WO2024012089A1

WO2024012089A1 - Control method and apparatus for distributed three-motor vehicle, electric vehicle and medium

Info

Publication number: WO2024012089A1
Application number: PCT/CN2023/098061
Authority: WO
Inventors: 石雨鑫; 王念; 张泽阳; 罗飞; 马俊飞
Original assignee: 东风汽车集团股份有限公司
Priority date: 2022-07-12
Filing date: 2023-06-02
Publication date: 2024-01-18
Also published as: CN115195492A

Abstract

A control method and apparatus for a distributed three-motor vehicle, an electric vehicle, and a medium. The method comprises: in a vehicle driving process, when it is detected that the vehicle is in an unstable state, controlling the vehicle to enter an electronic stability control mode; in the electronic stability control mode, acquiring a current front axle torque, a required front axle torque, a required rear axle torque, a current left rear hub torque and a current right rear hub torque of the vehicle; obtaining a front axle execution torque, a left rear wheel hub execution torque and a right rear wheel hub execution torque of the vehicle according to the current front axle torque, the required front axle torque, the required rear axle torque, the current left rear wheel hub torque and the current right rear wheel hub torque, and controlling the vehicle to execute the front axle execution torque, the left rear wheel hub execution torque and the right rear wheel hub execution torque. Accurate control of the distributed three motors is achieved, and the stability of coordinated control among multiple motors is improved.

Description

Control method, device, electric vehicle and medium for distributed three-motor vehicle

Cross-references to related applications

This application claims priority from the Chinese patent application with application number CN202210821478.5, filed on July 12, 2022, the entire content of which is incorporated herein by reference.

Technical field

The present disclosure belongs to the field of electric vehicle driving technology and relates to a control method, device, electric vehicle and medium for a distributed three-motor vehicle.

Background technique

With the development of new energy vehicles, motor technology used in new energy vehicles has emerged. There is a new energy vehicle that includes a centralized motor and a distributed hub motor configuration, and the new energy vehicle with this configuration is called a distributed three-motor electric vehicle. The front axle of the distributed three-motor electric vehicle is driven by a centralized motor, and the rear axle is driven by two hub motors. This arrangement can effectively avoid the front wheel layout problem of the hub motor, reduce the size of the assembly, and reduce the energy consumption of the entire vehicle. Increase the range of electric vehicles.

During the driving process of distributed three-motor electric vehicles, these drive motors need to be precisely controlled to achieve stable driving. However, there is currently a problem of low stability in coordinated control between multiple motors during the driving process of distributed three-motor electric vehicles, which needs to be solved urgently.

Contents of the invention

The present disclosure provides a control method, device, electric vehicle and medium for a distributed three-motor vehicle. By utilizing one or more embodiments of the present disclosure, the problem of the distributed three-motor electric vehicle during driving in the prior art is solved. There is a technical problem of low stability of coordination control between multiple motors. It achieves precise control of distributed three motors, improves the stability of coordination control between multiple motors, and improves the driver's driving experience, vehicle driving safety and Dynamic and other technical effects.

According to a first aspect of the present disclosure, a method for controlling a distributed three-motor vehicle is provided, including: controlling the vehicle to enter electronic stability control when it is detected that the vehicle is in an unstable state during driving of the vehicle. mode, wherein the electronic stability control mode is a mode in which the vehicle is driven by the electronic stability control system of the vehicle; in the electronic stability control mode, the current front axle torque and the front axle demand torque of the vehicle are obtained , rear axle demand torque, left rear hub current torque and right rear hub current torque; and according to the front axle current torque, the front axle demand torque, the rear axle demand torque, the left rear hub current torque and all The current torque of the right rear hub is used to obtain the front axle execution torque, the left rear hub execution torque and the right rear hub execution torque of the vehicle, and the vehicle is controlled to execute the front axle execution torque, the left rear hub execution torque and The right rear hub performs torque.

According to a second aspect of the present disclosure, a control device for a distributed three-motor vehicle is provided, including: a detection module configured to control the vehicle when it is detected that the vehicle is in an unstable state during driving of the vehicle. The vehicle enters an electronic stability control mode, wherein the electronic stability control mode is a mode in which the vehicle is driven by an electronic stability control system of the vehicle; an acquisition module is configured to acquire the vehicle in the electronic stability control mode The current torque of the front axle, the demand torque of the front axle, the demand torque of the rear axle, the current torque of the left rear wheel hub and the current torque of the right rear wheel hub; and a control module for controlling the current torque of the front axle, the demand torque of the front axle, and all the current torque of the front axle. The rear axle demand torque, the current torque of the left rear hub and the current torque of the right rear hub are used to obtain the front axle execution torque, the left rear hub execution torque and the right rear hub execution torque of the vehicle, and control the execution of the vehicle The front axle executes torque, the left rear hub executes torque, and the right rear hub executes torque.

According to a third aspect of the present disclosure, an electric vehicle is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a distributed three-motor system is implemented. Vehicle control method steps.

According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided. A computer program is stored on the computer-readable storage medium. When the program is executed by a processor, the steps of the control method of a distributed three-motor vehicle are implemented.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the disclosed embodiments. The drawings are only for the purpose of illustrating the embodiments of the disclosure and are not to be considered as limitations of the disclosure. Also throughout the drawings, the same reference figures are used to represent the same components. In the attached picture:

Figure 1 shows a schematic flowchart of the steps of a control method for a distributed three-motor vehicle according to some embodiments of the present disclosure;

Figure 2 shows a schematic structural diagram of a distributed three-motor control system for the vehicle in Figure 1;

Figure 3 shows a graph of required power versus front and rear axle torque distribution ratio for the vehicle of Figure 1;

FIG. 4 shows a module schematic diagram of a control device for a distributed three-motor vehicle according to some embodiments of the present disclosure.

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a thorough understanding of the disclosure, and to fully convey the scope of the disclosure to those skilled in the art.

Embodiment 1

The embodiment of the present disclosure provides a control method for a distributed three-motor vehicle, as shown in Figure 1, which may include:

Step S101, during the driving process of the vehicle, when it is detected that the vehicle is in an unstable state, the vehicle is controlled to enter the electronic stability control mode, where the electronic stability control mode is a mode in which the vehicle is driven by the electronic stability control system of the vehicle;

Step S102, in the electronic stability control mode, obtain the vehicle's current front axle torque, front axle demand torque, rear axle demand torque, left rear wheel hub current torque, and right rear wheel hub current torque; and

Step S103: According to the current torque of the front axle, the demand torque of the front axle, the demand torque of the rear axle, the current torque of the left rear hub and the current torque of the right rear hub, the front axle execution torque, the left rear hub execution torque and the right rear hub execution torque of the vehicle are obtained. , and controls the vehicle to execute the front axle executing torque, the left rear wheel hub executing torque and the right rear wheel hub executing torque.

The above-mentioned distributed three-motor vehicle is a vehicle whose front axle is driven by a centralized motor, and the rear axle of the vehicle is driven by a distributed hub motor (that is, the rear axle is driven by two hub motors, namely the left rear hub motor and the right rear hub motor). configured vehicle. The control method of a distributed three-motor vehicle can be applied to a distributed three-motor control system. As shown in Figure 2, the distributed three-motor control system can include a vehicle controller and a controller for the centralized motor of the front axle of the vehicle (denoted as VMCU). ), rear axle hub motor controller (recorded as TVCU) and automotive electronic stability control system (Electronic Stability Controller, ESC). In VMCU, TVCU and ESC, connect them two by two.

Next, the implementation steps of the control method of the distributed three-motor vehicle will be introduced in detail with reference to Figures 1 and 2.

First, step S101 is executed. During the driving process of the vehicle, when it is detected that the vehicle is in an unstable state, the vehicle is controlled to enter the electronic stability control mode, where the electronic stability control mode is a mode in which the vehicle is driven by the vehicle's electronic stability control system.

In some embodiments, during the driving process of the vehicle, a method for detecting whether the vehicle is in an unstable state is to first obtain multiple flag bits of the vehicle, where the multiple flag bits include the vehicle's anti-lock braking system ( Anti-lock Braking System (ABS) flag, Electronic Brake force Distribution (EBD) flag, Electronic Stability Control System (Electronic Stability Controller, ESC) flag and Traction Control System (TCS) ) flag; then judge multiple flags.

If a certain flag bit among the multiple flag bits is a preset flag bit, it means that the flag bit is a valid flag bit, and it is determined that the vehicle is in an unstable state. In some embodiments, the unstable state is a state in which the vehicle has side slipping, drifting, or other faults. The preset flag can be set according to actual needs. Usually, the preset flag is 1. If each of the multiple flags is not a preset flag, it means that each flag is not a valid flag, and the vehicle is determined to be in a non-instability state.

When it is detected that the vehicle is in an unstable state, the vehicle is controlled to enter the electronic stability control mode, which requires the ESC system to directly control the vehicle to avoid high-speed instability of the vehicle. Among them, the electronic stability control mode is a mode in which the vehicle is driven through the vehicle's electronic stability control system.

In some embodiments, the step of obtaining multiple flags of the vehicle may be that the ESC system identifies the status of the entire vehicle through sensors, and then obtains the multiple flags. The ESC system is getting that much After a flag bit, multiple flag bits can also be sent to VMCU and TVCU at the same time.

In the electronic stability control mode, step S102 is executed to obtain the vehicle's current front axle torque, front axle demand torque, rear axle demand torque, left rear hub current torque, and right rear hub current torque. Next, step S103 is executed to obtain the vehicle's front axle execution torque, left rear hub execution torque and right rear hub execution torque according to the current front axle torque, front axle demand torque, rear axle demand torque, left rear hub current torque and right rear hub current torque. The wheel hub executes torque, and controls the vehicle to execute front axle executing torque, left rear wheel hub executing torque, and right rear wheel hub executing torque.

In some implementations, the front axle current torque, the front axle demand torque and the rear axle demand torque are obtained through the VMCU. Through TVCU, obtain the current torque of the left rear wheel hub and the current torque of the right rear wheel hub. Among them, the current torque of the front axle is the current torque of the centralized motor of the front axle of the vehicle, the demand torque of the front axle is the demand torque of the centralized motor of the front axle, and the demand torque of the rear axle is the demand torque of the distributed hub motor of the rear axle, that is, the rear axle The sum of the required torques of the two hub motors. The current torque of the left rear hub is the current torque of the left rear hub motor, and the current torque of the right rear hub is the current torque of the right rear hub motor.

VMCU sends the obtained current torque of the front axle, the requested torque of the front axle and the requested torque of the rear axle to the ESC, and the TVCU sends the obtained current torque of the left rear wheel hub and the current torque of the right rear wheel hub to the ESC. ESC obtains the vehicle's front axle execution torque, left rear hub execution torque, and right rear hub execution torque of the vehicle based on the current torque of the front axle, the demand torque of the front axle, the demand torque of the rear axle, the current torque of the left rear hub, and the current torque of the right rear hub. Among them, the front axle execution torque is the torque actually executed by the centralized motor of the front axle, the left rear hub execution torque is the actual torque executed by the left rear hub motor, and the right rear hub execution torque is the actual torque executed by the right rear hub motor. Furthermore, the centralized motor that controls the front axle of the vehicle performs torque output in accordance with the front axle, controls the vehicle's left rear hub motor to perform torque output in accordance with the left rear hub, and controls the vehicle's right rear hub motor to perform torque output in accordance with the right rear hub.

In some embodiments, during the driving process of the vehicle, it is detected whether the vehicle is in an unstable state. If it is detected that the vehicle is in an unstable state, the vehicle is controlled to enter the electronic stability control mode, and the ESC system directly controls the front and rear axle torque distribution of the vehicle. , to avoid vehicle instability and ensure the driving safety of the vehicle.

In the electronic stability control mode, based on the obtained current torque of the front axle, demand torque of the front axle, demand torque of the rear axle, current torque of the left rear hub and current torque of the right rear hub, the vehicle's front axle execution torque and left rear hub execution torque are obtained. torque and the right rear hub executes torque, and controls the vehicle to execute the front axle executes torque, the left rear hub executes torque, and the right rear hub executes torque. Therefore, through the control method of the distributed three-motor vehicle according to the embodiment of the present disclosure, precise control of the distributed three-motor is achieved, the stability of the coordinated control between the multiple motors is improved, and the driver's driving experience and vehicle driving are improved. safety and dynamics.

When it is detected that the vehicle is not in an unstable state, it means that the vehicle is not in an unstable state, and the vehicle is controlled to enter the vehicle stability control mode. Among them, the vehicle stability control mode is a mode that drives the vehicle through the vehicle's vehicle controller, that is, the vehicle stability control mode is a driving mode that does not directly control the vehicle through the ESC system.

In the vehicle stability control mode, the required power of the vehicle is first obtained. In some embodiments, the required power can be obtained by identifying the driver's intention on the vehicle's accelerator pedal, gear position, brake pedal and other information. Then, based on the obtained power demand of the vehicle, the front axle distribution torque and the rear axle distribution torque of the vehicle are obtained. At the same time, obtain the vehicle's left rear hub torque limit and right rear hub torque limit.

In some embodiments, the front axle distributed torque is the torque of the front axle centralized motor determined according to the required power, and the rear axle distributed torque is the torque of the rear axle distributed hub motor determined according to the required power, that is, the two rear axles The sum of the torque of the hub motor. The left rear hub torque limit is the limit torque value of the left rear hub motor obtained by the ESC system based on the required power and vehicle body status. The right rear hub torque limit is the limit torque value of the right rear hub motor obtained by the ESC system based on the required power and vehicle body status. Limit torque value.

In some embodiments, the step of obtaining the vehicle's front axle distribution torque and rear axle distribution torque according to the vehicle's power demand may be to first calculate the vehicle's accelerator pedal, gear position, brake pedal and other information through the VMCU, and obtain Vehicle power demand. Then, according to the required power, search the required power-torque distribution mapping table, and look up the table to obtain the vehicle's front and rear axle torque distribution ratio as λ. Finally, according to the front and rear axle torque distribution ratio λ, the front axle distribution torque and the rear axle distribution torque are obtained.

The demand power-torque distribution mapping table may be pre-stored in the distributed three-motor control system. The demand power-torque distribution mapping table can be obtained by using the VMCU to identify the driver's intention on the vehicle's accelerator pedal, gear position, brake pedal and other information, and comprehensively obtain the vehicle's demand power P _r . VMCU sends P _r to the ESC system. At the same time, VMCU uses the external characteristic curves and motor high-efficiency area data of the front axle centralized motor and the rear axle hub motor to obtain the vehicle's required power and the relationship between the front and rear axle through simulation calculations of the vehicle's power economy. The curve of torque distribution ratio is as shown in Figure 3. In Figure 3, the abscissa represents the required power of the vehicle, and the ordinate represents the front-to-rear axle torque distribution ratio λ.

Through formula (1), the torque distribution ratio of the front and rear axles can be obtained: λ = T _{out_f} /T _{out_r} = T _FS / (T _RL + T _RR ) (1); where, T _{out_f} = T _FS is the concentrated motor torque of the front axle, T _{out_r} is the sum of the torques of the two rear axle hub motors, T _RL is the torque of the left rear hub motor, and T _RR is the torque of the right rear hub motor.

Through formulas (2)-(5), the required power of the vehicle can be obtained: P _r =P _FSr +P _RLr +P _RRr (2); P _FSr = (T _FS ×N _FS )/9550 (3); P _RLr =(T _RL ×N _RL )/9550(4); P _RRr =(T _RR ×N _RR )/9550(5); where, N _FS is the actual speed of the front axle centralized motor, and N _RL is the actual speed of the left rear hub motor Speed, N _RR is the actual speed of the right rear hub motor, P _FSr is the required power of the front axle centralized motor, P _RLr is the required power of the left rear hub motor, and P _RRr is the required power of the right rear hub motor.

In some embodiments, the step of obtaining the left rear hub torque limit and the right rear hub torque limit of the vehicle may be that the VMCU sends the rear axle distribution torque to the ESC, and the ESC distributes the torque according to the rear axle, the vehicle body condition and the vehicle According to the tire condition, the torque limit of the left rear wheel hub and the torque limit of the right rear wheel hub are obtained.

In vehicle stability control mode, the current working conditions of the vehicle can be obtained first, and then the current working conditions can be determined. If the current working condition is the first working condition, the vehicle is controlled to enter the first control mode. Among them, the first working condition is the working condition where the vehicle is on a curved route, such as the working condition where the vehicle is on a turning route, or the vehicle is on an overtaking route. conditions on the route. The first control mode is a mode in which the vehicle is driven by the yaw rate of the vehicle.

If the current working condition is the second working condition, the vehicle is controlled to enter the second control mode. Among them, the second working condition is the working condition when the vehicle is not on a curved line. The second control mode is a mode in which the vehicle is driven by dividing the torque equally between the rear axles.

In some embodiments, obtaining the current working conditions of the vehicle can be achieved by detecting the flag bit of the vehicle's rear axle hub motor controller (recorded as TVCU). If it is detected that the flag bit of the rear axle hub motor controller TVCU is the first preset wheel hub motor controller flag bit "1", indicating that the current working condition is the first working condition, the vehicle is controlled to enter the first control mode. If it is detected that the flag bit of the rear axle hub motor controller TVCU is the second preset wheel hub motor controller flag bit "0", indicating that the current working condition is the second working condition, the vehicle is controlled to enter the second control mode. In some implementations, both the first preset wheel hub motor controller flag bit and the second preset wheel hub motor controller flag bit can be set to other expression formats according to actual needs.

In the first control mode, the target yaw moment is obtained based on the vehicle's steering wheel angle, rear axle distribution torque, and the yaw angular velocity difference between the vehicle's ideal yaw angular velocity and the actual yaw angular velocity. Then based on the target yaw moment, the actual torque of the left rear wheel hub and the actual torque of the right rear wheel hub of the vehicle are obtained.

In some embodiments, the vehicle's steering wheel angle and rear axle distribution torque are used as inputs to the PID controller, and the difference between the ideal yaw angular velocity output by the two-degree-of-freedom model and the actual yaw angular velocity is used as the control variable. Among them, the difference is the yaw angular velocity difference. The target yaw moment is output through the PID controller.

It should be noted that the ideal yaw angular velocity of the two-degree-of-freedom model includes a steady state part and a transient part. The steady-state part keeps the vehicle gain unchanged, and the transient part "designs" the ideal yaw angular velocity dynamic response characteristics by adjusting the ω _n and ζ values in the second-order characteristic link. The target yaw moment ensures that the actual yaw angular velocity transient response characteristics follow this design value.

The yaw angular velocity response principle is shown in formula (6): Among them, ω _r (s) is the yaw angular velocity of the vehicle, G _r is the steady-state gain of the yaw angular velocity to the front wheel angle input, which is the stability factor, ω _n is the natural circular frequency, ζ is the damping ratio, τ _r is the response time constant, s is the Laplace change constant, and δ is the vehicle front wheel angle.

Through formula (7), the ideal yaw angular velocity is: Among them, ω _d is the "design" ideal yaw angular velocity, In order to consider the ideal yaw angular velocity after road adhesion, that is, the ideal yaw angular velocity of the final vehicle. g is the acceleration of gravity, μ is the road adhesion coefficient, V _x is the lateral speed of the vehicle, sgn is the sign function, and ω _r is the parameter selected by the min{} function.

After the target yaw moment is output through the PID controller, the rear axle is adjusted according to the target yaw moment. The differential torque of the hub motors on the left and right sides is distributed according to the following formulas (8)-(10): TRR=T _{RR_ref} +ΔFr·R _RR (9); TRL=T _{RL_ref} -ΔFr·R _RL (10); where, T _{RR_ref} is the required torque of the right rear hub motor, T _{RL_ref} is the required torque of the left rear hub motor, and TRR is The actual torque of the right rear wheel hub motor, TRL is the actual torque of the left rear wheel hub motor, d ₂ is the rear wheelbase, ΔFr is the increased driving force of the rear axle wheels, and ΔM _r is the target yaw moment. If the total torque demand of the vehicle's rear axle is to remain unchanged, the total torque increase and decrease on the left and right sides of the vehicle's rear wheels should be the same when performing differential torsion torque distribution, thereby ensuring that the total torque demand remains unchanged.

In some embodiments, the torque of the rear axle distributed hub motor can be dynamically adjusted according to the torque output capability of the rear axle distributed hub motor. ΔM _z is the rear axle differential torsional yaw moment distribution value, ΔM _rmax is the corresponding maximum achievable differential torsional yaw moment value, when ΔM _z ≥ ΔM _rmax , ΔM _r = ΔM _rmax . When ΔM _z <ΔM _rmax , ΔM _r =ΔM _z . In this way, the limitation of the torque output capability of the distributed wheel hub motor at the current speed is taken into consideration to ensure that the yaw torque value applied at the center of mass meets the decision value to the greatest extent.

After obtaining the actual torque of the left rear hub and the actual torque of the right rear hub of the vehicle, if the actual torque of the left rear hub is not greater than the left rear hub torque limit, the vehicle is controlled to execute the actual torque of the left rear hub. If the actual torque of the left rear hub is greater than the left rear hub torque limit, the vehicle is controlled to execute the left rear hub torque limit. Therefore, it shows that after obtaining the actual torque of the left rear hub, compare the actual torque of the left rear hub with the torque limit of the left rear hub, take the torque with the smallest value between the two, and control the left rear hub motor of the vehicle to use the smallest value of the two. Numerical torque output.

If the actual torque of the right rear hub is not greater than the right rear hub torque limit, the vehicle is controlled to execute the actual torque of the right rear hub. If the actual torque of the right rear hub is greater than the right rear hub torque limit, the vehicle is controlled to execute the right rear hub torque limit. Therefore, it shows that after obtaining the actual torque of the right rear hub, compare the actual torque of the right rear hub with the torque limit of the right rear hub, take the torque with the smallest value between the two, and control the right rear hub motor of the vehicle to use the smallest value of the two. Numerical torque output.

In the first control mode, the TVCU sends the torque executed by the left rear hub motor and the torque executed by the right rear hub motor to the VMCU, and causes the VMCU to connect to prevent sudden changes in the torque executed by the vehicle.

In some embodiments, the vehicle's front axle distribution torque and rear axle distribution torque, as well as the vehicle's left rear hub torque limit and Right rear hub torque limit. While keeping the total output torque of the rear axle unchanged, the differential torque distribution of the left and right wheel hub motors of the rear wheels is carried out to achieve yaw moment control, so that the changes in longitudinal acceleration are small, the turning radius is little affected by longitudinal acceleration, and the maneuverability is better. good. Even under extreme working conditions, it can maintain a certain degree of lateral stability and ensure the vehicle's steady steering characteristics. The steering yaw movement is controlled through different wheel torque distribution methods to avoid tire wear. At the same time, since there is basically no interference with the driver's longitudinal driving needs, applying control under normal driving conditions also reduces the possibility of the car entering the limit zone, improving the vehicle's handling stability and the coordination stability between the motors. .

In the second control mode, the rear axle distribution torque is divided equally to obtain the target torque of the vehicle's left rear hub. torque and the right rear hub target torque, and controls the vehicle to execute the left rear hub target torque and the right rear hub target torque.

During the driving process of the vehicle, through the mode drive switch configured on the distributed three-motor vehicle, the vehicle can be switched to the front-wheel drive mode, rear-wheel drive mode, and four-wheel drive mode. In front-wheel drive mode, only the front axle concentrates the motor output torque to drive the entire vehicle. In the rear-drive mode, only the distributed wheel hub motor on the rear axle outputs torque to drive the vehicle. In the four-wheel drive mode, both the front axle centralized motor and the rear axle hub motor output torque to drive the vehicle.

Users can freely switch between the three modes during driving. The total torque of the vehicle's motors remains unchanged before and after switching to improve the coordination and stability between multiple motors and ensure a comfortable and smooth driving without lags. Users can choose different drive modes according to road conditions. For example, if the rear wheel is stuck in a mud pit, it can be switched to front axle drive, so that the front axle has more power to drive the vehicle out of trouble; in urban conditions, when it is necessary to coast or brake In this case, you can select the four-wheel drive mode to ensure smooth driving of the vehicle.

One or more technical solutions in the embodiments of the present disclosure have at least the following technical effects or advantages: during the driving process of the vehicle, by detecting whether the vehicle is in an unstable state. If it is detected that the vehicle is in an unstable state, the vehicle is controlled to enter the electronic stability control mode, and the ESC system directly controls the vehicle's front and rear axle torque distribution to avoid vehicle instability and ensure the driving safety of the vehicle.

In the electronic stability control mode, the ESC system obtains the vehicle's front axle execution torque, left rear axle execution torque, and rear axle demand torque based on the obtained front axle current torque, front axle demand torque, rear axle demand torque, left rear wheel hub current torque, and right rear wheel hub current torque. The wheel hub executes torque and the right rear hub executes torque, and controls the vehicle to execute the front axle executes torque, the left rear hub executes torque, and the right rear hub executes torque. Therefore, through the above control method of distributed three-motor vehicles, precise control of distributed three-motors is achieved, the stability of coordinated control between multiple motors is improved, and the driver's driving experience, vehicle driving safety and safety are improved. Dynamic.

Embodiment 2

Based on the same concept, the present disclosure also provides a control device for a distributed three-motor vehicle, as shown in Figure 4, including: a detection module 201 for detecting that the vehicle is in a state of failure during the driving of the vehicle. When the vehicle is in a steady state, the vehicle is controlled to enter an electronic stability control mode, wherein the electronic stability control mode is a mode in which the vehicle is driven by the electronic stability control system of the vehicle; In the control mode, obtain the current torque of the front axle, the demand torque of the front axle, the demand torque of the rear axle, the current torque of the left rear wheel hub and the current torque of the right rear wheel hub of the vehicle; and a control module 203 for controlling the current torque of the front axle according to the current torque of the front axle. , the front axle demand torque, the rear axle demand torque, the current torque of the left rear hub and the current torque of the right rear hub, to obtain the front axle execution torque, the left rear hub execution torque and the right rear hub execution torque of the vehicle executing torque, and controlling the vehicle to execute the front axle executing torque, the left rear wheel hub executing torque, and the right rear wheel hub executing torque.

In some embodiments, the detection module 201 is also used to detect that the vehicle is in an unstable state, including: obtaining multiple flags of the vehicle, where the multiple flags include Anti-lock braking system flag, electronic brake force distribution system flag, electronic stability control control system flag and traction control system flag; if a certain flag among the plurality of flags is a preset flag, it is determined that the vehicle is in the unstable state.

In some embodiments, the detection module 201 is also used to control the vehicle to enter the vehicle stability control mode when it is detected that the vehicle is in a non-instability state during the driving of the vehicle, wherein the entire vehicle The vehicle stability control mode is a mode in which the vehicle is driven by the vehicle controller.

In some embodiments, the acquisition module 202 is further configured to, in the vehicle stability control mode, further include: obtaining the front axle distribution torque and the rear axle distribution of the vehicle according to the acquired power demand of the vehicle. torque, and obtain the left rear hub torque limit and right rear hub torque limit of the vehicle.

In some embodiments, the acquisition module 202 is also configured to acquire the current working condition of the vehicle in the vehicle stability control mode; the control module 203 is also configured to acquire the current working condition of the vehicle if the current working condition is the first working condition. , then the vehicle is controlled to enter a first control mode, wherein the first control mode is a mode in which the vehicle is driven by the yaw angular velocity of the vehicle; in the first control mode, the vehicle is controlled according to the yaw angular velocity of the vehicle. The steering wheel angle, the rear axle distribution torque, and the yaw angular velocity difference between the ideal yaw angular velocity of the vehicle and the actual yaw angular velocity are used to obtain the target yaw moment; according to the target yaw moment, the left rear of the vehicle is obtained The actual torque of the wheel hub and the actual torque of the right rear wheel hub.

In some embodiments, the control module 203 is also configured to, after obtaining the actual torque of the left rear hub and the actual torque of the right rear hub of the vehicle, if the actual torque of the left rear hub is not greater than the left rear hub torque limit , the vehicle is controlled to execute the actual torque of the left rear hub; if the actual torque of the left rear hub is greater than the left rear hub torque limit, the vehicle is controlled to execute the left rear hub torque limit; if If the actual torque of the right rear hub is not greater than the torque limit of the right rear hub, the vehicle is controlled to execute the actual torque of the right rear hub; if the actual torque of the right rear hub is greater than the torque limit of the right rear hub, then The vehicle is controlled to execute the right rear wheel hub torque limit.

In some embodiments, the control module 203 is also configured to: if the current working condition is a second working condition, control the vehicle to enter a second control mode, wherein the second control mode is by equally dividing the A mode in which the rear axle distributes torque to drive the vehicle; in the second control mode, the rear axle distributes the torque equally to obtain the target torque of the left rear hub and the target torque of the right rear hub of the vehicle, and controls the The vehicle executes the left rear hub target torque and the right rear hub target torque.

Since the control device for the distributed three-motor vehicle introduced in the embodiment of the present disclosure is a device used to implement the control method of the distributed three-motor vehicle in the first embodiment of the present disclosure, based on the distributed three-motor vehicle introduced in the first embodiment of the present disclosure, Regarding the control method of the three-motor vehicle, those skilled in the art can understand the specific implementation of the control device of the distributed three-motor vehicle according to the embodiment of the present disclosure and its various modifications. Therefore, the control of the distributed three-motor vehicle is hereby discussed. How the device implements the method in Embodiment 1 of the present disclosure will not be described in detail. As long as those skilled in the art implement the control method of the distributed three-motor vehicle in Embodiment 1 of the present disclosure, the devices used will fall within the scope of protection of the present disclosure.

Embodiment 3

Based on the same concept, the present disclosure also provides an electric vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the above distributed three A step of any one of the control methods of an electric motor vehicle.

Embodiment 4

Based on the same concept, the present disclosure also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, any one of the control methods of the distributed three-motor vehicle described in the first embodiment is implemented. Method steps.

One or more technical solutions in the embodiments of the present disclosure have at least the following technical effects or advantages: In the embodiments of the present disclosure, during the driving process of the vehicle, whether the vehicle is in an unstable state is detected. If it is detected that the vehicle is in an unstable state, the vehicle is controlled to enter the electronic stability control mode, and the ESC system directly controls the vehicle's front and rear axle torque distribution to avoid vehicle instability and ensure the driving safety of the vehicle.

In the electronic stability control mode, based on the obtained current torque of the front axle, demand torque of the front axle, demand torque of the rear axle, current torque of the left rear hub and current torque of the right rear hub, the vehicle's front axle execution torque and left rear hub execution torque are obtained. torque and the right rear hub executes torque, and controls the vehicle to execute the front axle executes torque, the left rear hub executes torque, and the right rear hub executes torque. Therefore, through the control method of the distributed three-motor vehicle in the embodiment of the present disclosure, precise control of the distributed three-motor is achieved, the stability of the coordinated control between multiple motors is improved, and the driver's driving experience and vehicle driving safety are improved. and motivation.

Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, systems, or computer program products. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device, Causes a series of operational steps to be performed on a computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide for implementing a process or processes in the flowchart and/or block diagram The steps for a function specified in a box or boxes.

Although a few embodiments of the present disclosure have been described, additional changes and modifications to these embodiments may be made by those skilled in the art once the basic inventive concepts are apparent. Therefore, it is intended that the appended claims be construed to include these embodiments and all changes and modifications that fall within the scope of this disclosure.

Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the disclosure. In this way, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and equivalent technologies, the present disclosure is also intended to include these modifications and variations.

Claims

A control method for a distributed three-motor vehicle, including:

During the driving process of the vehicle, when it is detected that the vehicle is in an unstable state, the vehicle is controlled to enter an electronic stability control mode, wherein the electronic stability control mode is to drive the vehicle through the electronic stability control system of the vehicle. vehicle mode;

In the electronic stability control mode, obtain the current front axle torque, the front axle demand torque, the rear axle demand torque, the current torque of the left rear wheel hub and the current torque of the right rear wheel hub of the vehicle; and

According to the current torque of the front axle, the required torque of the front axle, the required torque of the rear axle, the current torque of the left rear wheel hub and the current torque of the right rear wheel hub, the front axle execution torque, the left rear axle execution torque of the vehicle are obtained. The wheel hub executes torque and the right rear hub executes torque, and controls the vehicle to execute the front axle executes torque, the left rear hub executes torque and the right rear hub executes torque.
The method of claim 1, wherein detecting that the vehicle is in an unstable state includes:

Obtain multiple flags of the vehicle, wherein the plurality of flags include the vehicle's anti-lock braking system flag, electronic brake force distribution system flag, electronic stability control system flag and traction control system flag. flag bit;

If a certain flag bit among the plurality of flag bits is a preset flag bit, it is determined that the vehicle is in the unstable state.
The method according to claim 1, during the driving process of the vehicle, further comprising:

When it is detected that the vehicle is in a non-instability state, the vehicle is controlled to enter a vehicle stability control mode, wherein the vehicle stability control mode is a mode in which the vehicle is driven by a vehicle controller of the vehicle .
The method of claim 3, in the vehicle stability control mode, further comprising:

According to the required power of the vehicle, the front axle distribution torque and the rear axle distribution torque of the vehicle are obtained, and the left rear hub torque limit value and the right rear hub torque limit value of the vehicle are obtained.
The method of claim 4, wherein in the vehicle stability control mode, it further includes:

Obtain the current working condition of the vehicle;

If the current working condition is the first working condition, control the vehicle to enter a first control mode, wherein the first control mode is a mode in which the vehicle is driven by the yaw angular velocity of the vehicle;

In the first control mode, the target yaw moment is obtained based on the vehicle's steering wheel angle, the rear axle distribution torque, and the yaw angular velocity difference between the vehicle's ideal yaw angular velocity and the actual yaw angular velocity. ;as well as

According to the target yaw moment, the actual torque of the left rear wheel hub and the actual torque of the right rear wheel hub of the vehicle are obtained.
The method of claim 5, wherein after obtaining the actual torque of the left rear wheel hub and the actual torque of the right rear wheel hub of the vehicle, it further includes:

If the actual torque of the left rear hub is not greater than the torque limit of the left rear hub, control the vehicle to execute the actual torque of the left rear hub;

If the actual torque of the left rear hub is greater than the left rear hub torque limit, control the vehicle to execute the left rear hub torque limit;

If the actual torque of the right rear hub is not greater than the torque limit of the right rear hub, control the vehicle to execute the actual torque of the right rear hub; and

If the actual torque of the right rear hub is greater than the right rear hub torque limit, the vehicle is controlled to execute the right rear hub torque limit.
The method of claim 5, after obtaining the current working condition of the vehicle, further comprising:

If the current working condition is the second working condition, control the vehicle to enter a second control mode, wherein the second control mode is a mode of driving the vehicle by equally dividing the rear axle to distribute torque;

In the second control mode, the rear axle distribution torque is divided equally to obtain the target torque of the left rear hub and the target torque of the right rear hub of the vehicle, and the vehicle is controlled to execute the target torque of the left rear hub and the target torque of the right rear hub. Describe the target torque of the right rear wheel hub.
A control device for a distributed three-motor vehicle, including:

A detection module configured to control the vehicle to enter an electronic stability control mode when it is detected that the vehicle is in an unstable state during driving of the vehicle, wherein the electronic stability control mode is through the electronic stability control of the vehicle. control the mode in which the system drives said vehicle;

An acquisition module configured to acquire the current front axle torque, the front axle demand torque, the rear axle demand torque, the current torque of the left rear wheel hub and the current torque of the right rear wheel hub of the vehicle in the electronic stability control mode; and

A control module configured to obtain the front axle of the vehicle based on the current torque of the front axle, the required torque of the front axle, the required torque of the rear axle, the current torque of the left rear hub and the current torque of the right rear hub. The vehicle is controlled to execute the front axle executing torque, the left rear wheel hub executing torque and the right rear wheel hub executing torque.
An electric vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that when the processor executes the program, it implements any one of claims 1-7 method steps described.
A computer-readable storage medium with a computer program stored on the computer-readable storage medium, characterized in that when the program is executed by a processor, the method steps described in any one of claims 1-7 are implemented.