WO2023246945A1

WO2023246945A1 - Control method and control device for vehicle having dog clutch

Info

Publication number: WO2023246945A1
Application number: PCT/CN2023/102226
Authority: WO
Inventors: 郭丁伊; 刘元治; 尹建坤; 马腾; 徐家良; 程健; 郁大嵬; 宋浩源
Original assignee: 中国第一汽车股份有限公司
Priority date: 2022-06-23
Filing date: 2023-06-25
Publication date: 2023-12-28
Also published as: CN115264046B; CN115264046A

Abstract

Disclosed is a control method for a vehicle having a dog clutch, a dog clutch being located between a front motor reducer assembly and an axle of a vehicle. The control method comprises: acquiring state parameters of a vehicle, the state parameters at least comprising the front axle rotational speed, vehicle speed and acceleration of the vehicle; on the basis of the state parameters of the vehicle, determining a first target rotational speed of a front motor of the vehicle; and, on the basis of the target rotational speed, controlling the engagement of a dog clutch. The vehicle control method achieves transmission and interruption of the power of a front motor by means of engagement and disengagement of a dog clutch, thus achieving intervention and exit of the power of the front motor according to the intention of a driver. Further disclosed is a control device for a vehicle having a dog clutch.

Description

Vehicle control method and control device with dog tooth clutch

Technical field

Embodiments of the present disclosure relate to the technical field of electric vehicle torque control, and specifically, to a vehicle control method and control device with a dog clutch.

Background technique

With the rapid development of the global economy, energy and environmental issues have become increasingly prominent. Energy conservation and environmental protection have become major challenges faced by all countries in the world. Low-carbon economic policies worldwide have promoted the development of new energy vehicles. The technological progress, industrialization and application of new energy vehicles will drive the development of their upstream and downstream industries and bring fundamental changes to human transportation and travel. As a new energy vehicle technology that can effectively reduce vehicle energy consumption, hybrid vehicle technology has become one of the focuses of governments, enterprises and scientific research institutions around the world.

Among them, the hybrid system has low cost and small mass, and can achieve a fuel saving rate of up to 12% (under NEDC cycle conditions) for traditional fuel vehicles. Without changing the required torque, it is very important to reasonably distribute the torque of the engine and BSG motor, control the engine operating point within the most efficient range and achieve the minimum fuel consumption. Currently, in the existing technology, during the torque distribution process of hybrid vehicles, only engine start-stop conditions or battery SOC thresholds are considered, which cannot meet the energy-saving and economical needs of hybrid vehicles and still need to be improved.

Contents of the invention

Embodiments of the present disclosure provide a vehicle control method and control device with a dog clutch to at least solve the technical problem that existing hybrid vehicles cannot meet the vehicle's requirements for energy conservation and economy during the torque distribution process.

According to an aspect of an embodiment of the present disclosure, a vehicle control method with a dog clutch is provided, wherein the dog clutch is located between the front motor reducer assembly and the axle of the vehicle, and the control method includes: Obtain state parameters of the vehicle, wherein the state parameters at least include the front axle speed, vehicle speed and acceleration of the vehicle; determine the first target speed of the front motor of the vehicle based on the state parameters of the vehicle; based on the The target speed controls the tooth distance combiner.

In an exemplary embodiment, after controlling the engagement of the dog clutch based on the target speed, the method further includes determining a engagement state of the dog clutch, and controlling the vehicle based on the engagement state.

In an exemplary embodiment, controlling the vehicle based on the combination state includes: controlling the vehicle to perform torque transfer when the driving gear and the driven gear of the dog clutch are combined.

In an exemplary embodiment, controlling the vehicle based on the combination state includes: when the driving gear and the driven gear of the dog clutch are toothed, adjusting the rotation speed of the front motor so that the The rotation speed of the aforementioned motor is increased to the second target rotation speed to eliminate the top teeth.

In an exemplary embodiment, obtaining the state parameters of the vehicle includes: obtaining the left front wheel speed of the vehicle and the right front wheel speed of the vehicle; based on the left front wheel speed and the right front wheel speed. Wheel speed determines the vehicle's front axle speed.

In an exemplary embodiment, determining the first target rotation speed of the front motor of the vehicle based on the state parameters of the vehicle includes: determining an expected change amount of the front axle of the vehicle based on the vehicle speed and the acceleration, The first target rotation speed of the front motor is determined based on the expected change amount.

In an exemplary embodiment, the second target rotational speed is greater than the wheel end rotational speed.

In an exemplary embodiment, controlling the engagement of the dog clutch based on the target rotation speed includes: controlling the axial movement of the dog clutch to achieve engagement of the driving ring gear and the driven gear of the dog clutch.

In a second aspect, embodiments of the present disclosure also provide a vehicle control device with a dog clutch, wherein the dog clutch is located between the front motor reducer assembly and the axle of the vehicle, and the control device includes: obtaining A module for obtaining the state parameters of the vehicle, wherein the state parameters at least include the front axle rotation speed, vehicle speed and acceleration of the vehicle; a determination module for determining the first value of the front motor of the vehicle based on the state parameters of the vehicle. a target speed; a control module that controls the engagement of the dog clutch based on the target speed.

In a third aspect, embodiments of the present disclosure also provide a computer-readable storage medium, the storage medium stores a computer program, and the computer program is used to execute the method described in any of the above technical solutions.

In a fourth aspect, embodiments of the present disclosure further provide an electronic device, which includes: a processor; a memory for storing instructions executable by the processor; and the processor, for executing Carry out the method described in any of the above technical solutions.

As can be seen from the above, the embodiment of the present disclosure installs a dog clutch between the front motor reducer assembly and the axle of the electric vehicle, and realizes the power transmission and suspension of the front motor through the combination or separation of the dog clutch, which can be based on the driver's needs. Intended to achieve front motor power intervention and withdrawal.

In order to make the above-mentioned objects, features and advantages of the present disclosure more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings.

Description of the drawings

In order to explain the embodiments of the present disclosure or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments recorded in this disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.

Figure 1 is a schematic diagram of vehicle control mode switching of the vehicle provided by the present disclosure;

Figure 2 is a step flow chart of a vehicle control method with a dog clutch provided by the present disclosure;

Figure 3 is a flow chart of the steps for determining the target speed provided by the present disclosure;

Figure 4 is a schematic structural diagram of a vehicle control device with a dog clutch provided by the present disclosure;

FIG. 5 is a structural block diagram of an electronic device provided by the present disclosure.

Detailed ways

Below, specific embodiments of the present disclosure are described in detail with reference to the accompanying drawings, but are not intended to limit the disclosure.

It will be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be viewed as limiting, but merely as examples of embodiments. Other modifications within the scope and spirit of this disclosure will occur to those skilled in the art.

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and, together with the general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the disclosure. principle.

These and other features of the present disclosure will become apparent from the following description of preferred forms of embodiments given as non-limiting examples with reference to the accompanying drawings.

It should also be understood that, while the disclosure has been described with reference to a few specific examples, those skilled in the art will be able to undoubtedly implement many other equivalent forms of the disclosure having the characterizing features recited in the claims and thus located within the scope of this invention. within a limited scope of protection.

The above and other aspects, features and advantages of the present disclosure will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely examples of the disclosure, which can be implemented in various ways. Well-known and/or repeated functions and structures have not been described in detail to avoid obscuring the disclosure with unnecessary or redundant detail. Therefore, specific structural and functional details disclosed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims, teaching one skilled in the art to variously utilize the present invention in substantially any suitable detailed structure. public.

This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in further embodiments," which may each refer to the same thing in accordance with the present disclosure. or one or more of the different embodiments.

The present disclosure will be further described below in conjunction with the accompanying drawings and specific embodiments.

Example 1

The first embodiment of the present disclosure relates to the field of electric vehicle control, and in particular to a vehicle control method with a dog clutch, which is suitable for electric vehicles.

The front and rear axles of the electric vehicle described in the present disclosure are each driven by a motor, such as a front motor and a rear motor respectively. The front motor of the electric vehicle is connected to the front axle of the axle through a front motor reducer assembly, so A dog clutch is installed between the front motor reducer assembly and the axle. The present disclosure can control the dog clutch to be combined or separated according to the driver's intention, thereby realizing the power intervention and withdrawal of the front motor.

Figure 1 shows a schematic diagram of the vehicle control mode switching of the vehicle. As shown in the figure, when the vehicle demand torque is small, the dog clutch between the front motor reducer assembly and the front axle is separated, and the vehicle control unit calculates After the motor demands torque, it is sent to the rear motor through the CAN line, and the rear motor sends out the driving torque to reduce the consumption of electric energy. At this time, the vehicle is in two-wheel drive mode. When the vehicle requires a large torque, the dog clutch is engaged, and the vehicle is jointly driven by the front and rear motors. At this time, the vehicle is in four-wheel drive mode.

During the vehicle control process, the vehicle control unit controls the driving of the vehicle and the coupling and separation process of the clutch. Specifically, the electronic control unit controls the actual axial force of the dog clutch, Perform axial movement to achieve coupling or separation.

As shown in Figure 2, the vehicle control method includes the following steps:

S101. Obtain state parameters of the vehicle, where the state parameters at least include the front axle rotation speed, vehicle speed and acceleration of the vehicle.

In this step, state parameters of the vehicle are obtained, where the state parameters at least include the front axle rotation speed, vehicle speed and acceleration of the vehicle.

Specifically, the vehicle's left front wheel speed and the vehicle's right front wheel speed are first obtained; wherein the left front wheel speed and right front wheel speed can be obtained through a speed sensor provided on the wheel, for example , the rotation speed sensor may be a magnetoelectric wheel speed sensor or a Hall wheel speed sensor.

Then, the front axle rotational speed of the vehicle is determined based on the left front wheel rotational speed and the right front wheel rotational speed.

The average speed v of the front axle is calculated based on the speed v1 of the left front wheel and the speed v2 of the right front wheel, where:
v=(v1+v2)/2.

While obtaining the average rotation speed of the front axle, the driving speed and acceleration of the vehicle are obtained through a vehicle speed sensor and an accelerator sensor.

S102. Determine the first target speed of the front motor of the vehicle based on the state parameters of the vehicle.

After the state parameters of the vehicle are determined through the above step S101, in this step, the first target rotation speed of the front motor of the vehicle is determined based on the state parameters of the vehicle.

Specifically, the first target speed of the front motor is the minimum speed that the front motor needs to reach during the dog clutch coupling process to ensure smooth coupling. As shown in Figure 3, the determination of the target speed includes the following steps:

S201. Determine the expected change amount of the front axle rotation speed based on the vehicle speed and the acceleration.

First, the expected change amount Δ1 of the front axle rotation speed is determined by referring to a comparison table based on the vehicle speed and the acceleration, where the comparison table can be obtained through calibration.

S202: Determine the target speed of the motor based on the expected change amount.

After obtaining the expected change amount of the front axle rotation speed, the target rotation speed of the motor is determined based on the expected change amount. During the coupling process of the dog clutch, only when the rotation speed of the motor is greater than the rotation speed of the front axle, the smooth coupling of the dog clutch can be ensured. Therefore, it is determined that the The target speed V _target of the motor is:
V _target =V+Δ1

S103. Control the dog clutch engagement based on the target speed.

After the target rotation speed of the motor is obtained in the above step S102, in this step, the dog clutch engagement is controlled based on the target rotation speed.

Specifically, after the motor reaches the target rotation speed, the axial movement of the dog clutch is controlled by electric driving force, and the driving ring gear and the driven gear of the dog clutch are fully meshed instantly, thereby realizing the combination of the dog clutch.

In some embodiments, after controlling the dog clutch engagement based on the target speed, the method further includes:

S104. Determine the combined state of the dog clutch, and control the vehicle based on the combined state.

Specifically, after the dog clutch completes coupling, in this step, the vehicle is controlled based on the coupling state of the dog clutch.

Further, when the driving gear and the driven gear of the dog clutch are smoothly combined, the vehicle is controlled to perform torque transfer. Specifically, after the driving ring gear and the driven ring gear of the dog clutch are combined, the electronic control unit feeds back the coupling status to the vehicle control unit. After the combination is successful, the vehicle control unit calculates the driver's required torque and sends it via CAN The lines are sent to the front and rear motors to control the vehicle to perform torque transfer. The vehicle's torque demand is switched from being provided by the rear motor alone to being provided by the front and rear motors together, ensuring the power and smoothness of driving.

If the driving gear and the driven gear of the dog clutch are not connected smoothly, that is, when the driving gear and the driven gear of the dog clutch are over-toothed, the electronic control unit sends the over-tooth status to the vehicle control unit. , after receiving it, the vehicle control unit adjusts the rotation speed of the front motor so that the rotation speed of the motor end of the dog tooth clutch rapidly increases by Δ2 to v+Δ1+Δ2, so that the rotation speed of the motor end of the dog tooth clutch is greater than the rotation speed of the wheel end. , thereby quickly eliminating the top teeth.

When the torque demand of the vehicle decreases, the vehicle control unit controls the dog clutch to disengage, and the vehicle control mode switches from dual-axle drive to rear-axle drive. During the separation process, the torque of the front motor gradually reduces to zero, and the reduction is gradually transferred to the rear motor, so that the total torque of the wheel end remains unchanged during the torque transfer process, thereby ensuring the smoothness of the vehicle's transfer. After the torque is transferred, the clutch is controlled to be separated, and the electronic control unit sends a separation success status. The vehicle control unit receives this status and controls the motor speed to drop rapidly.

Further, the vehicle also includes a COM (change of mind) mode. At this time, the dog clutch is currently in a disengaged state. If the driver suddenly steps on the accelerator, the vehicle control unit determines that the combination condition is met and enters the speed regulation combination module. The dog clutch is combined, and the vehicle enters the four-wheel drive state to realize torque transfer. When the dog clutch is in the combined state, if the driver suddenly releases the accelerator, the vehicle control unit determines that the separation conditions are met at this time. However, in order to avoid drivability problems caused by frequent combination and separation, the combination is still maintained and delayed for a certain period of time.

In this embodiment, the vehicle also has a vehicle controller, a motor control unit, a drive motor, an accelerator pedal position sensor, a gear position sensor module, an electronic parking sensor module, a brake master cylinder pressure sensor, and a longitudinal acceleration sensor. Sensing module, hard-wired module, CAN communication module, etc.; the accelerator pedal position sensor, gear sensing module, electronic parking sensing module, brake master cylinder pressure sensor, longitudinal acceleration sensing module and the vehicle The input end of the controller is electrically connected, the output end of the vehicle controller is electrically connected to the input end of the motor control unit, the output end of the motor control unit is electrically connected to the drive motor, and the accelerator pedal position The sensor detects the accelerator pedal signal of the pure electric vehicle and sends the signal to the vehicle controller through hard wires; the gear position sensing module detects the gear signal of the pure electric vehicle and sends the signal to the vehicle controller through CAN communication; The electronic parking sensing module detects the parking signal of the pure electric vehicle and sends the signal to the vehicle controller through CAN communication; the brake master cylinder pressure sensing module detects the brake master cylinder pressure signal of the pure electric vehicle. , the signal is sent to the vehicle controller through CAN communication; the longitudinal acceleration sensing module detects the longitudinal acceleration signal of the pure electric vehicle, and sends the signal to the vehicle controller through CAN communication, which is not specifically limited here.

In the embodiment of the present disclosure, a dog clutch is installed between the front motor reducer assembly and the axle of the electric vehicle. The combination or separation of the dog clutch realizes the power transmission and suspension of the front motor, and the front motor can be realized according to the driver's intention. The motor power intervenes and exits to realize rapid combination and separation of the clutch.

Example 2

In order to better implement the above method, a second aspect of the present disclosure also provides a vehicle control device with a dog clutch, which control device can be integrated on an electronic device.

For example, as shown in Figure 4, the vehicle control device 200 with a dog clutch may include: an acquisition module 210, a determination module 220 and a control module 230, specifically as follows:

(1) The acquisition module 210 is used to acquire the status parameters of the vehicle.

Specifically, the state parameters include at least the front axle rotation speed, vehicle speed and acceleration of the vehicle.

(2) The determination module 220 determines the first target rotation speed of the front motor of the vehicle based on the state parameters of the vehicle.

(3) The control module 230 controls the engagement of the dog clutch based on the target rotation speed.

The vehicle control device with a canine clutch provided by the present disclosure installs a canine clutch between the front motor reducer assembly and the axle of the electric vehicle, realizes the power transmission and suspension of the front motor through the combination and separation of the clutch, and can realize the power transmission and suspension of the front motor according to the driver's needs. The intention is to realize the front motor power intervention and withdrawal, and realize the rapid combination and separation of the clutch.

Example 3

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by controlling relevant hardware through instructions. The instructions can be stored in a computer-readable storage medium, and loaded and executed by the processor.

To this end, a third embodiment of the present disclosure provides a storage medium. The storage medium is a computer-readable medium and stores a computer program. When the computer program is executed by a processor, the dog clutch provided by the embodiment of the present disclosure is implemented. The vehicle control method includes the following steps S11 to S13:

S11, obtain the state parameters of the vehicle, where the state parameters at least include the front axle rotation speed, vehicle speed and acceleration of the vehicle;

S12, determine the first target speed of the front motor of the vehicle based on the state parameters of the vehicle;

S13, control the dog clutch engagement based on the target speed.

Further, when the computer program is executed by the processor, other methods provided by any of the above embodiments of the present disclosure are implemented.

The disclosed embodiment starts from the two perspectives of the driving conditions and battery energy management of the hybrid vehicle, and performs torque distribution on the engine and motor under different working conditions, which is more in line with the driver's needs and energy management needs, and satisfies the vehicle's power and performance. Double requirements of economy.

Example 4

The fourth embodiment of the present disclosure provides an electronic device. As shown in Figure 5, the electronic device at least includes a processor 401 and a memory 402. A computer program is stored on the memory 402. The processor 401 implements the vehicle control method with a dog clutch provided by any embodiment of the present disclosure when executing the computer program on the memory 402. Exemplarily, the method for executing the computer program of the electronic device is as follows:

S21, obtain the state parameters of the vehicle, where the state parameters at least include the front axle rotation speed, vehicle speed and acceleration of the vehicle;

S22, determine the first target speed of the front motor of the vehicle based on the state parameters of the vehicle;

S23. Control the dog clutch engagement based on the target speed.

During specific implementation, the above-mentioned acquisition module 210, determination module 220, control module 230, etc. are all stored in the memory 402 as program units, and the processor 401 executes the above-mentioned program units stored in the memory 402 to implement corresponding functions.

The above-mentioned storage medium may be included in the above-mentioned electronic device; it may also exist separately without being assembled into the electronic device.

The above-mentioned storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the electronic device, the electronic device: obtains at least two Internet Protocol addresses; sends at least two Internet Protocol addresses to the node evaluation device. A node evaluation request, wherein the node evaluation device selects an Internet Protocol address from at least two Internet Protocol addresses and returns it; receives the Internet Protocol address returned by the node evaluation device; wherein the obtained Internet Protocol address indicates an IP address in the content distribution network edge node.

Alternatively, the storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: receives a node evaluation request including at least two Internet Protocol addresses; receives a node evaluation request from at least two Internet Protocol addresses; Among the protocol addresses, an Internet Protocol address is selected; the selected Internet Protocol address is returned; wherein the received Internet Protocol address indicates an edge node in the content distribution network.

Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and Includes conventional procedural programming languages—such as "C" or similar programming languages. The program code can be completely implemented in the passenger Execute on the computer, partly on the passenger's computer, as a stand-alone software package, partly on the passenger's computer and partly on a remote computer or entirely on the remote computer or server. In situations involving a remote computer, the remote computer may be connected to the passenger computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider). Internet connection).

It should be noted that the above-mentioned storage medium of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. More specific examples of computer readable storage media may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard drive, random access memory (RAM), read only memory (ROM), removable Programmed read-only memory (EPROM or flash memory), fiber optics, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any storage medium other than computer-readable storage media that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the storage medium can be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, segment, or portion of code that contains one or more logic functions that implement the specified executable instructions. 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 one after another may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved. Also note that each box in the block diagram and/or flowchart diagram, Combinations of blocks in the block diagrams and/or flowchart illustrations, as well as the blocks in the block diagrams and/or flowchart illustrations, may be implemented by special purpose hardware-based systems that perform the specified functions or operations, or by combinations of special purpose hardware and computer instructions.

The units involved in the embodiments of the present disclosure can be implemented in software or hardware. Among them, the name of a unit does not constitute a limitation on the unit itself under certain circumstances.

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), Systems on Chips (SOCs), Complex Programmable Logical device (CPLD) and so on.

In the context of this disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, laptop disks, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

The above description is only a description of the preferred embodiments of the present disclosure and the technical principles applied. Those skilled in the art should understand that the disclosure scope involved in the present disclosure is not limited to technical solutions composed of specific combinations of the above technical features, but should also cover solutions composed of the above technical features or without departing from the above disclosed concept. Other technical solutions formed by any combination of equivalent features. For example, a technical solution is formed by replacing the above features with technical features with similar functions disclosed in this disclosure (but not limited to).

Furthermore, although operations are depicted in a specific order, this should not be understood as requiring that these operations be performed in the specific order shown or performed in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment may also be used individually or in any combination. Appropriate sub-combination methods are implemented in multiple embodiments.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Multiple embodiments of the present disclosure have been described in detail above, but the present disclosure is not limited to these specific embodiments. Those skilled in the art can make various variations and modifications to the embodiments based on the concepts of the present disclosure. These variations and modifications All should fall within the scope of protection claimed by this disclosure.

Claims

A vehicle control method with a dog clutch, wherein the dog clutch is located between the front motor reducer assembly and the axle of the vehicle, characterized in that the control method includes:

Obtain state parameters of the vehicle, wherein the state parameters at least include the front axle rotation speed, vehicle speed and acceleration of the vehicle;

determining a first target speed of a front motor of the vehicle based on a state parameter of the vehicle;

The dog clutch engagement is controlled based on the target speed.
The vehicle control method according to claim 1, wherein after controlling the engagement of the dog clutch based on the target speed, the method further includes:

Determine the combined state of the dog tooth clutch,

The vehicle is controlled based on the combined state.
The vehicle control method according to claim 2, wherein the controlling the vehicle based on the combined state includes:

When the driving gear and the driven gear of the dog clutch are combined, the vehicle is controlled to perform torque transfer.
The vehicle control method according to claim 2, wherein the controlling the vehicle based on the combined state includes:

When the driving gear and the driven gear of the dog clutch have tip teeth, the rotation speed of the front motor is adjusted so that the rotation speed of the front motor increases to the second target speed to eliminate the tip teeth.
The vehicle control method according to claim 1, wherein said obtaining the state parameters of the vehicle includes:

Obtain the left front wheel speed of the vehicle and the right front wheel speed of the vehicle;

A front axle rotational speed of the vehicle is determined based on the left front wheel rotational speed and the right front wheel rotational speed.
The vehicle control method according to claim 1, wherein determining the first target speed of the front motor of the vehicle based on the state parameters of the vehicle includes:

determining an expected amount of change in the front axle of the vehicle based on the vehicle speed and the acceleration,

The first target rotation speed of the front motor is determined based on the expected change amount.
The vehicle control method according to claim 4, wherein the second target rotation speed is greater than the wheel end rotation speed.
The vehicle control method according to claim 1, characterized in that, based on the Target speed control of the dog clutch combination includes:

The axial movement of the dog clutch is controlled to realize the combination of the driving ring gear and the driven gear of the dog clutch.
A vehicle control device with a dog clutch, wherein the dog clutch is located between the front motor reducer assembly and the axle of the vehicle, characterized in that the control device includes:

An acquisition module, configured to acquire state parameters of the vehicle, where the state parameters at least include the front axle rotation speed, vehicle speed and acceleration of the vehicle;

a determining module that determines a first target speed of the front motor of the vehicle based on the state parameters of the vehicle;

A control module controls the dog clutch engagement based on the target speed.
A computer-readable storage medium stores a computer program, and the computer program is used to execute the method described in any one of the above claims 1-8.