CN115520175A

CN115520175A - Control method and device, equipment and computer readable storage medium

Info

Publication number: CN115520175A
Application number: CN202211299350.3A
Authority: CN
Inventors: 刘一林; 周忠昊; 徐楠; 任志远; 罗凯; 朱永明
Original assignee: Guangzhou Automobile Group Co Ltd
Current assignee: Guangzhou Automobile Group Co Ltd
Priority date: 2022-10-21
Filing date: 2022-10-21
Publication date: 2022-12-27

Abstract

The embodiment of the application discloses a control method, a control device, control equipment and a computer-readable storage medium. The method comprises the following steps: detecting whether the vehicle has a four-wheel drive requirement in real time when the vehicle is in a four-wheel drive state; and if the fact that the vehicle has no four-wheel drive requirement is detected, controlling the driving motor to reduce the output preset torque, and controlling the engine to increase the torque of a value corresponding to the output preset torque until the torque output by the driving motor is zero, so that the vehicle exits from the four-wheel drive state. The four-wheel-drive state quitting logic is added to the application, whether the vehicle has the four-wheel-drive requirement or not is detected in real time, the torque of the driving motor is timely reduced when the vehicle does not have the four-wheel-drive requirement, the torque of the engine is equivalently increased simultaneously, unnecessary four-wheel-drive energy consumption is saved, the increase and decrease of the preset value are carried out on the corresponding output torque, the driving safety accident of the vehicle caused by the large change of the corresponding output torque is avoided, the vehicle is enabled to safely quit the four-wheel-drive state, and the timeliness and the safety of the vehicle when the vehicle quits the four-wheel-drive state are guaranteed.

Description

Control method and device, equipment and computer readable storage medium

Technical Field

The present application relates to the field of vehicles, and in particular, to a control method, apparatus, device, and computer-readable storage medium.

Background

PHEVs (Plug-in hybrid electric vehicles) are one of the current options for reducing carbon in the vehicle. The four-wheel drive driving strategy is adopted in the running process of the vehicle, so that the power performance can be improved, or the torque is distributed in the running process, so that more stable driving experience is provided, the vehicle can take power performance, economy and stability into consideration, and the four-wheel drive driving strategy becomes a new development direction of the PHEV.

However, many current torque control methods do not design proper exit logic after the vehicle enters the four-wheel drive state, so that the PHEV cannot safely exit the four-wheel drive state in time when the four-wheel drive requirement is not needed.

Disclosure of Invention

In order to solve the above technical problems, embodiments of the present application respectively provide a control method, a control device, a control apparatus, and a computer-readable storage medium, which enable a vehicle to exit a four-wheel-drive state safely and in time when the vehicle does not need a four-wheel-drive requirement.

Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.

According to an aspect of an embodiment of the present application, there is provided a control method including: detecting whether the vehicle has a four-wheel drive requirement in real time when the vehicle is in a four-wheel drive state; and if the vehicle is detected to have no four-wheel drive requirement, controlling a driving motor to reduce and output a preset torque, and controlling an engine to increase and output the torque of a value corresponding to the preset torque until the torque output by the driving motor is zero, so that the vehicle exits the four-wheel drive state.

According to an aspect of an embodiment of the present application, there is provided a control apparatus including: the detection module is configured to detect whether the vehicle has a four-wheel drive requirement in real time when the vehicle is in a four-wheel drive state; and the control module is configured to control the driving motor to reduce and output a preset torque and control the engine to increase and output the torque of a value corresponding to the preset torque until the torque output by the driving motor is zero so as to enable the vehicle to exit the four-wheel drive state if the vehicle is detected to have no four-wheel drive requirement.

In another embodiment, the detection module comprises: the first detection unit is configured to detect whether the opening degree of an accelerator pedal at the current moment exceeds a preset opening degree range and detect whether the vehicle condition at the current moment meets an acceleration condition if the four-wheel drive requirement of the vehicle is detected; and the acceleration unit is configured to determine the acceleration torque required to be increased by the driving motor at the current moment according to the opening degree of the accelerator pedal at the current moment and perform acceleration operation on the vehicle at the current moment according to the acceleration torque if the opening degree of the accelerator pedal at the current moment is detected to exceed the preset opening degree range and the vehicle condition at the current moment meets the acceleration condition.

In another embodiment, the first detection unit includes: and the first strategy maintaining plate is configured to stop detecting whether the vehicle condition at the current moment meets the acceleration condition or not and control the vehicle according to a control strategy corresponding to the four-wheel drive state at the current moment if the opening degree of the accelerator pedal at the current moment is detected not to exceed the preset opening degree range.

In another embodiment, the first detection unit includes: the acquisition plate is configured to acquire a radar induction result at the current moment and detect whether the radar induction result represents that obstacles exist around a vehicle at the current moment; the first detection plate is configured to determine that the vehicle condition at the current moment does not meet the acceleration condition if the radar sensing result indicates that obstacles exist around the vehicle at the current moment; and the second detection plate is configured to determine that the vehicle condition at the current moment meets the acceleration condition if the radar sensing result indicates that no obstacles exist around the vehicle at the current moment.

In another embodiment, the first detection unit includes: and the second strategy maintaining plate is configured to control the vehicle according to a control strategy corresponding to the four-wheel drive state at the current moment if the situation that the opening degree of the accelerator pedal at the current moment exceeds the preset opening degree range and the vehicle condition at the current moment does not meet the acceleration condition is detected.

In another embodiment, the control device further comprises: the vehicle speed detection module is configured to detect whether the vehicle speed at the current moment is zero; and the four-wheel drive state detection module is configured to detect whether the current vehicle is in the four-wheel drive state or not if the vehicle speed at the current moment is detected to be not a zero value.

In another embodiment, the four-wheel drive state detection module comprises: a zero value detection unit configured to detect whether or not both of the torques output from the drive motor and the engine at the present time are not zero values; a first four-wheel drive state determination unit configured to determine that the vehicle is in the four-wheel drive state if it is detected that both the torque output by the drive motor and the torque output by the engine at the present time are not zero; a second four-wheel drive state determination unit configured to determine that the vehicle is not in the four-wheel drive state if it is detected that the torque output by the drive motor at the present time is zero or the torque output by the engine at the present time is zero.

According to an aspect of an embodiment of the present application, there is provided an electronic device including: a controller; a memory for storing one or more programs which, when executed by the controller, perform the control method described above.

According to an aspect of an embodiment of the present application, there is also provided a computer-readable storage medium having stored thereon computer-readable instructions, which, when executed by a processor of a computer, cause the computer to execute the above-described control method.

According to an aspect of an embodiment of the present application, there is also provided a computer program product or a computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the control method described above.

According to the technical scheme, when the vehicle is in a four-wheel drive state, whether the vehicle has a four-wheel drive requirement or not is detected in real time; and if the fact that the vehicle has no four-wheel drive requirement is detected, controlling the driving motor to reduce the output preset torque, and controlling the engine to increase the torque of a value corresponding to the output preset torque until the torque output by the driving motor is zero, so that the vehicle exits from the four-wheel drive state. The four-wheel-drive state quitting logic is added to the application, whether the vehicle has the four-wheel-drive requirement or not is detected in real time, the torque of the driving motor is timely reduced when the vehicle does not have the four-wheel-drive requirement, the torque of the engine is equivalently increased simultaneously, unnecessary four-wheel-drive energy consumption is saved, the increase and decrease of the preset value are carried out on the corresponding output torque, the driving safety accident of the vehicle caused by the large change of the corresponding output torque is avoided, the vehicle is enabled to safely quit the four-wheel-drive state, and the timeliness and the safety of the vehicle when the vehicle quits the four-wheel-drive state are guaranteed.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is a schematic illustration of an implementation environment to which the present application relates;

FIG. 2 is a flow chart illustrating a control method according to an exemplary embodiment of the present application;

FIG. 3 is a flow chart of another proposed control method based on the embodiment shown in FIG. 2;

FIG. 4 is a flow chart of another proposed control method based on the embodiment shown in FIG. 3;

FIG. 5 is a flow chart of another proposed control method based on the embodiment shown in FIG. 3;

FIG. 6 is a flow chart of another proposed control method based on the embodiment shown in FIG. 3;

FIG. 7 is a flow chart of another proposed control method based on the embodiment shown in FIG. 2;

FIG. 8 is a flow chart of another proposed control method based on the embodiment shown in FIG. 7;

FIG. 9 is a flowchart illustrating a method for controlling the four-wheel drive state of a PHEV in accordance with an exemplary embodiment of the present application;

FIG. 10 is a schematic diagram illustrating a control device according to an exemplary embodiment of the present application;

fig. 11 is a schematic structural diagram of a computer system of an electronic device according to an exemplary embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

The flowcharts shown in the figures are illustrative only and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Reference to "a plurality" in this application means two or more. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B may indicate: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

Referring first to fig. 1, fig. 1 is a schematic diagram of an implementation environment related to the present application. The implementation environment comprises a data acquisition device 100 and a server 200, wherein the data acquisition device 100 and the server 200 are communicated through a wired or wireless network.

The data acquisition device 100 is used for acquiring vehicle-related data, such as pedal opening information, gear information, engine operation conditions, motor operation conditions, peripheral radar sensing information, four-wheel drive control logic information and the like; the server 200 performs corresponding detection and control on the vehicle according to the relevant data collected by the data collection device 100, and the following examples are given:

the server 200 detects whether the vehicle has a four-wheel drive requirement in real time when the vehicle is in a four-wheel drive state; and if the vehicle is detected to have no four-wheel drive requirement, controlling the driving motor to reduce and output the preset torque, and controlling the engine to output the torque of the corresponding numerical value of the preset torque until the torque output by the driving motor is zero, so that the vehicle exits from the four-wheel drive state.

The data acquisition device 100 may be a device having a storage space, that is, may store the acquired vehicle-related data, may be a physical device disposed inside the vehicle as shown in fig. 1, or may be an acquisition device disposed in the cloud, and is not limited here. The server 200 may be an independent physical server, or may be a server cluster or a distributed system formed by a plurality of physical servers, where the plurality of servers may form a block chain, and the server is a node on the block chain, and the server 200 may also be a cloud server that provides basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network), and a big data and artificial intelligence platform, which is not limited herein.

At present, vehicles using clean energy, such as electric vehicles, hydrogen fuel vehicles and the like, are ideal vehicle types for reducing carbon emission, but the carbon reduction effect of the electric vehicles is not obvious from the perspective of the life cycle of the vehicles; meanwhile, hydrogen energy automobiles are still a certain distance away from large-scale wide civilian use, so hybrid electric vehicles are still the first choice for reducing carbon in current vehicles and enterprises. Among them, PHEV (Plug-in hybrid electric vehicle) is one of the current carbon reduction options for vehicle enterprises.

Because the PHEV is provided with a battery with stronger performance, the power performance can be improved by increasing the output torque of the motor, or the power performance can be improved by adopting a four-wheel drive strategy, but in many current torque control methods, after the PHEV enters a four-wheel drive state, proper exit logic is not designed, so that the PHEV cannot timely and safely exit the four-wheel drive state without the requirement of the four-wheel drive.

To this end, the present application provides a control method, and referring specifically to fig. 2, fig. 2 is a flowchart of a control method according to an exemplary embodiment of the present application, and the method may be specifically executed by the server 200 in the implementation environment shown in fig. 1. Of course, the method may also be applied to other implementation environments and executed by a server device in other implementation environments, and the embodiment is not limited thereto. As shown in fig. 2, the method at least includes steps S210 to S220, which are described in detail as follows:

s210: and detecting whether the vehicle has a four-wheel drive requirement in real time when the vehicle is in a four-wheel drive state.

The four-wheel drive state is a state in which the vehicle keeps driving in four wheels during running, and common four-wheel drive states include: full-time four-wheel drive, time-sharing four-wheel drive and timely four-wheel drive. The full-time four-wheel drive is characterized in that all wheels of a vehicle move independently at any time, so that the vehicle can have good off-road and steering performances at any time, but cannot adjust torque distribution according to the road condition. The time-sharing four-wheel drive system is a four-wheel drive system which is controlled by a driver to switch between two-wheel drive and four-wheel drive, and the driver can achieve the purpose of two-wheel drive or four-wheel drive by switching off or on a brake according to the driving requirement. The four-wheel drive system is a four-wheel drive system which only appears when in proper time, and the computer chip detects the driving requirement and controls the switching between the two-wheel drive and the four-wheel drive.

The four-wheel drive requirement can be a request instruction triggered by a driver through corresponding operation, the request instruction represents the four-wheel drive requirement, and whether the four-wheel drive requirement exists can be judged in real time through other vehicle parameters.

S220: and if the vehicle is detected to have no four-wheel drive requirement, controlling the driving motor to reduce the output preset torque, and controlling the engine to increase the torque of the value corresponding to the output preset torque until the torque output by the driving motor is zero, so that the vehicle exits from the four-wheel drive state.

The preset torque is a parameter preset before the vehicle leaves the factory, and may be a constant value, for example, 10 units, 100 units, and the embodiment does not limit the specific dimension of the torque.

When the four-wheel drive requirement of the vehicle is detected, the output torque of the engine is increased by the same amount by performing corresponding torque control, specifically, reducing the torque output of the driving motor, so that the vehicle gradually exits the four-wheel drive state.

For example, if the vehicle is detected to have no four-wheel drive requirement for the first time, the driving motor is controlled to reduce the torque output by 10 units, and the engine is controlled to increase the torque output by 10 units; and detecting whether the vehicle has a four-wheel drive requirement again, if the vehicle does not have the four-wheel drive requirement, controlling the driving motor to reduce the torque output by 10 units again, controlling the engine to increase the torque output by 10 units, and repeating the steps until the torque output by the driving motor is zero so as to enable the vehicle to exit the four-wheel drive state. It should be noted that the torque value of the output torque may be the same or different each time the engine is controlled to increase, for example, the torque is decreased by 10 units for the first time, and the torque is decreased by 5 units for the second time, and the specific amount of the torque is not limited in this embodiment.

The embodiment detects whether the vehicle has the four-wheel drive requirement in real time by detecting the vehicle is in the four-wheel drive state; and if the vehicle is detected to have no four-wheel drive requirement, controlling the driving motor to reduce the output preset torque, and controlling the engine to increase the torque of the value corresponding to the output preset torque until the torque output by the driving motor is zero, so that the vehicle exits from the four-wheel drive state. Four-wheel-drive state quitting logic is added to the system, whether the vehicle has four-wheel-drive requirements or not is detected in real time, the torque of a driving motor is reduced when the vehicle does not have the four-wheel-drive requirements in time, the torque of an engine is increased in an equivalent manner, unnecessary four-wheel-drive energy consumption is saved, the increase and decrease of a preset value are carried out on corresponding output torque, driving safety accidents of the vehicle due to large-amplitude change of the corresponding output torque are avoided, the vehicle is made to quit the four-wheel-drive state safely, and the timeliness and the safety of the vehicle when the vehicle quits the four-wheel-drive state are guaranteed.

In an exemplary embodiment of the present application, the acceleration requirement is sensed by detecting an opening degree of an accelerator pedal, and specifically referring to fig. 3, fig. 3 is a flowchart of another control method provided based on the embodiment shown in fig. 2. The method further includes at least S310 to S320 in S210 shown in fig. 2, which is described in detail below:

s310: if the four-wheel drive requirement of the vehicle is detected, whether the opening degree of an accelerator pedal at the current moment exceeds a preset opening degree range or not is detected, and whether the vehicle condition at the current moment meets an acceleration condition or not is detected.

When detecting that the vehicle continuously has the four-wheel drive demand at the present moment, the embodiment also detects whether the current vehicle has the demand for increasing the dynamic property, mainly detects according to the opening degree of the accelerator pedal, and only when the accelerator depth reaches a certain depth, namely the opening degree of the accelerator pedal exceeds the preset opening degree range, one of the conditions of vehicle acceleration is satisfied.

For example, the condition of vehicle acceleration is satisfied when the opening degree of the accelerator pedal at the current time exceeds the preset opening degree range by the maximum critical preset opening degree, for example, the preset opening degree range is [30 °,33 ° ], and if the opening degree of the accelerator pedal at the current time is greater than 33 °, the condition of vehicle acceleration is satisfied.

In some embodiments, the preset opening range is varied in each actual detection process, for example, the preset opening range is [25 °,30 ° ] in the first detection process; in the second detection process, the preset opening range is [30 °,33 ° ], and the specific numerical value of the preset opening range is not limited in this embodiment.

In order to increase the safety of the control method, the present embodiment also needs to detect that the current vehicle condition and the surrounding environment meet the acceleration condition, and only if the acceleration condition is met, the vehicle can be accelerated.

The two detection steps in this step may be performed simultaneously, or may be performed according to a predetermined sequence, which is not limited in this embodiment.

S320: if the opening degree of the accelerator pedal at the current moment is detected to exceed the preset opening degree range and the vehicle condition at the current moment meets the acceleration condition, the acceleration torque required to be increased by the driving motor at the current moment is determined according to the opening degree of the accelerator pedal at the current moment, and the vehicle at the current moment is accelerated according to the acceleration torque.

For example, if the detected current opening degree of the accelerator pedal is 10 units, the preset opening degree range is [6 units, 8 units ], and the current vehicle condition meets the acceleration condition, the increased acceleration torque required by the driving motor at the current time is determined according to the current opening degree of the accelerator pedal of 10 units, and the vehicle at the current time is accelerated according to the acceleration torque.

The embodiment further illustrates how to detect whether the vehicle has an acceleration demand at the current moment when the vehicle continuously has a four-wheel drive demand. According to the embodiment, whether the vehicle can be accelerated at the current moment or not is accurately judged according to the opening degree of the accelerator pedal at the current moment and the vehicle condition at the current moment. The method includes the steps that two parameters, namely a preset opening range and an acceleration condition, are introduced to improve safety and accuracy of an acceleration operation process, and only when the opening of an accelerator pedal at the current moment exceeds the preset opening range and the vehicle condition at the current moment meets the acceleration condition, the vehicle at the current moment can be accelerated, so that the vehicle is prevented from being accelerated under the condition that the current vehicle condition does not allow acceleration, and safety accidents in the acceleration process are avoided.

Referring to fig. 4, fig. 4 is a flowchart of another control method according to the embodiment shown in fig. 3. The method further includes at least S410 in S310 shown in fig. 3, which is described in detail below:

s410: and if the opening degree of the accelerator pedal at the current moment is detected not to exceed the preset opening degree range, stopping detecting whether the vehicle condition at the current moment meets the acceleration condition or not, and controlling the vehicle according to a control strategy corresponding to the four-wheel drive state at the current moment.

If the opening degree of the accelerator pedal at the current moment is detected to be not more than the preset opening degree range, the current vehicle condition does not need to be detected or stops being detected, and the situation that a driver does not tread on the accelerator pedal or does not tread to exceed the preset maximum critical depth indicates that the current vehicle has no demand for increasing the power performance, namely the current vehicle has no acceleration demand; meanwhile, the running state of the vehicle at the current moment is controlled and maintained, namely the vehicle is controlled according to a control strategy corresponding to the four-wheel-drive state at the current moment.

The present embodiment further illustrates that detecting whether the opening degree of the accelerator pedal at the current time exceeds the preset opening degree range is a necessary precondition for performing an acceleration operation on the vehicle, and only if detecting that the opening degree of the accelerator pedal at the current time exceeds the preset opening degree range, the condition for performing the acceleration operation on the vehicle is preliminarily satisfied. If the detected opening degree of the accelerator pedal at the current moment does not exceed the preset opening degree range, stopping detecting whether the vehicle condition at the current moment meets the acceleration condition, reducing unnecessary subsequent detection processes, and shortening the detection time length so as to save the time consumption of the control method of the embodiment.

How to detect whether the vehicle condition at the current time meets the acceleration condition is exemplarily described in an exemplary embodiment of the present application, and specifically refer to fig. 5, where fig. 5 is a flowchart of another control method proposed based on the embodiment shown in fig. 3. The method includes S510 to S530 in S310 shown in fig. 3, which are described in detail below:

s510: and acquiring a radar sensing result at the current moment, and detecting whether the radar sensing result represents that obstacles exist around the vehicle at the current moment.

The radar of the vehicle can sense people or objects around the vehicle, for example, if the sensing distance of the radar is 1 meter, the vehicle is used as a circle center, the sensing distance of the radar is 1 meter, and a sensing coil is formed by taking the sensing distance of the radar as a radius, and if objects exist in the sensing coil, the sensing result of the radar represents that obstacles exist around the vehicle.

S520: and if the radar sensing result is detected to represent that obstacles exist around the vehicle at the current moment, determining that the vehicle condition at the current moment does not meet the acceleration condition.

Exemplarily, if the radar sensing distance is 2 meters, if a wall exists within the range of 2 meters, the radar sensing result represents that an obstacle exists around the vehicle, that is, the vehicle does not meet the acceleration condition at the current moment.

S530: and if the radar sensing result is detected to represent that no barrier exists around the vehicle at the current moment, determining that the vehicle condition at the current moment meets the acceleration condition.

If the running environment around the vehicle at the current moment allows the vehicle to accelerate, that is, the radar sensing result is detected to represent that no obstacle exists around the vehicle at the current moment in the embodiment, it is determined that the vehicle condition at the current moment meets the acceleration condition.

In the embodiment, the acceleration condition is that no obstacle exists around the vehicle, that is, the radar sensing result is detected to indicate that no obstacle exists around the vehicle at the current time, and it is determined that the vehicle condition at the current time meets the acceleration condition, that is, the running environment around the vehicle at the current time allows the vehicle to accelerate.

When a vehicle is in a four-wheel-drive state, a continuous four-wheel-drive requirement is sensed, and a driver triggers an acceleration requirement, how the vehicle accurately senses the acceleration requirement in the four-wheel-drive state is a technical problem which needs to be solved at present.

To this end, an exemplary embodiment of the present application shows another control method, and specifically, referring to fig. 6, fig. 6 is a flowchart of another control method proposed based on the embodiment shown in fig. 3. The method includes at least S610 in S310 shown in fig. 3, which is described in detail below:

s610: and if the opening of the accelerator pedal at the current moment is detected to exceed the preset opening range and the vehicle condition at the current moment does not meet the acceleration condition, controlling the vehicle according to a control strategy corresponding to the four-wheel drive state at the current moment.

Illustratively, the accelerator pedal opening is changed from 5 units to 10 units at the current time, and the preset opening range is [6 units, 8 units ], then the accelerator pedal opening of the vehicle at the current time exceeds the maximum critical preset opening of the preset opening range, that is, the accelerator pedal opening of the vehicle at the current time exceeds the preset opening range. However, the working condition parameter of the vehicle at the current moment is the preset working condition parameter, that is, the working condition parameter of the vehicle at the current moment does not meet the condition of vehicle acceleration, and the vehicle cannot be accelerated at the current moment.

The present embodiment further illustrates that the vehicle at the current time has a four-wheel drive requirement and has an acceleration requirement, but the vehicle condition at the current time does not satisfy the precondition of acceleration, for example, the vehicle condition parameter at the current time represents that the current vehicle cannot perform acceleration operation, and only when the vehicle condition parameter reaches the preset condition parameter, the vehicle acceleration condition is satisfied.

The control method aims at the situation that the vehicle is in the four-wheel drive state, and the condition judgment of the front step needs to be carried out before the vehicle is determined to be in the four-wheel drive state. In addition, in order to guarantee that the control method is carried out in real time in the running process of the vehicle, whether the vehicle is in a running state needs to be determined.

To this end, in order to ensure that the control method is performed in the vehicle running state, an embodiment is provided, and specifically referring to fig. 7, fig. 7 is a flowchart of another control method provided based on the embodiment shown in fig. 2. The method is based on S210 to S220 shown in fig. 2 and further includes S710 to S720, where S710 to S720 of this embodiment may be executed before S210 shown in fig. 2 or after S220 shown in fig. 2, and the embodiment does not limit the specific execution sequence thereof. The following is a detailed description:

s710: and detecting whether the vehicle speed is zero at the current moment.

The embodiment determines whether the vehicle is in a running state or not through the vehicle speed at the current moment, and if the vehicle speed at the current moment is zero, the fact that the vehicle is not in the running state at the current moment is represented; and if the vehicle speed at the current moment is not a zero value, representing that the vehicle at the current moment is in a running state.

S720: and if the vehicle speed at the current moment is detected to be not a zero value, detecting whether the current vehicle is in a four-wheel drive state or not.

If the vehicle speed at the current moment is detected to be not a zero value, the vehicle at the current moment is represented to be in a running state, and if S710 to S720 can be executed before S210 shown in fig. 2, the vehicle is subjected to the detection of the four-wheel-drive state for the first time, so as to perform the subsequent control flow; if S710 to S720 can be executed after S220 shown in fig. 2, the vehicle is detected again in the four-wheel-drive state, so as to circularly execute the control flow.

The embodiment determines whether the vehicle is in a driving state at the current moment by detecting whether the vehicle speed at the current moment is zero, detects whether the vehicle is in a four-wheel-drive state if the vehicle is in the driving state, and controls the vehicle by using the control method described in any embodiment, so as to detect whether the vehicle has a four-wheel-drive requirement in real time.

In an exemplary embodiment of the present application, the output torque of the driving motor and the output torque of the engine are used as a reference standard to accurately determine whether the vehicle state is in a four-wheel drive state, specifically referring to fig. 8, where fig. 8 is a flowchart of another control method provided based on the embodiment shown in fig. 7. The method is based on that at least S810 to S830 are further included in S710 shown in fig. 7, and the following detailed description is provided:

s810: and detecting whether the torque output by the driving motor and the torque output by the engine at the current moment are both not zero values.

The present embodiment further illustrates how to determine whether the vehicle is in a four-wheel-drive state at the present time, because when the PHEV is in the four-wheel-drive state, the driving motor and the engine are both running, i.e., they both output corresponding torques.

S820: and if the torque output by the driving motor and the torque output by the engine are not zero at the current moment, determining that the vehicle is in a four-wheel driving state.

If the driving motor and the engine both output torques at the current moment, for example, the torque output by the driving motor at the current moment is 100 units, and the torque output by the engine at the current moment is 200 units, then neither the torque output by the driving motor nor the torque output by the engine at the current moment is zero, and the vehicle is determined to be in the four-wheel drive state.

S830: and if the torque output by the driving motor at the current moment is detected to be zero, or the torque output by the engine at the current moment is detected to be zero, determining that the vehicle is not in the four-wheel drive state.

And if any output torque of the torques output by the driving motor and the engine at the current moment is detected to be zero, namely the driving motor does not output the torque at the current moment or the engine does not output the torque at the current moment, determining that the vehicle is not in the four-wheel drive state.

The present embodiment further explains that it is determined whether the vehicle is in a four-wheel drive state by detecting torque values output from the drive motor and the engine. When the vehicle is in the four-wheel drive state, the driving motor and the engine of the vehicle are in the running state, namely, the driving motor and the engine can output corresponding torques, so that whether the vehicle is in the four-wheel drive state at the current moment can be accurately determined by detecting whether the torques output by the driving motor and the engine at the current moment are both different from zero values.

To better explain the application of the control method of the present application to the PHEV, an exemplary embodiment of the present application shows a control method of a four-drive state of the PHEV, and specifically, referring to fig. 9, fig. 9 is a flowchart of the control method of the four-drive state of the PHEV shown in an exemplary embodiment of the present application. As shown in fig. 9, the control method at least includes S901 to S912, which are described in detail below:

s901: vehicle related data is acquired.

The relevant data in the embodiment includes opening data of an accelerator pedal, gear data, engine operation data, motor operation data, peripheral radar sensing result data, four-wheel drive control logic information and the like.

S902: whether the vehicle is in a four-wheel drive state is detected.

S903: and if the vehicle is detected to be in the four-wheel drive state, detecting whether the vehicle has a four-wheel drive requirement.

S904: and if the fact that the vehicle does not have the four-wheel drive requirement is detected, controlling the driving motor to reduce the output preset torque, and controlling the engine to increase the torque of a value corresponding to the output preset torque.

When the vehicle is in a four-wheel drive state, whether the vehicle has a four-wheel drive requirement is detected in real time, and for example, if the vehicle has no four-wheel drive requirement, the driving motor is controlled to reduce and output a preset torque of 50 units, and the engine is controlled to increase and output a torque of 50 units.

S905: and detecting whether the vehicle has a four-wheel drive requirement.

This step represents the re-detection of the four-wheel drive requirement of the vehicle, and the embodiment is to detect whether the vehicle has the four-wheel drive requirement in real time when the vehicle is in the four-wheel drive state.

S906: and if the four-wheel drive requirement of the vehicle is detected, controlling the vehicle state to be switched to a four-wheel drive state.

If the four-wheel-drive requirement of the vehicle is detected, the fact that the vehicle has the four-wheel-drive requirement in the process that the vehicle exits from the four-wheel-drive state is indicated, the four-wheel-drive state exiting process is stopped at the moment, and the vehicle state is controlled to be switched to the four-wheel-drive state.

S907: and if the fact that the vehicle has no four-wheel drive requirement is detected, whether the driving motor stops working or not is detected.

If the fact that the vehicle does not have the four-wheel-drive requirement is detected again, whether the driving motor stops working or not is detected, and whether the vehicle completely exits the four-wheel-drive state or not is determined.

S908: and if the driving motor is detected to stop working, detecting whether the vehicle speed is zero or not.

If the fact that the driving motor does not stop working is detected, the vehicle does not completely exit the four-wheel drive state, the driving motor is controlled again to reduce the output preset torque, and the engine is controlled to output the torque of the value corresponding to the preset torque.

If the fact that the driving motor stops working is detected, the fact that the vehicle completely exits the four-wheel drive state is represented, whether the vehicle speed is zero or not is detected, if the vehicle speed is zero, the fact that the vehicle stops running is represented, and all control processes are finished.

S909: and detecting whether the opening degree of the accelerator pedal exceeds a preset opening degree range.

And if the four-wheel drive requirement of the vehicle is detected, detecting whether the opening degree of the accelerator pedal exceeds a preset opening degree range.

S910: and if the detected opening degree of the accelerator pedal does not exceed the preset opening degree range, controlling the vehicle according to a control strategy corresponding to the four-wheel drive state at the current moment.

Illustratively, the accelerator pedal at the current time is 5 units of opening degree, the preset opening degree range is [8 ranges, 10 units ], if the opening degree of the accelerator pedal at the current time does not exceed the preset opening degree range, the vehicle is controlled to maintain the current four-wheel drive state, and the vehicle is controlled to run according to the running parameters in the control strategy corresponding to the current four-wheel drive state.

S911: and if the detected opening degree of the accelerator pedal exceeds the preset opening degree range, detecting whether the vehicle condition meets the acceleration condition.

If the detected opening degree of the accelerator pedal exceeds the preset opening degree range, the fact that the vehicle has an acceleration requirement at the current moment is represented, at the moment, whether the vehicle condition meets an acceleration condition needs to be detected, and the acceleration condition comprises the operation condition of allowing acceleration of the vehicle at the current moment and the operation environment around the vehicle at the current moment.

S912: and if the vehicle condition is detected to meet the acceleration condition, controlling the vehicle to maintain a four-wheel drive state and accelerating the vehicle.

If the vehicle has an acceleration requirement at the current moment and the working condition of the vehicle at the current moment meets the acceleration condition, the vehicle is controlled to perform acceleration operation in a four-wheel drive state, so that the power performance of the vehicle is improved, and the running speed of the vehicle is accelerated.

According to the embodiment, exit logic is designed for torque control of the four-wheel-drive PHEV, and when the vehicle is in a four-wheel-drive state, if no four-wheel-drive requirement of the vehicle is detected, the driving motor can be stopped to work in time, so that unnecessary energy consumption is reduced, and the running cost of the vehicle is saved. Meanwhile, the driving motor is controlled step by step to reduce the output preset torque, and the engine is controlled to increase the torque of the value corresponding to the output preset torque until the torque output by the driving motor is zero, so that the vehicle exits from the four-wheel drive state on the premise of not losing the dynamic property, the power requirement during driving is ensured, the occurrence of vehicle safety accidents caused by suddenly stopping the driving motor to output the torque is avoided, and the safety of the vehicle exiting from the four-wheel drive state is ensured. In addition, the control method of the embodiment is applicable to all current four-wheel-drive PHEVs, the internal structure of the PHEV does not need to be changed, and the control method is convenient to implement.

It should be noted that any of the above control methods of the present application can be applied in combination with other control methods, or other control methods affect the control method of the present application, for example: when the torque of the driving motor is reduced and the engine torque is increased by an equal amount, the driving wheels of the engine may slip due to excessive torque, and if the slip phenomenon occurs, the increase of the output torque of the engine needs to be stopped, and the current control method needs to be maintained. The present application does not set forth any detailed description of other control methods, and does not limit the specific combination of the control method and other control methods, the application process, and the specific processes that affect each other.

Another aspect of the present application also provides a control device, as shown in fig. 10, where fig. 10 is a schematic structural diagram of the control device shown in an exemplary embodiment of the present application. Wherein, controlling means includes:

the detecting module 1010 is configured to detect whether the vehicle has a four-wheel drive requirement in real time when the vehicle is in a four-wheel drive state.

The control module 1030 is configured to control the driving motor to reduce the output preset torque and control the engine to increase the torque corresponding to the output preset torque if no four-wheel-drive requirement of the vehicle is detected, until the torque output by the driving motor is zero, so that the vehicle exits from a four-wheel-drive state.

In another embodiment, the detection module 1010 includes:

the device comprises a first detection unit and a second detection unit, wherein the first detection unit is configured to detect whether the opening degree of an accelerator pedal at the current moment exceeds a preset opening degree range and detect whether the vehicle condition at the current moment meets an acceleration condition if the four-wheel drive requirement of the vehicle is detected.

And the acceleration unit is configured to determine the acceleration torque required to be increased by the driving motor at the current moment according to the opening degree of the accelerator pedal at the current moment and perform acceleration operation on the vehicle at the current moment according to the acceleration torque if the opening degree of the accelerator pedal at the current moment is detected to exceed the preset opening degree range and the vehicle condition at the current moment meets the acceleration condition.

In another embodiment, the first detection unit includes:

and the first strategy maintaining plate is configured to stop detecting whether the vehicle condition at the current moment meets the acceleration condition or not and control the vehicle according to the control strategy corresponding to the four-wheel drive state at the current moment if the opening degree of the accelerator pedal at the current moment is detected not to exceed the preset opening degree range.

In another embodiment, the first detection unit includes:

and the acquisition board is configured to acquire the radar sensing result at the current moment and detect whether the radar sensing result represents that obstacles exist around the vehicle at the current moment.

The first detection plate is configured to determine that the vehicle condition at the current moment does not meet the acceleration condition if the radar sensing result indicates that obstacles exist around the vehicle at the current moment.

And the second detection plate is configured to determine that the vehicle condition at the current moment meets the acceleration condition if the radar sensing result indicates that no obstacles exist around the vehicle at the current moment.

In another embodiment, the first detection unit includes:

and the second strategy maintaining plate is configured to control the vehicle according to the control strategy corresponding to the four-wheel drive state at the current moment if the opening degree of the accelerator pedal at the current moment is detected to exceed the preset opening degree and the vehicle condition at the current moment does not meet the acceleration condition.

In another embodiment, the control device further comprises:

and the vehicle speed detection module is configured to detect whether the vehicle speed at the current moment is zero.

And the four-wheel drive state detection module is configured to detect whether the current vehicle is in a four-wheel drive state or not if the vehicle speed at the current moment is detected to be not a zero value.

In another embodiment, the four-wheel drive state detection module comprises:

and a zero value detection unit configured to detect whether the torques output by the drive motor and the engine at the present time are both not zero values.

And a first four-wheel drive state determination unit configured to determine that the vehicle is in a four-wheel drive state if it is detected that neither the torque output by the drive motor nor the torque output by the engine is zero at the present time.

And a second four-wheel drive state determination unit configured to determine that the vehicle is not in the four-wheel drive state if it is detected that the torque output by the drive motor at the present time is zero or the torque output by the engine at the present time is zero.

It should be noted that the control apparatus provided in the foregoing embodiment and the control method provided in the foregoing embodiment belong to the same concept, and specific ways for each module and unit to perform operations have been described in detail in the method embodiment, and are not described again here.

Another aspect of the present application also provides an electronic device, including: a controller; a memory for storing one or more programs which, when executed by the controller, perform the control method described above.

Referring to fig. 11, fig. 11 is a schematic structural diagram of a computer system of an electronic device according to an exemplary embodiment of the present application, which illustrates a schematic structural diagram of a computer system suitable for implementing an electronic device according to an exemplary embodiment of the present application.

It should be noted that the computer system 1100 of the electronic device shown in fig. 11 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.

As shown in fig. 11, the computer system 1100 includes a Central Processing Unit (CPU) 1101, which can perform various appropriate actions and processes, such as executing the methods in the above-described embodiments, according to a program stored in a Read-Only Memory (ROM) 1102 or a program loaded from a storage section 1108 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data necessary for system operation are also stored. The CPU 1101, ROM 1102, and RAM 1103 are connected to each other by a bus 1104. An Input/Output (I/O) interface 1105 is also connected to bus 1104.

The following components are connected to the I/O interface 1105: an input portion 1106 including a keyboard, mouse, and the like; an output section 1107 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 1108 including a hard disk and the like; and a communication section 1109 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 1109 performs communication processing via a network such as the internet. Drivers 1110 are also connected to the I/O interface 1105 as needed. A removable medium 1111 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1110 as necessary, so that a computer program read out therefrom is mounted into the storage section 1108 as necessary.

In particular, according to embodiments of the present application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication portion 1109 and/or installed from the removable medium 1111. When the computer program is executed by a Central Processing Unit (CPU) 1101, various functions defined in the system of the present application are executed.

It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having 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), a 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. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with a computer program embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.

Another aspect of the present application also provides a computer-readable storage medium on which a computer program is stored, which, when executed by a processor, implements the foregoing control method. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.

Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the control method provided in the above embodiments.

According to an aspect of an embodiment of the present application, there is also provided a computer system including a Central Processing Unit (CPU) that can perform various appropriate actions and processes, such as performing the method in the above-described embodiment, according to a program stored in a Read-Only Memory (ROM) or a program loaded from a storage portion into a Random Access Memory (RAM). In the RAM, various programs and data necessary for system operation are also stored. The CPU, ROM, and RAM are connected to each other via a bus. An Input/Output (I/O) interface is also connected to the bus.

The following components are connected to the I/O interface: an input section including a keyboard, a mouse, and the like; an output section including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section including a hard disk and the like; and a communication section including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section performs communication processing via a network such as the internet. The drive is also connected to the I/O interface as needed. A removable medium such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive as necessary, so that a computer program read out therefrom is mounted into the storage section as necessary.

The above description is only a preferred exemplary embodiment of the present application, and is not intended to limit the embodiments of the present application, and one of ordinary skill in the art can easily make various changes and modifications according to the main concept and spirit of the present application, so that the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A control method, comprising:

detecting whether the vehicle has a four-wheel drive requirement in real time when the vehicle is in a four-wheel drive state;

and if the vehicle is detected to have no four-wheel drive requirement, controlling the driving motor to reduce and output a preset torque, and controlling the engine to increase and output the torque of the value corresponding to the preset torque until the torque output by the driving motor is zero, so that the vehicle exits the four-wheel drive state.

2. The method of claim 1, wherein said detecting in real time whether said vehicle is in a four-wheel drive demand comprises:

if the four-wheel drive requirement of the vehicle is detected, detecting whether the opening degree of an accelerator pedal at the current moment exceeds a preset opening degree range, and detecting whether the vehicle condition at the current moment meets an acceleration condition;

and if the opening degree of the accelerator pedal at the current moment is detected to exceed the preset opening degree range and the vehicle condition at the current moment meets the acceleration condition, determining the acceleration torque required to be increased by the driving motor at the current moment according to the opening degree of the accelerator pedal at the current moment, and accelerating the vehicle at the current moment according to the acceleration torque.

3. The method according to claim 2, wherein the detecting whether the opening degree of the accelerator pedal at the present time exceeds a preset opening degree range and the detecting whether the vehicle condition at the present time satisfies an acceleration condition comprise:

and if the opening degree of the accelerator pedal at the current moment is detected not to exceed the preset opening degree range, stopping detecting whether the vehicle condition at the current moment meets the acceleration condition or not, and controlling the vehicle according to a control strategy corresponding to the four-wheel drive state at the current moment.

4. The method according to claim 2, wherein the detecting whether the vehicle condition at the current time meets the acceleration condition comprises:

acquiring a radar induction result at the current moment, and detecting whether the radar induction result represents that obstacles exist around a vehicle at the current moment;

if the radar sensing result indicates that obstacles exist around the vehicle at the current moment, determining that the vehicle condition at the current moment does not meet an acceleration condition;

and if the radar sensing result is detected to represent that no barrier exists around the vehicle at the current moment, determining that the vehicle condition at the current moment meets the acceleration condition.

5. The method according to claim 2, wherein the detecting whether the opening degree of the accelerator pedal at the present time exceeds a preset opening degree range and the detecting whether the vehicle condition at the present time satisfies an acceleration condition comprise:

and if the opening of the accelerator pedal at the current moment is detected to exceed the preset opening range and the vehicle condition at the current moment does not meet the acceleration condition, controlling the vehicle according to a control strategy corresponding to the four-wheel drive state at the current moment.

6. The method of claim 1, further comprising:

detecting whether the vehicle speed is zero at the current moment;

and if the vehicle speed at the current moment is detected to be not a zero value, detecting whether the current vehicle is in the four-wheel drive state or not.

7. The method of claim 6, wherein said detecting whether the current vehicle is in the four-wheel drive state comprises:

detecting whether the torque output by the driving motor and the torque output by the engine at the current moment are both not zero;

if the torque output by the driving motor and the torque output by the engine at the current moment are not zero, determining that the vehicle is in the four-wheel-drive state;

and if the torque output by the driving motor at the current moment is detected to be zero, or the torque output by the engine at the current moment is detected to be zero, determining that the vehicle is not in the four-wheel drive state.

8. A control device, comprising:

the detection module is configured to detect whether the vehicle has a four-wheel drive requirement in real time when the vehicle is in a four-wheel drive state;

and the control module is configured to control the driving motor to reduce and output a preset torque and control the engine to increase and output the torque of a value corresponding to the preset torque until the torque output by the driving motor is zero so as to enable the vehicle to exit the four-wheel drive state if the vehicle is detected to have no four-wheel drive requirement.

9. An electronic device, comprising:

a controller;

a memory for storing one or more programs that, when executed by the controller, cause the controller to implement the control method of any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon computer-readable instructions which, when executed by a processor of a computer, cause the computer to execute the control method of any one of claims 1 to 7.