WO2024032181A1 - 车辆控制方法、装置、计算机可读存储介质及计算机设备 - Google Patents

车辆控制方法、装置、计算机可读存储介质及计算机设备 Download PDF

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Publication number
WO2024032181A1
WO2024032181A1 PCT/CN2023/102927 CN2023102927W WO2024032181A1 WO 2024032181 A1 WO2024032181 A1 WO 2024032181A1 CN 2023102927 W CN2023102927 W CN 2023102927W WO 2024032181 A1 WO2024032181 A1 WO 2024032181A1
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WIPO (PCT)
Prior art keywords
motor
vehicle
torque
value
target
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PCT/CN2023/102927
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English (en)
French (fr)
Inventor
刘力源
王燕
于长虹
陈书礼
刘建康
Original Assignee
中国第一汽车股份有限公司
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Publication of WO2024032181A1 publication Critical patent/WO2024032181A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present disclosure relates to the field of vehicle driving control, and specifically, to a vehicle control method, device, computer-readable storage medium, and computer equipment.
  • Embodiments of the present disclosure provide a vehicle control method, device, computer-readable storage medium, and computer equipment to at least solve the technical problem of difficulty in efficiently controlling the torque of the vehicle based on switching the vehicle's driving mode.
  • a vehicle control method including: receiving a switching instruction to switch a driving mode of the vehicle, wherein the driving mode includes a four-wheel drive mode and a two-wheel drive mode; responding to the switching instruction , determine the target driving mode of the vehicle; based on the target driving mode, control the motor and disconnection device of the vehicle, wherein the motor includes a first motor and a second motor, and the first motor and the second motor provide drive for the vehicle by providing torque. , and the first motor controls whether to provide drive for the vehicle based on the opening and closing state of the disconnect device.
  • controlling the motor and disconnection device of the vehicle includes: when the target drive mode is the four-wheel drive mode, sending a start command to the first motor controller corresponding to the first motor, to control the first motor to turn on and reach the first target speed after being turned on; upon receiving feedback from the first motor controller that the first motor reaches the first target speed, send a message to the disconnecting mechanism controller corresponding to the disconnecting device.
  • controlling the motor and disconnection device of the vehicle includes: when the target drive mode is a two-wheel drive mode, sending a disconnection command to the first motor controller corresponding to the first motor to control the first motor.
  • the motor is disconnected and reaches the second target speed after disconnection; after receiving feedback from the first motor controller that the first motor reaches the second target speed, a disconnection message is sent to the disconnection mechanism controller corresponding to the disconnection device. command to control the disconnection device to be in the disconnected state.
  • the vehicle's motor and disconnection device after controlling the vehicle's motor and disconnection device based on the target driving mode, it also includes: obtaining the vehicle's driving parameter data and driving status data; determining the vehicle's required torque based on the driving parameter data and driving status data value; based on the demand torque value, determine the first torque value of the first motor and the second torque value of the second motor in the motor; perform torque control on the first motor based on the first torque value, and perform torque control on the second motor based on the second torque value.
  • the motor is torque controlled.
  • determining the first torque value of the first motor and the second torque value of the second motor among the motors includes: sending the demand torque value to the vehicle body stabilization system; receiving the vehicle body stability system based on the demand torque value.
  • the target demand value is determined with the own torque demand value, where the target demand value is the smaller value of the demand torque value and the own torque demand value; based on the target demand value, the first torque value and the second torque value of the first motor in the motor are determined.
  • the second torque value of the motor is determined.
  • control the motor of the vehicle including: when adjusting the speed of the first motor of the vehicle, obtain the current speed of the first motor; determine the speed range corresponding to the current speed; determine the speed range Corresponding speed regulation rate; based on the speed regulation rate, adjust the speed of the first motor to the target speed.
  • the vehicle after controlling the motor and disconnection device of the vehicle based on the target driving mode, it also includes: obtaining the update status after updating the disconnection device; when the update status is the disconnection state, determining the vehicle The first torque demand update value of the vehicle is determined, and the second motor is controlled to provide torque corresponding to the torque demand update value; when the update state is the combined state, the second torque demand update value of the vehicle is determined, and is determined based on the second torque demand update value assign a first updated torque value to the first motor, and assign a second updated torque value to the second motor, and control the first motor to provide torque corresponding to the first updated torque value, and control the second motor to provide a second updated torque value corresponding to the torque.
  • a vehicle control device including: a receiving module configured to receive a switching instruction for switching the driving mode of the vehicle, wherein the driving mode includes a four-wheel drive mode and a two-wheel drive mode.
  • a computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to perform any of the above. vehicle control method.
  • a computer device including: a memory and a processor, the memory stores a computer program; the processor is configured to execute the computer program stored in the memory, and when the computer program is run, the processing The device performs any of the above vehicle control methods.
  • the vehicle driving mode is switched by controlling the state of the disconnecting device. Based on the switching state of the vehicle driving mode and the vehicle's current driving parameter data and driving status data, the vehicle's required torque is determined, and the required torque is determined.
  • the required torque is specifically divided into the torque provided by the first motor and the torque provided by the second motor, achieving the purpose of efficiently and accurately determining the vehicle's required torque before and after switching the driving mode of the vehicle and during the switching process. It achieves the technical effect of efficiently controlling the vehicle's torque, thereby solving the technical problem of difficulty in efficiently controlling the vehicle's torque based on the vehicle's driving mode switching.
  • Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present disclosure
  • Figure 2 is a schematic diagram of a four-wheel drive pure electric vehicle with a disconnect device provided according to an optional embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of the torque control flow under the first special working condition provided according to an optional embodiment of the present disclosure
  • Figure 4 is a schematic diagram of the motor speed regulation rate provided according to an optional embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram of the torque control process under the second special working condition provided according to an optional embodiment of the present disclosure
  • Figure 6 is a structural block diagram of a vehicle control device provided according to an embodiment of the present disclosure.
  • the four-drive system is a system that enables all four wheels to receive driving force.
  • the engine's power is distributed to the four wheels. Wheel slippage is less likely to occur in poor road conditions, and the car's passing ability is greatly improved.
  • Four-wheel drive systems can be divided into two categories: half-time four-wheel drive and full-time four-wheel drive.
  • VCU Vehicle Control Unit
  • the control center for normal driving of electric vehicles is the core component of the vehicle control system. It is responsible for normal driving, regenerative braking energy recovery, fault diagnosis and vehicle status of pure electric vehicles.
  • the main control component for monitoring and other functions.
  • Automotive Electronic Stability Controller is a new active safety system for vehicles.
  • the system consists of three parts: sensors, electronic control units and actuators. It monitors the operating status of the vehicle through the electronic control unit and controls the vehicle's engine. and braking system for intervention control.
  • the transmission system generally consists of clutch, transmission, universal transmission device, main reducer, differential and half shaft. Its basic function is to transmit the power from the engine to the driving wheels of the car to generate driving force so that the car can travel at a certain speed.
  • a vehicle control method embodiment is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although A logical order is shown in the flowcharts, but in some cases, the steps shown or described may be performed in a different order than herein.
  • Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present disclosure. As shown in Figure 1, the method includes the following steps:
  • Step S102 Receive a switching instruction to switch the driving mode of the vehicle, where the driving mode includes a four-wheel drive mode and a two-wheel drive mode;
  • Step S104 in response to the switching instruction, determine the target driving mode of the vehicle
  • Step S106 based on the target driving mode, control the motor and disconnection device of the vehicle, wherein the motor includes a first motor and a second motor, the first motor and the second motor provide drive for the vehicle by providing torque, and the first motor Whether to provide drive to the vehicle is controlled based on the opening and closing state of the disconnect device.
  • the motor includes a first motor and a second motor, the first motor and the second motor provide drive for the vehicle by providing torque, and the first motor Whether to provide drive to the vehicle is controlled based on the opening and closing state of the disconnect device.
  • the vehicle driving mode switching can be realized by controlling the state of the disconnecting device. Based on the switching state of the vehicle driving mode and the vehicle's current driving parameter data and driving status data, the vehicle's demand torque is determined, and the demand torque is Specifically divided into the torque provided by the first motor and the torque provided by the second motor, the purpose of efficiently and accurately determining the vehicle's required torque before and after the vehicle's driving mode is switched and during the switching process is achieved, and the vehicle's torque demand is realized.
  • the technical effect of efficiently controlling the vehicle's torque solves the technical problem of difficulty in efficiently controlling the vehicle's torque based on the vehicle's driving mode switching.
  • the above switching instructions for switching the driving mode of the vehicle may correspond to different driving modes of the vehicle.
  • the sport driving mode of the vehicle corresponds to four-wheel drive
  • the standard driving mode and economical driving mode of the vehicle may correspond to Two-wheel drive, that is, the driver can manually adjust the vehicle's driving mode by manually selecting the driving mode, or automatically determine the driving mode switching situation through automatic recognition of the driving mode, or can also judge the vehicle's driving mode based on driving parameter data. For example, when the accelerator pedal opening of the vehicle reaches the maximum, the vehicle's driving mode is adjusted to four-wheel drive, and so on.
  • the method of the embodiment of the present disclosure can be applied to a variety of electric vehicles, such as pure electric vehicles, hybrid vehicles, and so on.
  • controlling the motor and disconnection device of the vehicle based on the target driving mode includes: when the target driving mode is the four-wheel drive mode, controlling the first motor corresponding to the first motor.
  • the controller sends a turn-on command to control the first motor to turn on and reach the first target speed after being turned on; upon receiving feedback from the first motor controller that the first motor reaches the first target speed, the corresponding break switch of the disconnect device is
  • the opening mechanism controller sends a combination instruction to control the disconnection device to be in a combined state.
  • the disconnecting device can be located in the transmission system, for example, the front axle transmission system or the rear axle transmission system, or it can be located at the reducer input, output or differential output.
  • the state of the disconnecting device can determine the driving mode of the vehicle. When the disconnecting device is in the combined state, it provides torque to the four wheels of the vehicle at the same time to achieve four-wheel drive. When the disconnecting device is in the disconnected state, it only supplies torque to the rear of the vehicle. The two wheels on the side provide torque to achieve two-wheel drive.
  • the first motor is used to adjust the rotation speed of the disconnecting device component on this side of the stationary state.
  • the first motor reaches the target rotation speed, the components on both sides of the disconnecting device can be combined, thereby realizing the combined state of the disconnecting device. Put the vehicle into four-wheel drive mode.
  • nmot n1 * i1
  • n mot is the target speed
  • n 1 is the rotation speed (r/min) of the disconnecting device component close to the first motor side
  • i 1 is the speed ratio of the disconnecting device component close to the first motor side and the transmission system.
  • n 1 needs to satisfy the following constraints:
  • u is the vehicle speed (km/h)
  • i 2 is the disconnect device component and the transmission system speed ratio close to the wheel side
  • r is the tire rolling radius (m).
  • controlling the motor and disconnection device of the vehicle based on the target driving mode includes: when the target driving mode is a two-wheel drive mode, controlling the first motor corresponding to the first motor.
  • the controller sends a disconnection command to control the first motor to disconnect and reach the second target speed after disconnection; upon receiving feedback from the first motor controller that the first motor reaches the second target speed, the controller sends a disconnection command to the disconnection device.
  • the corresponding disconnecting mechanism controller sends a disconnecting command to control the disconnecting device to be in a disconnected state. Similar to when switching to four-wheel drive mode, when the vehicle's drive mode needs to be switched to two-wheel drive, the auxiliary disconnection device can also be adjusted to the disconnected state by adjusting the speed of the first motor.
  • the motor and disconnection device of the vehicle after controlling the motor and disconnection device of the vehicle based on the target driving mode, it also includes: obtaining the driving parameter data and driving status data of the vehicle; based on the driving parameter data and driving status data, Determine the required torque value of the vehicle; determine the first torque value of the first motor and the second torque value of the second motor in the motor based on the required torque value; perform torque control on the first motor based on the first torque value, and based on the second The torque value performs torque control on the second motor.
  • the required torque of the vehicle can be determined through driving parameter data and driving status data, where the driving parameter data can include pedal status and pedal opening, and the driving status data can include vehicle speed, driving acceleration, etc. .
  • the brake recovery torque required by the vehicle can be calculated based on the opening of the brake pedal, vehicle speed, acceleration, etc.
  • Braking recuperation torque can avoid the energy loss caused by directly braking the vehicle in the past.
  • recuperation torque can be used to store this energy in the car's battery, which is conducive to energy recovery, and when pedaling When the accelerator pedal is depressed, the driving torque required by the vehicle can be calculated based on the accelerator pedal opening, vehicle speed, acceleration, etc., in order to provide sufficient power for the vehicle.
  • this embodiment can allocate and control the torque values required to be provided by the first motor and the second motor after determining the required torque of the vehicle.
  • torque distribution can be performed between the first motor and the second motor according to the state of the disconnection device.
  • the vehicle's required torque can all be provided by the second motor.
  • the motor provides that when the disconnection device is in the combined state but there is no disconnection requirement, the vehicle's required torque can be calculated by the vehicle controller according to the predetermined torque distribution strategy and the torque that the first motor and the second motor each need to provide.
  • determining the first torque value of the first motor and the second torque value of the second motor among the motors includes: sending the demand torque value to the vehicle body stabilization system; receiving the vehicle body stabilization system.
  • the system determines the target demand value based on the demand torque value and its own torque demand value, where the target demand value is the smaller value of the demand torque value and its own torque demand value; based on the target demand value, the first motor of the first motor is determined. torque value and a second torque value of the second motor.
  • the own torque demand value is calculated by the body stability system in combination with the vehicle's current driving status, road conditions and the vehicle's own capabilities.
  • the current maximum torque that the vehicle can provide within the range allowed by safety and driving performance is calculated by comparing the required torque value with its own torque.
  • the value can prevent the required torque provided by the first motor and/or the second motor from exceeding the above range, causing problems with driving safety or vehicle driving performance.
  • controlling the motor of the vehicle based on the target driving mode includes: when adjusting the speed of the first motor of the vehicle, obtaining the current speed of the first motor; determining the speed corresponding to the current speed. range; determine the speed regulation rate corresponding to the speed range; based on the speed regulation rate, adjust the speed of the first motor to the target speed.
  • the speed adjustment process of the first motor can be divided into intervals according to the speed.
  • the speed adjustment rate in each speed interval Differently, for example, the speed regulation rate corresponding to the interval with lower rotation speed can be higher, that is, at this time, the first motor can be made to increase the rotation speed as soon as possible, and the speed regulation rate corresponding to the interval with higher rotation speed can be lower, that is, at this time The first motor can be slowly increased in speed.
  • the method further includes: obtaining the updated status of the disconnection device; In this case, determine the vehicle's first torque demand update value, and control the second motor to provide torque corresponding to the torque demand update value; when the update state is the combined state, determine the vehicle's second torque demand update value, based on the second The torque demand update value determines a first updated torque value allocated to the first motor and a second updated torque value allocated to the second motor, and controls the first motor to provide torque corresponding to the first updated torque value, and controls the second motor The torque corresponding to the second updated torque value is provided.
  • the disconnect device when the vehicle switches the drive mode to two-wheel drive, the disconnect device will be in the disconnected state. At this time, the first motor will no longer provide the required torque to the vehicle. In order to ensure that it does not contribute to the power of the entire vehicle, The change can increase the demand torque value provided by the second motor, and make the demand torque increase value provided by the second motor equal to the demand torque value originally provided by the first motor (that is, the reduced torque supply value of the first motor). And the first motor can be controlled to provide reduced torque and the second motor to provide increased torque within a predetermined time range.
  • An optional embodiment of the present disclosure proposes a method for torque control and mode switching process of a four-wheel drive pure electric vehicle with a disconnection device, which mainly solves the problem of meeting the torque requirements of the entire vehicle under special working conditions, and at the same time, the disconnection device can meet the needs of the entire vehicle. Combination or separation not only ensures vehicle safety and stability, but also takes into account the vehicle's power performance and economic performance requirements.
  • the vehicle When the vehicle is traveling in two-wheel drive and the brake pedal is depressed, the vehicle is recovering torque through motor braking. At this time, it switches from economy mode or comfort mode to sport mode, that is, the vehicle switches from two-wheel drive to four-wheel drive to realize braking energy recovery. At the same time, combined with the disconnection device, it not only ensures the current economic performance, but also ensures the subsequent power demand.
  • FIG. 2 is a schematic diagram of a four-wheel drive pure electric vehicle with a disconnect device provided according to an optional embodiment of the present disclosure. As shown in Figure 2, it includes a disconnecting device 4, a disconnecting mechanism controller 7, a front axle transmission system 6, a rear axle transmission system 5, a motor 1, a motor 2, a motor controller 1 (MCU1), a motor controller 2 ( MCU2), power battery management system (BMS), vehicle controller (VCU), body stability system control unit (ESC), shift mechanism, vehicle display screen (IVI), brake pedal, accelerator pedal, etc.
  • a disconnecting device 4 includes a disconnecting device 4, a disconnecting mechanism controller 7, a front axle transmission system 6, a rear axle transmission system 5, a motor 1, a motor 2, a motor controller 1 (MCU1), a motor controller 2 ( MCU2), power battery management system (BMS), vehicle controller (VCU), body stability system control unit (ESC), shift mechanism, vehicle display screen (IVI), brake pedal, accelerator pedal, etc.
  • MCU1 motor controller 1
  • MCU2 motor
  • the transmission system with a disconnecting device can be a front axle transmission system with a disconnecting device or a rear axle transmission system with a disconnecting device.
  • the disconnecting device can be at the input end of the reducer or the output end of the reducer. , can also be at the differential output.
  • the vehicle's driving modes can be divided into three modes: sport mode, standard mode, and economy mode. These three modes are displayed on the vehicle's IVI. Users can select the driving mode according to their needs.
  • the sports mode is mainly about power.
  • the disconnection device of the transmission system In order to maintain the best power and drivability, the disconnection device of the transmission system is always in the combined state to realize the four-wheel drive function; in the standard mode, the initial state of the disconnection device of the transmission system is Disconnected, it can be switched to the combined state according to the driver's needs to achieve timely four-wheel drive; the economic mode is mainly economical, and the initial state of the disconnecting device of the transmission system is disconnected to achieve the two-wheel drive function. In extreme cases, such as the accelerator pedal When fully open, the disconnect device can be combined to realize the four-wheel drive function.
  • MCU sends information such as motor speed, torque and fault status to VCU
  • BMS sends battery allowable discharge power, charging power, temperature, fault and other information to VCU
  • IVI sends the driving mode signal selected by the driver to VCU
  • ESC The brake pedal signal, brake master cylinder pressure value and vehicle speed value are sent to the VCU.
  • the VCU collects the accelerator pedal position information and makes a comprehensive judgment based on the above signals to calculate the total torque required at the wheel end.
  • FIG. 3 is a schematic diagram of the torque control process under the first special working condition provided according to an optional embodiment of the present disclosure. As shown in Figure 3, the process is as follows:
  • IVI sends the driving mode requirement to VCU.
  • VCU After VCU receives the driving mode requirement, VCU sends a combination requirement instruction to the disconnect device and motor controller 1 and motor controller 2.
  • Motor controller 1 powers on according to the combination requirement instruction.
  • motor controller 1 sends a speed regulation command to motor 1.
  • the torque demand sent to motor 1 is only for speed regulation and does not participate in vehicle braking energy recovery or driving; according to the following speed regulation rate, The speed of motor 1 is adjusted to the target speed n mot .
  • the motor 1 After the motor 1 reaches the target speed, it sends a speed achievement confirmation command to the VCU.
  • the VCU After receiving the speed achievement confirmation command, the VCU sends a combination command to the disconnection device controller, and the disconnection device will be disconnected within a predetermined time. (for example, 0.1s) to complete the combination. After the disconnection device completes the combination, it sends a combination completion command to the VCU.
  • n mot is calculated by the following formula:
  • ⁇ 50 n 2 u*i 2 /r/0.377
  • nmot n1 * i1
  • the speed ratio of the device component and the transmission system; i 2 is the disconnection device component and the transmission system speed ratio on the side close to the wheel;
  • u is the vehicle speed, km/h;
  • r is the tire rolling radius, m.
  • Figure 4 is a schematic diagram of the motor speed regulation rate provided according to an optional embodiment of the present disclosure.
  • the motor speed regulation rate is in the form of a staircase.
  • the speed regulation rate is 60000r/min/s.
  • the speed regulation rate is 40000r/min/s
  • the speed regulation rate is 20000r/min/s (not a unique value).
  • the ESC sends the brake pedal signal and vehicle speed value to the VCU.
  • the VCU calculates the braking recovery torque required for the vehicle based on the brake pedal opening and vehicle speed, and calculates the torque demand.
  • Value 1 is sent to ESC.
  • ESC calculates torque demand value 2 based on its own capabilities, compares torque demand value 1 and torque demand value 2, takes the smallest absolute value as torque demand value 3, and sends a brake recovery permission command to the VCU and feedbacks it.
  • demand value 3
  • the VCU calculates the required driving torque of the vehicle based on the accelerator pedal opening and vehicle speed.
  • the VCU will send the vehicle braking energy recovery torque or driving torque demand to the motor controller 2, all of which are provided by the motor 2;
  • the VCU calculates the respective torques of the front and rear motors according to the torque distribution strategy, and sends instructions to motor controller 1 and motor controller 2. Motor 1 and motor 2 output torque according to the demand instructions.
  • the combination of the disconnection device during the braking process first ensures energy recovery during the braking process, improves the vehicle's available energy, and at the same time shortens the vehicle's subsequent acceleration response time, satisfies the driver's mode switching intention, and takes into account both economic performance and Dynamic performance.
  • FIG. 5 is a schematic diagram of the torque control process under the second special working condition provided according to an optional embodiment of the present disclosure. As shown in Figure 5, the process is as follows:
  • IVI sends the driving mode demand to VCU.
  • VCU After VCU receives the mode switching demand, VCU sends a separation demand command to the disconnect device and the motor controller.
  • VCU sends a torque reduction command to motor controller 1 and simultaneously sends a torque increase command to Motor controller 2, the torque increase value of motor 2 is equal to the torque decrease value of motor 1, and the torque output of motor 1 is reduced to zero within a predetermined time (for example, 0.15s), and all torque requirements of the vehicle are provided by motor 2 ;
  • motor 1 After motor 1 reaches the target torque, it sends a confirmation command to VCU.
  • VCU After receiving the confirmation command, VCU sends a separation command to the disconnection device controller.
  • the disconnection device completes the separation within a predetermined time (for example, 0.1s), and the disconnection device is completed. After separation, send a separation completion command to the VCU.
  • the ESC sends the brake pedal opening signal and vehicle speed value to the VCU. Wait, the VCU calculates the braking recuperation torque required for the entire vehicle based on the brake pedal opening and vehicle speed, etc., and sends the torque demand value 1 to the ESC.
  • the ESC calculates the torque demand value 2 based on its own capabilities, and compares the torque demand value 1 with the torque demand. Among the values 2, take the one with the smallest absolute value as the torque demand value 3, and send the brake recovery permission command to the VCU with the torque demand value 3;
  • the VCU calculates the required driving torque of the vehicle based on the accelerator pedal opening and vehicle speed.
  • the VCU calculates the torque of the front and rear motors according to the torque distribution strategy, and sends instructions to motor controller 1 and motor controller 2. Motor 1 and motor 2 output torque according to the demand instructions;
  • the VCU will send the vehicle braking energy recovery torque or driving torque demand to the motor controller 2, all of which are provided by the motor 2.
  • a vehicle control device is also provided.
  • Figure 6 is a structural block diagram of a vehicle control device provided according to an embodiment of the present disclosure. As shown in Figure 6, the device includes: a receiving module 61, a response module 62 and Control module 63, this device will be described below.
  • the receiving module 61 is configured to receive a switching instruction for switching the driving mode of the vehicle, where the driving mode includes a four-wheel drive mode and a two-wheel driving mode; the response module 62 is connected to the above-mentioned receiving module 61 and is configured to respond to the switching instruction. , determine the target driving mode of the vehicle; the control module 63 is connected to the above-mentioned response module 62 and is configured to control the motor and disconnection device of the vehicle based on the target driving mode, wherein the motor includes a first motor and a second motor, and the A motor and a second motor provide drive for the vehicle by providing torque, and the first motor controls whether to drive the vehicle based on the opening and closing state of the disconnect device.
  • a computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to perform any of the above vehicle control methods. .
  • a computer device including: a memory and a processor, the memory stores a computer program; the processor is configured to execute the computer program stored in the memory, and when the computer program is run, the processor causes the processor to execute any of the above A vehicle control method.
  • the disclosed technical content can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units may be a logical functional division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or may be Integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the units or modules may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above integrated units can be implemented in the form of hardware or software functional units.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium.
  • the technical solution of the present disclosure is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to cause a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present disclosure.
  • the aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code. .
  • a switching instruction is received to switch the driving mode of the vehicle, wherein the driving mode includes a four-wheel drive mode and a two-wheel drive mode. mode; in response to the switching instruction, determine the target driving mode of the vehicle; based on the target driving mode, control the motor and the disconnection device of the vehicle, wherein the motor includes a first motor and a second A motor, the first motor and the second motor provide drive for the vehicle by providing torque, and the The first motor controls whether to provide drive for the vehicle based on the opening and closing state of the disconnect device.
  • the technical effect of efficient control of vehicle torque is achieved.

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Abstract

一种车辆控制方法，包括：接收对车辆的驱动方式进行切换的切换指令，其中，驱动方式包括四驱驱动方式和两驱驱动方式（S102）；响应于切换指令，确定车辆的目标驱动方式（S104）；基于目标驱动方式，对车辆的电机和断开装置进行控制，其中，电机包括第一电机和第二电机，第一电机和第二电机通过提供扭矩为车辆提供驱动，且第一电机基于断开装置的开合状态控制是否为车辆提供驱动（S106）。该车辆控制方法解决了难以基于车辆的驱动方式切换对车辆的扭矩进行高效控制的技术问题。还公开了一种车辆控制装置、计算机可读存储介质及计算机设备。

Description

车辆控制方法、装置、计算机可读存储介质及计算机设备
相关申请的交叉引用
本申请要求享有2022年8月11日提交的发明名称为“车辆控制方法、装置、计算机可读存储介质及计算机设备”的中国专利申请No.202210963370.X的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分或全部。
技术领域
本公开涉及车辆行驶控制领域，具体而言，涉及一种车辆控制方法、装置、计算机可读存储介质及计算机设备。
背景技术
在相关技术中，存在难以基于车辆的驱动方式切换对车辆的扭矩进行高效控制的技术问题。
针对上述的问题，目前尚未提出有效的解决方案。
发明内容
本公开实施例提供了一种车辆控制方法、装置、计算机可读存储介质及计算机设备，以至少解决难以基于车辆的驱动方式切换对车辆的扭矩进行高效控制的技术问题。
根据本公开实施例的一个方面，提供了一种车辆控制方法，包括：接收对车辆的驱动方式进行切换的切换指令，其中，驱动方式包括四驱驱动方式和两驱驱动方式；响应于切换指令，确定车辆的目标驱动方式；基于目标驱动方式，对车辆的电机和断开装置进行控制，其中，电机包括第一电机和第二电机，第一电机和第二电机通过提供扭矩为车辆提供驱动，且第一电机基于断开装置的开合状态控制是否为车辆提供驱动。
可选的，基于目标驱动方式，对车辆的电机和断开装置进行控制，包括：在目标驱动方式为四驱驱动方式的情况下，向第一电机对应的第一电机控制器发送开启指令，以控制第一电机开启，并在开启后达到第一目标转速；在接收到第一电机控制器反馈第一电机达到第一目标转速的情况下，向断开装置对应的断开机构控制器发送结合指 令，以控制断开装置处于结合状态。
可选的，对车辆的电机和断开装置进行控制，包括：在目标驱动方式为两驱驱动方式的情况下，向第一电机对应的第一电机控制器发送断开指令，以控制第一电机断开，并在断开后达到第二目标转速；在接收到第一电机控制器反馈第一电机达到第二目标转速的情况下，向断开装置对应的断开机构控制器发送断开指令，以控制断开装置处于断开状态。
可选的，在基于目标驱动方式，对车辆的电机和断开装置进行控制之后，还包括：获取车辆的驾驶参数数据和行驶状态数据；基于驾驶参数数据和行驶状态数据，确定车辆的需求扭矩值；基于需求扭矩值，确定电机中第一电机的第一扭矩值和第二电机的第二扭矩值；基于第一扭矩值对第一电机进行扭矩控制，以及基于第二扭矩值对第二电机进行扭矩控制。
可选的，基于需求扭矩值，确定电机中第一电机的第一扭矩值和第二电机的第二扭矩值，包括：将需求扭矩值发送给车身稳定系统；接收车身稳定系统基于需求扭矩值与自身扭矩需求值确定的目标需求值，其中，目标需求值为需求扭矩值与自身扭矩需求值中的较小值；基于目标需求值，确定电机中第一电机的第一扭矩值和第二电机的第二扭矩值。
可选的，基于目标驱动方式，对车辆的电机进行控制，包括：在对车辆的第一电机的转速进行调整时，获取第一电机的当前转速；确定当前转速对应的转速区间；确定转速区间对应的调速速率；基于调速速率，将第一电机的转速调整至目标转速。
可选的，在基于目标驱动方式，对车辆的电机和断开装置进行控制之后，还包括：获取对断开装置进行更新后的更新状态；在更新状态为断开状态的情况下，确定车辆的第一扭矩需求更新值，并控制第二电机提供扭矩需求更新值对应的扭矩；在更新状态为结合状态的情况下，确定车辆的第二扭矩需求更新值，基于第二扭矩需求更新值确定为第一电机分配的第一更新扭矩值，以及为第二电机分配的第二更新扭矩值，并控制第一电机提供第一更新扭矩值对应的扭矩，以及控制第二电机提供第二更新扭矩值对应的扭矩。
根据本公开实施例的另一方面，还提供了一种车辆控制装置，包括：接收模块，设置为接收对车辆的驱动方式进行切换的切换指令，其中，驱动方式包括四驱驱动方式和两驱驱动方式；响应模块，设置为响应于切换指令，确定车辆的目标驱动方式；控制模块，设置为基于目标驱动方式，对车辆的电机和断开装置进行控制，其中，电机包括第一电机和第二电机，第一电机和第二电机通过提供扭矩为车辆提供驱动，且 第一电机基于断开装置的开合状态控制是否为车辆提供驱动。
根据本公开实施例的另一方面，还提供了一种计算机可读存储介质，计算机可读存储介质包括存储的程序，其中，在程序运行时控制计算机可读存储介质所在设备执行上述任意一项的车辆控制方法。
根据本公开实施例的另一方面，还提供了一种计算机设备，包括：存储器和处理器，存储器存储有计算机程序；处理器，设置为执行存储器中存储的计算机程序，计算机程序运行时使得处理器执行上述任意一项的车辆控制方法。
在本公开实施例中，通过控制断开装置的状态实现车辆驱动方式的切换，基于车辆驱动方式的切换状态以及车辆当前的驾驶参数数据和行驶状态数据，确定出车辆的需求扭矩，并将该需求扭矩具体划分为第一电机负责提供的扭矩以及由第二电机负责提供的扭矩，达到了在车辆进行驱动方式切换前后以及切换过程中都可以高效准确地确定出车辆的需求扭矩的目的，实现了对车辆的扭矩进行高效控制的技术效果，进而解决了难以基于车辆的驱动方式切换对车辆的扭矩进行高效控制的技术问题。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明设置为解释本公开，并不构成对本公开的不当限定。在附图中：
图1是根据本公开实施例的车辆控制方法的流程图；
图2是根据本公开可选实施方式提供的带断开装置的四驱纯电动车辆示意图；
图3是根据本公开可选实施方式提供的第一种特殊工况下扭矩控制流程示意图；
图4是根据本公开可选实施方式提供的电机调速速率示意图；
图5是根据本公开可选实施方式提供的第二种特殊工况下扭矩控制流程示意图；
图6是根据本公开实施例提供的车辆控制装置的结构框图。
具体实施方式
为了使本技术领域的人员更好地理解本公开方案，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分的实施例，而不是全部的实施例。基于本公开中的实施例，本领 域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本公开保护的范围。
需要说明的是，本公开的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是设置为区别类似的对象，而不必设置为描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本公开的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
术语说明
四驱动力系统，使四个车轮都能得到驱动力的系统，发动机的动力被分配给四个车轮，在路况较差的情况下也不易出现车轮打滑，汽车的通过能力得到相当大的改善。四驱系统可以分成两大类：半时四驱和全时四驱。
整车控制器(Vehicle Control Unit，简称VCU)，电动汽车正常行驶的控制中枢，是整车控制系统的核心部件，是纯电动汽车的正常行驶、再生制动能量回收、故障诊断处理和车辆状态监视等功能的主要控制部件。
汽车电子稳定控制系统(Electronic Stability Controller，简称ESC)，车辆新型的主动安全系统，该系统由传感器、电子控制单元和执行器三大部分组成，通过电子控制单元监控汽车运行状态，对车辆的发动机及制动系统进行干预控制。
传动系统一般由离合器、变速器、万向传动装置、主减速器、差速器和半轴等组成。其基本功用是将发动机发出的动力传给汽车的驱动车轮，产生驱动力，使汽车能在一定速度上行驶。
根据本公开实施例，提供了一种车辆控制的方法实施例，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
图1是根据本公开实施例的车辆控制方法的流程图，如图1所示，该方法包括如下步骤：
步骤S102，接收对车辆的驱动方式进行切换的切换指令，其中，驱动方式包括四驱驱动方式和两驱驱动方式；
步骤S104，响应于切换指令，确定车辆的目标驱动方式；
步骤S106，基于目标驱动方式，对车辆的电机和断开装置进行控制，其中，电机包括第一电机和第二电机，第一电机和第二电机通过提供扭矩为车辆提供驱动，且第一电机基于断开装置的开合状态控制是否为车辆提供驱动。
通过上述步骤，可以通过控制断开装置的状态实现车辆驱动方式的切换，基于车辆驱动方式的切换状态以及车辆当前的驾驶参数数据和行驶状态数据，确定出车辆的需求扭矩，并将该需求扭矩具体划分为第一电机负责提供的扭矩以及由第二电机负责提供的扭矩，达到了在车辆进行驱动方式切换前后以及切换过程中都可以高效准确地确定出车辆的需求扭矩的目的，实现了对车辆的扭矩进行高效控制的技术效果，进而解决了难以基于车辆的驱动方式切换对车辆的扭矩进行高效控制的技术问题。
需要说明的是，上述对车辆的驱动方式进行切换的切换指令可以对应于车辆的不同驾驶模式，例如，车辆的运动驾驶模式对应于四驱驱动，车辆的标准驾驶模式和经济驾驶模式可以对应于两驱驱动，即，驾驶员可以通过手动选择驾驶模式手动调整车辆的驱动模式，或通过驾驶模式的自动识别自动确定驱动模式的切换情况，也可以结合驾驶参数数据对车辆的驱动模式进行判断，例如，当车辆的油门踏板开度达到最大的情况下，将车辆的驱动模式调整为四驱驱动，等等。
需要说明的是，本公开实施例的方法可以应设置为多种电动汽车，例如，纯电动汽车，混合动力汽车，等等。
作为一种可选的实施例，基于目标驱动方式，对车辆的电机和断开装置进行控制，包括：在目标驱动方式为四驱驱动方式的情况下，向第一电机对应的第一电机控制器发送开启指令，以控制第一电机开启，并在开启后达到第一目标转速；在接收到第一电机控制器反馈第一电机达到第一目标转速的情况下，向断开装置对应的断开机构控制器发送结合指令，以控制断开装置处于结合状态。
断开装置可以位于传动系统，例如，可以是前轴传动系统或后轴传动系统，也可以位于减速器输入端、输出端或差速器输出端。断开装置的状态可以决定车辆的驱动模式，当断开装置处于结合状态时，同时向车辆的四个车轮提供扭矩，实现四驱驱动，当断开装置处于断开状态时，仅向车辆后侧的两个车轮提供扭矩，实现两驱驱动。
当断开装置需要达到结合状态时，由于断开装置原先处于断开状态，断开装置的一侧处于转动状态，一侧处于静止状态，为了减少断开装置部件结合时的磨损等，需要先利用第一电机调整处于静止状态这一侧的断开装置部件的转速，当第一电机达到目标转速时，断开装置的两侧部件就可以实现结合，进而实现断开装置的结合状态， 使车辆达到四驱驱动模式。
需要说明的是，上述的目标转速可以由如下公式确定：
nmot＝n1*i1
其中，nmot为目标转速，n1是靠近第一电机一侧的断开装置部件的转速(r/min)，i1是靠近第一电机一侧的断开装置部件和传动系统速比。其中，n1需要满足以下约束关系：
|n2-n1|≤50
其中，n2是靠近车轮一侧的断开装置部件的转速(r/min)，且n2由如下公式计算得到：
n2＝u*i2/r/0.377
其中，u是车速(km/h)，i2是靠近车轮一侧的断开装置部件和传动系统速比，r是轮胎滚动半径(m)。
作为一种可选的实施例，基于目标驱动方式，对车辆的电机和断开装置进行控制，包括：在目标驱动方式为两驱驱动方式的情况下，向第一电机对应的第一电机控制器发送断开指令，以控制第一电机断开，并在断开后达到第二目标转速；在接收到第一电机控制器反馈第一电机达到第二目标转速的情况下，向断开装置对应的断开机构控制器发送断开指令，以控制断开装置处于断开状态。与切换至四驱驱动模式时类似，当车辆的驱动模式需要切换至两驱时，同样可以通过调整第一电机转速的方式，辅助断开装置达到断开状态。
作为一种可选的实施例，在基于目标驱动方式，对车辆的电机和断开装置进行控制之后，还包括：获取车辆的驾驶参数数据和行驶状态数据；基于驾驶参数数据和行驶状态数据，确定车辆的需求扭矩值；基于需求扭矩值，确定电机中第一电机的第一扭矩值和第二电机的第二扭矩值；基于第一扭矩值对第一电机进行扭矩控制，以及基于第二扭矩值对第二电机进行扭矩控制。
一方面，在本实施例中，可以通过驾驶参数数据和行驶状态数据确定车辆的需求扭矩，其中，驾驶参数数据可以包括踏板状态、踏板开度，行驶状态数据可以包括车速、行驶加速度，等等。例如，当前踏板状态为踩下制动踏板或滑行状态(即没有踏板被踩下)时，可以基于制动踏板的开度、车速、加速度等计算出车辆所需的制动回收扭矩，通过该制动回收扭矩，可以避免以往对车辆直接进行刹车造成的能量损耗，转而利用回收扭矩将这部分能量存储至汽车的蓄电池中，有利于能量回收，而当踏板 状态为踩下油门踏板时，则可以基于油门踏板的开度、车速、加速度等计算出车辆所需的驱动扭矩，以便为车辆提供充足的动力。
另一方面，本实施例可以在确定出车辆的需求扭矩之后，对第一电机和第二电机所需提供的扭矩值进行分配以及控制。例如，可以根据断开装置的状态对第一电机和第二电机进行扭矩分配，当断开装置为断开状态但有结合需求，或处于正在结合的状态，车辆的需求扭矩可以全部由第二电机提供，当断开装置为结合状态但没有断开需求，车辆的需求扭矩可以由整车控制器按照预定的扭矩分配策略计算第一电机和第二电机各自所需提供的扭矩。
作为一种可选的实施例，基于需求扭矩值，确定电机中第一电机的第一扭矩值和第二电机的第二扭矩值，包括：将需求扭矩值发送给车身稳定系统；接收车身稳定系统基于需求扭矩值与自身扭矩需求值确定的目标需求值，其中，目标需求值为需求扭矩值与自身扭矩需求值中的较小值；基于目标需求值，确定电机中第一电机的第一扭矩值和第二电机的第二扭矩值。自身扭矩需求值是由车身稳定系统结合车辆当前的行驶状态、路况以及车辆自身能力计算得到的，当前车辆在安全和驾驶性能允许的范围内能提供的最大扭矩，通过比较需求扭矩值和自身扭矩值的大小，可以避免第一电机和/或第二电机提供的需求扭矩超出上述范围，造成驾驶安全或车辆驾驶性能变差的问题。
作为一种可选的实施例，基于目标驱动方式，对车辆的电机进行控制，包括：在对车辆的第一电机的转速进行调整时，获取第一电机的当前转速；确定当前转速对应的转速区间；确定转速区间对应的调速速率；基于调速速率，将第一电机的转速调整至目标转速。在对第一电机进行调速时，为了在快速调速的同时保证调速的安全性和有效性，可以将第一电机调速过程按转速进行区间划分，每个转速区间内的调速速率不同，例如，转速较低的区间对应的调速速率可以较高，即，此时可以令第一电机尽快提升转速，而转速较高的区间对应的调速速率可以较低，即，此时可以令第一电机缓慢提升转速。
作为一种可选的实施例，在基于目标驱动方式，对车辆的电机和断开装置进行控制之后，还包括：获取对断开装置进行更新后的更新状态；在更新状态为断开状态的情况下，确定车辆的第一扭矩需求更新值，并控制第二电机提供扭矩需求更新值对应的扭矩；在更新状态为结合状态的情况下，确定车辆的第二扭矩需求更新值，基于第二扭矩需求更新值确定为第一电机分配的第一更新扭矩值，以及为第二电机分配的第二更新扭矩值，并控制第一电机提供第一更新扭矩值对应的扭矩，以及控制第二电机提供第二更新扭矩值对应的扭矩。
需要说明的是，在车辆将驱动模式切换至两驱驱动时，断开装置将处于断开状态，此时，第一电机将不再向车辆提供需求扭矩，为了保证对整车的动力贡献不变，可以使第二电机提供的需求扭矩值提高，且使第二电机提供的需求扭矩提高值与第一电机原本应提供的需求扭矩值(也就是第一电机降低的扭矩提供值)相等，且可以控制第一电机提供扭矩降低和第二电机提供扭矩提高在预定的时间范围内完成。
基于上述实施例及可选实施例，本公开提出了一种可选实施方式，下面进行说明。
本公开可选实施方式提出一种带断开装置的四驱纯电动车辆扭矩控制和模式切换过程的方法，主要解决特殊工况下满足整车扭矩需求的同时，断开装置能根据整车需求结合或分离，既保证车辆安全和稳定性，又兼顾车辆的动力性能和经济性能需求。
当车辆以两驱行驶，踩下制动踏板，车辆正通过电机制动回收扭矩，此时由经济模式或舒适模式切换为运动模式，即车辆由两驱向四驱切换，实现制动能量回收的同时结合断开装置，既保证了当前的经济性能，由保证了后续的动力需求。
当车辆以四驱行驶，踩下制动踏板，车辆正通过电机制动回收扭矩，此时车辆由四驱向两驱切换的需求，既要确保整个过程的制动能量回收，又要保证模式顺利切换。
下面对本公开可选实施方式进行具体介绍。
(1)首先对应用本公开可选实施方式的带断开装置的四驱纯电动车辆进行介绍，图2是根据本公开可选实施方式提供的带断开装置的四驱纯电动车辆示意图，如图2所示，包括断开装置4、断开机构控制器7、前轴传动系统6、后轴传动系统5、电机1、电机2、电机控制器1(MCU1)、电机控制器2(MCU2)、动力电池管理系统(BMS)、整车控制器(VCU)、车身稳定系统控制单元(ESC)、换挡机构、车辆显示屏(IVI)、制动踏板、加速踏板等。
其中，带断开装置的传动系统，可以是前轴传动系统带断开装置，也可以是后轴传动系统带断开装置，断开装置可以在减速器输入端，也可以在减速器输出端，也可以在差速器输出端。
车辆的驾驶模式可以分为运动模式、标准模式、经济模式三种，这三种模式显示在车辆的IVI上，用户可以根据需求选择驾驶模式。
其中，运动模式以动力性为主，为保持最佳的动力性和驾驶性，传动系统的断开装置一直处于结合状态，实现四驱车功能；标准模式下的传动系统的断开装置初始状态为断开，可根据驾驶员需求切换为结合状态，实现适时四驱；经济模式以经济性为主，传动系统的断开装置初始状态为断开，实现两驱车功能，极端情况，如油门踏板 全开情况下，可实现断开装置结合，实现四驱车功能。
MCU将电机转速、扭矩和故障状态等信息发送给VCU，BMS将电池许用放电功率、充电功率、温度、故障等信息发送给VCU，IVI将驾驶员选择的驾驶模式信号发送给VCU，ESC将制动踏板信号、制动主缸压力值和车速值发送给VCU，VCU采集加速踏板位置信息，并根据上述信号进行综合判断，计算得出轮端需求总扭矩。
(2)第一种特殊工况：当车辆以两驱行驶，踩下制动踏板，车辆正通过电机制动回收扭矩，或驾驶员手动调节驾驶模式，由经济模式或舒适模式切换为运动模式，即车辆由两驱向四驱切换。
图3是根据本公开可选实施方式提供的第一种特殊工况下扭矩控制流程示意图，如图3所示，该过程如下：
1)IVI将驾驶模式需求发送给VCU，VCU收到驾驶模式需求后，VCU发送结合需求指令给断开装置和电机控制器1和电机控制器2，电机控制器1根据结合需求指令上电开机，电机控制器1给电机1发送调速指令，在断开装置结合完成之前，对电机1发送的扭矩需求只为调速，不参与整车制动能量回收或驱动；按照以下调速速率将电机1转速调至目标转速nmot，电机1达到目标转速之后，给VCU发送转速达成确认指令，VCU收到转速达成确认指令后给断开装置控制器发送结合指令，断开装置在预定时间内(例如，0.1s)完成结合，断开装置完成结合后，给VCU发送结合完成指令。
电机目标转速nmot由如下公式计算所得：
|n2-n1|≤50
n2＝u*i2/r/0.377
nmot＝n1*i1
其中，n1为靠近电机1一侧的断开装置部件转速，r/min；n2为靠近车轮一侧的断开装置部件转速，r/min；i1为靠近电机1一侧的断开装置部件和传动系统速比；i2为靠近车轮一侧的断开装置部件和传动系统速比；u为车速，km/h；r为轮胎滚动半径，m。
图4是根据本公开可选实施方式提供的电机调速速率示意图，如图4所示，电机调速速率以阶梯形式，在0-6000r/min转速区间，调速速率为60000r/min/s，在6001-12000r/min转速区间，调速速率为40000r/min/s，在12001-18000r/min转速区间，调速速率为20000r/min/s(不是唯一值)。
2)持续判断踏板状态
1、如果踩下制动踏板或滑行状态，则ESC给VCU发送制动踏板信号和车速值等，VCU根据制动踏板开度和车速等计算整车所需制动回收扭矩，并将扭矩需求值1发送给ESC，ESC根据自身能力计算扭矩需求值2，比较扭矩需求值1和扭矩需求值2的大小，取绝对值最小的作为扭矩需求值3，给VCU发送制动回收许可指令并反馈需求值3；
2、如果此时驾驶员踩下油门踏板，则VCU根据油门踏板开度和车速等计算整车所需驱动扭矩。
3)持续判断断开装置状态
1、如果处于分离状态但是有结合需求或者正在结合或处于断开状态，VCU将整车制动能量回收扭矩或驱动扭矩需求发给电机控制器2，全部由电机2提供；
2、如果处于结合状态但是无分离需求，VCU根据扭矩分配策略计算前后电机各自的扭矩，并发送指令给电机控制器1和电机控制器2，电机1和电机2根据需求指令输出扭矩。
在制动过程完成断开装置的结合，首先保证了制动过程的能量回收，提高了车辆的可利用能量，同时缩短了车辆后续的加速响应时间，满足驾驶员模式切换意图，兼顾经济性能和动力性能。
(2)第二种特殊工况：当车辆以四驱行驶，踩下制动踏板，车辆正通过电机制动回收扭矩，此时车辆有四驱向两驱切换的需求。
图5是根据本公开可选实施方式提供的第二种特殊工况下扭矩控制流程示意图，如图5所示，该过程如下：
1)IVI将驾驶模式需求发送给VCU，VCU收到模式切换需求后，VCU发送分离需求指令给断开装置和电机控制器，VCU发送扭矩降低指令给电机控制器1，同步发送扭矩提高指令给电机控制器2，电机2的扭矩提高值与电机1的扭矩降低值相等，在预定时间(例如，0.15s)内将电机1的转矩输出降为零，整车扭矩需求全部由电机2提供；电机1达到目标转矩之后给VCU发送确认指令，VCU收到确认指令后给断开装置控制器发送分离指令，断开装置在预定时间(例如，0.1s)内完成分离，断开装置完成分离后，给VCU发送分离完成指令。
2)持续判断踏板状态
1、如果踩下制动踏板或滑行状态，则ESC给VCU发送制动踏板开度信号和车速值 等，VCU根据制动踏板开度和车速等计算整车所需制动回收扭矩，并将扭矩需求值1发送给ESC，ESC根据自身能力计算扭矩需求值2，比较扭矩需求值1和扭矩需求值2的大小，取绝对值最小的那个作为扭矩需求值3，给VCU发送制动回收许可指令并扭矩需求值3；
2、如果此时驾驶员踩下油门踏板，则VCU根据油门踏板开度和车速等计算整车所需驱动扭矩。
3)持续判断断开装置状态
1、如果处于结合状态但是无分离需求，VCU根据扭矩分配策略计算前后电机各自的扭矩，并发送指令给电机控制器1和电机控制器2，电机1和电机2根据需求指令输出扭矩；
2、如果处于结合状态但是有分离需求或者正在分离或处于断开状态，VCU将整车制动能量回收扭矩或驱动扭矩需求发给电机控制器2，全部由电机2提供。
根据本公开实施例，还提供了一种车辆控制装置，图6是根据本公开实施例提供的车辆控制装置的结构框图，如图6所示，该装置包括：接收模块61，响应模块62和控制模块63，下面对该装置进行说明。
接收模块61，设置为接收对车辆的驱动方式进行切换的切换指令，其中，驱动方式包括四驱驱动方式和两驱驱动方式；响应模块62，连接至上述接收模块61，设置为响应于切换指令，确定车辆的目标驱动方式；控制模块63，连接至上述响应模块62，设置为基于目标驱动方式，对车辆的电机和断开装置进行控制，其中，电机包括第一电机和第二电机，第一电机和第二电机通过提供扭矩为车辆提供驱动，且第一电机基于断开装置的开合状态控制是否为车辆提供驱动。
根据本公开实施例，还提供了一种计算机可读存储介质，计算机可读存储介质包括存储的程序，其中，在程序运行时控制计算机可读存储介质所在设备执行上述任意一项的车辆控制方法。
根据本公开实施例，还提供了一种计算机设备，包括：存储器和处理器，存储器存储有计算机程序；处理器，设置为执行存储器中存储的计算机程序，计算机程序运行时使得处理器执行上述任意一项的车辆控制方法。
上述本公开实施例序号仅仅为了描述，不代表实施例的优劣。
在本公开的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本公开各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本公开各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅是本公开的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本公开的保护范围。
工业实用性：
本公开实施例提供的方案可应用于车辆行驶控制领域，在本公开实施例中，采用接收对车辆的驱动方式进行切换的切换指令，其中，所述驱动方式包括四驱驱动方式和两驱驱动方式；响应于所述切换指令，确定所述车辆的目标驱动方式；基于所述目标驱动方式，对所述车辆的电机和断开装置进行控制，其中，所述电机包括第一电机和第二电机，所述第一电机和所述第二电机通过提供扭矩为所述车辆提供驱动，且所 述第一电机基于所述断开装置的开合状态控制是否为所述车辆提供驱动。实现了对车辆的扭矩进行高效控制的技术效果。

Claims (10)

  1. 一种车辆控制方法，包括：
    接收对车辆的驱动方式进行切换的切换指令，其中，所述驱动方式包括四驱驱动方式和两驱驱动方式；
    响应于所述切换指令，确定所述车辆的目标驱动方式；
    基于所述目标驱动方式，对所述车辆的电机和断开装置进行控制，其中，所述电机包括第一电机和第二电机，所述第一电机和所述第二电机通过提供扭矩为所述车辆提供驱动，且所述第一电机基于所述断开装置的开合状态控制是否为所述车辆提供驱动。
  2. 根据权利要求1所述的方法，其中，所述基于所述目标驱动方式，对所述车辆的电机和断开装置进行控制，包括：
    在所述目标驱动方式为四驱驱动方式的情况下，向所述第一电机对应的第一电机控制器发送开启指令，以控制所述第一电机开启，并在开启后达到第一目标转速；
    在接收到所述第一电机控制器反馈所述第一电机达到所述第一目标转速的情况下，向所述断开装置对应的断开机构控制器发送结合指令，以控制所述断开装置处于结合状态。
  3. 根据权利要求1所述的方法，其中，所述基于所述目标驱动方式，对所述车辆的电机和断开装置进行控制，包括：
    在所述目标驱动方式为两驱驱动方式的情况下，向所述第一电机对应的第一电机控制器发送断开指令，以控制所述第一电机断开，并在断开后达到第二目标转速；
    在接收到所述第一电机控制器反馈所述第一电机达到所述第二目标转速的情况下，向所述断开装置对应的断开机构控制器发送断开指令，以控制所述断开装置处于断开状态。
  4. 根据权利要求1所述的方法，其中，在基于所述目标驱动方式，对所述车辆的电机和断开装置进行控制之后，还包括：
    获取所述车辆的驾驶参数数据和行驶状态数据；
    基于所述驾驶参数数据和所述行驶状态数据，确定所述车辆的需求扭矩值；
    基于所述需求扭矩值，确定所述电机中所述第一电机的第一扭矩值和所述第二电机的第二扭矩值；
    基于所述第一扭矩值对所述第一电机进行扭矩控制，以及基于所述第二扭矩值对所述第二电机进行扭矩控制。
  5. 根据权利要求4所述的方法，其中，所述基于所述需求扭矩值，确定所述电机中所述第一电机的第一扭矩值和所述第二电机的第二扭矩值，包括：
    将所述需求扭矩值发送给车身稳定系统；
    接收所述车身稳定系统基于所述需求扭矩值与自身扭矩需求值确定的目标需求值，其中，所述目标需求值为所述需求扭矩值与所述自身扭矩需求值中的较小值；
    基于所述目标需求值，确定所述电机中所述第一电机的所述第一扭矩值和所述第二电机的所述第二扭矩值。
  6. 根据权利要求1所述的方法，其中，所述基于所述目标驱动方式，对所述车辆的电机进行控制，包括：
    在对所述车辆的第一电机的转速进行调整时，获取所述第一电机的当前转速；
    确定所述当前转速对应的转速区间；
    确定所述转速区间对应的调速速率；
    基于所述调速速率，将所述第一电机的转速调整至目标转速。
  7. 根据权利要求1至6中任一项所述的方法，其中，在所述基于所述目标驱动方式，对所述车辆的电机和断开装置进行控制之后，还包括：
    获取对所述断开装置进行更新后的更新状态；
    在所述更新状态为断开状态的情况下，确定所述车辆的第一扭矩需求更新值，并控制所述第二电机提供所述扭矩需求更新值对应的扭矩；
    在所述更新状态为结合状态的情况下，确定所述车辆的第二扭矩需求更新值，基于所述第二扭矩需求更新值确定为所述第一电机分配的第一更新扭矩值，以及为所述第二电机分配的第二更新扭矩值，并控制所述第一电机提供所述第一更新扭矩值对应的扭矩，以及控制所述第二电机提供所述第二更新扭矩值对应的扭矩。
  8. 一种车辆控制装置，包括：
    接收模块，设置为接收对车辆的驱动方式进行切换的切换指令，其中，所述驱动方式包括四驱驱动方式和两驱驱动方式；
    响应模块，设置为响应于所述切换指令，确定所述车辆的目标驱动方式；
    控制模块，设置为基于所述目标驱动方式，对所述车辆的电机和断开装置进行控制，其中，所述电机包括第一电机和第二电机，所述第一电机和所述第二电机通过提供扭矩为所述车辆提供驱动，且所述第一电机基于所述断开装置的开合状态控制是否为所述车辆提供驱动。
  9. 一种计算机可读存储介质，所述计算机可读存储介质包括存储的程序，其中，在所述程序运行时控制所述计算机可读存储介质所在设备执行权利要求1至7中任意一项所述的车辆控制方法。
  10. 一种计算机设备，包括：存储器和处理器，
    所述存储器存储有计算机程序；
    所述处理器，设置为执行所述存储器中存储的计算机程序，所述计算机程序运行时使得所述处理器执行权利要求1至7中任意一项所述的车辆控制方法。
PCT/CN2023/102927 2022-08-11 2023-06-27 车辆控制方法、装置、计算机可读存储介质及计算机设备 WO2024032181A1 (zh)

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