear motor rotating speed to be rapidly zero.
And 310, judging whether the driver required torque corresponding to the target vehicle is larger than a third threshold and smaller than a fourth threshold, if so, returning to the step 307, and if not, executing the step 311.
And 311, controlling the position states of the front disconnecting device and the rear disconnecting device to be combined states.
In this step, the VCU on the target vehicle may request the front MCU to control the front motor to adjust the speed, so that the VCU requests the front EDD to control the front disconnect device to be engaged after the difference between the input and output rotational speeds of the front disconnect device is less than a certain value, and the rear EDD controls the rear disconnect device to be maintained in an engaged state.
And step 312, distributing all the driver required torque corresponding to the target vehicle to the front motor, and controlling the position state of the rear disconnecting device of the target vehicle to be in a separated state.
In this step, the VCU on the target vehicle may fully distribute the driver demanded torque to the front electric machines with zero torque request to the rear electric machines. When the torque of the motor reaches zero after the feedback of the rear MCU, the VCU sends a separation request to the rear disconnecting device, and after the separation of the disconnecting device is completed after the feedback of the rear EDD, the rotating speed of the motor is controlled by the MCU to quickly reach zero after the request of the VCU.
And 313, judging whether the gear of the target vehicle is a parking gear or a neutral gear and whether the speed of the target vehicle is zero, if so, executing 314, otherwise, returning to 309.
In this step, the VCU on the target vehicle may determine whether the shift position is park or neutral according to the shift lever position, and determine whether the vehicle speed of the target vehicle is zero according to the vehicle speed information transmitted by the ESP.
And step 314, controlling the position state of the front disconnecting device of the target vehicle to be a disconnecting state.
In this embodiment, the VCU on the target vehicle may request that the front EDD control front disconnect device be disengaged, and determine that the position status of the front disconnect device is the disengaged status after the front EDD feedback front disconnect device is completed.
According to the technical scheme provided by the embodiment of the invention, the driving information corresponding to the target vehicle is acquired in real time in the driving process of the target vehicle, and the target vehicle is controlled to enter a four-wheel drive mode to judge whether the target vehicle is in a motion mode or not when the target vehicle is detected to have the requirement on dynamic property or operation stability according to the driving information of the target vehicle; if not, whether the operation stability demand signal of the target vehicle is triggered or not is judged; if not, judging whether the driver required torque corresponding to the target vehicle is smaller than a third threshold value; if not, the target vehicle is controlled to enter the two-wheel drive mode, so that the vehicle can realize the dynamic switching from two-wheel drive to four-wheel drive, the power consumption is reduced, and the driving range is effectively increased.
Fig. 4 is a schematic structural diagram of a vehicle driving control device according to an embodiment of the present invention, where the vehicle driving control device is applied to a dual-motor four-wheel drive electric vehicle, and includes: an information acquisition module 410, a four-drive mode control module 420, and a two-drive mode control module 430.
The information acquisition module 410 is configured to acquire driving information corresponding to a target vehicle in real time in a driving process of the target vehicle;
the four-wheel drive mode control module 420 is configured to, when it is detected that the target vehicle has a dynamic property or a handling stability requirement according to the driving information of the target vehicle, control the target vehicle to enter a four-wheel drive mode, and determine target torques corresponding to a front motor and a rear motor respectively according to a target efficiency ratio;
and a two-drive mode control module 430, configured to control the target vehicle to enter a two-drive mode when it is detected that the target vehicle does not have a power or handling stability requirement according to the driving information of the target vehicle.
The technical scheme provided by the embodiment of the invention obtains the running information corresponding to the target vehicle in real time in the running process of the target vehicle, when the target vehicle is detected to have dynamic property or steering stability requirement according to the running information of the target vehicle, controlling the target vehicle to enter a four-wheel drive mode, determining target torques respectively corresponding to a front motor and a rear motor according to a target efficiency ratio, a technical means for controlling the target vehicle to enter a two-drive mode when the target vehicle is detected to have no dynamic property or steering stability requirement according to the running information of the target vehicle, the method can control the vehicle to enter four-wheel drive when the target vehicle has the operation stability or dynamic requirement, so as to ensure the operation stability or dynamic of the vehicle, and control the vehicle to enter two-wheel drive when the operation stability or dynamic requirement does not exist; the combination and separation of the front motor, the rear motor and the wheels can be mechanically realized, so that the dynamic switching from two-wheel drive to four-wheel drive of the vehicle is realized, the electric energy consumption is reduced, and the driving range is effectively increased.
On the basis of the above embodiment, the four-wheel drive mode control module 420 includes:
the gear determining unit is used for determining that the position state of a front disconnecting device of the target vehicle is a combined state when the target vehicle is currently in a forward gear or a reverse gear according to the gear information of the target vehicle;
the front motor driving unit is used for driving the target vehicle to run through a front motor of the target vehicle;
the four-wheel drive control unit is used for controlling the position state of a rear disconnecting device of the target vehicle to be in a combined state when the target vehicle is determined to be in a motion mode according to the driving mode of the target vehicle, or when an operation stability demand signal of the target vehicle is detected to be triggered, or when a driver demand torque corresponding to the target vehicle is detected to be larger than a first threshold value;
the rear disconnecting device connecting unit is used for controlling the position state of the rear disconnecting device of the target vehicle to be a connecting state when detecting that the driver required torque corresponding to the target vehicle is larger than a second threshold and smaller than a first threshold;
a front cut-off device separation unit for controlling a position state of a front cut-off device of the target vehicle to be a separated state;
and the rear motor driving unit is used for driving the target vehicle to run through a rear motor of the target vehicle.
The two-drive mode control module 430 includes:
the two-drive control unit is used for judging whether the target vehicle is in a motion mode or not; if not, judging whether the operation stability demand signal of the target vehicle is triggered or not; if not, judging whether the driver required torque corresponding to the target vehicle is smaller than a third threshold value; if not, controlling the target vehicle to enter a two-wheel drive mode;
a first required torque judgment unit, configured to judge whether a driver required torque corresponding to the target vehicle is greater than a third threshold and smaller than a fourth threshold;
the first required torque distribution unit is used for distributing all the driver required torques corresponding to the target vehicle to the rear motor and controlling the position state of a front disconnecting device of the target vehicle to be in a separated state when the driver required torques corresponding to the target vehicle are larger than a third threshold and smaller than a fourth threshold;
the second demand torque distribution unit is used for distributing all the driver demand torques corresponding to the target vehicle to the front motor when the driver demand torques corresponding to the target vehicle are smaller than or equal to a third threshold value or larger than or equal to a fourth threshold value, and controlling the position state of a rear disconnecting device of the target vehicle to be in a separated state;
a second required torque judgment unit, configured to control a position state of a front disconnect device of the target vehicle to be an engaged state and a position state of a rear disconnect device of the target vehicle to be a disengaged state if a driver required torque corresponding to the target vehicle is greater than a fourth threshold and is less than zero;
and the combination state control unit is used for controlling the position states of the front disconnecting device and the rear disconnecting device to be combination states if the driver required torque corresponding to the target vehicle is smaller than or equal to a third threshold value or larger than or equal to a fourth threshold value.
The device can execute the methods provided by all the embodiments of the invention, and has corresponding functional modules and beneficial effects for executing the methods. For technical details which are not described in detail in the embodiments of the present invention, reference may be made to the methods provided in all the aforementioned embodiments of the present invention.
FIG. 5 illustrates a schematic block diagram of a vehicle 10 that may be used to implement an embodiment of the present invention. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the vehicle 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the vehicle 10 may also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the vehicle 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the vehicle 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 executes the respective methods and processes described above, such as the vehicle drive control method.
In some embodiments, the vehicle drive control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed on the vehicle 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle drive control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle drive control method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described herein may be implemented on a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the vehicle. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle driving control method is characterized by being applied to a dual-motor four-wheel drive electric vehicle, and the method comprises the following steps:
acquiring running information corresponding to a target vehicle in real time in the running process of the target vehicle;
according to the running information of the target vehicle, when the target vehicle is detected to have dynamic property or operation stability requirements, controlling the target vehicle to enter a four-wheel drive mode, and determining target torques respectively corresponding to a front motor and a rear motor according to a target efficiency ratio;
and controlling the target vehicle to enter a two-wheel drive mode when the target vehicle is detected to have no dynamic property or operation stability requirement according to the running information of the target vehicle.
2. The method according to claim 1, wherein before controlling the target vehicle to enter a four-wheel drive mode when the target vehicle is detected to have a dynamic or handling stability requirement based on the travel information of the target vehicle, further comprising:
according to the gear information of the target vehicle, when the target vehicle is determined to be in a forward gear or a reverse gear at present, controlling the position state of a front disconnecting device of the target vehicle to be a combined state;
and driving the target vehicle to run through a front motor of the target vehicle.
3. The method of claim 2, wherein controlling the target vehicle into a four-wheel drive mode upon detecting that the target vehicle has a dynamic or handling stability requirement based on the travel information of the target vehicle comprises:
determining that the target vehicle is in a moving mode according to the driving mode of the target vehicle, or,
when it is detected that the operation stability demand signal of the target vehicle is triggered, or,
and when the condition that the driver required torque corresponding to the target vehicle is larger than a first threshold value is detected, controlling the position state of a rear disconnecting device of the target vehicle to be in a combined state.
4. The method according to claim 3, further comprising, after driving the target vehicle for travel by a front motor of the target vehicle:
when detecting that the driver required torque corresponding to the target vehicle is larger than a second threshold and smaller than a first threshold, controlling the position state of a rear disconnecting device of the target vehicle to be in a combined state;
controlling a position state of a front disconnect device of the target vehicle to be a disengaged state;
and driving the target vehicle to run through a rear motor of the target vehicle.
5. The method of claim 1, wherein controlling the target vehicle into a two-drive mode upon detecting that the target vehicle has no power or handling stability requirements based on the travel information of the target vehicle comprises:
judging whether the target vehicle is in a motion mode;
if not, judging whether the operation stability demand signal of the target vehicle is triggered or not;
if not, judging whether the driver demand torque corresponding to the target vehicle is smaller than a third threshold value;
and if not, controlling the target vehicle to enter a two-wheel drive mode.
6. The method of claim 5, wherein controlling the target vehicle into a two-drive mode comprises:
judging whether the driver required torque corresponding to the target vehicle is larger than a third threshold and smaller than a fourth threshold;
if so, distributing all the driver required torque corresponding to the target vehicle to a rear motor, and controlling the position state of a front disconnecting device of the target vehicle to be in a separated state;
and if not, distributing all the driver required torque corresponding to the target vehicle to a front motor, and controlling the position state of a rear disconnecting device of the target vehicle to be in a separated state.
7. The method of claim 6, further comprising, after controlling the positional state of the front disconnect device of the target vehicle to the disengaged state:
if the driver required torque corresponding to the target vehicle is larger than a fourth threshold and smaller than zero, controlling the position state of a front disconnecting device of the target vehicle to be in a combined state, and controlling the position state of a rear disconnecting device of the target vehicle to be in a separated state;
and if the driver required torque corresponding to the target vehicle is smaller than or equal to a third threshold value or larger than or equal to a fourth threshold value, controlling the position states of the front disconnecting device and the rear disconnecting device to be combined.
8. A vehicle drive control apparatus, applied to a two-motor four-wheel drive electric vehicle, comprising:
the information acquisition module is used for acquiring running information corresponding to a target vehicle in real time in the running process of the target vehicle;
the four-wheel drive mode control module is used for controlling the target vehicle to enter a four-wheel drive mode when the target vehicle is detected to have dynamic property or operation stability requirement according to the running information of the target vehicle, and determining target torques respectively corresponding to a front motor and a rear motor according to a target efficiency ratio;
and the two-drive mode control module is used for controlling the target vehicle to enter a two-drive mode when the target vehicle is detected to have no dynamic property or operation stability requirement according to the running information of the target vehicle.
9. A vehicle, characterized in that the vehicle comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle drive control method of any one of claims 1-7.
10. A computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle drive control method according to any one of claims 1 to 7 when executed.
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