WO2024022051A1 - Method and apparatus for controlling vehicle, and electronic device and storage medium - Google Patents

Abstract

A method and apparatus for controlling a vehicle, and an electronic device and a storage medium. The method comprises: after a sliding anti-locking function of a vehicle is activated, determining an axle speed control deviation of the vehicle (S110); determining a first target torque according to the axle speed control deviation (S120); and determining the current working mode of the vehicle, and controlling the vehicle according to the first target torque and the working mode (S130).

Description

车辆的控制方法、装置、电子设备和存储介质Vehicle control methods, devices, electronic equipment and storage media

本申请要求在2022年07月29日提交中国专利局、申请号为202210907073.3的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。This application claims priority to the Chinese patent application with application number 202210907073.3, which was submitted to the China Patent Office on July 29, 2022. The entire content of this application is incorporated into this application by reference.

技术领域Technical field

本申请涉及车辆控制技术领域，例如涉及一种车辆的控制方法、装置、电子设备和存储介质。The present application relates to the field of vehicle control technology, for example, to a vehicle control method, device, electronic equipment and storage medium.

背景技术Background technique

随着双电机混合动力车型的发展，双电机混合动力车型的驱动控制也逐渐变得重要。With the development of dual-motor hybrid models, the drive control of dual-motor hybrid models has gradually become important.

在驾驶双电机混合动力车辆过程中，由于车辆电机滑行回收扭矩的存在，当车辆处于低附路面时，车辆的驱动轮会发生抱死现象，导致车辆行驶稳定性变差，严重影响车辆行驶安全。When driving a dual-motor hybrid vehicle, due to the coasting recovery torque of the vehicle's motor, when the vehicle is on a low-adhesion road surface, the vehicle's drive wheels will lock, resulting in poor vehicle driving stability and seriously affecting vehicle driving safety. .

发明内容Contents of the invention

本申请提供了一种车辆的控制方法、装置、电子设备和存储介质，实现车辆在不同工作模式下的防抱死控制，提高车辆的稳定性。This application provides a vehicle control method, device, electronic equipment and storage medium to realize anti-lock control of the vehicle in different working modes and improve the stability of the vehicle.

本申请实施例提供了一种车辆的控制方法，该方法包括：在激活车辆的滑行防抱死功能后，确定所述车辆的轴速控制偏差；根据所述轴速控制偏差，确定第一目标扭矩；确定所述车辆当前的工作模式，并根据所述第一目标扭矩和所述工作模式，对所述车辆进行控制。An embodiment of the present application provides a vehicle control method. The method includes: after activating the vehicle's coasting anti-lock function, determining the vehicle's axle speed control deviation; and determining the first target based on the axle speed control deviation. Torque; determine the current working mode of the vehicle, and control the vehicle according to the first target torque and the working mode.

本申请实施例还提供了一种车辆的控制装置，该装置包括：偏差确定模块，设置为在激活车辆的滑行防抱死功能后，确定所述车辆的轴速控制偏差；扭矩确定模块，设置为根据所述轴速控制偏差，确定第一目标扭矩；车辆控制模块，设置为确定所述车辆当前的工作模式，并根据所述第一目标扭矩和所述工作模式，对所述车辆进行控制。An embodiment of the present application also provides a vehicle control device, which device includes: a deviation determination module configured to determine the axle speed control deviation of the vehicle after activating the vehicle's coasting anti-lock function; a torque determination module configured To determine a first target torque according to the axle speed control deviation; a vehicle control module configured to determine the current working mode of the vehicle, and to control the vehicle according to the first target torque and the working mode .

本申请实施例还提供了一种电子设备，该电子设备包括：至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行本申请任一实施例的车辆的控制方法。 An embodiment of the present application also provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores information that can be used by the at least one processor. A computer program is executed, and the computer program is executed by the at least one processor, so that the at least one processor can execute the vehicle control method according to any embodiment of the present application.

本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使处理器执行时实现本申请任一实施例的车辆的控制方法。Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores computer instructions. The computer instructions are used to implement the vehicle control method of any embodiment of the present application when executed by a processor. .

附图说明Description of drawings

下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。The drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without exerting creative efforts, Under the premise, other drawings can also be obtained based on these drawings.

图1是本申请实施例中提供的一种车辆的控制方法的一个流程图；Figure 1 is a flow chart of a vehicle control method provided in an embodiment of the present application;

图2是本申请实施例中提供的一种发动机效率最优曲线示意图；Figure 2 is a schematic diagram of an engine efficiency optimal curve provided in the embodiment of the present application;

图3是本申请实施例中提供的一种车辆的控制方法的又一流程图；Figure 3 is another flow chart of a vehicle control method provided in the embodiment of the present application;

图4是本申请实施例中提供的一种车辆的控制装置的结构示意图；Figure 4 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

图5是本申请实施例中提供的一种电子设备的结构示意图。FIG. 5 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述，显然，所描述的实施例仅仅是本申请一部分的实施例。基于本申请中的实施例，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，都应当属于本申请保护的范围。The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of this application.

需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于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，以便这里描述的本申请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、***、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。It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

图1是本申请实施例中提供的一种车辆的控制方法的一个流程图，本实施例可适用于车辆滑行情况，该方法可以由车辆的控制装置来执行，该车辆的控制装置可以采用硬件和/或软件的形式实现，在一个实施例中，该车辆的控制装置可配置于电子设备(如车辆或者车辆集成的设备)中。如图1所示，本申请实施例的方法包括如下步骤。 Figure 1 is a flow chart of a vehicle control method provided in an embodiment of the present application. This embodiment can be applied to a vehicle coasting situation. The method can be executed by a vehicle control device. The vehicle control device can use hardware. and/or implemented in the form of software. In one embodiment, the vehicle control device may be configured in an electronic device (such as a vehicle or a vehicle-integrated device). As shown in Figure 1, the method in the embodiment of the present application includes the following steps.

S110、在激活车辆的滑行防抱死功能后，确定车辆的轴速控制偏差。S110. After activating the vehicle's coasting anti-lock function, determine the vehicle's axle speed control deviation.

轴速控制偏差是由通过车辆的实际轴速和目标轴速的差值确定的。The axle speed control deviation is determined by the difference between the actual axle speed of the passing vehicle and the target axle speed.

在激活车辆的滑行防抱死功能后，获取车辆的实际轴速和当前车速，根据车辆的当前车速确定车辆的目标轴速，然后通过车辆的实际轴速和目标轴速的差值确定车辆的轴速控制偏差。After activating the vehicle's coasting anti-lock function, obtain the vehicle's actual axle speed and current vehicle speed, determine the vehicle's target axle speed based on the vehicle's current vehicle speed, and then determine the vehicle's axle speed through the difference between the vehicle's actual axle speed and the target axle speed. Shaft speed control deviation.

S120、根据轴速控制偏差，确定第一目标扭矩。S120. Determine the first target torque according to the shaft speed control deviation.

第一目标扭矩是指车辆从曲轴端输出的扭矩。The first target torque refers to the torque output by the vehicle from the crankshaft end.

在确定车辆的轴速控制偏差之后，根据车辆的轴速控制偏差、比例项系数和积分项系数确定车辆的第一目标扭矩。After determining the vehicle's axle speed control deviation, the vehicle's first target torque is determined based on the vehicle's axle speed control deviation, the proportional term coefficient, and the integral term coefficient.

车辆的第一目标扭矩其中，Δv为轴速控制偏差，i是车辆行驶过程中的时刻，n是其中一时刻，k_p为比例项系数，k_l为积分项系数，k_p和k_l的取值是通过标定确定的，以适用于直线、转向等不同的工况。The vehicle’s first target torque Among them, Δv is the axis speed control deviation, i is the moment during the vehicle driving process, n is one of the moments, k _p is the proportional term coefficient, k _l is the integral term coefficient, the values of k _p and k _l are determined through calibration , suitable for different working conditions such as straight line and steering.

S130、确定车辆当前的工作模式，并根据第一目标扭矩和工作模式，对车辆进行控制。S130. Determine the current working mode of the vehicle, and control the vehicle according to the first target torque and working mode.

工作模式是指车辆当前的工作状态，包括纯电动工作模式、串联工作模式和并联工作模式，车辆的纯电动工作模式是指车辆的驱动电机为车辆行驶提供驱动扭矩，动力电池为车辆提供电机所需的电能；车辆的串联工作模式是指车辆的驱动电机为车辆行驶提供驱动扭矩，发动机通过发电机为驱动电机提供所需的电能；车辆的并联工作模式是指车辆的发动机直接驱动车辆行驶，驱动电机进行制动能量回收或者提供驱动助力扭矩。The working mode refers to the current working status of the vehicle, including pure electric working mode, series working mode and parallel working mode. The pure electric working mode of the vehicle refers to the driving motor of the vehicle providing driving torque for the vehicle to drive, and the power battery providing the motor with the power required by the vehicle. The vehicle's series working mode means that the vehicle's driving motor provides driving torque for the vehicle to travel, and the engine provides the required electrical energy to the driving motor through the generator; the vehicle's parallel working mode means that the vehicle's engine directly drives the vehicle to travel. The drive motor regenerates braking energy or provides drive assist torque.

在确定了第一目标扭矩T_Tgt(n)之后，根据车辆当前的工作模式和第一目标扭矩T_Tgt(n)对车辆进行控制。After the first target torque T _Tgt (n) is determined, the vehicle is controlled according to the current working mode of the vehicle and the first target torque T _Tgt (n).

在上述实施例的基础上，可选的，若车辆的工作模式为纯电动工作模式，根据第一目标扭矩和工作模式，对车辆进行控制，包括：确定驱动电机最大驱动能力和驱动电机最大发电能力根据驱动电机最大驱动能力驱动电机最大发电能力和第一目标扭矩T_Tgt(n)，确定第二目标扭矩T_TM；控制驱动电机目标扭矩为第二目标扭矩T_TM、发动机处于停机状态，以及发电机目标扭矩为0。Based on the above embodiment, optionally, if the working mode of the vehicle is a pure electric working mode, the vehicle is controlled according to the first target torque and the working mode, including: determining the maximum driving capacity of the drive motor. and the maximum power generation capacity of the drive motor According to the maximum driving capacity of the drive motor Maximum power generation capacity of drive motor and the first target torque T _Tgt (n), determine the second target torque T _TM ; control the drive motor target torque to be the second target torque T _TM , the engine to be in a shutdown state, and the generator target torque to be 0.

驱动电机最大驱动能力为车辆的驱动电机上报的驱动电机自身最大驱动扭矩，为车辆根据动力电池上报的动力电池的最大放 电驱动率和驱动电机实际转速计算的到的最大扭矩。驱动电机最大发电能力为车辆的驱动电机上报的驱动电机自身最大发电扭矩，为车辆根据动力电池上报的最大充电功率和驱动电机实际转速计算得到的最大扭矩。Maximum driving capacity of drive motor It is the maximum driving torque of the driving motor itself reported by the driving motor of the vehicle, The maximum discharge of the power battery reported for the vehicle based on the power battery The maximum torque calculated from the electric drive rate and the actual speed of the drive motor. Maximum power generation capacity of drive motor It is the maximum generated torque of the drive motor itself reported by the vehicle's drive motor, It is the maximum torque calculated by the vehicle based on the maximum charging power reported by the power battery and the actual speed of the drive motor.

若第一目标扭矩T_Tgt(n)不小于驱动电机最大发电能力且不大于驱动电机最大驱动能力则令第二目标扭矩T_TM等于第一目标扭矩T_Tgt(n)；若第一目标扭矩T_Tgt(n)小于驱动电机最大发电能力则令第二目标扭矩T_TM等于驱动电机最大发电能力若第一目标扭矩T_Tgt(n)大于驱动电机最大驱动能力则令第二目标扭矩T_TM等于驱动电机最大驱动能力 If the first target torque T _Tgt (n) is not less than the maximum power generation capacity of the drive motor And not greater than the maximum driving capacity of the drive motor Then let the second target torque T _TM be equal to the first target torque T _Tgt (n); if the first target torque T _Tgt (n) is less than the maximum power generation capacity of the drive motor Then let the second target torque T _TM be equal to the maximum power generation capacity of the drive motor. If the first target torque T _Tgt (n) is greater than the maximum driving capacity of the drive motor Then let the second target torque T _TM be equal to the maximum driving capacity of the drive motor

在上述实施例的基础上，可选的，若车辆的工作模式为串联工作模式，根据第一目标扭矩T_Tgt(n)和工作模式，对车辆进行控制，包括：确定驱动电机最大驱动能力和驱动电机最大发电能力根据驱动电机最大驱动能力驱动电机最大发电能力和第一目标扭矩T_Tgt(n)，确定第二目标扭矩T_TM；确定第三目标扭矩T_GM(i)、发电机最大驱动能力和发电机最大发电能力根据发电机最大驱动能力发电机最大发电能力和第三目标扭矩T_GM(i)，确定第四目标扭矩；确定第五目标扭矩T_Eng和发动机最大能力根据发动机最大能力和第五目标扭矩T_Eng，确定第六目标扭矩；控制驱动电机目标扭矩为第二目标扭矩T_TM、发电机目标扭矩为第四目标扭矩，以及发动机目标扭矩为第六目标扭矩。Based on the above embodiment, optionally, if the working mode of the vehicle is the series working mode, the vehicle is controlled according to the first target torque T _Tgt (n) and the working mode, including: determining the maximum driving capacity of the drive motor and the maximum power generation capacity of the drive motor According to the maximum driving capacity of the drive motor Maximum power generation capacity of drive motor and the first target torque T _Tgt (n), determine the second target torque T _TM ; determine the third target torque T _GM (i), the maximum driving capacity of the generator and the maximum power generation capacity of the generator According to the maximum driving capacity of the generator Generator maximum power generation capacity and the third target torque T _GM (i), determine the fourth target torque; determine the fifth target torque T _Eng and the maximum engine capacity Based on engine maximum capacity and the fifth target torque T _Eng , determine the sixth target torque; control the drive motor target torque to be the second target torque T _TM , the generator target torque to be the fourth target torque, and the engine target torque to be the sixth target torque.

发电机最大驱动能力为发电机上报的发电机自身最大驱动扭矩，为根据动力电池上报动力电池的最大放电功率和驱动电机实际转速计算得到的最大扭矩。发电机最大发电能力为发电机上报的发电机自身最大发电扭矩，为根据电池上报电池的最大充电功率和驱动电机实际转速计算得到的最大扭矩。发动机最大能力为当前充气效率下发动机最大扭矩。Generator maximum driving capacity It is the maximum driving torque of the generator itself reported by the generator, It is the maximum torque calculated based on the maximum discharge power of the power battery reported by the power battery and the actual speed of the drive motor. Generator maximum power generation capacity It is the maximum power generation torque of the generator itself reported by the generator, It is the maximum torque calculated based on the maximum charging power reported by the battery and the actual speed of the drive motor. engine maximum capacity It is the maximum torque of the engine under the current charging efficiency.

根据驱动电机最大驱动能力驱动电机最大发电能力和第一目标扭矩T_Tgt(n)，确定第二目标扭矩T_TM包括：若第一目标扭矩T_Tgt(n)不小于驱动电机最大发电能力且不大于驱动电机最大驱动能力则令第二目标扭矩T_TM等于第一目标扭矩T_Tgt(n)；若第一目标扭矩T_Tgt(n)小于驱动电机最大发电能力则令第二目标扭矩T_TM等于驱动电机最大发电能力若第一目 标扭矩T_Tgt(n)大于驱动电机最大驱动能力则令第二目标扭矩T_TM等于驱动电机最大驱动能力根据发电机最大驱动能力发电机最大发电能力和第三目标扭矩T_GM(i)，确定第四目标扭矩，包括：若第三目标扭矩T_GM(i)不小于发电机最大发电能力且不大于发电机最大驱动能力则令第四目标扭矩等于第三目标扭矩T_GM(i)；若第三目标扭矩T_GM(i)小于发电机最大发电能力则令第三目标扭矩T_GM(i)等于发电机最大发电能力若第三目标扭矩T_GM(i)大于发电机最大驱动能力则令第三目标扭矩T_GM(i)等于发电机最大驱动能力根据发动机最大能力和第五目标扭矩T_Eng，确定第六目标扭矩，包括：若第五目标扭矩T_Eng不大于发动机最大能力则令第六目标扭矩等于第五目标扭矩T_Eng；若第五目标扭矩T_Eng大于发动机最大能力则令第六目标扭矩等于发动机最大能力控制驱动电机目标扭矩为第二目标扭矩T_TM、发电机目标扭矩为第四目标扭矩，以及发动机目标扭矩为第六目标扭矩。According to the maximum driving capacity of the drive motor Maximum power generation capacity of drive motor and the first target torque T _Tgt (n), determining the second target torque T _TM includes: if the first target torque T _Tgt (n) is not less than the maximum power generation capacity of the drive motor And not greater than the maximum driving capacity of the drive motor Then let the second target torque T _TM be equal to the first target torque T _Tgt (n); if the first target torque T _Tgt (n) is less than the maximum power generation capacity of the drive motor Then let the second target torque T _TM be equal to the maximum power generation capacity of the drive motor. If the first item Standard torque T _Tgt (n) is greater than the maximum driving capacity of the drive motor Then let the second target torque T _TM be equal to the maximum driving capacity of the drive motor According to the maximum driving capacity of the generator Generator maximum power generation capacity and the third target torque T _GM (i), determine the fourth target torque, including: if the third target torque T _GM (i) is not less than the maximum power generation capacity of the generator And not greater than the maximum driving capacity of the generator Then let the fourth target torque be equal to the third target torque T _GM (i); if the third target torque T _GM (i) is less than the maximum power generation capacity of the generator Then let the third target torque T _GM (i) equal the maximum power generation capacity of the generator If the third target torque T _GM (i) is greater than the maximum driving capacity of the generator Then let the third target torque T _GM (i) be equal to the maximum driving capacity of the generator Based on engine maximum capacity and the fifth target torque T _Eng , determine the sixth target torque, including: If the fifth target torque T _Eng is not greater than the engine's maximum capacity Then make the sixth target torque equal to the fifth target torque T _Eng ; if the fifth target torque T _Eng is greater than the maximum capacity of the engine Then let the sixth target torque be equal to the maximum capacity of the engine The drive motor target torque is controlled to be the second target torque T _TM , the generator target torque is the fourth target torque, and the engine target torque is the sixth target torque.

第三目标扭矩其中，Δn_Eng为发动机实际转速与目标转速的偏差，T_{Eng_act}为发动机实际扭矩，j表示发动机运转过程中的时刻。第五目标扭矩T_Eng＝P_Eng/n_Eng，其中，P_Eng为发动机目标功率，n_Eng为发动机目标转速。串联工作模式下，图2是本申请实施例中提供的一种发动机效率最优曲线示意图；发动机工作的效率最美曲线如图2所示，n_Eng＝map(p_Eng)，横坐标为发动机的转速，纵坐标为发动机的扭矩。发动机目标功率P_Eng需要考虑轮端实际功率需求P_whl、整车耗能附件的功率需求，和车辆混动***中电池的***及芯片(System on Chip，SOC)的平衡对功率需求。车辆的轮端实际功率需求P_whl＝T_Tgt×n_act，n_act为驱动轴实际转速。整车耗能附件的功率P_acc包括空调和直流变换器(Direct Current-Direct Current converter，DCDC)等，可根据***上报的电压和电流计算得到。电池SOC平衡功率是为了保证电池SOC处在合理范围内，保证车辆的最佳性能。当电池实际SOC过高时，电池SOC平衡功率P_soc为负值，减小发动机目标功率，使电池放电，降低电池的SOC；当电池实际SOC过低时，电池SOC平衡功率P_soc为正值，增加发动机目标功率，使电池充电，升高电池的SOC。Third target torque Among them, Δn _Eng is the deviation between the actual engine speed and the target speed, T _{Eng_act} is the actual engine torque, and j represents the time during engine operation. The fifth target torque T _Eng =P _Eng /n _Eng , where P _Eng is the engine target power and n _Eng is the engine target speed. In the series working mode, Figure 2 is a schematic diagram of an optimal engine efficiency curve provided in the embodiment of the present application; the most beautiful efficiency curve of the engine operation is shown in Figure 2, n _Eng = map (p _Eng ), and the abscissa is the engine's Rotation speed, the ordinate is the engine torque. The engine target power P _Eng needs to consider the actual power demand P _whl at the wheel end, the power demand of the energy-consuming accessories of the vehicle, and the power demand of the battery system and chip (System on Chip, SOC) balance in the vehicle hybrid system. The vehicle's wheel end actual power demand P _whl =T _Tgt × n _act , n _act is the actual speed of the drive shaft. The power P_acc of the vehicle's energy-consuming accessories includes air conditioners and DC converters (Direct Current-Direct Current converter, DCDC), etc., which can be calculated based on the voltage and current reported by the system. Battery SOC balancing power is to ensure that the battery SOC is within a reasonable range and ensure the best performance of the vehicle. When the actual SOC of the battery is too high, the battery SOC balance power P_soc is a negative value, reducing the engine target power, discharging the battery, and reducing the battery SOC; when the actual battery SOC is too low, the battery SOC balance power P_soc is a positive value, increasing The engine targets power to charge the battery and increase the battery's SOC.

在上述实施例的基础上，可选的，若车辆的工作模式为并联工作模式，根据第一目标扭矩T_Tgt(n)和工作模式，对车辆进行控制，包括：确定发动机最大能力根据发动机最大能力和第一目标扭矩T_Tgt(n)，确定第七目标扭矩； 确定第八目标扭矩、驱动电机最大驱动能力和驱动电机最大发电能力根据驱动电机最大驱动能力驱动电机最大发电能力和第八目标扭矩，确定第九目标扭矩；控制发动机目标扭矩为第七目标扭矩、驱动电机目标扭矩为第九目标扭矩、以及发电机目标扭矩为0。Based on the above embodiment, optionally, if the working mode of the vehicle is the parallel working mode, the vehicle is controlled according to the first target torque T _Tgt (n) and the working mode, including: determining the maximum engine capacity Based on engine maximum capacity and the first target torque T _Tgt (n) to determine the seventh target torque; Determine the eighth target torque and the maximum driving capacity of the drive motor and the maximum power generation capacity of the drive motor According to the maximum driving capacity of the drive motor Maximum power generation capacity of drive motor and the eighth target torque, determine the ninth target torque; control the engine target torque to be the seventh target torque, the drive motor target torque to be the ninth target torque, and the generator target torque to be 0.

根据发动机最大能力和第一目标扭矩T_Tgt(n)，确定第七目标扭矩包括：若第一目标扭矩T_Tgt(n)不大于发动机最大能力则令第七目标扭矩等于第一目标扭矩T_Tgt(n)；若第一目标扭矩T_Tgt(n)大于发动机最大能力则令第七目标扭矩等于发动机最大能力根据驱动电机最大驱动能力驱动电机最大发电能力和第八目标扭矩，确定第九目标扭矩包括：若第八目标扭矩不小于驱动电机最大发电能力且不大于驱动电机最大驱动能力则令第九目标扭矩等于第八目标扭矩；若第八目标扭矩小于驱动电机最大发电能力则令第九目标扭矩等于驱动电机最大发电能力若第八目标扭矩大于驱动电机最大驱动能力则令第九目标扭矩等于驱动电机最大驱动能力第八目标扭矩等于T_Tgt(n)与发动机实际扭矩T_{Eng_act}的差值，控制发动机目标扭矩为第七目标扭矩、驱动电机目标扭矩为第九目标扭矩、以及发电机目标扭矩为0。这样设置使得，根据车辆的不同工作模式，分别确定车辆的目标扭矩，进一步对车辆进行控制，提升车辆滑行稳定性。Based on engine maximum capacity and the first target torque T _Tgt (n), determining the seventh target torque includes: if the first target torque T _Tgt (n) is not greater than the maximum capacity of the engine Then let the seventh target torque equal to the first target torque T _Tgt (n); if the first target torque T _Tgt (n) is greater than the maximum capacity of the engine Then let the seventh target torque equal to the maximum capacity of the engine According to the maximum driving capacity of the drive motor Maximum power generation capacity of drive motor and the eighth target torque. Determining the ninth target torque includes: If the eighth target torque is not less than the maximum power generation capacity of the drive motor And not greater than the maximum driving capacity of the drive motor Then make the ninth target torque equal to the eighth target torque; if the eighth target torque is less than the maximum power generation capacity of the drive motor Then the ninth target torque is equal to the maximum power generation capacity of the drive motor. If the eighth target torque is greater than the maximum driving capacity of the drive motor Then make the ninth target torque equal to the maximum driving capacity of the drive motor The eighth target torque is equal to the difference between T _Tgt (n) and the actual engine torque T _{Eng_act} . The engine target torque is controlled to be the seventh target torque, the drive motor target torque is the ninth target torque, and the generator target torque is 0. This setting allows the target torque of the vehicle to be determined according to the different working modes of the vehicle, further controlling the vehicle and improving the sliding stability of the vehicle.

本申请实施例的技术方案，通过在激活车辆的滑行防抱死功能后，获取车辆的目标滑移率、当前车速和实际轴速；根据目标滑移率和当前车速，确定车辆的目标轴速；根据目标轴速和实际轴速，确定轴速控制偏差；根据轴速控制偏差，确定第一目标扭矩；确定车辆当前的工作模式，并根据第一目标扭矩和工作模式，对车辆进行控制。在上述实施例的基础上，通过获取车辆的目标滑移率、当前车速和实际轴速确定车辆的目标轴速，进一步确定轴速控制偏差和第一目标扭矩，从而实现对车辆的控制，有效避免抱死工况下减速度波动、扭矩波动和侧滑甩尾，提升车辆滑行稳定性。The technical solution of the embodiment of the present application obtains the vehicle's target slip rate, current vehicle speed, and actual axle speed after activating the vehicle's sliding anti-lock function; and determines the vehicle's target axle speed based on the target slip rate and current vehicle speed. ; Determine the shaft speed control deviation according to the target shaft speed and the actual shaft speed; determine the first target torque according to the shaft speed control deviation; determine the current working mode of the vehicle, and control the vehicle according to the first target torque and working mode. On the basis of the above embodiment, the vehicle's target axle speed is determined by obtaining the vehicle's target slip rate, current vehicle speed and actual axle speed, and further determines the axle speed control deviation and the first target torque, thereby achieving control of the vehicle, effectively It avoids deceleration fluctuations, torque fluctuations and sideslip under locking conditions, and improves vehicle sliding stability.

在上述实施例的基础上，可选的，若车辆满足预设条件，则关闭滑行防抱死功能；其中，预设条件包括以下至少之一：车辆的需求扭矩大于第一目标扭矩的时间大于或者等于预设时间；需求扭矩大于预设阈值；车辆的制动功能触发；车辆的稳定性控制功能被激活；车辆的档位位于非D档。On the basis of the above embodiments, optionally, if the vehicle meets the preset conditions, the coasting anti-lock function is turned off; wherein the preset conditions include at least one of the following: the vehicle's demand torque is greater than the first target torque for longer than Or equal to the preset time; the required torque is greater than the preset threshold; the vehicle's braking function is triggered; the vehicle's stability control function is activated; the vehicle's gear is in a non-D gear.

车辆的需求扭矩是根据车辆在滑行过程中的加速踏板开度和纵向车速查表确定的扭矩；预设时间是指预先规定的时间；预设阈值是指预先规定的车辆的行驶扭矩。 The vehicle's required torque is the torque determined based on the vehicle's accelerator pedal opening and longitudinal vehicle speed during coasting; the preset time refers to the predetermined time; the preset threshold refers to the predetermined driving torque of the vehicle.

当车辆在滑行过程中，若车辆满足车辆的需求扭矩大于第一目标扭矩的时间大于或者等于预设时间；需求扭矩大于预设阈值；车辆的制动功能触发；车辆的稳定性控制功能被激活；车辆的档位位于非D档中的任一条件，此时车辆关闭滑行防抱死功能。When the vehicle is coasting, if the time it takes for the vehicle to satisfy the vehicle's demand torque is greater than the first target torque is greater than or equal to the preset time; the demand torque is greater than the preset threshold; the vehicle's braking function is triggered; the vehicle's stability control function is activated ; When the vehicle's gear is in any condition other than D, the vehicle's coasting anti-lock function is turned off.

这样设置，若车辆满足预设条件，车辆关闭滑行防抱死功能，使得车辆在行驶过程中合理使用滑行防抱死功能，提升用户的使用体验。With this setting, if the vehicle meets the preset conditions, the vehicle will turn off the anti-lock braking function, allowing the vehicle to reasonably use the anti-lock braking function during driving and improving the user experience.

本申请实施例的技术方案，通过在激活车辆的滑行防抱死功能后，确定车辆的轴速控制偏差；根据轴速控制偏差，确定第一目标扭矩；确定车辆当前的工作模式，并根据第一目标扭矩和工作模式，对车辆进行控制。在上述实施例的基础上，通过确定车辆的轴速控制偏差确定车辆的第一目标扭矩，从而根据第一目标扭矩和车辆当前的工作模式对车辆进行控制，实现车辆的滑行防抱死功能，有效避免在抱死工况下减速度波动、扭矩波动和侧滑甩尾现象，提升车辆的滑行稳定性。The technical solution of the embodiment of the present application determines the vehicle's axle speed control deviation after activating the vehicle's coasting anti-lock function; determines the first target torque according to the axle speed control deviation; determines the vehicle's current working mode, and determines the vehicle's current working mode according to the third A target torque and working mode to control the vehicle. On the basis of the above embodiment, the first target torque of the vehicle is determined by determining the vehicle's axle speed control deviation, thereby controlling the vehicle according to the first target torque and the current working mode of the vehicle to achieve the vehicle's sliding anti-lock function, It effectively avoids deceleration fluctuations, torque fluctuations and sideslip phenomena under locking conditions, and improves the vehicle's sliding stability.

图3是本申请实施例中提供的一种车辆的控制方法的又一流程图，在上述实施例的基础上，对于确定车辆的轴速控制偏差、确定第一目标扭矩以及在车辆的不同工作模式下，对车辆的控制进行说明，如图3所示，该方法包括如下步骤。Figure 3 is another flowchart of a vehicle control method provided in the embodiment of the present application. Based on the above embodiment, for determining the vehicle's axle speed control deviation, determining the first target torque and performing different operations of the vehicle. In the mode, the vehicle control is explained, as shown in Figure 3. The method includes the following steps.

S310、在激活车辆的滑行防抱死功能后，获取车辆的目标滑移率、当前车速和实际轴速。S310. After activating the vehicle's sliding anti-lock function, obtain the vehicle's target slip rate, current vehicle speed, and actual axle speed.

目标滑移率s_Tgt由当前车速v_x和路面利用附着系数μ查表获得。当前车速v_x较低时，目标滑移率s_Tgt较大，保证车辆的驱动能力；当前车速v_x升高时，目标滑移率s_Tgt逐渐变小，保证车辆的驱动稳定性；通过路面利用附着系数μ对目标滑移率s_Tgt修正，使目标滑移率s_Tgt适合不同的路面。The target slip rate s _Tgt is obtained by looking up the table from the current vehicle speed v _x and the road surface utilization adhesion coefficient μ. When the current vehicle speed v _x is low, _the target slip rate s _Tgt is large to ensure the driving ability of the vehicle; when the current vehicle speed _v The target slip rate s _Tgt is modified using the adhesion coefficient μ to make the target slip rate s _Tgt suitable for different road surfaces.

在激活车辆的滑行防抱死功能后，通过查表确定车辆的目标滑移率，并直接通过车辆的传感器获取当前车速v_x和实际轴速。After activating the vehicle's coasting anti-lock function, the target slip rate of the vehicle is determined by looking up the table, and the current vehicle speed v _x and the actual axle speed are obtained directly through the vehicle's sensors.

在上述实施例的基础上，可选的，确定车辆的实际滑移率；若实际滑移率大于目标滑移率，则激活滑行防抱死功能。Based on the above embodiment, optionally, the actual slip rate of the vehicle is determined; if the actual slip rate is greater than the target slip rate, the sliding anti-lock function is activated.

确定车辆的驱动类型是前轮驱动车型还是后轮驱动车型，根据车辆的驱动类型确定车辆的实际滑移率s_Act之后，若实际滑移率s_Act大于目标滑移率s_Tgt，则激活滑行防抱死功能，若实际滑移率s_Act不大于目标滑移率s_Tgt，则不激活车辆的滑行防抱死功能。这样设置，根据车辆的驱动车型，确定车辆的实际滑移率与目标滑移率的大小，从而确定是否激活车辆的滑行防抱死功能。 Determine whether the drive type of the vehicle is a front-wheel drive model or a rear-wheel drive model. After determining the actual slip rate s _Act of the vehicle according to the drive type of the vehicle, if the actual slip rate s _{Act is} greater than the target slip rate s _Tgt , then activate coasting. Anti-lock braking function, if the actual slip rate s _Act is not greater than the target slip rate s _Tgt , the vehicle's sliding anti-lock braking function will not be activated. With this setting, the actual slip rate and the target slip rate of the vehicle are determined according to the driving model of the vehicle, thereby determining whether to activate the vehicle's anti-skid braking function.

在上述实施例的基础上，可选的，确定车辆的实际滑移率，包括：若车辆为前轮驱动车辆，则根据当前车速、左前轮车速、右前轮车速、横摆角速度、前车轮转角和轴距，确定实际滑移率；若车辆为后轮驱动车辆，则根据当前车速、左后轮车速和右后轮车速，确定实际滑移率。Based on the above embodiment, optionally, determining the actual slip rate of the vehicle includes: if the vehicle is a front-wheel drive vehicle, based on the current vehicle speed, left front wheel speed, right front wheel speed, yaw angular velocity, front The actual slip rate is determined based on the wheel angle and wheelbase; if the vehicle is a rear-wheel drive vehicle, the actual slip rate is determined based on the current vehicle speed, left rear wheel speed, and right rear wheel speed.

当车辆为前轮驱动车型时，车辆的实际滑移率为v_fl为左前轮车速；v_fr为右前轮车速；ω为横摆角速度；δ为前车轮转角；L为轴距。当车辆为后轮驱动车型时，车辆的实际滑移率为为左后轮车速；v_rr为右后轮车速。这样设置，根据车辆的驱动车型，确定车辆的实际滑移率。When the vehicle is a front-wheel drive model, the actual slip rate of the vehicle v _fl is the speed of the left front wheel; v _fr is the speed of the right front wheel; ω is the yaw angular velocity; δ is the front wheel angle; L is the wheelbase. When the vehicle is a rear-wheel drive model, the actual slip rate of the vehicle is the speed of the left rear wheel; v _rr is the speed of the right rear wheel. With this setting, the actual slip rate of the vehicle is determined based on the driving model of the vehicle.

S320、根据目标滑移率和当前车速，确定车辆的目标轴速。S320. Determine the target axle speed of the vehicle based on the target slip rate and the current vehicle speed.

确定车辆的目标滑移率s_Tgt和当前车速v_x之后，车辆的目标轴速v_Tgt＝(1-s_Tgt)×v_x。After determining the target slip rate s _Tgt of the vehicle and the current vehicle speed v _x , the target axle speed v _Tgt of the vehicle = (1-s _Tgt ) × v _x .

S330、根据目标轴速和实际轴速，确定轴速控制偏差。S330. Determine the shaft speed control deviation based on the target shaft speed and the actual shaft speed.

在确定车辆的目标轴速v_Tgt之后，直接通过车辆的传感器获取车辆的实际轴速v_Act，根据车辆的目标轴速v_Tgt与实际轴速v_Act的差值确定车辆的轴速控制偏差Δv。After determining the vehicle's target axle speed v _Tgt , the vehicle's actual axle speed v _Act is obtained directly through the vehicle's sensor, and the vehicle's axle speed control deviation Δv is determined based on the difference between the vehicle's target axle speed v _Tgt and the actual axle speed v _Act . .

S340、根据轴速控制偏差，确定第一目标扭矩。S340. Determine the first target torque according to the shaft speed control deviation.

在确定车辆的轴速控制偏差之后，根据轴速控制偏差、比例项系数和积分项系数，确定第一目标扭矩。After determining the axle speed control deviation of the vehicle, the first target torque is determined based on the axle speed control deviation, the proportional term coefficient and the integral term coefficient.

S350、确定车辆当前的工作模式，并根据第一目标扭矩和工作模式，对车辆进行控制。S350: Determine the current working mode of the vehicle, and control the vehicle according to the first target torque and working mode.

若车辆的工作模式为纯电动工作模式，若第一目标扭矩T_Tgt(n)不小于驱动电机最大发电能力且不大于驱动电机最大驱动能力则令第二目标扭矩T_TM等于第一目标扭矩T_Tgt(n)；若第一目标扭矩T_Tgt(n)小于驱动电机最大发电能力则令第二目标扭矩T_TM等于驱动电机最大发电能力若第一目标扭矩T_Tgt(n)大于驱动电机最大驱动能力则令第二目标扭矩T_TM等于驱动电机最大驱动能力控制驱动电机目标扭矩为第二目标扭矩T_TM、发动机处于停机状态，以及发电机目标扭矩为0。若车辆的工作模式为串联工作模式，根据驱动电机最大驱动能力驱动电机最大发电能力和第一目标扭矩T_Tgt(n)，确定第二目标扭矩T_TM包括：若第一目标扭矩T_Tgt(n)不小于驱动电机最大发电能力且不大于驱动电机最大驱动能力则令第二目标扭矩T_TM等 于第一目标扭矩T_Tgt(n)；若第一目标扭矩T_Tgt(n)小于驱动电机最大发电能力则令第二目标扭矩T_TM等于驱动电机最大发电能力若第一目标扭矩T_Tgt(n)大于驱动电机最大驱动能力则令第二目标扭矩T_TM等于驱动电机最大驱动能力根据发电机最大驱动能力发电机最大发电能力和第三目标扭矩T_GM(i)，确定第四目标扭矩，包括：若第三目标扭矩T_GM(i)不小于发电机最大发电能力且不大于发电机最大驱动能力则令第四目标扭矩等于第三目标扭矩T_GM(i)；若第三目标扭矩T_GM(i)小于发电机最大发电能力则令第三目标扭矩T_GM(i)等于发电机最大发电能力若第三目标扭矩T_GM(i)大于发电机最大驱动能力则令第三目标扭矩T_GM(i)等于发电机最大驱动能力根据发动机最大能力和第五目标扭矩T_Eng，确定第六目标扭矩，包括：若第五目标扭矩T_Eng不大于发动机最大能力则令第六目标扭矩等于第五目标扭矩T_Eng；若第五目标扭矩T_Eng大于发动机最大能力则令第六目标扭矩等于发动机最大能力控制驱动电机目标扭矩为第二目标扭矩T_TM、发电机目标扭矩为第四目标扭矩，以及发动机目标扭矩为第六目标扭矩。若车辆的工作模式为并联工作模式，根据发动机最大能力和第一目标扭矩T_Tgt(n)，确定第七目标扭矩包括：若第一目标扭矩T_Tgt(n)不大于发动机最大能力则令第七目标扭矩等于第一目标扭矩T_Tgt(n)；若第一目标扭矩T_Tgt(n)大于发动机最大能力则令第七目标扭矩等于发动机最大能力根据驱动电机最大驱动能力驱动电机最大发电能力和第八目标扭矩，确定第九目标扭矩包括：若第八目标扭矩不小于驱动电机最大发电能力且不大于驱动电机最大驱动能力则令第九目标扭矩等于第八目标扭矩；若第八目标扭矩小于驱动电机最大发电能力则令第九目标扭矩等于驱动电机最大发电能力若第八目标扭矩大于驱动电机最大驱动能力则令第九目标扭矩等于驱动电机最大驱动能力第八目标扭矩等于T_Tgt(n)与发动机实际扭矩T_{Eng_act}的差值，控制发动机目标扭矩为第七目标扭矩、驱动电机目标扭矩为第九目标扭矩、以及发电机目标扭矩为0。If the working mode of the vehicle is pure electric working mode, if the first target torque T _Tgt (n) is not less than the maximum power generation capacity of the drive motor And not greater than the maximum driving capacity of the drive motor Then let the second target torque T _TM be equal to the first target torque T _Tgt (n); if the first target torque T _Tgt (n) is less than the maximum power generation capacity of the drive motor Then let the second target torque T _TM be equal to the maximum power generation capacity of the drive motor. If the first target torque T _Tgt (n) is greater than the maximum driving capacity of the drive motor Then let the second target torque T _TM be equal to the maximum driving capacity of the drive motor The drive motor target torque is controlled to be the second target torque T _TM , the engine is in a shutdown state, and the generator target torque is 0. If the working mode of the vehicle is series working mode, according to the maximum driving capacity of the drive motor Maximum power generation capacity of drive motor and the first target torque T _Tgt (n), determining the second target torque T _TM includes: if the first target torque T _Tgt (n) is not less than the maximum power generation capacity of the drive motor And not greater than the maximum driving capacity of the drive motor Then let the second target torque T _TM etc. At the first target torque T _Tgt (n); if the first target torque T _Tgt (n) is less than the maximum power generation capacity of the drive motor Then let the second target torque T _TM be equal to the maximum power generation capacity of the drive motor. If the first target torque T _Tgt (n) is greater than the maximum driving capacity of the drive motor Then let the second target torque T _TM be equal to the maximum driving capacity of the drive motor According to the maximum driving capacity of the generator Generator maximum power generation capacity and the third target torque T _GM (i), determine the fourth target torque, including: if the third target torque T _GM (i) is not less than the maximum power generation capacity of the generator And not greater than the maximum driving capacity of the generator Then let the fourth target torque be equal to the third target torque T _GM (i); if the third target torque T _GM (i) is less than the maximum power generation capacity of the generator Then let the third target torque T _GM (i) equal the maximum power generation capacity of the generator If the third target torque T _GM (i) is greater than the maximum driving capacity of the generator Then let the third target torque T _GM (i) be equal to the maximum driving capacity of the generator Based on engine maximum capacity and the fifth target torque T _Eng , determine the sixth target torque, including: If the fifth target torque T _Eng is not greater than the engine's maximum capacity Then make the sixth target torque equal to the fifth target torque T _Eng ; if the fifth target torque T _Eng is greater than the maximum capacity of the engine Then let the sixth target torque be equal to the maximum capacity of the engine The drive motor target torque is controlled to be the second target torque T _TM , the generator target torque is the fourth target torque, and the engine target torque is the sixth target torque. If the working mode of the vehicle is parallel working mode, according to the maximum capacity of the engine and the first target torque T _Tgt (n), determining the seventh target torque includes: if the first target torque T _Tgt (n) is not greater than the maximum capacity of the engine Then let the seventh target torque equal to the first target torque T _Tgt (n); if the first target torque T _Tgt (n) is greater than the maximum capacity of the engine Then let the seventh target torque equal to the maximum capacity of the engine According to the maximum driving capacity of the drive motor Maximum power generation capacity of drive motor and the eighth target torque. Determining the ninth target torque includes: If the eighth target torque is not less than the maximum power generation capacity of the drive motor And not greater than the maximum driving capacity of the drive motor Then make the ninth target torque equal to the eighth target torque; if the eighth target torque is less than the maximum power generation capacity of the drive motor Then the ninth target torque is equal to the maximum power generation capacity of the drive motor. If the eighth target torque is greater than the maximum driving capacity of the drive motor Then make the ninth target torque equal to the maximum driving capacity of the drive motor The eighth target torque is equal to the difference between T _Tgt (n) and the actual engine torque T _{Eng_act} . The engine target torque is controlled to be the seventh target torque, the drive motor target torque is the ninth target torque, and the generator target torque is 0.

本申请实施例的技术方案，通过在激活车辆的滑行防抱死功能后，获取车辆的目标滑移率、当前车速和实际轴速；根据目标滑移率和当前车速，确定车辆的目标轴速；根据轴速控制偏差，确定第一目标扭矩；确定车辆当前的工作模式，并根据第一目标扭矩和工作模式，对车辆进行控制。在上述实施例的基础上，通过确定车辆的目标轴速，确定车辆的轴速控制偏差，然后根据车辆的轴速控制偏差确定车辆的第一目标扭矩，从而根据第一目标扭矩和车辆当前的工作模式对车辆进行控制，实现车辆的滑行防抱死功能，有效避免在抱死工况下减速度波动、扭矩波动和侧滑甩尾现象，提升车辆的滑行稳定性。 The technical solution of the embodiment of the present application obtains the vehicle's target slip rate, current vehicle speed, and actual axle speed after activating the vehicle's sliding anti-lock function; and determines the vehicle's target axle speed based on the target slip rate and current vehicle speed. ; Determine the first target torque according to the shaft speed control deviation; determine the current working mode of the vehicle, and control the vehicle according to the first target torque and working mode. On the basis of the above embodiment, by determining the target axle speed of the vehicle, the axle speed control deviation of the vehicle is determined, and then the first target torque of the vehicle is determined based on the axle speed control deviation of the vehicle, so that the first target torque and the current torque of the vehicle are determined. The working mode controls the vehicle to realize the vehicle's sliding anti-lock function, effectively avoiding deceleration fluctuations, torque fluctuations and sideslip phenomena under locking conditions, and improving the vehicle's sliding stability.

图4是本申请实施例中提供的一种车辆的控制装置的结构示意图，该装置包括：偏差确定模块410、扭矩确定模块420和车辆控制模块430。Figure 4 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application. The device includes: a deviation determination module 410, a torque determination module 420 and a vehicle control module 430.

偏差确定模块410，设置为在激活车辆的滑行防抱死功能后，确定车辆的轴速控制偏差。The deviation determination module 410 is configured to determine the axle speed control deviation of the vehicle after activating the coasting anti-lock function of the vehicle.

扭矩确定模块420，设置为根据轴速控制偏差，确定第一目标扭矩。The torque determination module 420 is configured to determine the first target torque according to the shaft speed control deviation.

车辆控制模块430，设置为确定车辆当前的工作模式，并根据第一目标扭矩和工作模式，对车辆进行控制。The vehicle control module 430 is configured to determine the current working mode of the vehicle and control the vehicle according to the first target torque and the working mode.

可选的，偏差确定模块410，是设置为：在激活车辆的滑行防抱死功能后，获取车辆的目标滑移率、当前车速和实际轴速；根据目标滑移率和当前车速，确定车辆的目标轴速；根据目标轴速和实际轴速，确定轴速控制偏差。Optionally, the deviation determination module 410 is configured to: after activating the vehicle's sliding anti-lock function, obtain the vehicle's target slip rate, current vehicle speed, and actual axle speed; and determine the vehicle's target slip rate and current vehicle speed based on the target slip rate and current vehicle speed. The target shaft speed; determine the shaft speed control deviation based on the target shaft speed and the actual shaft speed.

可选的，扭矩确定模块420，是设置为：根据轴速控制偏差、比例项系数和积分项系数，确定第一目标扭矩。Optionally, the torque determination module 420 is configured to determine the first target torque according to the shaft speed control deviation, the proportional term coefficient and the integral term coefficient.

可选的，该装置还包括：功能激活模块，设置为：确定车辆的实际滑移率；若实际滑移率大于目标滑移率，则激活滑行防抱死功能。Optionally, the device also includes: a function activation module, which is set to: determine the actual slip rate of the vehicle; if the actual slip rate is greater than the target slip rate, activate the sliding anti-lock function.

可选的，功能激活模块，是设置为：若车辆为前轮驱动车辆，则根据当前车速、左前轮车速、右前轮车速、横摆角速度、前车轮转角和轴距，确定实际滑移率；若车辆为后轮驱动车辆，则根据当前车速、左后轮车速和右后轮车速，确定实际滑移率。The optional function activation module is set to: if the vehicle is a front-wheel drive vehicle, the actual slip is determined based on the current vehicle speed, left front wheel speed, right front wheel speed, yaw angular speed, front wheel angle and wheelbase. rate; if the vehicle is a rear-wheel drive vehicle, the actual slip rate is determined based on the current vehicle speed, left rear wheel speed, and right rear wheel speed.

可选的，若工作模式为纯电动工作模式，车辆控制模块430，是设置为：确定驱动电机最大驱动能力和驱动电机最大发电能力；根据驱动电机最大驱动能力、驱动电机最大发电能力和第一目标扭矩，确定第二目标扭矩；控制驱动电机目标扭矩为第二目标扭矩、发动机处于停机状态，以及发电机目标扭矩为0。Optionally, if the working mode is a pure electric working mode, the vehicle control module 430 is set to: determine the maximum driving capacity of the drive motor and the maximum power generation capacity of the drive motor; based on the maximum drive capacity of the drive motor, the maximum power generation capacity of the drive motor and the first The target torque determines the second target torque; the target torque of the drive motor is controlled to be the second target torque, the engine is in a shutdown state, and the target torque of the generator is 0.

可选的，若工作模式为串联工作模式，车辆控制模块430，是设置为：确定驱动电机最大驱动能力和驱动电机最大发电能力；根据驱动电机最大驱动能力、驱动电机最大发电能力和第一目标扭矩，确定第二目标扭矩；确定第三目标扭矩、发电机最大驱动能力和发电机最大发电能力；根据发电机最大驱动能力、发电机最大发电能力和第三目标扭矩，确定第四目标扭矩；确定第五目标扭矩和发动机最大能力；根据发动机最大能力和第五目标扭矩，确定第六目标扭矩；控制驱动电机目标扭矩为第二目标扭矩、发电机目标扭矩为第四目标扭矩，以及发动机目标扭矩为第六目标扭矩。Optionally, if the working mode is the series working mode, the vehicle control module 430 is set to: determine the maximum driving capacity of the driving motor and the maximum power generation capacity of the driving motor; based on the maximum driving capacity of the driving motor, the maximum power generation capacity of the driving motor and the first target torque, determine the second target torque; determine the third target torque, the maximum driving capacity of the generator, and the maximum power generation capacity of the generator; determine the fourth target torque based on the maximum driving capacity of the generator, the maximum power generation capacity of the generator, and the third target torque; Determine the fifth target torque and the maximum engine capacity; determine the sixth target torque based on the maximum engine capacity and the fifth target torque; control the drive motor target torque to be the second target torque, the generator target torque to be the fourth target torque, and the engine target The torque is the sixth target torque.

可选的，车辆控制模块430，是设置为：若第一目标扭矩不小于驱动电机最大发电能力、且不大于驱动电机最大驱动能力，则令第二目标扭矩等于第一目标扭矩；若第一目标扭矩小于驱动电机最大发电能力，则令第二目标扭矩等于 驱动电机最大发电能力；若第一目标扭矩大于驱动电机最大驱动能力，则令第二目标扭矩等于驱动电机最大驱动能力；Optionally, the vehicle control module 430 is set to: if the first target torque is not less than the maximum power generation capacity of the drive motor and not greater than the maximum drive capacity of the drive motor, then the second target torque is equal to the first target torque; if the first If the target torque is less than the maximum power generation capacity of the drive motor, then the second target torque is equal to The maximum power generation capacity of the drive motor; if the first target torque is greater than the maximum drive capacity of the drive motor, then the second target torque is equal to the maximum drive capacity of the drive motor;

若第三目标扭矩不小于发电机最大发电能力、且不大于发电机最大驱动能力，则令第四目标扭矩等于第三目标扭矩；若第三目标扭矩小于发电机最大发电能力，则令第三目标扭矩等于发电机最大发电能力；若第三目标扭矩大于发电机最大驱动能力，则令第三目标扭矩等于发电机最大驱动能力；If the third target torque is not less than the maximum power generation capacity of the generator and not greater than the maximum driving capacity of the generator, then the fourth target torque is equal to the third target torque; if the third target torque is less than the maximum power generation capacity of the generator, let the third target torque be equal to the maximum power generation capacity of the generator. The target torque is equal to the maximum power generation capacity of the generator; if the third target torque is greater than the maximum driving capacity of the generator, then the third target torque is equal to the maximum driving capacity of the generator;

若第五目标扭矩不大于发动机最大能力，则令第六目标扭矩等于第五目标扭矩；若第五目标扭矩大于发动机最大能力，则令第六目标扭矩等于发动机最大能力。If the fifth target torque is not greater than the engine's maximum capability, then the sixth target torque is equal to the fifth target torque; if the fifth target torque is greater than the engine's maximum capability, then the sixth target torque is equal to the engine's maximum capability.

可选的，若工作模式为并联工作模式，车辆控制模块430，使设置为：确定发动机最大能力；根据发动机最大能力和第一目标扭矩，确定第七目标扭矩；确定第八目标扭矩、驱动电机最大驱动能力和驱动电机最大发电能力；根据驱动电机最大驱动能力、驱动电机最大发电能力和第八目标扭矩，确定第九目标扭矩；控制发动机目标扭矩为第七目标扭矩、驱动电机目标扭矩为第九目标扭矩、以及发电机目标扭矩为0。Optionally, if the working mode is the parallel working mode, the vehicle control module 430 is set to: determine the maximum engine capacity; determine the seventh target torque based on the maximum engine capacity and the first target torque; determine the eighth target torque, drive motor The maximum driving capacity and the maximum power generation capacity of the drive motor are determined; the ninth target torque is determined based on the maximum drive capacity of the drive motor, the maximum power generation capacity of the drive motor and the eighth target torque; the target torque of the control engine is the seventh target torque, and the target torque of the drive motor is the seventh target torque. The nine target torque and the generator target torque are 0.

可选的，车辆控制模块430，是设置为：若第一目标扭矩不大于发动机最大能力，则令第七目标扭矩等于第一目标扭矩；若第一目标扭矩大于发动机最大能力，则令第七目标扭矩等于发动机最大能力；Optionally, the vehicle control module 430 is set to: if the first target torque is not greater than the engine's maximum capacity, then make the seventh target torque equal to the first target torque; if the first target torque is greater than the engine's maximum capacity, then make the seventh target torque equal to the first target torque. Target torque equals engine maximum capability;

若第八目标扭矩不小于驱动电机最大发电能力、且不大于驱动电机最大驱动能力，则令第九目标扭矩等于第八目标扭矩；若第八目标扭矩小于驱动电机最大发电能力，则令第九目标扭矩等于驱动电机最大发电能力；若第八目标扭矩大于驱动电机最大驱动能力，则令第九目标扭矩等于驱动电机最大驱动能力。If the eighth target torque is not less than the maximum power generation capacity of the drive motor and not greater than the maximum drive capacity of the drive motor, then the ninth target torque is equal to the eighth target torque; if the eighth target torque is less than the maximum power generation capacity of the drive motor, then the ninth target torque is The target torque is equal to the maximum power generation capacity of the drive motor; if the eighth target torque is greater than the maximum drive capacity of the drive motor, then the ninth target torque is equal to the maximum drive capacity of the drive motor.

可选的，该装置还包括，功能关闭模块，设置为：若车辆满足预设条件，则关闭滑行防抱死功能；其中，预设条件包括以下至少之一：车辆的需求扭矩大于第一目标扭矩的时间大于或者等于预设时间；需求扭矩大于预设阈值；车辆的制动功能触发；车辆的稳定性控制功能被激活；车辆的档位位于非D档。Optionally, the device also includes a function shutdown module, which is set to: if the vehicle meets the preset conditions, the coasting anti-lock function is turned off; wherein the preset conditions include at least one of the following: the vehicle's required torque is greater than the first target The torque time is greater than or equal to the preset time; the required torque is greater than the preset threshold; the vehicle's braking function is triggered; the vehicle's stability control function is activated; the vehicle's gear is in a non-D gear.

本申请实施例所提供的车辆的控制装置可执行本申请任意实施例所提供的车辆的控制方法，具备执行方法相应的功能模块。The vehicle control device provided by the embodiments of this application can execute the vehicle control method provided by any embodiment of this application, and has functional modules corresponding to the execution method.

图5是本申请实施例中提供的一种电子设备的结构示意图，电子设备旨在表示多种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备还可以表示多种形式的移动装置，诸如，个人数字处理、蜂窝电话、智 能电话、可穿戴设备(如头盔、眼镜、手表等)和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本申请的实现。FIG. 5 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, and blades. servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, etc. Enable phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are examples only and are not intended to limit the implementation of the present application as described and/or claimed herein.

如图5所示，电子设备10包括至少一个处理器11，以及与至少一个处理器11通信连接的存储器，如只读存储器(Read-Only Memory，ROM)12、随机访问存储器(Random Access Memory，RAM)13等，其中，存储器存储有可被至少一个处理器执行的计算机程序，处理器11可以根据存储在ROM 12中的计算机程序或者从存储单元18加载到RAM 13中的计算机程序，来执行多种适当的动作和处理。在RAM 13中，还可存储电子设备10操作所需的多种程序和数据。处理器11、ROM 12以及RAM 13通过总线14彼此相连。输入/输出(Input/Output，I/O)接口15也连接至总线14。As shown in Figure 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (Read-Only Memory, ROM) 12, a random access memory (Random Access Memory, RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor. The processor 11 can execute according to the computer program stored in the ROM 12 or loaded from the storage unit 18 into the RAM 13. A variety of appropriate actions and treatments. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via the bus 14. An input/output (I/O) interface 15 is also connected to the bus 14 .

电子设备10中的多个部件连接至I/O接口15，包括：输入单元16，例如键盘、鼠标等；输出单元17，例如多种类型的显示器、扬声器等；存储单元18，例如磁盘、光盘等；以及通信单元19，例如网卡、调制解调器、无线通信收发机等。通信单元19允许电子设备10通过诸如因特网的计算机网络和/或多种电信网络与其他设备交换信息/数据。Multiple components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc. etc.; and communication unit 19, such as network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunications networks.

处理器11可以是多种具有处理和计算能力的通用和/或专用处理组件。处理器11的一些示例包括但不限于中央处理单元(Central Processing Unit，CPU)、图形处理单元(Graphics Processing Unit，GPU)、多种专用的人工智能(Artificial Intelligence，AI)计算芯片、多种运行机器学习模型算法的处理器、数字信号处理器(Digital Signal Processor，DSP)、以及任何适当的处理器、控制器、微控制器等。处理器11执行上文所描述的多个方法和处理，例如方法车辆的控制。Processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (Central Processing Unit, CPU), a graphics processing unit (GPU), a variety of dedicated artificial intelligence (Artificial Intelligence, AI) computing chips, a variety of running Machine learning model algorithm processor, digital signal processor (Digital Signal Processor, DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs a number of methods and processes described above, for example controlling the vehicle.

在一些实施例中，方法车辆的控制可被实现为计算机程序，其被有形地包含于计算机可读存储介质，例如存储单元18。在一些实施例中，计算机程序的部分或者全部可以经由ROM 12和/或通信单元19而被载入和/或安装到电子设备10上。当计算机程序加载到RAM 13并由处理器11执行时，可以执行上文描述的方法车辆的控制的一个或多个步骤。可选地，在其他实施例中，处理器11可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行方法车辆的控制。In some embodiments, control of the method vehicle may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18 . In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control of the method vehicle described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform control of the method vehicle in any other suitable manner (eg, by means of firmware).

本文中以上描述的***和技术的多种实施方式可以在数字电子电路***、集成电路***、场可编程门阵列(Field Programmable Gate Array，FPGA)、专用集成电路(Application Specific Integrated Circuit，ASIC)、专用标准产品(Application Specific Standard Parts，ASSP)、芯片上***的***(System on Chip，SOC)、负载可编程逻辑设备(Complex Programmable Logic Device，CPLD)、 计算机硬件、固件、软件、和/或它们的组合中实现。这些多种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程***上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储***、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储***、该至少一个输入装置、和该至少一个输出装置。Various implementations of the systems and techniques described above may be implemented in digital electronic circuit systems, integrated circuit systems, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Parts (ASSP), System on Chip (SOC), Load Programmable Logic Device (CPLD), Implemented in computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include implementation in one or more computer programs executable and/or interpreted on a programmable system including at least one programmable processor, the programmable processor The processor, which may be a special purpose or general purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device. An output device.

用于实施本申请的方法的计算机程序可以采用一个或多个编程语言的任何组合来编写。这些计算机程序可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器，使得计算机程序当由处理器执行时使流程图和/或框图中所规定的功能/操作被实施。计算机程序可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。Computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that the computer program, when executed by the processor, causes the functions/operations specified in the flowcharts and/or block diagrams to be implemented. A computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

在本申请的上下文中，计算机可读存储介质可以是有形的介质，其可以包含或存储以供指令执行***、装置或设备使用或与指令执行***、装置或设备结合地使用的计算机程序。计算机可读存储介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体***、装置或设备，或者上述内容的任何合适组合。可选地，计算机可读存储介质可以是机器可读信号介质。机器可读存储介质会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、RAM、ROM、可擦除可编程只读存储器(Erasable Programmable Read-Only Memory，EPROM)或快闪存储器、光纤、便捷式紧凑盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。In the context of this application, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. Machine-readable storage media may include electrical connections based on one or more wires, portable computer disks, hard drives, RAM, ROM, Erasable Programmable Read-Only Memory (EPROM) or flash memory, Optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

为了提供与用户的交互，可以在电子设备上实施此处描述的***和技术，该电子设备具有：用于向用户显示信息的显示装置(例如，阴极射线管(Cathode Ray Tube，CRT)或者液晶显示器(Liquid Crystal Display，LCD)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给电子设备。其它种类的装置还可以设置为提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having a display device (e.g., a cathode ray tube (CRT) or liquid crystal) for displaying information to the user. a display (Liquid Crystal Display, LCD monitor); and a keyboard and pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be configured to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and may be provided in any form, including Acoustic input, voice input or tactile input) to receive input from the user.

可以将此处描述的***和技术实施在包括后台部件的计算***(例如，作为数据服务器)、或者包括中间件部件的计算***(例如，应用服务器)、或者包括前端部件的计算***(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的*** 和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算***中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将***的部件相互连接。通信网络的示例包括：局域网(Local Area Network，LAN)、广域网(Wide Area Network，WAN)、区块链网络和互联网。The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., A user's computer with a graphical user interface or web browser through which the user can interact with the system described herein and interact with implementations of the technology), or in a computing system that includes any combination of such backend components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communications network). Examples of communication networks include: Local Area Network (LAN), Wide Area Network (WAN), blockchain network, and the Internet.

计算***可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器可以是云服务器，又称为云计算服务器或云主机，是云计算服务体系中的一项主机产品，以解决了传统物理主机与虚拟专用服务器(Virtual Private Server，VPS)服务中，存在的管理难度大，业务扩展性弱的缺陷。Computing systems may include clients and servers. Clients and servers are generally remote from each other and typically interact over a communications network. The relationship of client and server is created by computer programs running on corresponding computers and having a client-server relationship with each other. The server can be a cloud server, also known as cloud computing server or cloud host. It is a host product in the cloud computing service system to solve the problems that exist in traditional physical host and virtual private server (VPS) services. It has the disadvantages of difficult management and weak business scalability.

应该理解，可以使用上面所示的多种形式的流程，重新排序、增加或删除步骤。例如，本申请中记载的多步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本申请的技术方案所期望的结果。 It should be understood that various forms of the process shown above may be used, with steps reordered, added or deleted. For example, the multiple steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solution of this application can be achieved.

Claims (15)

1. 一种车辆的控制方法，包括：A vehicle control method, including:

   在激活车辆的滑行防抱死功能后，确定所述车辆的轴速控制偏差；determining an axle speed control deviation of said vehicle after activating the vehicle's coasting anti-lock function;

   根据所述轴速控制偏差，确定第一目标扭矩；Determine the first target torque according to the shaft speed control deviation;

   确定所述车辆当前的工作模式，并根据所述第一目标扭矩和所述工作模式，对所述车辆进行控制。The current working mode of the vehicle is determined, and the vehicle is controlled according to the first target torque and the working mode.
2. 根据权利要求1所述的方法，其中，所述确定所述车辆的所述轴速控制偏差，包括：The method of claim 1, wherein determining the axle speed control deviation of the vehicle includes:

   获取所述车辆的目标滑移率、当前车速和实际轴速；Obtain the target slip rate, current vehicle speed and actual axle speed of the vehicle;

   根据所述目标滑移率和所述当前车速，确定所述车辆的目标轴速；Determine the target axle speed of the vehicle based on the target slip rate and the current vehicle speed;

   根据所述目标轴速和所述实际轴速，确定所述轴速控制偏差；Determine the shaft speed control deviation according to the target shaft speed and the actual shaft speed;

   所述确定第一目标扭矩，包括：Determining the first target torque includes:

   根据所述轴速控制偏差、比例项系数和积分项系数，确定所述第一目标扭矩。The first target torque is determined based on the shaft speed control deviation, the proportional term coefficient and the integral term coefficient.
3. 根据权利要求2所述的方法，还包括：The method of claim 2, further comprising:

   确定所述车辆的实际滑移率；Determine the actual slip rate of said vehicle;

   在所述实际滑移率大于所述目标滑移率的情况下，激活所述滑行防抱死功能。In the case where the actual slip rate is greater than the target slip rate, the coasting anti-lock function is activated.
4. 根据权利要求3所述的方法，其中，所述确定所述车辆的实际滑移率，包括：The method of claim 3, wherein determining the actual slip rate of the vehicle includes:

   在所述车辆为前轮驱动车辆的情况下，根据所述当前车速、左前轮车速、右前轮车速、横摆角速度、前车轮转角和轴距，确定所述实际滑移率；In the case where the vehicle is a front-wheel drive vehicle, the actual slip rate is determined based on the current vehicle speed, left front wheel speed, right front wheel speed, yaw angular speed, front wheel angle and wheelbase;

   在所述车辆为后轮驱动车辆的情况下，根据所述当前车速、左后轮车速和右后轮车速，确定所述实际滑移率。In the case where the vehicle is a rear-wheel drive vehicle, the actual slip rate is determined based on the current vehicle speed, left rear wheel speed, and right rear wheel speed.
5. 根据权利要求1所述的方法，其中，在所述工作模式为纯电动工作模式的情况下，所述根据所述第一目标扭矩和所述工作模式，对所述车辆进行控制，包括：The method according to claim 1, wherein, when the operating mode is a pure electric operating mode, controlling the vehicle according to the first target torque and the operating mode includes:

   确定驱动电机最大驱动能力和驱动电机最大发电能力；Determine the maximum driving capacity of the drive motor and the maximum power generation capacity of the drive motor;

   根据所述驱动电机最大驱动能力、所述驱动电机最大发电能力和所述第一目标扭矩，确定第二目标扭矩；Determine a second target torque based on the maximum driving capacity of the driving motor, the maximum power generation capacity of the driving motor and the first target torque;

   控制驱动电机目标扭矩为所述第二目标扭矩、发动机处于停机状态，以及 发电机目标扭矩为0。The drive motor target torque is controlled to be the second target torque, the engine is in a shutdown state, and The generator target torque is 0.
6. 根据权利要求1所述的方法，其中，在所述工作模式为串联工作模式的情况下，所述根据所述第一目标扭矩和所述工作模式，对所述车辆进行控制，包括：The method according to claim 1, wherein, when the operating mode is a series operating mode, controlling the vehicle according to the first target torque and the operating mode includes:

   确定驱动电机最大驱动能力和驱动电机最大发电能力；Determine the maximum driving capacity of the drive motor and the maximum power generation capacity of the drive motor;

   根据所述驱动电机最大驱动能力、所述驱动电机最大发电能力和所述第一目标扭矩，确定第二目标扭矩；Determine a second target torque based on the maximum driving capacity of the driving motor, the maximum power generation capacity of the driving motor and the first target torque;

   确定第三目标扭矩、发电机最大驱动能力和发电机最大发电能力；Determine the third target torque, the maximum driving capacity of the generator and the maximum power generation capacity of the generator;

   根据所述发电机最大驱动能力、所述发电机最大发电能力和所述第三目标扭矩，确定第四目标扭矩；Determine a fourth target torque based on the maximum driving capacity of the generator, the maximum power generation capacity of the generator, and the third target torque;

   确定第五目标扭矩和发动机最大能力；Determine the fifth target torque and maximum engine capacity;

   根据所述发动机最大能力和所述第五目标扭矩，确定第六目标扭矩；Determine a sixth target torque based on the engine maximum capacity and the fifth target torque;

   控制驱动电机目标扭矩为所述第二目标扭矩、发电机目标扭矩为所述第四目标扭矩，以及发动机目标扭矩为所述第六目标扭矩。The drive motor target torque is controlled to be the second target torque, the generator target torque is the fourth target torque, and the engine target torque is the sixth target torque.
7. 根据权利要求5所述的方法，其中，所述根据所述驱动电机最大驱动能力、所述驱动电机最大发电能力和所述第一目标扭矩，确定第二目标扭矩包括：The method according to claim 5, wherein determining the second target torque according to the maximum driving capacity of the driving motor, the maximum power generation capacity of the driving motor and the first target torque includes:

   在所述第一目标扭矩不小于所述驱动电机最大发电能力、且不大于所述驱动电机最大驱动能力的情况下，令所述第二目标扭矩等于所述第一目标扭矩；When the first target torque is not less than the maximum power generation capacity of the drive motor and not greater than the maximum drive capacity of the drive motor, make the second target torque equal to the first target torque;

   在所述第一目标扭矩小于所述驱动电机最大发电能力的情况下，令所述第二目标扭矩等于所述驱动电机最大发电能力；When the first target torque is less than the maximum power generation capacity of the drive motor, make the second target torque equal to the maximum power generation capacity of the drive motor;

   在所述第一目标扭矩大于所述驱动电机最大驱动能力的情况下，令所述第二目标扭矩等于所述驱动电机最大驱动能力。When the first target torque is greater than the maximum driving capability of the drive motor, the second target torque is equal to the maximum drive capability of the drive motor.
8. 根据权利要求6所述的方法，其中，所述根据所述发电机最大驱动能力、所述发电机最大发电能力和所述第三目标扭矩，确定第四目标扭矩，包括：The method according to claim 6, wherein determining the fourth target torque according to the maximum driving capacity of the generator, the maximum power generation capacity of the generator and the third target torque includes:

   在所述第三目标扭矩不小于所述发电机最大发电能力、且不大于所述发电机最大驱动能力的情况下，令所述第四目标扭矩等于所述第三目标扭矩；When the third target torque is not less than the maximum power generation capacity of the generator and not greater than the maximum driving capacity of the generator, the fourth target torque is equal to the third target torque;

   在所述第三目标扭矩小于所述发电机最大发电能力的情况下，令所述第三目标扭矩等于所述发电机最大发电能力；When the third target torque is less than the maximum power generation capacity of the generator, make the third target torque equal to the maximum power generation capacity of the generator;

   在所述第三目标扭矩大于所述发电机最大驱动能力的情况下，令所述第三目标扭矩等于所述发电机最大驱动能力。When the third target torque is greater than the maximum driving capability of the generator, the third target torque is equal to the maximum driving capability of the generator.
9. 根据权利要求6所述的方法，其中，所述根据所述发动机最大能力和所 述第五目标扭矩，确定第六目标扭矩，包括：The method according to claim 6, wherein said based on said engine maximum capacity and said Determine the fifth target torque and determine the sixth target torque, including:

   在所述第五目标扭矩不大于所述发动机最大能力的情况下，令所述第六目标扭矩等于所述第五目标扭矩；When the fifth target torque is not greater than the maximum capacity of the engine, make the sixth target torque equal to the fifth target torque;

   在所述第五目标扭矩大于所述发动机最大能力的情况下，令所述第六目标扭矩等于所述发动机最大能力。In the case where the fifth target torque is greater than the maximum engine capability, the sixth target torque is equal to the maximum engine capability.
10. 根据权利要求1所述的方法，其中，在所述工作模式为并联工作模式的情况下，所述根据所述第一目标扭矩和所述工作模式，对所述车辆进行控制，包括：The method according to claim 1, wherein, when the operating mode is a parallel operating mode, controlling the vehicle according to the first target torque and the operating mode includes:

    确定发动机最大能力；Determine maximum engine capacity;

    根据所述发动机最大能力和所述第一目标扭矩，确定第七目标扭矩；Determine a seventh target torque based on the engine maximum capacity and the first target torque;

    确定第八目标扭矩、驱动电机最大驱动能力和驱动电机最大发电能力；Determine the eighth target torque, the maximum driving capacity of the drive motor and the maximum power generation capacity of the drive motor;

    根据所述驱动电机最大驱动能力、所述驱动电机最大发电能力和所述第八目标扭矩，确定第九目标扭矩；Determine a ninth target torque according to the maximum driving capacity of the driving motor, the maximum power generation capacity of the driving motor and the eighth target torque;

    控制发动机目标扭矩为所述第七目标扭矩、驱动电机目标扭矩为所述第九目标扭矩、以及发电机目标扭矩为0。The engine target torque is controlled to be the seventh target torque, the drive motor target torque is the ninth target torque, and the generator target torque is 0.
11. 根据权利要求10所述的方法，其中，所述根据所述发动机最大能力和所述第一目标扭矩，确定第七目标扭矩包括：The method of claim 10, wherein determining a seventh target torque based on the engine maximum capability and the first target torque includes:

    在所述第一目标扭矩不大于所述发动机最大能力的情况下，令所述第七目标扭矩等于所述第一目标扭矩；When the first target torque is not greater than the maximum capacity of the engine, make the seventh target torque equal to the first target torque;

    在所述第一目标扭矩大于所述发动机最大能力的情况下，令所述第七目标扭矩等于所述发动机最大能力。In the case where the first target torque is greater than the engine's maximum capability, the seventh target torque is equal to the engine's maximum capability.
12. 根据权利要求10所述的方法，其中，所述根据所述驱动电机最大驱动能力、所述驱动电机最大发电能力和所述第八目标扭矩，确定第九目标扭矩包括：The method according to claim 10, wherein determining the ninth target torque according to the maximum driving capacity of the driving motor, the maximum power generation capacity of the driving motor and the eighth target torque includes:

    在所述第八目标扭矩不小于所述驱动电机最大发电能力、且不大于所述驱动电机最大驱动能力的情况下，令所述第九目标扭矩等于所述第八目标扭矩；When the eighth target torque is not less than the maximum power generation capacity of the drive motor and not greater than the maximum drive capacity of the drive motor, the ninth target torque is equal to the eighth target torque;

    在所述第八目标扭矩小于所述驱动电机最大发电能力的情况下，令所述第九目标扭矩等于所述驱动电机最大发电能力；When the eighth target torque is less than the maximum power generation capacity of the drive motor, make the ninth target torque equal to the maximum power generation capacity of the drive motor;

    在所述第八目标扭矩大于所述驱动电机最大驱动能力的情况下，令所述第九目标扭矩等于所述驱动电机最大驱动能力。When the eighth target torque is greater than the maximum drive capability of the drive motor, the ninth target torque is equal to the maximum drive capability of the drive motor.
13. 根据权利要求1所述的方法，还包括： The method of claim 1, further comprising:

    在所述车辆满足预设条件的情况下，关闭所述滑行防抱死功能；其中，所述预设条件包括以下至少之一：When the vehicle meets preset conditions, the coasting anti-lock function is turned off; wherein the preset conditions include at least one of the following:

    所述车辆的需求扭矩大于所述第一目标扭矩的时间大于或者等于预设时间；The time during which the required torque of the vehicle is greater than the first target torque is greater than or equal to a preset time;

    所述需求扭矩大于预设阈值；The required torque is greater than the preset threshold;

    所述车辆的制动功能触发；The vehicle's braking function is triggered;

    所述车辆的稳定性控制功能被激活；The vehicle's stability control function is activated;

    所述车辆的档位位于非D档。The vehicle's gear is in non-D gear.
14. 一种电子设备，包括：An electronic device including:

    至少一个处理器；以及at least one processor; and

    与所述至少一个处理器通信连接的存储器；其中，a memory communicatively connected to the at least one processor; wherein,

    所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-13中任一项所述的车辆的控制方法。The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor, so that the at least one processor can perform any one of claims 1-13 The vehicle control method.
15. 一种计算机可读存储介质，存储有计算机指令，所述计算机指令用于使处理器执行时实现权利要求1-13中任一项所述的车辆的控制方法。 A computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the vehicle control method according to any one of claims 1-13 when executed by a processor.