CN117549879A - Vehicle control method and device, electronic equipment and vehicle - Google Patents
Vehicle control method and device, electronic equipment and vehicle Download PDFInfo
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- CN117549879A CN117549879A CN202311812095.2A CN202311812095A CN117549879A CN 117549879 A CN117549879 A CN 117549879A CN 202311812095 A CN202311812095 A CN 202311812095A CN 117549879 A CN117549879 A CN 117549879A
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- 238000000034 method Methods 0.000 title claims abstract description 63
- 230000007935 neutral effect Effects 0.000 claims description 21
- 230000004044 response Effects 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 description 11
- 238000011217 control strategy Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 2
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- 230000001276 controlling effect Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 239000013589 supplement Substances 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
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- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The application provides a vehicle control method, a device, electronic equipment and a vehicle, wherein the method comprises the following steps: and responding to the received fault information of the rear axle gear shifting controller, and respectively generating a corresponding rear axle gear control instruction and a corresponding engine control instruction according to the fault information. The rear axle gear control instruction is sent to the rear axle gear shifting controller, so that the rear axle gear shifting controller can adjust the rear axle gear; and sending the engine control command to an engine controller so that the engine controller adjusts the running state of the engine. The driving torque output by the rear axle motor and the driving torque output by the engine are combined to jointly provide the whole vehicle power for the vehicle, the driving force provided by the rear axle under the condition of fully utilizing faults is reduced or avoided to provide the driving force by the engine on the premise of ensuring the driving safety and the hardware safety of the rear axle gear shifting controller, and the energy utilization efficiency of the vehicle is improved.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a vehicle control method, a vehicle control device, electronic equipment and a vehicle.
Background
In a hybrid vehicle, when a rear axle gear shift controller fails due to hardware or software problems, a rear axle motor is prohibited from outputting driving torque, and a rear axle cannot provide driving force for the vehicle, so that the driving force of the whole vehicle is reduced. In order to avoid the reduction of the driving force of the whole vehicle, an engine is started to maintain the power performance of the whole vehicle. However, when the rear axle gear shift controller has a partial fault, the rear axle can still provide partial driving force for the vehicle, and if the rear axle motor is forbidden to output driving torque at the moment, the rear axle driving force is lost, so that the energy utilization rate of the vehicle is reduced.
Disclosure of Invention
In view of the above, an object of the present application is to provide a vehicle control method, a device, an electronic apparatus, and a vehicle, so as to solve the problems of a rear axle driving force loss and a low energy utilization rate of the whole vehicle when a rear axle gear shift controller fails.
In view of the above object, a first aspect of the present application provides a vehicle control method including:
responding to the received fault information of the rear axle gear shifting controller, and respectively generating a corresponding rear axle gear control instruction and a corresponding engine control instruction according to the fault information;
the rear axle gear control instruction is sent to the rear axle gear shifting controller, so that the rear axle gear shifting controller can adjust the rear axle gear; and sending the engine control command to an engine controller so that the engine controller adjusts the running state of the engine.
Optionally, the fault information comprises a gear zone and gear availability information, and the rear axle gear control instruction comprises a shift prohibition instruction;
generating a corresponding rear axle gear control instruction according to the fault information, wherein the method comprises the following steps:
generating the shift prohibition instruction to prohibit shifting of the rear axle shift controller in response to the gear flag being empty and the gear availability information being a target gear available; and determining a target driving torque according to the target gear so as to enable the rear axle motor to output the target driving torque.
Optionally, the fault information includes gear switching information; the rear axle gear control instruction comprises a neutral gear switching instruction;
generating a corresponding rear axle gear control instruction according to the fault information, wherein the method comprises the following steps:
and responding to the gear shifting information as an upshift or downshift fault, generating the neutral gear shifting instruction, and enabling the rear axle gear controller to shift the current gear of the rear axle into the neutral gear when receiving an upshift or downshift request.
Optionally, the fault information includes gear switching information; the rear axle gear control instruction comprises a shift prohibition instruction;
generating a corresponding rear axle gear control instruction according to the fault information, wherein the method comprises the following steps:
And responding to the gear switching information as a gear shifting fault, and generating the gear shifting prohibiting instruction so as to prohibit gear shifting of the rear axle gear shifting controller.
Optionally, the fault information includes gear switching information and gear availability information; the rear axle gear control instruction comprises a shift prohibition instruction;
generating a corresponding rear axle gear control instruction according to the fault information, wherein the method comprises the following steps:
and generating the shift prohibition instruction to prohibit the rear axle shift controller from shifting gears in response to the gear shift information being a shift failure and the gear available information being that a gear is unavailable.
Optionally, the fault information includes rear axle driving torque, and the engine control command includes an engine stop command; generating a corresponding engine control instruction according to the fault information, including:
in response to the rear axle drive torque being zero, the engine stop command is generated to continue operation of the engine.
Optionally, after responding to receiving the fault information of the rear axle gear shift controller, the method further comprises:
generating a driving torque limiting instruction, and determining a target driving torque according to the fault information;
and respectively sending the driving torque limiting instruction and the target driving torque to a front axle controller and a rear axle controller, so that the front axle controller controls a front axle motor to output a front axle driving torque, the rear axle controller controls a rear axle motor to output a rear axle driving torque, and the sum of the front axle driving torque and the rear axle driving torque does not exceed the target driving torque.
The second aspect of the present application also provides a vehicle control apparatus including:
the command generation module is configured to respond to the received fault information of the rear axle gear shifting controller and respectively generate a corresponding rear axle gear control command and a corresponding engine control command according to the fault information;
the command sending module is configured to send the rear axle gear control command to the rear axle gear shifting controller so that the rear axle gear shifting controller can adjust the rear axle gear; and sending the engine control command to an engine controller so that the engine controller adjusts the running state of the engine.
A third aspect of the present application also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, the processor implementing the method according to the first aspect when executing the computer program.
The present application also provides a vehicle comprising an electronic device according to the third aspect.
From the above, it can be seen that the method and device for controlling a vehicle, the electronic device and the vehicle provided by the application, the method comprises the following steps: and responding to the received fault information of the rear axle gear shifting controller, and respectively generating a corresponding rear axle gear control instruction and a corresponding engine control instruction according to the fault information. And receiving fault information, wherein the fault information indicates that the current rear axle gear shift controller fails, and the power performance of the whole vehicle can be influenced. The fault type of the rear axle gear shifting controller can be determined according to the fault information, and different rear axle gear control instructions and engine control instructions can be generated according to different fault types. The purpose of generating a refined control instruction according to the fault type of the rear axle gear shifting controller is achieved. The rear axle gear control instruction is sent to the rear axle gear shifting controller, so that the rear axle gear shifting controller executes the rear axle gear control instruction, and the adjustment of the rear axle gear can be realized through the rear axle gear control instruction, so that the regulation and control of the output driving torque of the rear axle motor are realized; and sending the engine control command to an engine controller so that the engine controller executes the engine control command to adjust the running state of the engine, namely, the engine control command can realize the regulation and control of the output driving torque of the engine. The driving torque output by the rear axle motor and the driving torque output by the engine are combined to jointly provide the whole vehicle power for the vehicle, the driving force provided by the rear axle under the condition of fully utilizing faults is reduced or avoided to provide the driving force by the engine on the premise of ensuring the driving safety and the hardware safety of the rear axle gear shifting controller, and the energy utilization efficiency of the vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present application or related art, the drawings that are required to be used in the description of the embodiments or related art will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for executing a driving torque limiting command according to an embodiment of the present application;
fig. 3 is a schematic structural view of a vehicle control apparatus according to an embodiment of the present application;
fig. 4 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings.
It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present application should be given the ordinary meaning as understood by one of ordinary skill in the art to which the present application belongs. The terms "first," "second," and the like, as used in embodiments of the present application, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
The power system of the hybrid electric vehicle comprises a four-wheel drive hybrid power system, the framework of the four-wheel drive hybrid power system comprises a P2+P4 framework, and a P2 motor is a front axle driving motor and has the main functions of starting an engine, generating power, assisting power and recovering energy. The P4 motor is a rear axle driving motor and has the main function of providing assistance for a rear axle. The power battery provides electricity for the P4 motor so that the P4 motor outputs rear axle driving torque. The engine drives the P2 motor to rotate so that the P2 motor outputs front axle driving torque. When the rear axle shifts gears, the whole vehicle controller sends a gear shifting request to the rear axle gear shifting controller, and after the rear axle gear shifting controller receives the gear shifting request sent by the whole vehicle controller, the rear axle gearbox is controlled to switch the current gear to the neutral gear. And then, the rear axle gear shifting controller controls the P4 motor to regulate the speed, and when the rotating speed of the P4 motor is regulated to the target rotating speed, the rear axle gear shifting controller controls the rear axle gearbox to be switched from neutral gear to the target gear, so that the gear shifting of the rear axle is completed.
However, when the rear axle gear shift controller fails due to hardware or software problems, the rear axle motor is prohibited from outputting driving torque, and the rear axle cannot provide driving force for the vehicle, so that the driving force of the whole vehicle is reduced. In order to avoid the reduction of the driving force of the whole vehicle, an engine is started to maintain the power performance of the whole vehicle. However, when a part of the rear axle gear shifting controller fails, for example, when the rear axle gear shifting controller software fails, part of driving force can still be provided for the vehicle under the condition that the rear axle gear is available, if the rear axle motor is forbidden to output driving torque at the moment, the loss of the driving force of the rear axle can be caused, and the energy utilization rate of the vehicle is reduced. In view of this, the application provides a vehicle control method, when the rear axle gear shift controller breaks down and does not influence rear axle driving force output, the rear axle driving force is preferentially utilized, the starting engine is reduced or avoided to provide power for the vehicle, and the energy utilization efficiency of the whole vehicle is improved.
Embodiments of the present application are described in detail below with reference to the accompanying drawings.
The application proposes a vehicle control method applied to a complete vehicle controller (Vehicle control unit, VCU), referring to fig. 1, comprising the following steps:
and 102, responding to the received fault information of the rear axle gear shifting controller (Actuator Control Unit, ACU), and respectively generating a corresponding rear axle gear control instruction and a corresponding engine control instruction according to the fault information.
Specifically, when the sensor detects that the rear axle gear shifting controller fails, failure information is sent to the whole vehicle controller. The fault information characterizes the fault type or the fault level of the rear axle gear shifting controller, and the whole vehicle controller can judge the current fault type or the current fault level of the rear axle gear shifting controller according to the fault information. The fault information can be identified in the form of a character string, a number, a letter or the like, and the identification of different fault information represents different fault types or grades. The identification of different fault information is associated with corresponding vehicle control strategies in advance according to actual running data of the vehicle, and when the rear axle gear shifting controller fails, the whole vehicle controller can timely determine the vehicle control strategies according to the identification of the fault information, so that the response speed of the vehicle is improved.
Further, the vehicle control strategy includes a rear axle gear control command and an engine control command. The rear axle gear control command is used for adjusting the gear of the rear axle gearbox, and the engine control command is used for adjusting the running state of the engine, such as the rotating speed or torque of the engine. According to different fault information, different rear axle gear control instructions and engine control instructions can be generated, fine-grained control of the vehicle is achieved under the condition of the fault of the rear axle gear shift controller, the control strategy of the vehicle is enriched, a single control strategy is avoided, for example, the rear axle motor is prevented from outputting driving torque, and driving force is provided for the whole vehicle only through the front axle. Under the condition that the failure type of the rear axle gear shifting controller does not influence the use of the rear axle gear, in the embodiment, the gear control of the rear axle gearbox can still be realized through the rear axle gear control instruction, so that the rear axle can still provide driving force for the vehicle under the failure working condition, the power loss of the rear axle is avoided or reduced, the power assistance provided by an engine is further reduced or reduced, the energy utilization rate of the vehicle is improved, and the power performance of the whole vehicle is ensured.
104, sending the rear axle gear control instruction to the rear axle gear shifting controller so that the rear axle gear shifting controller can adjust the rear axle gear; and sending the engine control command to an engine controller so that the engine controller adjusts the running state of the engine.
Specifically, after the vehicle controller generates a rear axle gear control instruction and an engine control instruction, the instructions are respectively sent to the rear axle gear controller and the engine, so that the rear axle gear controller executes the rear axle gear control instruction to adjust the gear of the rear axle gearbox, so that the rear axle motor outputs driving torque corresponding to the gear, a certain driving force is provided for the vehicle, the power-assisted torque output by the engine is reduced, and the energy utilization rate of the vehicle is improved. The engine executes an engine control instruction, and when the driving force of the rear axle is insufficient, the engine provides power-assisted torque for the vehicle in real time so as to ensure the power performance of the whole vehicle.
Based on the steps 102 to 104, the vehicle control method provided in the present embodiment includes: and responding to the received fault information of the rear axle gear shifting controller, and respectively generating a corresponding rear axle gear control instruction and a corresponding engine control instruction according to the fault information. And receiving fault information, wherein the fault information indicates that the current rear axle gear shift controller fails, and the power performance of the whole vehicle can be influenced. The fault type of the rear axle gear shifting controller can be determined according to the fault information, and different rear axle gear control instructions and engine control instructions can be generated according to different fault types. The method realizes the generation of a refined control instruction according to the fault type of the rear axle gear shifting controller. The rear axle gear control instruction is sent to the rear axle gear shifting controller, so that the rear axle gear shifting controller executes the rear axle gear control instruction, and the adjustment of the rear axle gear can be realized through the rear axle gear control instruction, so that the regulation and control of the output driving torque of the rear axle motor are realized; and sending the engine control command to an engine controller so that the engine controller executes the engine control command to adjust the running state of the engine, namely, the engine control command can realize the regulation and control of the output driving torque of the engine. The driving torque output by the rear axle motor and the driving torque output by the engine are combined to jointly provide the whole vehicle power for the vehicle, the driving force provided by the rear axle under the condition of fully utilizing faults is reduced or avoided to provide the driving force by the engine on the premise of ensuring the driving safety and the hardware safety of the rear axle gear shifting controller, and the energy utilization efficiency of the vehicle is improved.
The following specifically describes a rear axle gear control command and an engine control command corresponding to different fault types through each embodiment.
In some embodiments, the fault information includes a gear flag and gear availability information, and the rear axle gear control instruction includes a shift inhibit instruction;
generating a corresponding rear axle gear control instruction according to the fault information, wherein the method comprises the following steps:
generating the shift prohibition instruction to prohibit shifting of the rear axle shift controller in response to the gear flag being empty and the gear availability information being a target gear available; and determining a target driving torque according to the target gear so as to enable the rear axle motor to output the target driving torque.
Specifically, the fault information includes a gear flag and gear availability information. The gear mark represents the current gear of the rear axle gearbox, and when the gear mark is 0, the gear mark represents the current neutral gear, when the gear mark is 1, the gear mark represents the current 1 gear, and when the gear mark is 2, the gear mark represents the current 2 gear. The available gear information characterizes the currently available gears of the gearbox, certain gears are not available due to the failure of the rear axle gear controller, the currently available gears can be determined through the available gear information, and the gears which are not included in the available gear information are failed gears, so that the available gears are not currently available gears.
When the gear mark position received by the whole vehicle controller is empty, the software fault possibly occurs to the rear axle gear controller, the current gear of the rear axle gearbox cannot be identified or transmitted, and the whole vehicle controller cannot judge the current gear condition of the rear axle gearbox. Whereas the actual rear axle gearbox has a current gear in or close to 2. At the moment, a shift prohibition instruction is generated, and hardware damage to a rear axle shift controller caused by executing shift under the condition that the current gear cannot be known is avoided. Meanwhile, if the gear available information is the target gear available, the target gear is indicated to be fault-free and can be normally used, and the rear axle motor can output the driving torque corresponding to the target gear, the corresponding target driving torque is calculated and determined according to the target gear, and the target driving torque is sent to the rear axle motor controller, so that the rear axle motor controller controls the rear axle motor to output the target driving torque, and the rear axle driving force is provided for the vehicle. By way of example, the target gear may be gear 2. When the available 2 gears of the rear axle gearbox are determined according to the available gear information, corresponding control strategies are executed according to the speed ratio, the vehicle speed, the torque and the like corresponding to the 2 gears, and the vehicle is controlled to run.
In this embodiment, although the rear axle gear shift controller fails, the output of the rear axle driving force is not affected, and the rear axle driving force is preferentially used to provide power for the vehicle, so that the power loss of the rear axle is avoided. At the moment, the engine does not need to be started to provide power-assisted torque for the vehicle, the starting probability of the engine is reduced, and the energy consumption and the pollution emission are reduced. Accordingly, the engine control command may be empty, i.e., the engine maintains the current operating state. Meanwhile, the problem of NVH (Noise, vibration, harshness, noise, vibration and harshness) caused by suddenly starting the engine in the running process of the vehicle can be avoided without starting the engine, and the driving comfort of a user is improved.
According to the energy control method, when the fault information is that the gear zone is empty and the target gear is available, the rear axle gear shift controller is prevented from being shifted to protect, the rear axle driving force is preferentially used by determining the rear axle driving torque output by the rear axle motor according to the target gear, and the energy utilization rate of the whole vehicle is improved.
In some embodiments, the fault information includes gear shift information; the rear axle gear control instruction comprises a neutral gear switching instruction;
Generating a corresponding rear axle gear control instruction according to the fault information, wherein the method comprises the following steps:
and responding to the gear shifting information as an upshift or downshift fault, generating the neutral gear shifting instruction, and enabling the rear axle gear controller to shift the current gear of the rear axle into the neutral gear when receiving an upshift or downshift request.
Specifically, the fault information includes gear shift information that characterizes a gear shift condition, such as whether a shift from 1 st gear to 2 nd gear has failed. If the gear switching information received by the vehicle controller is an upshift or downshift fault, the rear axle gearbox is indicated that upshift or downshift cannot be performed from the current gear, but neutral gear can be switched, and then the vehicle controller generates a neutral gear switching instruction. And sending a neutral gear shifting instruction to the rear axle gear shifting controller, and controlling the rear axle gearbox to be shifted from the current gear to the neutral gear by the rear axle gear shifting controller when the whole vehicle has an upshift or downshift request, so that the hardware of the rear axle gear shifting controller is prevented from being damaged when upshift or downshift is performed. When the gear of the rear axle gearbox is switched to neutral, the rear axle does not provide driving force for the vehicle any more, and at the moment, in order to avoid the reduction of the power performance of the whole vehicle, an engine control command is generated, wherein the engine control command comprises an engine stop command. If the engine is started at this time, the engine is controlled to continue to operate, and if the engine is not started at this time, the engine is controlled to start and keep continuously operating. The engine provides driving force for the whole vehicle and ensures the continuation of the power of the whole vehicle.
According to the energy control method, under the condition that the fault information is an upshift or downshift fault, the hardware of the rear axle gear shift controller is protected from being damaged by switching to neutral, and the engine is started to provide power-assisted torque for the vehicle so as to supplement the lost driving force of the rear axle, maintain the continuous power of the whole vehicle and meet the driving requirement of a user.
In some embodiments, the fault information includes gear shift information; the rear axle gear control instruction comprises a shift prohibition instruction;
generating a corresponding rear axle gear control instruction according to the fault information, wherein the method comprises the following steps:
and responding to the gear switching information as a gear shifting fault, and generating the gear shifting prohibiting instruction so as to prohibit gear shifting of the rear axle gear shifting controller.
Specifically, the fault information includes gear shift information that characterizes a gear shift condition, such as whether a shift from 1 st gear to 2 nd gear has failed. If the gear switching information received by the whole vehicle controller is a gear shifting fault, the gearbox cannot be switched to any other gear from the current gear, so that the whole vehicle controller generates a gear shifting prohibiting instruction, and hardware damage to a rear axle gear shifting controller caused by executing gear shifting is avoided. It should be noted that, in this embodiment, although the rear axle gear shift controller fails, the current gear of the rear axle gearbox is not changed, so the rear axle can still provide a certain driving force, that is, the output of the driving force of the rear axle is not affected, and the driving force of the rear axle is preferentially used to provide power for the vehicle, so that the power loss of the rear axle is avoided. At the moment, the engine does not need to be started to provide power-assisted torque for the vehicle, the starting probability of the engine is reduced, and the energy consumption and the pollution emission are reduced. Accordingly, the engine control command may be empty, i.e., the engine maintains the current operating state. Meanwhile, the problem of NVH (Noise, vibration, harshness, noise, vibration and harshness) caused by suddenly starting the engine in the running process of the vehicle can be avoided without starting the engine, and the driving comfort of a user is improved.
According to the energy control method, when the fault information is a gear shifting fault, gear shifting is forbidden to protect the hardware of the gear shifting controller of the rear axle from being damaged, and when the driving force of the rear axle is still output, the driving force of the rear axle is preferentially used, so that the energy utilization rate of the vehicle is improved.
In some embodiments, the fault information includes gear shift information and gear availability information; the rear axle gear control instruction comprises a shift prohibition instruction;
generating a corresponding rear axle gear control instruction according to the fault information, wherein the method comprises the following steps:
and generating the shift prohibition instruction to prohibit the rear axle shift controller from shifting gears in response to the gear shift information being a shift failure and the gear available information being that a gear is unavailable.
Specifically, the failure information includes shift position switching information and shift position availability information. The gear shift information characterizes a gear shift condition, such as whether a shift from 1 to 2 has failed. The available information of gear represents the currently available gear of the gearbox, and certain gears are not available due to the failure of the rear axle gear shifting controller, the currently available gear can be determined through the available information of the gear, and the gears which are not included in the available information of the gear are failed gears and are not currently available. When the fault information received by the whole vehicle controller is a gear shifting fault and the gear is not available, the transmission cannot be switched to any other gear from the current gear, and any gear of the rear axle transmission cannot be used, and the whole vehicle controller generates a gear shifting prohibiting instruction. Hardware damage to the rear axle shift controller caused by executing a shift is avoided. Because any gear of the rear axle gearbox can not be used at this time, the rear axle can not provide assistance for the vehicle, and the dynamic property of the whole vehicle is reduced. In order to continue the dynamic performance of the whole vehicle, the engine needs to be started to provide assistance at the moment, and an engine control command is generated. The engine control instructions include an engine stop instruction that controls the engine to continue operating if the engine is started at this time, and controls the engine to start and keep running if the engine is not started at this time. The engine provides driving force for the whole vehicle and ensures the continuation of the power of the whole vehicle.
According to the energy control method, under the condition that the fault information is a gear shifting fault and the gear is unavailable, the gear shifting is forbidden to protect the hardware of the gear shifting controller of the rear axle from being damaged, and the engine is started to provide power-assisted torque for the vehicle so as to supplement the lost driving force of the rear axle, maintain the continuous power of the whole vehicle and meet the driving requirement of a user.
The generation conditions of the rear axle gear control command are described through the foregoing embodiments, and when the vehicle dynamics is reduced, the engine needs to be started to maintain the vehicle dynamics, and the generation conditions of the engine control command are described through specific embodiments below.
In some embodiments, the fault information includes rear axle drive torque and the engine control command includes an engine stop command; generating a corresponding engine control instruction according to the fault information, including:
in response to the rear axle drive torque being zero, the engine stop command is generated to continue operation of the engine.
Specifically, the fault information further comprises rear axle driving torque, the rear axle driving torque represents driving torque output by a rear axle motor, and the driving torque can provide driving force for the vehicle. When the real-time rear axle driving torque received by the vehicle controller is zero, an engine control instruction is generated, wherein the engine control instruction comprises an engine stop-stop instruction, and the engine stop-stop instruction is used for starting an engine to provide power-assisted torque for the vehicle so as to continue the vehicle dynamics. If the engine is started at this time, the engine is controlled to continue to operate, and if the engine is not started at this time, the engine is controlled to start and keep continuously operating. According to the vehicle control method, under the condition that the vehicle power performance is insufficient, the engine can be started timely to provide power-assisted torque for the vehicle, the power performance of the whole vehicle is guaranteed, and the driving requirement of a user is met.
In order to further ensure driving safety, after the complete vehicle controller receives fault information, the speed of the vehicle is limited, and the potential safety hazard of driving caused by overhigh speed when the rear axle gear shifting controller breaks down is avoided. The vehicle speed limiting method is described below by way of specific embodiments.
In some embodiments, referring to fig. 2, after responding to receiving the failure information of the rear axle shift controller, further comprising:
step 202, a driving torque limiting command is generated, and a target driving torque is determined according to the fault information.
And 204, respectively sending the driving torque limiting instruction and the target driving torque to a front axle controller and a rear axle controller, so that the front axle controller controls a front axle motor to output a front axle driving torque, the rear axle controller controls a rear axle motor to output a rear axle driving torque, and the sum of the front axle driving torque and the rear axle driving torque does not exceed the target driving torque.
Specifically, in the present embodiment, the purpose of limiting the vehicle speed is achieved by limiting the driving torque. After the whole vehicle controller receives the fault information, a driving torque limiting instruction is generated so as to achieve the purpose of limiting the vehicle speed under the fault condition. The target driving torque can be determined according to the fault level in the fault information, different fault types and fault levels can be associated in advance, the fault types are divided into different fault levels, and the higher the fault level is, the smaller the target driving torque is, and the corresponding vehicle speed is lower. The lower the failure level, the greater the target drive torque and the corresponding vehicle speed. For example, when the fault information includes the number of gear-off times exceeding the preset number, the fault level is 1 level, and the whole vehicle controller does not respond at this time; when the fault information comprises that a gear mark position is empty and the gear available information is that a target gear is available, the fault grade is grade 2; when the failure information includes shift-up or shift-down failure, the failure level is level 3; when the fault information comprises gear switching information and is a gear shifting fault, the fault level is 4; when the fault information includes that the gear switching information is a gear shifting fault and the gear available information is that the gear is not available, the fault level is 5.
After the target driving torque is determined, the whole vehicle is controlled to output the target driving torque so as to reduce the vehicle speed. Because the whole vehicle driving torque comprises the front axle driving torque and the rear axle driving torque, the target driving torque is respectively sent to the front axle controller and the rear axle controller, so that the front axle motor outputs the front axle driving torque, the rear axle motor outputs the rear axle driving torque, and the sum of the front axle driving torque and the rear axle driving torque does not exceed the target driving torque. If the rear axle cannot provide driving force due to a failure of the rear axle shift controller at this time, the front axle driving torque cannot exceed the target driving torque. By the method, when the rear axle gear shifting controller fails, the running safety can be further ensured by limiting the speed of the whole vehicle.
It should be noted that, the method of the embodiments of the present application may be performed by a single device, for example, a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the methods of embodiments of the present application, and the devices may interact with each other to complete the methods.
It should be noted that some embodiments of the present application are described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Based on the same inventive concept, the application also provides a vehicle control device corresponding to the method of any embodiment.
Referring to fig. 3, the vehicle control apparatus includes:
the command generation module 302 is configured to respond to the received fault information of the rear axle gear shifting controller and respectively generate corresponding rear axle gear control commands and corresponding engine control commands according to the fault information;
the command sending module 304 is configured to send the rear axle gear control command to the rear axle gear shifting controller so that the rear axle gear shifting controller adjusts a rear axle gear; and sending the engine control command to an engine controller so that the engine controller adjusts the running state of the engine.
In some embodiments, the fault information includes a gear flag and gear availability information, and the rear axle gear control instruction includes a shift inhibit instruction; the instruction generation module 302 is further configured to generate the shift prohibition instruction to prohibit the rear axle shift controller from shifting in response to the gear flag being empty and the gear availability information being a target gear available; and determining a target driving torque according to the target gear so as to enable the rear axle motor to output the target driving torque.
In some embodiments, the fault information includes gear shift information; the rear axle gear control instruction comprises a neutral gear switching instruction; the instruction generating module 302 is further configured to generate the shift neutral instruction in response to the gear shift information being an upshift or downshift failure, so that the rear axle current gear is shifted to neutral when the rear axle gear controller receives an upshift or downshift request.
In some embodiments, the fault information includes gear shift information; the rear axle gear control instruction comprises a shift prohibition instruction; the instruction generation module 302 is further configured to generate the shift prohibition instruction to prohibit the rear axle shift controller from shifting in response to the gear shift information being a shift failure.
In some embodiments, the fault information includes gear shift information and gear availability information; the rear axle gear control instruction comprises a shift prohibition instruction; the instruction generation module 302 is further configured to generate the shift prohibition instruction to prohibit the rear axle shift controller from shifting in response to the gear shift information being a shift failure and the gear availability information being that a gear is not available.
In some embodiments, the fault information includes rear axle drive torque and the engine control command includes an engine stop command; the command generation module 302 is further configured to generate the engine stop command to continue operation of the engine in response to the rear axle drive torque being zero.
In some embodiments, the command generation module 302 is further configured to generate a drive torque limit command and determine a target drive torque based on the fault information after receiving the fault information for the rear axle shift controller; and respectively sending the driving torque limiting instruction and the target driving torque to a front axle controller and a rear axle controller, so that the front axle controller controls a front axle motor to output a front axle driving torque, the rear axle controller controls a rear axle motor to output a rear axle driving torque, and the sum of the front axle driving torque and the rear axle driving torque does not exceed the target driving torque. For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, the functions of each module may be implemented in the same piece or pieces of software and/or hardware when implementing the present application.
The device of the foregoing embodiment is configured to implement the corresponding vehicle control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.
Based on the same inventive concept, the application also provides an electronic device corresponding to the method of any embodiment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor implements the method of any embodiment when executing the program.
Fig. 4 shows a more specific hardware architecture of an electronic device according to this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 implement communication connections therebetween within the device via a bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit ), microprocessor, application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing relevant programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory ), static storage device, dynamic storage device, or the like. Memory 1020 may store an operating system and other application programs, and when the embodiments of the present specification are implemented in software or firmware, the associated program code is stored in memory 1020 and executed by processor 1010.
The input/output interface 1030 is used to connect with an input/output module for inputting and outputting information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.
Communication interface 1040 is used to connect communication modules (not shown) to enable communication interactions of the present device with other devices. The communication module may implement communication through a wired manner (such as USB, network cable, etc.), or may implement communication through a wireless manner (such as mobile network, WIFI, bluetooth, etc.).
Bus 1050 includes a path for transferring information between components of the device (e.g., processor 1010, memory 1020, input/output interface 1030, and communication interface 1040).
It should be noted that although the above-described device only shows processor 1010, memory 1020, input/output interface 1030, communication interface 1040, and bus 1050, in an implementation, the device may include other components necessary to achieve proper operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present description, and not all the components shown in the drawings.
The electronic device of the foregoing embodiment is configured to implement the corresponding vehicle control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.
Based on the same inventive concept, corresponding to any of the above-described embodiment methods, the present application also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the vehicle control method according to any of the above-described embodiments.
The computer readable media of the present embodiments, including both permanent and non-permanent, removable and non-removable media, may be used to implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.
The storage medium of the above embodiment stores computer instructions for causing the computer to execute the vehicle control method according to any one of the above embodiments, and has the advantages of the corresponding method embodiments, which are not described herein.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the application (including the claims) is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the present application, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.
Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the embodiments of the present application. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the embodiments of the present application, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform on which the embodiments of the present application are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.
While the present application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalents, improvements and/or the like which are within the spirit and principles of the embodiments are intended to be included within the scope of the present application.
Claims (10)
1. A vehicle control method characterized by comprising:
responding to the received fault information of the rear axle gear shifting controller, and respectively generating a corresponding rear axle gear control instruction and a corresponding engine control instruction according to the fault information;
the rear axle gear control instruction is sent to the rear axle gear shifting controller, so that the rear axle gear shifting controller can adjust the rear axle gear; and sending the engine control command to an engine controller so that the engine controller adjusts the running state of the engine.
2. The method of claim 1, wherein the fault information includes a gear flag and gear availability information, and the rear axle gear control command includes a disable shift command;
generating a corresponding rear axle gear control instruction according to the fault information, wherein the method comprises the following steps:
Generating the shift prohibition instruction to prohibit shifting of the rear axle shift controller in response to the gear flag being empty and the gear availability information being a target gear available; and determining a target driving torque according to the target gear so as to enable the rear axle motor to output the target driving torque.
3. The method of claim 1, wherein the fault information includes gear shift information; the rear axle gear control instruction comprises a neutral gear switching instruction;
generating a corresponding rear axle gear control instruction according to the fault information, wherein the method comprises the following steps:
and responding to the gear shifting information as an upshift or downshift fault, generating the neutral gear shifting instruction, and enabling the rear axle gear controller to shift the current gear of the rear axle into the neutral gear when receiving an upshift or downshift request.
4. The method of claim 1, wherein the fault information includes gear shift information; the rear axle gear control instruction comprises a shift prohibition instruction;
generating a corresponding rear axle gear control instruction according to the fault information, wherein the method comprises the following steps:
and responding to the gear switching information as a gear shifting fault, and generating the gear shifting prohibiting instruction so as to prohibit gear shifting of the rear axle gear shifting controller.
5. The method of claim 1, wherein the fault information includes gear shift information and gear available information; the rear axle gear control instruction comprises a shift prohibition instruction;
generating a corresponding rear axle gear control instruction according to the fault information, wherein the method comprises the following steps:
and generating the shift prohibition instruction to prohibit the rear axle shift controller from shifting gears in response to the gear shift information being a shift failure and the gear available information being that a gear is unavailable.
6. The method of any one of claims 1-5, wherein the fault information includes rear axle drive torque and the engine control command includes an engine stop command; generating a corresponding engine control instruction according to the fault information, including:
in response to the rear axle drive torque being zero, the engine stop command is generated to continue operation of the engine.
7. The method of any one of claims 1-5, further comprising, after responding to receiving failure information of a rear axle shift controller:
generating a driving torque limiting instruction, and determining a target driving torque according to the fault information;
and respectively sending the driving torque limiting instruction and the target driving torque to a front axle controller and a rear axle controller, so that the front axle controller controls a front axle motor to output a front axle driving torque, the rear axle controller controls a rear axle motor to output a rear axle driving torque, and the sum of the front axle driving torque and the rear axle driving torque does not exceed the target driving torque.
8. A vehicle control apparatus characterized by comprising:
the command generation module is configured to respond to the received fault information of the rear axle gear shifting controller and respectively generate a corresponding rear axle gear control command and a corresponding engine control command according to the fault information;
the command sending module is configured to send the rear axle gear control command to the rear axle gear shifting controller so that the rear axle gear shifting controller can adjust the rear axle gear; and sending the engine control command to an engine controller so that the engine controller adjusts the running state of the engine.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 7 when the program is executed by the processor.
10. A vehicle, characterized in that it comprises an electronic device according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311812095.2A CN117549879A (en) | 2023-12-26 | 2023-12-26 | Vehicle control method and device, electronic equipment and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311812095.2A CN117549879A (en) | 2023-12-26 | 2023-12-26 | Vehicle control method and device, electronic equipment and vehicle |
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| CN117549879A true CN117549879A (en) | 2024-02-13 |
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| CN202311812095.2A Pending CN117549879A (en) | 2023-12-26 | 2023-12-26 | Vehicle control method and device, electronic equipment and vehicle |
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| CN (1) | CN117549879A (en) |
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