CN112977387A - Vehicle control method, device, electronic apparatus, and medium - Google Patents
Vehicle control method, device, electronic apparatus, and medium Download PDFInfo
- Publication number
- CN112977387A CN112977387A CN202110262243.2A CN202110262243A CN112977387A CN 112977387 A CN112977387 A CN 112977387A CN 202110262243 A CN202110262243 A CN 202110262243A CN 112977387 A CN112977387 A CN 112977387A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- torque
- speed difference
- clutch
- rotating speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000012546 transfer Methods 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 239000000446 fuel Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
The embodiment of the invention discloses a vehicle control method, a vehicle control device, electronic equipment and a medium. The method comprises the following steps: determining a front-rear axle rotation speed difference of the vehicle according to the vehicle state information under the condition that the vehicle is in the 2WD mode; according to the rotational speed difference of the front and rear axles, torque closed-loop control is carried out on a clutch of the vehicle so as to reduce the rotational speed difference of the front and rear axles of the vehicle; and controlling the vehicle to carry out four-wheel drive running according to the torque closed-loop control operation. By executing the technical scheme, the technical effect of improving the vehicle traction force on the premise that the oil consumption is not influenced in the 2WD mode can be achieved.
Description
Technical Field
The embodiment of the invention relates to the field of vehicle control, in particular to a vehicle control method, a vehicle control device, electronic equipment and a medium.
Background
The four-wheel drive mode of the current four-wheel drive vehicle comprises three modes of 2WD/AWD/4WD, which respectively correspond to the economy/comfort/off-road mode of the whole vehicle. In the economy mode, i.e., the 2WD mode, the transfer case does not transmit torque, and the vehicle travels in a purely rear-drive manner. Is favorable for saving oil consumption. However, in this mode, the vehicle can only run in the two-wheel drive mode, and if the rear wheel adhesion coefficient is low, etc., the vehicle is easy to slip, and the vehicle is trapped, and the four-wheel drive capability cannot be well exerted. At the moment, the traction force of the vehicle can be improved only by switching to AWD/4WD in a mode of manually changing the mode, so that the vehicle is out of the way, and the advantages of a four-wheel drive vehicle type cannot be fully exerted. There is a need for a control method that improves the performance of vehicle escaping from a vehicle when the vehicle is in an economy mode without affecting fuel consumption.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method, a vehicle control device, electronic equipment and a medium, and achieves the technical effect of improving the vehicle traction force on the premise that the 2WD mode does not influence the oil consumption.
In a first aspect, an embodiment of the present invention provides a vehicle control method, including:
determining a front-rear axle rotation speed difference of the vehicle according to the vehicle state information under the condition that the vehicle is in the 2WD mode;
according to the rotational speed difference of the front and rear axles, torque closed-loop control is carried out on a clutch of the vehicle so as to reduce the rotational speed difference of the front and rear axles of the vehicle;
and controlling the vehicle to carry out four-wheel drive running according to the torque closed-loop control operation.
In a second aspect, an embodiment of the present invention further provides a vehicle control apparatus, including:
the device comprises a rotating speed difference determining module, a driving module and a driving module, wherein the rotating speed difference determining module is used for determining the rotating speed difference of a front axle and a rear axle of the vehicle according to vehicle state information under the condition that the vehicle is in a 2WD mode;
the clutch control module is used for carrying out torque closed-loop control on a clutch of the vehicle according to the rotational speed difference of the front shaft and the rear shaft so as to reduce the rotational speed difference of the front shaft and the rear shaft of the vehicle;
and the vehicle control module is used for controlling the vehicle to carry out four-wheel drive running according to the torque closed-loop control operation.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
storage means for storing one or more programs;
the one or more programs are executed by the one or more processors, so that the one or more processors implement the vehicle control method as provided in any embodiment of the present invention.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle control method as provided in any of the embodiments of the present invention.
The embodiment of the invention provides a vehicle control method, which comprises the steps of determining a front-rear axle rotation speed difference of a vehicle according to vehicle state information under the condition that the vehicle is in a 2WD mode; according to the rotating speed difference of the front axle and the rear axle of the vehicle, carrying out torque closed-loop control on a clutch of the vehicle so as to reduce the rotating speed difference of the front axle and the rear axle of the vehicle; and finally, controlling the vehicle to carry out four-wheel drive running under the 2WD mode and under the condition of overlarge difference between the rotating speeds of the front axle and the rear axle according to the torque closed-loop control operation.
By adopting the technical scheme, under the condition of a vehicle and a 2WD economic mode, the front and rear axle rotation speed difference of the vehicle is determined according to the vehicle state information, under the condition of overlarge rotation speed difference, the front and rear axle rotation speed difference of the vehicle is reduced by carrying out torque closed-loop control on a clutch of the vehicle, and finally, the purpose that the vehicle can fully exert the four-wheel drive running advantage of a four-wheel drive vehicle type to carry out temporary four-wheel drive running without being switched to an AWD/4WD mode only by being in the 2WD economic mode is realized by controlling the vehicle through torque closed-loop control operation on the premise of not switching the 4WD or the AWD mode, so that the technical effect of improving the vehicle traction force under the premise that the 2WD mode does not influence oil.
The above summary of the present invention is merely an overview of the technical solutions of the present invention, and the present invention can be implemented in accordance with the content of the description in order to make the technical means of the present invention more clearly understood, and the above and other objects, features, and advantages of the present invention will be more clearly understood.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present disclosure;
FIG. 2 is a flowchart of another vehicle control method provided in the second embodiment of the present application;
FIG. 3 is a schematic flow chart of a vehicle control method provided by an embodiment of the application;
fig. 4 is a schematic structural diagram of a vehicle control device according to a third embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a flowchart of a vehicle control method according to a first embodiment of the present invention, which is applicable to a situation where a vehicle is in a 2WD mode for escaping from a vehicle, and which is executed by a vehicle control device, which may be implemented by software and/or hardware, and which may be integrated into an electronic device. As shown in fig. 1, the vehicle control method in the present embodiment includes the steps of:
at present, in a 2WD mode of most vehicles, a transfer case does not transmit torque, and the vehicles run in a pure rear-drive mode, so that fuel consumption is saved. At the moment, the vehicle can be only released by switching to an AWD/4WD mode in a mode of manually changing the mode, and the advantages of a four-wheel drive vehicle type cannot be fully exerted.
And S110, determining the front-rear axle rotation speed difference of the vehicle according to the vehicle state information when the vehicle is in the 2WD mode.
Wherein, when the vehicle is in the 2WD mode, i.e., the economy mode, the controller determines a front-rear axle rotation speed difference of the vehicle according to the state information of the vehicle, and the front-rear axle rotation speed difference of the vehicle may be a difference value between the rear axle rotation speed and the front axle rotation speed.
And S120, carrying out torque closed-loop control on a clutch of the vehicle according to the front and rear axle rotation speed difference so as to reduce the front and rear axle rotation speed difference of the vehicle.
The vehicle controller performs torque closed-loop control on a clutch of the vehicle according to the rotational speed difference between the front and rear axles of the vehicle, so as to reduce the rotational speed difference between the front and rear axles of the vehicle. Under the condition that the adhesion coefficient of the rear wheel of the vehicle is low, the vehicle is easy to slip and cannot normally run, under the condition of slipping, the rotating speed of the front wheel is close to 0, the rotating speed of the rear wheel is continuously increased, the rotating speed difference of the front and rear shafts at the moment is continuously increased, and then the torque closed-loop control can be performed on the clutch of the vehicle, so that the vehicle is easy to get rid of difficulties. The calculation mode of the closed-loop torque in the torque closed-loop control of the vehicle is the same as that in the AWD mode, but the vehicle is still in the 2WD mode without mode switching when the torque closed-loop control is carried out, and the traction force of the vehicle is improved on the premise that the oil consumption is not greatly influenced by continuous maintenance of the 2WD mode.
And S130, controlling the vehicle to carry out four-wheel drive running according to the torque closed-loop control operation.
Wherein the vehicle controller controls the front axle of the vehicle to generate power according to the torque closed-loop control operation, so that the vehicle performs four-wheel drive running during the execution of the torque closed-loop control operation.
The technical scheme of the embodiment provides a control method for front axle torque of a four-wheel drive vehicle type based on a rear drive and adopting a transfer case, the control method controls the transfer case to transfer torque at a proper time according to states of an accelerator pedal position, wheel rotating speed and the like, the four-wheel drive running of the vehicle is controlled, the four-wheel drive running advantage of the four-wheel drive vehicle type can be fully played only in a 2WD economic mode without switching to an AWD/4WD mode, and the traction force of the vehicle is improved on the premise of not influencing oil consumption.
Example two
Fig. 2 is a flowchart of another vehicle control method according to a second embodiment of the present application. Embodiments of the present invention are further optimized on the basis of the above-mentioned embodiments, and the embodiments of the present invention may be combined with various alternatives in one or more of the above-mentioned embodiments. As shown in fig. 2, the vehicle control method provided in the embodiment of the present invention may include the steps of:
s210, under the condition that the vehicle is in the 2WD mode, determining the front-rear axle rotation speed difference of the vehicle according to the vehicle state information.
And S220, if the rotating speed difference between the front shaft and the rear shaft is greater than a preset rotating speed difference threshold value, calculating the closed-loop torque of the clutch according to the rotating speed difference between the front shaft and the rear shaft.
If the controller monitors that the rotating speed difference of the front shaft and the rear shaft of the vehicle is larger than a preset rotating speed difference threshold value, the controller calculates the closed-loop torque of the clutch according to the rotating speed difference of the front shaft and the rear shaft, and transmits torque to the front shaft through the transfer case according to the calculated closed-loop torque, so that the rotating speed difference of the front shaft and the rear shaft is reduced. The speed difference threshold value can be determined by the current speed of the vehicle and the speed difference coefficient, generally, the speed difference threshold value can be equal to the current speed of the vehicle multiplied by the speed difference coefficient, the speed difference coefficient can fluctuate between 3% and 10%, and the speed difference coefficient is larger as the current speed of the vehicle is higher.
And S230, controlling the transfer case to transmit torque to a front shaft of the vehicle by controlling pressing force of a vehicle clutch according to the calculated closed loop torque, and reducing the difference of the rotating speed of the front shaft and the rear shaft of the vehicle.
The controller controls the transfer case to transmit torque to the front axle of the vehicle by controlling pressing force of the vehicle clutch according to the calculated closed loop torque, and controls the maximum value of the front axle torque of the vehicle to reduce the difference of the front and rear axle rotating speeds of the vehicle.
And S240, controlling the vehicle to carry out four-wheel drive running according to the torque closed-loop control operation.
In an alternative of the present embodiment, it may be combined with one or more of the alternatives of the present embodiment. Wherein, after controlling the vehicle to drive four according to the torque closed-loop control operation, the method comprises the following steps: and if the detected new front-rear axle rotation speed difference is smaller than the preset rotation speed difference threshold value, controlling the vehicle clutch torque according to the detected vehicle state information after the vehicle drives in four directions so as to inhibit the vehicle impact caused by the instant change of the four-wheel drive torque.
After the front axle of the vehicle is powered through closed-loop torque control to reduce the rotation speed difference of the front axle and the rear axle, if the new rotation speed difference of the front axle and the rear axle is detected to be smaller than a preset rotation speed difference threshold value, the vehicle clutch torque is controlled according to vehicle state information detected after the vehicle drives four ways, and the vehicle impact caused after the front axle of the vehicle loses power instantly is restrained.
By adopting the technical scheme, whether the vehicle clutch torque needs to be controlled or not is judged by detecting the vehicle state information of the vehicle after the closed-loop torque control is carried out on the vehicle, so that the vehicle impact generated by the instant change of the vehicle front axle torque is restrained and avoided.
In an alternative of the present embodiment, it may be combined with one or more of the alternatives of the present embodiment. The method for controlling the torque of the vehicle clutch according to the vehicle state information detected after the four-wheel drive running of the vehicle comprises the following steps: determining a vehicle running state according to vehicle state information detected after the vehicle drives four ways; if the vehicle running state meets the preset running state condition, keeping the clutch torque of the vehicle unchanged; if the vehicle running state does not meet the preset running state condition, reducing the clutch torque of the vehicle according to a preset torque variation curve; the preset running state condition comprises at least one of a torque value and a clutch torque, wherein the torque value is that the vehicle is in an acceleration state, the throttle opening and the engine torque are larger than or equal to a previous period value, and the clutch torque is larger than a preset torque threshold value.
The preset driving state condition may be at least one of a torque value that the vehicle is in an acceleration state, an accelerator opening degree and an engine torque are all greater than or equal to a previous cycle value, and a clutch torque is greater than a preset torque threshold value, although one of the preset driving state conditions is met in a normal driving process, and other conditions are also met, in order to avoid a vehicle state monitoring fault, the clutch torque of the vehicle needs to be kept unchanged in order to prevent the vehicle from generating a shock due to a sudden change of the torque as long as one of the preset driving state conditions is met. If the preset running condition is not met, the clutch torque can be slowly reduced according to a preset torque variation curve, so that the vehicle can be prevented from generating impact, the preset torque variation curve can be determined by the vehicle type of the vehicle, and the torque is generally reduced to be within 0-200Nm from the maximum.
The technical solution of the present embodiment is to add the torque closed-loop control of the AWD mode in the economy mode, i.e., the 2WD mode, without adding the open-loop control, by providing a vehicle control method in the transfer case economy mode. When the vehicle runs on a high-attachment road surface, the vehicle runs in a pure two-wheel drive mode, and oil consumption in an economic mode is guaranteed. When the vehicle is found to skid, the four-wheel drive system is timely involved, so that the front axle has certain torque, and the advantages of the four-wheel drive vehicle are fully exerted. Meanwhile, as the mode switching is not carried out when the vehicle enters four-wheel drive running, the purpose of four-wheel drive running is achieved by adding part of four-wheel drive torque, the smoothness during four-wheel drive running intervention is realized, the four-wheel drive intervention and smooth switching exit are ensured, and the impact caused by the change of the vehicle power is prevented.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a vehicle control device provided in a third embodiment of the present invention. The device is applicable to the situation that the vehicle is in the 2WD mode for escaping, can be realized by software and/or hardware, and is integrated in the electronic equipment. The device is used for realizing the vehicle control method provided by the embodiment. As shown in fig. 4, the vehicle control apparatus provided in the present embodiment includes:
a rotational speed difference determination module 410 for determining a front-rear axle rotational speed difference of the vehicle according to the vehicle state information, in case the vehicle is in the 2WD mode;
the clutch control module 420 is configured to perform torque closed-loop control on a clutch of the vehicle according to the rotational speed difference between the front and rear axles to reduce the rotational speed difference between the front and rear axles of the vehicle;
and the vehicle control module 430 is used for controlling the vehicle to carry out four-wheel drive running according to the torque closed-loop control operation.
On the basis of the above embodiment, optionally, the rotational speed difference determining module 410 is configured to:
the vehicle state information includes engine torque, vehicle speed, wheel speed, and accelerator opening.
On the basis of the above embodiment, optionally, the clutch control module 420 includes a transfer case control unit for:
if the rotating speed difference of the front shaft and the rear shaft is greater than a preset rotating speed difference threshold value, calculating the closed-loop torque of the clutch according to the rotating speed difference of the front shaft and the rear shaft;
controlling the transfer case to transmit torque to a front axle of the vehicle by controlling pressing force of a vehicle clutch according to the calculated closed loop torque, and reducing the difference of the rotating speed of the front axle and the rear axle of the vehicle;
the preset rotating speed difference threshold value is determined by the vehicle speed and the rotating speed difference coefficient of the vehicle at the current moment.
On the basis of the above embodiment, optionally, the vehicle control module 430 comprises a torque control unit for:
and if the detected new front-rear axle rotation speed difference is smaller than the preset rotation speed difference threshold value, controlling the vehicle clutch torque according to the detected vehicle state information after the vehicle drives in four directions so as to inhibit the vehicle impact caused by the instant change of the four-wheel drive torque.
On the basis of the above embodiment, optionally, the vehicle control module 430 is further configured to:
determining a vehicle running state according to vehicle state information detected after the vehicle drives four ways;
if the vehicle running state meets the preset running state condition, keeping the clutch torque of the vehicle unchanged;
if the vehicle running state does not meet the preset running state condition, reducing the clutch torque of the vehicle according to a preset torque variation curve;
the preset running state condition comprises at least one of a torque value and a clutch torque, wherein the torque value is that the vehicle is in an acceleration state, the throttle opening and the engine torque are larger than or equal to a previous period value, and the clutch torque is larger than a preset torque threshold value.
The vehicle control device provided by the embodiment of the invention can execute the vehicle control method provided by any embodiment of the invention, has corresponding functions and beneficial effects of executing the vehicle control method, and the detailed process refers to the relevant operations of the vehicle control method in the previous embodiment.
Example four
Fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application. The embodiment of the application provides electronic equipment, and the vehicle control device provided by the embodiment of the application can be integrated in the electronic equipment. As shown in fig. 5, the present embodiment provides an electronic device 500, which includes: one or more processors 520; the storage device 510 is configured to store one or more programs, and when the one or more programs are executed by the one or more processors 520, the one or more processors 520 implement the vehicle control method provided in the embodiment of the present application, the method includes:
determining a front-rear axle rotation speed difference of the vehicle according to the vehicle state information under the condition that the vehicle is in the 2WD mode;
according to the rotational speed difference of the front and rear axles, torque closed-loop control is carried out on a clutch of the vehicle so as to reduce the rotational speed difference of the front and rear axles of the vehicle;
and controlling the vehicle to carry out four-wheel drive running according to the torque closed-loop control operation.
Of course, those skilled in the art will understand that the processor 520 also implements the technical solution of the vehicle control method provided in any embodiment of the present application.
The electronic device 500 shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 5, the electronic device 500 includes a processor 520, a storage 510, an input 530, and an output 540; the number of the processors 520 in the electronic device may be one or more, and one processor 520 is taken as an example in fig. 5; the processor 520, the storage 510, the input device 530, and the output device 540 in the electronic apparatus may be connected by a bus or other means, and are exemplified by a bus 550 in fig. 5.
The storage device 510 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and module units, such as program instructions corresponding to the vehicle control method in the embodiment of the present application.
The storage device 510 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage 510 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage 510 may further include memory located remotely from processor 520, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 530 may be used to receive input numbers, character information, or voice information, and to generate key signal inputs related to user settings and function control of the electronic apparatus. The output device 540 may include a display screen, speakers, etc. of electronic equipment.
The electronic equipment provided by the embodiment of the application can achieve the technical effect of improving the vehicle traction force on the premise that the oil consumption is not influenced in the 2WD mode.
EXAMPLE five
An embodiment of the present invention provides a computer-readable medium having stored thereon a computer program for executing a vehicle control method when executed by a processor, the method including:
determining a front-rear axle rotation speed difference of the vehicle according to the vehicle state information under the condition that the vehicle is in the 2WD mode;
according to the rotational speed difference of the front and rear axles, torque closed-loop control is carried out on a clutch of the vehicle so as to reduce the rotational speed difference of the front and rear axles of the vehicle;
and controlling the vehicle to carry out four-wheel drive running according to the torque closed-loop control operation.
Alternatively, the program may be used to execute a vehicle control method provided in any of the embodiments of the present invention when executed by a processor.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle control method characterized by comprising:
determining a front-rear axle rotation speed difference of the vehicle according to the vehicle state information under the condition that the vehicle is in the 2WD mode;
according to the rotational speed difference of the front and rear axles, torque closed-loop control is carried out on a clutch of the vehicle so as to reduce the rotational speed difference of the front and rear axles of the vehicle;
and controlling the vehicle to carry out four-wheel drive running according to the torque closed-loop control operation.
2. The method of claim 1, wherein the vehicle state information includes engine torque, vehicle speed, wheel speed, and throttle opening.
3. The method of claim 1, wherein performing torque closed-loop control of a clutch of a vehicle based on the front-to-rear axle speed differential comprises:
if the rotating speed difference of the front shaft and the rear shaft is greater than a preset rotating speed difference threshold value, calculating the closed-loop torque of the clutch according to the rotating speed difference of the front shaft and the rear shaft;
controlling the transfer case to transmit torque to a front axle of the vehicle by controlling pressing force of a vehicle clutch according to the calculated closed loop torque, and reducing the difference of the rotating speed of the front axle and the rear axle of the vehicle;
the preset rotating speed difference threshold value is determined by the vehicle speed and the rotating speed difference coefficient of the vehicle at the current moment.
4. The method of claim 3, wherein after controlling the vehicle to drive four in accordance with the torque closed loop control operation, comprising:
and if the detected new front-rear axle rotation speed difference is smaller than the preset rotation speed difference threshold value, controlling the vehicle clutch torque according to the detected vehicle state information after the vehicle drives in four directions so as to inhibit the vehicle impact caused by the instant change of the four-wheel drive torque.
5. The method of claim 4, wherein controlling vehicle clutch torque based on vehicle state information detected after vehicle four-wheel drive comprises:
determining a vehicle running state according to vehicle state information detected after the vehicle drives four ways;
if the vehicle running state meets the preset running state condition, keeping the clutch torque of the vehicle unchanged;
if the vehicle running state does not meet the preset running state condition, reducing the clutch torque of the vehicle according to a preset torque variation curve;
the preset running state condition comprises at least one of a torque value and a clutch torque, wherein the torque value is that the vehicle is in an acceleration state, the throttle opening and the engine torque are larger than or equal to a previous period value, and the clutch torque is larger than a preset torque threshold value.
6. A vehicle control apparatus, characterized in that the apparatus comprises:
the device comprises a rotating speed difference determining module, a driving module and a driving module, wherein the rotating speed difference determining module is used for determining the rotating speed difference of a front axle and a rear axle of the vehicle according to vehicle state information under the condition that the vehicle is in a 2WD mode;
the clutch control module is used for carrying out torque closed-loop control on a clutch of the vehicle according to the rotational speed difference of the front shaft and the rear shaft so as to reduce the rotational speed difference of the front shaft and the rear shaft of the vehicle;
and the vehicle control module is used for controlling the vehicle to carry out four-wheel drive running according to the torque closed-loop control operation.
7. The apparatus of claim 6, wherein the clutch control module comprises:
the transfer case control unit is used for calculating the closed-loop torque of the clutch according to the rotating speed difference of the front shaft and the rear shaft if the rotating speed difference of the front shaft and the rear shaft is greater than a preset rotating speed difference threshold value;
controlling the transfer case to transmit torque to a front axle of the vehicle by controlling pressing force of a vehicle clutch according to the calculated closed loop torque, and reducing the difference of the rotating speed of the front axle and the rear axle of the vehicle;
the preset rotating speed difference threshold value is determined by the vehicle speed and the rotating speed difference coefficient of the vehicle at the current moment.
8. The apparatus of claim 6, wherein the vehicle control module comprises:
and the torque control unit is used for controlling the vehicle clutch torque according to the vehicle state information detected after the vehicle drives in four directions to restrain vehicle impact caused by the instant change of the four-wheel driving torque if the new front-rear axle rotation speed difference is detected to be smaller than the preset rotation speed difference threshold value.
9. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle control method of any of claims 1-5.
10. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the vehicle control method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110262243.2A CN112977387B (en) | 2021-03-10 | 2021-03-10 | Vehicle control method, device, electronic apparatus, and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110262243.2A CN112977387B (en) | 2021-03-10 | 2021-03-10 | Vehicle control method, device, electronic apparatus, and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112977387A true CN112977387A (en) | 2021-06-18 |
| CN112977387B CN112977387B (en) | 2022-09-16 |
Family
ID=76334863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110262243.2A Active CN112977387B (en) | 2021-03-10 | 2021-03-10 | Vehicle control method, device, electronic apparatus, and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112977387B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043980A (en) * | 2021-12-01 | 2022-02-15 | 中国第一汽车股份有限公司 | Driving method and device applied to vehicle, electronic equipment and storage medium |
| CN114954034A (en) * | 2022-05-25 | 2022-08-30 | 中国第一汽车股份有限公司 | Vehicle torque distribution method and device and vehicle |
| WO2024022103A1 (en) * | 2022-07-29 | 2024-02-01 | 中国第一汽车股份有限公司 | Clutch control method and apparatus, electronic device, and storage medium |
Citations (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5826636A (en) * | 1981-08-10 | 1983-02-17 | Fuji Heavy Ind Ltd | Full-time four-wheel drive car |
| US4723624A (en) * | 1985-08-26 | 1988-02-09 | Mazda Motor Corporation | Torque control arrangements for four-wheel-drive vehicles |
| US4729450A (en) * | 1986-07-25 | 1988-03-08 | Toyota Jidosha Kabushiki Kaisha | Anti torque shock control device and method engaging torque transmitting clutch between vehicle wheels when transmission is shifted from non drive range to drive range |
| US4773500A (en) * | 1985-09-13 | 1988-09-27 | Nissan Motor Co., Ltd. | Driving torque distribution control system for 4WD vehicle |
| US4840247A (en) * | 1986-05-06 | 1989-06-20 | Toyota Jidosha Kabushiki Kaisha | Device for controlling 4wd vehicle central differential restriction device according to front and rear wheels rotational speed difference, and method of operation thereof |
| US5448478A (en) * | 1992-09-22 | 1995-09-05 | Nissan Motor Co., Ltd. | Torque split control apparatus |
| US5803197A (en) * | 1995-08-11 | 1998-09-08 | Nissan Motor Co., Ltd. | Torque-split control system for four-wheel-drive vehicles |
| US6606549B1 (en) * | 1999-09-08 | 2003-08-12 | Toyoda Koki Kabushiki Kaisha | For a four-wheel-drive vehicle |
| US20030234130A1 (en) * | 2001-12-26 | 2003-12-25 | Akio Handa | Two-wheel-drive/four-wheel-drive switching system for vehicle |
| JP2006034052A (en) * | 2004-07-20 | 2006-02-02 | Nissan Motor Co Ltd | Motor power supply control device for motor four-wheel drive vehicle |
| GB0603452D0 (en) * | 2006-02-22 | 2006-04-05 | Ford Global Tech Llc | Hybrid motor vehicle driveline |
| CN101024376A (en) * | 2007-02-02 | 2007-08-29 | 方显忠 | Super-clutch type multi-bridge driving mechanism |
| US20090043469A1 (en) * | 2007-08-07 | 2009-02-12 | Nissan Motor Co., Ltd. | Driving force distribution control method and device for four wheel drive vehicle |
| US20110257858A1 (en) * | 2010-02-26 | 2011-10-20 | Jtekt Corporation | Drive state control apparatus for vehicle |
| WO2012013288A1 (en) * | 2010-07-28 | 2012-02-02 | Magna Powertrain Ag & Co Kg | Transmission unit |
| CN102529970A (en) * | 2012-01-10 | 2012-07-04 | 合肥工业大学 | Four-wheel driving force distribution control method for vehicle |
| CN102826087A (en) * | 2012-08-31 | 2012-12-19 | 长城汽车股份有限公司 | Torque control method of automobile four-drive system |
| JP2014223878A (en) * | 2013-05-17 | 2014-12-04 | スズキ株式会社 | Vehicular drive force distribution control apparatus |
| JP2015030432A (en) * | 2013-08-06 | 2015-02-16 | 富士重工業株式会社 | Control device of four-wheel drive vehicle |
| CN104553777A (en) * | 2013-10-22 | 2015-04-29 | 上海双杰科技有限公司 | Low-cost timely four-drive transfer case |
| US20160053888A1 (en) * | 2014-08-19 | 2016-02-25 | Iseki & Co., Ltd. | Working vehicle |
| US20160185216A1 (en) * | 2013-08-19 | 2016-06-30 | Jaguar Land Rover Limited | Driveline and method of controlling a driveline |
| CN106004413A (en) * | 2016-06-24 | 2016-10-12 | 中国第汽车股份有限公司 | Power system of four-wheel-drive electric vehicle and control method |
| CN107225970A (en) * | 2016-03-25 | 2017-10-03 | 长城汽车股份有限公司 | Power drive system |
| CN108357494A (en) * | 2018-02-11 | 2018-08-03 | 重庆长安汽车股份有限公司 | A kind of automatically controlled in due course 4 wheel driven control method |
| CN109318707A (en) * | 2017-08-01 | 2019-02-12 | 丰田自动车株式会社 | The driving condition switching device of four-wheel drive vehicle |
| CN112172822A (en) * | 2020-10-20 | 2021-01-05 | 中国第一汽车股份有限公司 | Control method, device, equipment and medium for driving mode of whole vehicle |
-
2021
- 2021-03-10 CN CN202110262243.2A patent/CN112977387B/en active Active
Patent Citations (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5826636A (en) * | 1981-08-10 | 1983-02-17 | Fuji Heavy Ind Ltd | Full-time four-wheel drive car |
| US4723624A (en) * | 1985-08-26 | 1988-02-09 | Mazda Motor Corporation | Torque control arrangements for four-wheel-drive vehicles |
| US4773500A (en) * | 1985-09-13 | 1988-09-27 | Nissan Motor Co., Ltd. | Driving torque distribution control system for 4WD vehicle |
| US4840247A (en) * | 1986-05-06 | 1989-06-20 | Toyota Jidosha Kabushiki Kaisha | Device for controlling 4wd vehicle central differential restriction device according to front and rear wheels rotational speed difference, and method of operation thereof |
| US4729450A (en) * | 1986-07-25 | 1988-03-08 | Toyota Jidosha Kabushiki Kaisha | Anti torque shock control device and method engaging torque transmitting clutch between vehicle wheels when transmission is shifted from non drive range to drive range |
| US5448478A (en) * | 1992-09-22 | 1995-09-05 | Nissan Motor Co., Ltd. | Torque split control apparatus |
| US5803197A (en) * | 1995-08-11 | 1998-09-08 | Nissan Motor Co., Ltd. | Torque-split control system for four-wheel-drive vehicles |
| US6606549B1 (en) * | 1999-09-08 | 2003-08-12 | Toyoda Koki Kabushiki Kaisha | For a four-wheel-drive vehicle |
| US20030234130A1 (en) * | 2001-12-26 | 2003-12-25 | Akio Handa | Two-wheel-drive/four-wheel-drive switching system for vehicle |
| JP2006034052A (en) * | 2004-07-20 | 2006-02-02 | Nissan Motor Co Ltd | Motor power supply control device for motor four-wheel drive vehicle |
| GB0603452D0 (en) * | 2006-02-22 | 2006-04-05 | Ford Global Tech Llc | Hybrid motor vehicle driveline |
| CN101024376A (en) * | 2007-02-02 | 2007-08-29 | 方显忠 | Super-clutch type multi-bridge driving mechanism |
| US20090043469A1 (en) * | 2007-08-07 | 2009-02-12 | Nissan Motor Co., Ltd. | Driving force distribution control method and device for four wheel drive vehicle |
| US20110257858A1 (en) * | 2010-02-26 | 2011-10-20 | Jtekt Corporation | Drive state control apparatus for vehicle |
| WO2012013288A1 (en) * | 2010-07-28 | 2012-02-02 | Magna Powertrain Ag & Co Kg | Transmission unit |
| CN102529970A (en) * | 2012-01-10 | 2012-07-04 | 合肥工业大学 | Four-wheel driving force distribution control method for vehicle |
| CN102826087A (en) * | 2012-08-31 | 2012-12-19 | 长城汽车股份有限公司 | Torque control method of automobile four-drive system |
| JP2014223878A (en) * | 2013-05-17 | 2014-12-04 | スズキ株式会社 | Vehicular drive force distribution control apparatus |
| JP2015030432A (en) * | 2013-08-06 | 2015-02-16 | 富士重工業株式会社 | Control device of four-wheel drive vehicle |
| US20160185216A1 (en) * | 2013-08-19 | 2016-06-30 | Jaguar Land Rover Limited | Driveline and method of controlling a driveline |
| CN104553777A (en) * | 2013-10-22 | 2015-04-29 | 上海双杰科技有限公司 | Low-cost timely four-drive transfer case |
| US20160053888A1 (en) * | 2014-08-19 | 2016-02-25 | Iseki & Co., Ltd. | Working vehicle |
| CN107225970A (en) * | 2016-03-25 | 2017-10-03 | 长城汽车股份有限公司 | Power drive system |
| CN106004413A (en) * | 2016-06-24 | 2016-10-12 | 中国第汽车股份有限公司 | Power system of four-wheel-drive electric vehicle and control method |
| CN109318707A (en) * | 2017-08-01 | 2019-02-12 | 丰田自动车株式会社 | The driving condition switching device of four-wheel drive vehicle |
| CN108357494A (en) * | 2018-02-11 | 2018-08-03 | 重庆长安汽车股份有限公司 | A kind of automatically controlled in due course 4 wheel driven control method |
| CN112172822A (en) * | 2020-10-20 | 2021-01-05 | 中国第一汽车股份有限公司 | Control method, device, equipment and medium for driving mode of whole vehicle |
Non-Patent Citations (4)
| Title |
|---|
| 李秀芬等: "现代新胜达SUV转弯时整车发抖的故障检修", 《汽车工程师》 * |
| 王丹: "扭矩矢量控制四驱***的车辆动态性能研究", 《汽车实用技术》 * |
| 王敷玟等: "考虑操纵稳定性的适时四驱扭矩分配策略", 《汽车零部件》 * |
| 王钰明等: "电磁多片式离合器扭矩分配控制数学模型构建研究", 《中国科学:技术科学》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043980A (en) * | 2021-12-01 | 2022-02-15 | 中国第一汽车股份有限公司 | Driving method and device applied to vehicle, electronic equipment and storage medium |
| CN114954034A (en) * | 2022-05-25 | 2022-08-30 | 中国第一汽车股份有限公司 | Vehicle torque distribution method and device and vehicle |
| WO2024022103A1 (en) * | 2022-07-29 | 2024-02-01 | 中国第一汽车股份有限公司 | Clutch control method and apparatus, electronic device, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112977387B (en) | 2022-09-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112977387B (en) | Vehicle control method, device, electronic apparatus, and medium | |
| CN109715460B (en) | Operating method for a hybrid vehicle | |
| JPWO2014034206A1 (en) | Vehicle control device | |
| WO2023169314A1 (en) | Four-wheel drive hybrid vehicle control method and apparatus, vehicle, and storage medium | |
| JP2008253038A (en) | Regenerative braking device for vehicle | |
| CN111016900B (en) | Vehicle four-wheel drive control method and electronic equipment | |
| JP2016107673A (en) | Vibration control device for vehicle | |
| CN102958736A (en) | Device for controlling torque distribution to left and right wheels on vehicle | |
| CN113803460B (en) | Front-rear axle two-gear shifting control method for electric four-wheel drive automobile | |
| WO2024104375A1 (en) | Control method and apparatus for four-wheel-drive vehicle, and four-wheel-drive vehicle | |
| JP4760757B2 (en) | Vehicle drive device | |
| WO2023246945A1 (en) | Control method and control device for vehicle having dog clutch | |
| CN114670668B (en) | Torque control method and device and electric automobile | |
| JP2015070779A (en) | Control device for driving force during slipping of wheel of vehicle independently driving left and right wheel | |
| JP2020199823A (en) | Traction control device of vehicle | |
| CN112606815B (en) | Method and device for determining motor reserve torque of hybrid vehicle and vehicle | |
| CN112319478B (en) | Vehicle driving mode switching method and device, storage medium and electric commercial vehicle | |
| JP5282597B2 (en) | Clutch device for four-wheel drive vehicle and driving force distribution method for four-wheel drive vehicle | |
| CN115123191A (en) | Torque control method of hybrid vehicle, vehicle control unit and hybrid vehicle | |
| JP5163266B2 (en) | Driving force distribution control device for four-wheel drive vehicle | |
| JPWO2015019399A1 (en) | Vehicle vibration suppression control device | |
| JP4905085B2 (en) | Driving force distribution control device for four-wheel drive vehicles | |
| Krueger et al. | Reducing disturbances caused by reductions in regenerative brake torque | |
| CN111823880A (en) | Torque distribution method, device, equipment and storage medium | |
| CN114013297B (en) | Torque control method and control device for hydrogen fuel cell automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |