CN119189978A - Vehicle control method, storage medium and vehicle - Google Patents
Vehicle control method, storage medium and vehicle Download PDFInfo
- Publication number
- CN119189978A CN119189978A CN202411748933.9A CN202411748933A CN119189978A CN 119189978 A CN119189978 A CN 119189978A CN 202411748933 A CN202411748933 A CN 202411748933A CN 119189978 A CN119189978 A CN 119189978A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- clutch
- state
- current
- state information
- 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
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
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/02—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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Abstract
The application provides a vehicle control method, a storage medium and a vehicle, and belongs to the technical field of vehicles. The method comprises the steps of acquiring vehicle state information when the vehicle is in a low-speed four-wheel drive state, and controlling the vehicle to switch from a current driving mode to a low-speed direct-drive mode and to run in the low-speed direct-drive mode when the vehicle state information meets a mode switching condition, wherein in the low-speed direct-drive mode, a clutch of the vehicle is in a sliding state, and an engine is in a driving state. According to the embodiment of the application, by developing a low-speed direct-drive mode, on one hand, the engine can drive the vehicle in a low-speed scene, so that the problem that the vehicle is excessively fast in power consumption in winter is effectively solved, and the power-saving capacity of the vehicle is further improved, and on the other hand, the vehicle can be always kept in a four-drive state in a low-speed state, the phenomenon that the vehicle slips and swings in a snowy day is effectively avoided, and the driving safety of the vehicle is further ensured.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a vehicle control method, a storage medium, and a vehicle.
Background
The new energy vehicle is generally provided with a plurality of driving modes including a series mode, a pure four-wheel drive mode and a direct drive mode for adapting to different road conditions and driving requirements.
In the related art, since an engine stall phenomenon easily occurs when a vehicle runs at a low speed in a direct drive mode, a new energy vehicle is usually switched to a pure four-drive mode in order to ensure the low speed running safety of the vehicle in a snowy day. However, since the new energy vehicle has a high energy consumption speed in winter, when the electric quantity of the high-voltage battery is low, the vehicle cannot support the four-wheel drive, and further switches to the series mode to drive in a two-wheel drive state, and at this time, the vehicle is easy to slip or drift
Disclosure of Invention
The application provides a vehicle control method, a storage medium and a vehicle, which are used for solving the problem that the current vehicle driving mode cannot effectively meet the low-speed driving requirement of the vehicle in snowy days.
In order to solve the problems, the application adopts the following technical scheme:
In a first aspect, an embodiment of the present application provides a vehicle control method, including:
Acquiring vehicle state information under the condition that the vehicle is in a low-speed four-wheel drive state;
and under the condition that the vehicle state information meets the mode switching condition, controlling the vehicle to switch from a current driving mode to a low-speed direct-drive mode, and controlling the vehicle to run in the low-speed direct-drive mode, wherein in the low-speed direct-drive mode, a clutch of the vehicle is in a sliding friction state, and an engine is in a driving state.
In one embodiment of the application, the vehicle state information comprises clutch state information and any one of first state information and second state information, wherein the first state information comprises current environment temperature and current road condition;
the method further comprises the steps of:
Determining that the vehicle state information satisfies the mode switching condition under the conditions that the clutch state information satisfies a slip driving condition, the current ambient temperature is less than a temperature threshold, and the current road condition is a slip road condition, or
And determining that the vehicle state information satisfies the mode switching condition in a case where the clutch state information satisfies a slip driving condition and the current driving mode is a target driving mode.
In one embodiment of the present application, the clutch state information includes an overheat signal and a hardware failure signal, and the method further includes:
And determining that the clutch state information meets the slip driving condition when the overheat signal indicates that the clutch is not overheated and the hardware fault signal indicates that the clutch has no hardware fault.
In an embodiment of the present application, the step of controlling the vehicle to switch from the current driving mode to the low-speed direct driving mode includes:
Determining a target clutch pressure based on the current engine torque of the engine and a preset mapping relation, wherein the mapping relation represents a comparison relation between the engine torque and the clutch pressure in a clutch slip state;
and controlling the clutch to switch to the slip state based on the target clutch pressure to switch the vehicle from the current drive mode to the low-speed direct drive mode.
In one embodiment of the present application, the step of controlling the clutch to switch to the slip state based on the target clutch pressure includes:
controlling a current clutch pressure of the clutch to be increased to the target clutch pressure under the condition that the current driving mode is an idle electric four-drive mode so as to switch the clutch from an open state to the slip state;
and when the current driving mode is a direct driving mode, controlling the current clutch pressure of the clutch to be reduced to the target clutch pressure so as to enable the clutch to be switched from a closed state to the sliding friction state.
In one embodiment of the present application, the step of controlling the current clutch pressure of the clutch to be increased to the target clutch pressure includes:
According to a preset first pressure change gradient, controlling the current clutch pressure of the clutch to gradually increase to the target clutch pressure;
A step of controlling a current clutch pressure of the clutch to be reduced to the target clutch pressure, comprising:
and according to a preset second pressure change gradient, controlling the current clutch pressure of the clutch to gradually reduce to the target clutch pressure.
In an embodiment of the present application, the step of controlling the vehicle to travel in the low-speed direct-drive mode includes:
Determining an engine torque intervention value under the condition that the rotating speed difference at two ends of the clutch exceeds a preset rotating speed range;
and performing torque adjustment on the engine based on the engine torque intervention value.
In one embodiment of the present application, the step of determining an engine torque intervention value comprises:
The engine torque intervention value is determined based on a current engine torque of the engine and a rotational speed difference across the clutch.
In a second aspect, based on the same inventive concept, an embodiment of the present application provides a vehicle control apparatus including:
The information acquisition module is used for acquiring vehicle state information under the condition that the vehicle is in a low-speed four-wheel drive state;
And the mode switching module is used for controlling the vehicle to switch from a current driving mode to a low-speed direct-drive mode and controlling the vehicle to run in the low-speed direct-drive mode under the condition that the vehicle state information meets the mode switching condition, wherein in the low-speed direct-drive mode, the clutch of the vehicle is in a sliding friction state, and the engine is in a driving state.
In an embodiment of the present application, the vehicle state information includes clutch state information and any one of first state information and second state information, wherein the first state information includes a current ambient temperature and a current road condition, the second state information includes a current driving mode, and the vehicle control device includes:
The first condition determining module is used for determining that the vehicle state information meets the mode switching condition when the clutch state information meets the sliding friction driving condition, the current environment temperature is smaller than a temperature threshold value and the current road condition is a sliding road condition;
And a second condition determining module configured to determine that the vehicle state information satisfies the mode switching condition, in a case where the clutch state information satisfies a slip driving condition and the current driving mode is a target driving mode.
In one embodiment of the present application, the clutch state information includes an overheat signal and a hardware failure signal, and the vehicle control device includes:
and the second condition determining module is used for determining that the clutch state information meets the sliding friction driving condition under the condition that the overheat signal indicates that the clutch is not overheated and the hardware fault signal indicates that the clutch has no hardware fault.
In an embodiment of the present application, the mode switching module includes:
the pressure determining submodule is used for determining target clutch pressure based on the current engine torque of the engine and a preset mapping relation, wherein the mapping relation represents a comparison relation between the engine torque and the clutch pressure in a clutch slip state;
And the mode switching sub-module is used for controlling the clutch to be switched to the sliding friction state based on the target clutch pressure so as to enable the vehicle to be switched from the current driving mode to the low-speed direct driving mode.
In an embodiment of the present application, the mode switching submodule includes:
A first state switching unit configured to control, in a case where the current driving mode is an idle electric four-drive mode, a current clutch pressure of the clutch to be increased to the target clutch pressure so as to switch the clutch from an open state to the slip state;
And a second state switching unit configured to control, in a case where the current drive mode is a direct drive mode, a current clutch pressure of the clutch to be reduced to the target clutch pressure so as to switch the clutch from a closed state to the slip state.
In an embodiment of the present application, the first state switching unit is specifically configured to control, according to a preset first pressure variation gradient, a current clutch pressure of the clutch to gradually increase to the target clutch pressure, and the second state switching unit is specifically configured to control, according to a preset second pressure variation gradient, the current clutch pressure of the clutch to gradually decrease to the target clutch pressure.
In an embodiment of the present application, the mode switching module further includes:
the intervention value determining submodule is used for determining an engine torque intervention value under the condition that the rotating speed difference at two ends of the clutch exceeds a preset rotating speed range;
And the torque adjusting sub-module is used for adjusting the torque of the engine based on the engine torque intervention value.
In an embodiment of the application, the intervention value determination submodule is specifically configured to determine the engine torque intervention value based on a current engine torque of the engine and a rotational speed difference across the clutch.
In a third aspect, based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium having stored thereon an executable program that when executed by a processor implements the vehicle control method set forth in the first aspect of the present application.
In a fourth aspect, based on the same inventive concept, an embodiment of the present application provides a vehicle including:
A memory for storing an executable program;
A processor;
the vehicle control method according to the first aspect of the application is implemented when the executable program is executed by the processor.
Compared with the prior art, the application has the following advantages:
According to the vehicle control method, the vehicle state information is acquired when the vehicle is in the low-speed four-wheel drive state, the vehicle can be controlled to be switched from the current driving mode to the low-speed direct-drive mode and run in the low-speed direct-drive mode when the vehicle state information meets the mode switching condition, and the clutch of the vehicle is in a sliding state and the engine is in a driving state in the low-speed direct-drive mode. According to the embodiment of the application, by developing a low-speed direct-drive mode, on one hand, the engine can drive the vehicle in a low-speed scene, so that the problem that the vehicle is excessively fast in power consumption in winter is effectively solved, and the power-saving capacity of the vehicle is further improved, and on the other hand, the vehicle can be always kept in a four-drive state in a low-speed state, the phenomenon that the vehicle slips and swings in a snowy day is effectively avoided, and the driving safety of the vehicle is further ensured.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of steps of a method for controlling a vehicle in an embodiment of the application;
FIG. 2 is a schematic diagram showing functional blocks of a vehicle control apparatus according to an embodiment of the present application;
fig. 3 is a schematic view of a vehicle according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the direct drive mode, the engine is in a driving state, the clutch is in a closed state, the rear axle motor is in a driving state, the front axle motor is in a driving state, and the power of the engine directly drives the vehicle through the clutch and the front axle transmission in sequence. In the direct drive mode, the engine and the front axle motor can drive the front axle of the vehicle together, so that the driving force of the whole vehicle in the direct drive mode is generally larger than the driving force of the whole vehicle in other modes. However, in the direct drive mode, the engine is directly connected with the wheel end, so that the engine speed and the vehicle speed have a certain speed ratio, and when the vehicle runs at a low speed, the situation that the engine speed is too low and the vehicle is flameout easily occurs.
Therefore, the vehicle is usually switched to the four-wheel drive mode when the vehicle is traveling at a low speed on a snowy day. However, when the vehicle is used in winter, besides normal driving energy consumption, the new energy source has a plurality of energy consumption such as passenger cabin heating, seat heating, defrosting and demisting, and the like, so the energy consumption required by the new energy vehicle in winter is higher than the energy consumption required by other seasons. Because the new energy vehicle has a higher energy consumption speed in winter, when the electric quantity of the high-voltage battery is lower, the vehicle cannot support four-wheel drive running, and then the vehicle is switched to a series mode. In the series mode, the engine drives the front axle motor to generate electricity, and the generated electricity charges a battery or is provided for the rear axle motor to drive the vehicle. Although the battery can be charged in the series mode, further reduction of the battery power is avoided, the vehicle can run in a two-drive state, and at this time, the vehicle is easy to slip or drift.
Aiming at the problem that the current vehicle driving mode cannot effectively meet the low-speed driving requirement of a vehicle in a snowy day, the application aims to provide a vehicle control method, wherein the vehicle control method can control the vehicle to switch from a current driving mode to a low-speed direct-driving mode and control the vehicle to run in the low-speed direct-driving mode by acquiring vehicle state information when the vehicle is in a low-speed four-driving state and controlling an engine to be in a driving state when the vehicle state information meets a mode switching condition. According to the embodiment of the application, by developing a low-speed direct-drive mode, on one hand, the engine can drive the vehicle in a low-speed scene, so that the problem that the vehicle is excessively fast in power consumption in winter is effectively solved, and the power-saving capacity of the vehicle is further improved, and on the other hand, the vehicle can be always kept in a four-drive state in a low-speed state, the phenomenon that the vehicle slips and swings in a snowy day is effectively avoided, and the driving safety of the vehicle is further ensured.
Referring to fig. 1, a vehicle control method of the present application is shown, which may include the steps of:
s101, acquiring vehicle state information under the condition that the vehicle is in a low-speed four-wheel drive state.
It should be noted that the execution body of the present embodiment may be a computing service device having functions of data processing, network communication, and program running, or an electronic device having the above functions, such as a vehicle computer, a vehicle-mounted computer, etc., such as an ECU (Electronic Control Unit, an electronic control unit), an HCU (Hybrid Control Unit, a hybrid controller), a TCU (Transmission Control Unit, a transmission controller), etc., and the present embodiment does not impose a specific limitation on the type of the execution body. In order to shorten the signal transmission link and improve the control efficiency, the TCU will be described below as an execution body.
In this embodiment, if the TCU detects that the vehicle is in the four-wheel drive state and the current vehicle speed is less than the vehicle speed threshold, it determines that the vehicle is in the low-speed four-wheel drive state.
In a specific implementation, the TCU may determine whether the vehicle is in a four-wheel drive state by detecting a current driving mode of the vehicle, for example, the TCU determines that the vehicle is in the four-wheel drive state when detecting that the current driving mode is a pure four-wheel drive mode or a direct drive mode, or the TCU may determine that the vehicle is in the four-wheel drive state by acquiring a front axle torque and a rear axle torque when detecting that both the front axle torque and the rear axle torque are greater than a torque threshold.
In this embodiment, if the vehicle is detected to be in the low-speed four-wheel-drive state, it is indicated that the vehicle may be running on a wet road surface at a low speed in winter, and at this time, the conventional four-wheel-drive modes such as the pure four-wheel-drive mode or the direct-drive mode cannot effectively meet the driving requirement of the vehicle, so the TCU will acquire the vehicle state information and determine whether to control the vehicle to switch modes based on the vehicle state information.
And S102, controlling the vehicle to switch from the current driving mode to the low-speed direct-drive mode and controlling the vehicle to run in the low-speed direct-drive mode when the vehicle state information meets the mode switching condition.
In the present embodiment, the mode switching condition is used to determine whether the vehicle is in a state of high energy consumption and a strong four-wheel drive demand. That is, if the TCU determines that the vehicle is in a state of high energy consumption and a strong four-wheel drive demand is present according to the vehicle state information, it is determined that the vehicle state information satisfies the mode switching condition. Wherein high energy consumption means that the overall vehicle power demand is greater than the power threshold.
In a specific implementation, the vehicle state information includes first state information, which may include a current ambient temperature and a current road condition. And under the condition that the current environment temperature is less than the temperature threshold value and the current road condition is the skidding road condition, the TCU determines that the vehicle state information meets the mode switching condition. It should be noted that, when the current ambient temperature is less than the temperature threshold, the user will usually start the heating system to enable the vehicle to enter a high-energy state, and when the current road condition is a skid road condition, the vehicle is required to be in a four-wheel drive state to avoid the skid of the vehicle and improve the drivability of the vehicle.
In this embodiment, whether the current road condition is a slippery road condition may be determined according to the weather type and/or the road surface image. Specifically, the TCU may determine that the current road condition is a slippery road condition when detecting that the weather type is a raining type, a snowing type or a hail type, and/or input the road surface image into a preset road condition recognition model, and output a road condition recognition result to obtain the road condition recognition result, where the road condition recognition result is used to indicate whether the vehicle is in a slippery road condition.
In a specific implementation, the vehicle state information includes second state information, which may include a current driving mode. And if the TCU detects that the current driving mode is the target driving mode, determining that the vehicle state information meets the mode switching condition. Wherein, in the target driving mode, the vehicle is in a state of high energy consumption and strong four-wheel drive demand.
For example, the target driving mode may include a snowfield driving mode. Because there is a strong need for a four-wheel drive and a need to activate the heating system when the vehicle is in the snowy driving mode, the TCU can quickly determine whether the vehicle state information satisfies the mode switching condition by detecting whether the vehicle is in the snowy driving mode without performing the determination of the first state information.
In this embodiment, the user may manually control the vehicle to enter the target driving mode, for example, a preset physical button, a virtual button, or a voice-triggered mode switching command, at which time the TCU will switch the vehicle to the target driving mode in response to the user-triggered mode switching command. The TCU may also automatically switch to the target driving mode upon detecting that the vehicle satisfies a switching condition to switch to the target driving mode. Specifically, the TCU may determine that the vehicle satisfies a switching condition for switching to the target driving mode when it is detected that the current ambient temperature is less than the temperature threshold and the current road condition is a slip road condition.
In this embodiment, if the TCU detects that the vehicle state information satisfies the mode switching condition, it indicates that the battery power consumption of the vehicle is high and needs to be in the four-wheel drive state. At this time, in order to meet the electricity demand and the driving safety demand of the user at the same time, the TCU switches the control vehicle from the current driving mode to the low-speed direct driving mode. In the low-speed direct-drive mode, the current speed of the vehicle is smaller than the speed threshold, the clutch of the vehicle is in a sliding state, the engine is in a driving state, meanwhile, the rear axle motor is in a driving state, and the front axle motor is in a power generation state or a driving state.
The slip state is an intermediate state between the closed state and the open state, and when the clutch is in the slip state, the clutch is not fully engaged, and there is relative slip between the two ends of the clutch. In this state, the friction material of the clutch is rotating but not fully transmitting engine torque.
In this embodiment, since the clutch is in a sliding state, the engine and the wheel end are not in a hard connection state, and at this time, the engine can not only transmit the engine torque to the wheel end through the clutch and the front axle gearbox, but also operate at a higher rotation speed when the vehicle runs at a low speed, so that the phenomenon that the engine is too low to be towed out is effectively avoided.
In the embodiment, through developing a low-speed direct-drive mode, on one hand, the engine can drive the vehicle in a low-speed scene, the problem that the vehicle is excessively fast in power consumption in winter is effectively solved, and the power retention capacity of the vehicle is further improved, and on the other hand, the vehicle can be always kept in a four-drive state in a low-speed state, so that the phenomenon that the vehicle slips and swings in snow is effectively avoided, and the driving safety of the vehicle is further ensured.
In one possible embodiment, the vehicle state information includes clutch state information and a current driving mode, and the vehicle control method may further include the steps of:
s201, determining that the vehicle state information meets the mode switching condition when the clutch state information meets the sliding friction driving condition, the current ambient temperature is smaller than the temperature threshold value and the current road condition is the sliding road condition.
S202, determining that the vehicle state information meets the mode switching condition when the clutch state information meets the sliding friction driving condition and the current driving mode is the target driving mode.
In this embodiment, considering that the vehicle is in the low-speed direct drive mode, the engine torque needs to be transmitted to the transmission by means of the clutch, so to ensure the use safety of the clutch, the TCU will also acquire clutch state information, and determine whether the clutch satisfies the slip driving condition based on the clutch state information.
In a specific implementation, the clutch state information includes an overheat signal and a hardware failure signal. The TCU determines that the clutch status information satisfies the friction drive condition if the overheat signal indicates that the clutch is not overheated and the hardware fault signal indicates that the clutch is free of hardware faults.
In this embodiment, by comprehensively considering the clutch state information based on the first state information and the second state information, it is possible to ensure that the clutch can effectively transmit torque after the vehicle is switched to the low-speed direct-drive mode, and further ensure the use safety of the clutch and the running safety of the vehicle.
In this embodiment, after the TCU detects that the vehicle state information satisfies the mode switching condition, the HCU may also send a mode switching signal to the HCU, where after receiving the mode switching signal, the HCU may reduce the effective vehicle speed in the direct drive mode from the direct drive energy value to the target value, for example, from 25km/h to 0km/h. Wherein the direct drive energy value represents a minimum vehicle speed at which the vehicle can enter the direct drive mode. That is, in the direct-drive mode, the vehicle speed can only be reduced to the direct-drive energy value at the minimum, and if the vehicle speed is smaller than the direct-drive energy value, there is a risk of engine deactivation, and at this time, the vehicle may be controlled to switch to other modes. Therefore, by reducing the effective vehicle speed of the direct-drive mode from the direct-drive energy value to the target value, the logic conflict between the low-speed direct-drive mode and the existing direct-drive mode of the vehicle can be effectively avoided, and the vehicle can smoothly run in the low-speed direct-drive mode. And after the vehicle exits the low-speed direct-drive mode, the HCU restores the effective vehicle speed to a direct-drive energy value, and ensures the normal operation of the vehicle in the direct-drive mode.
In a possible embodiment, the step of controlling the vehicle to switch from the current driving mode to the low-speed direct driving mode in S102 may specifically include the following substeps:
s102-1, determining a target clutch pressure based on the current engine torque of the engine and a preset mapping relation.
In this embodiment, the map represents a relationship between engine torque and clutch pressure in the clutch slip state. It should be noted that, unlike when the clutch is in the fully closed state, the transmission torque corresponding to the clutch pressure is greater than or equal to the engine torque, and in the above-described map, the transmission torque corresponding to the clutch pressure will be less than the engine torque, so that the clutch can be in the slip state. Wherein torque is transferred to the engine through a clutch to the torque of the transmission input shaft.
In this embodiment, the mapping relationship may be obtained by experimental calibration. Specifically, the engine may be controlled to output according to a preset engine torque, and then the clutch pressure is controlled to change according to a certain gradient, for example, the clutch pressure is controlled to gradually increase or decrease according to a certain pressure change gradient, so that the clutch reaches a steady sliding state, and when the clutch is in the steady sliding state, the corresponding clutch pressure is recorded, so as to obtain a set of corresponding relations between the engine torque and the clutch pressure. By repeating the calibration steps under different engine torques, multiple groups of test data can be obtained, and the mapping relation can be finally obtained by fitting the multiple groups of data.
And S102-2, controlling the clutch to be switched to a sliding friction state based on the target clutch pressure so as to enable the vehicle to be switched from the current driving mode to the low-speed direct driving mode.
In this embodiment, the TCU will adjust the clutch pressure according to a preset pressure gradient to gradually switch the clutch to the slip state. Therefore, larger fluctuation of torque can be effectively avoided, and smoothness of mode switching is improved. Wherein the pressure change gradient represents the amount of change in clutch pressure per unit time.
In a specific implementation, S102-2 may include the sub-steps of:
and S102-2-1, controlling the current clutch pressure of the clutch to be increased to the target clutch pressure so as to enable the clutch to be switched from an open state to a sliding friction state in the case that the current driving mode is an idle electric four-drive mode.
In the idle electric four-drive mode, the front axle motor and the rear axle motor of the vehicle are in a driving state, the engine is in an idle state, and the clutch is in a disengaged state. In this mode, the front and rear axle motors drive the vehicle forward, and the engine is in an idle state but does not output torque. Compared with the traditional pure four-wheel drive mode, the engine needs to be kept in the flameout state, and the engine is kept in the idle state in the idle electric four-wheel drive mode. On one hand, when the vehicle needs to be switched from the idle electric four-wheel drive mode to the direct-drive mode, the step of starting the engine can be reduced, so that the mode switching speed and the power response performance of the vehicle are improved, on the other hand, as the front axle motor and the rear axle motor are both in a driving state, the better ground adhesion force can be improved, the vehicle is effectively helped to get rid of poverty, and after the vehicle gets rid of poverty, the vehicle can be rapidly switched back to the series mode, so that the repeated starting and stopping of the engine are avoided, and the driving performance of the vehicle on a low-adhesion road surface is effectively improved. Therefore, when the remaining charge of the high-voltage battery is sufficient, the HCU will control the vehicle to run in the idle electric four-drive mode.
In the present embodiment, when the current driving mode of the vehicle is the idle electric four-drive mode, the engine is in the idle state and the clutch is in the open state, and therefore, the clutch is controlled to be switched from the open state to the slip state, and the switching from the idle electric four-drive mode to the low-speed direct-drive mode can be realized.
In a specific implementation, the TCU will control the current clutch pressure of the clutch to gradually increase to the target clutch pressure according to a preset first pressure gradient, so as to gradually switch the clutch from the open state to the slip state.
And S102-2-2, in the case that the current driving mode is the direct driving mode, controlling the current clutch pressure of the clutch to be reduced to the target clutch pressure so as to enable the clutch to be switched from the closed state to the sliding friction state.
In the present embodiment, since the engine is in the driving state and the clutch is in the closed state when the current driving mode of the vehicle is the direct-drive mode, the clutch is controlled to be switched from the closed state to the slip state, and the switching from the direct-drive mode to the low-speed direct-drive mode can be realized.
In a specific implementation, the TCU will control the current clutch pressure of the clutch to gradually decrease to the target clutch pressure according to a preset second pressure gradient, so as to gradually switch the clutch from the closed state to the slip state. The second pressure gradient and the first pressure gradient may be the same or different.
In this embodiment, by gradually increasing or gradually decreasing the clutch pressure according to a certain pressure change gradient, the clutch can be switched to a slipping state more smoothly, and larger torque fluctuation caused by larger abrupt change of the clutch pressure is avoided, so that driving experience of a driver in a mode switching process is effectively ensured.
In this embodiment, in order to ensure that the clutch can stably output torque, the TCU may detect a rotational speed difference between two ends of the clutch while adjusting the clutch pressure, trigger timing for a stable duration when detecting that the rotational speed difference is located in a preset rotational speed range, and determine that the clutch is in a slip state when detecting that the stable duration reaches a duration threshold. By detecting the rotation speed difference at two ends of the clutch, the clutch is in a stable sliding state when the mode switching is completed, and further torque fluctuation is avoided.
In a possible embodiment, the step of controlling the vehicle to travel in the low-speed direct drive mode in S102 may specifically include the following substeps:
and S102-3, determining an engine torque intervention value under the condition that the rotating speed difference at two ends of the clutch exceeds a preset rotating speed range.
In this embodiment, the difference in rotational speed across the clutch represents the difference in rotational speed between the engine rotational speed and the transmission input shaft rotational speed.
In this embodiment, after the vehicle is switched to the low-speed direct-drive mode, the clutch pressure is adjusted in real time according to the current engine torque, still according to the map. In consideration of the fact that the pressure of the clutch is not timely regulated when the vehicle is in rapid acceleration or rapid deceleration, the rotation speed difference at two ends of the clutch can be greatly fluctuated. Therefore, in order to avoid the phenomenon that the engine speed is too low or the runaway phenomenon occurs, the TCU performs an intervention adjustment on the engine torque to maintain the engine speed stable under the condition that the speed difference between two ends of the clutch is detected to exceed the preset speed range.
The preset rotation speed range is a closed section including a rotation speed lower limit value and a rotation speed upper limit value. When the rotation speed difference at the two ends of the clutch is always in a preset rotation speed range, the rotation speed difference is indicated to fluctuate in a reasonable range, when the rotation speed difference is smaller than a rotation speed lower limit value, the rotation speed of the engine is indicated to be too low, and when the rotation speed difference is larger than a rotation speed upper limit value, the rotation speed of the engine is indicated to be too high.
In this embodiment, to match the appropriate engine torque intervention value, the TCU will determine the engine torque intervention value taking into account the current engine torque of the engine and the rotational speed difference across the clutch.
In a specific implementation, the TCU stores a preset torque intervention comparison table, the torque intervention comparison table represents a comparison relation between the engine torque and the rotation speed difference and the engine torque intervention value, and after the TCU obtains the current engine torque and the rotation speed difference, the TCU can quickly determine the proper engine torque intervention value by inquiring the torque intervention comparison table.
And S102-4, performing torque adjustment on the engine based on the engine torque intervention value.
In a specific implementation, after determining the engine torque intervention value, the TCU sends the engine torque intervention value to the engine controller, so that the engine controller determines a target engine torque based on the engine torque intervention value and the current engine torque, and adjusts the engine torque according to the target engine torque as a control target.
In this embodiment, after the vehicle is switched to the low-speed direct-drive mode, the TCU performs pressure adjustment on the clutch and performs torque intervention on the engine, so that not only can the clutch be controlled to effectively transmit the engine torque to the wheel end, but also after the rotational speed fluctuation occurs at the two ends of the clutch, the engine torque intervention value can be accurately calculated to timely control the engine torque up or down, so as to further maintain the stability of the engine rotational speed. Therefore, the driving safety of the vehicle in the low-speed direct-drive mode can be effectively ensured, and the driving experience of a user is improved.
In a second aspect, referring to fig. 2, an embodiment of the present application provides a vehicle control apparatus 200 including:
an information acquisition module 201, configured to acquire vehicle state information when the vehicle is in a low-speed four-wheel drive state;
The mode switching module 202 is configured to control the vehicle to switch from a current driving mode to a low-speed direct-drive mode and control the vehicle to run in the low-speed direct-drive mode when the vehicle state information satisfies a mode switching condition, wherein in the low-speed direct-drive mode, a clutch of the vehicle is in a slip state and an engine is in a driving state.
In one embodiment of the present application, the vehicle state information includes clutch state information and any one of first state information and second state information, wherein the first state information includes a current ambient temperature and a current road condition, the second state information includes a current driving mode, and the vehicle control device 200 includes:
the first condition determining module is used for determining that the vehicle state information meets the mode switching condition when the clutch state information meets the sliding friction driving condition, the current environment temperature is smaller than the temperature threshold value and the current road condition is the sliding road condition;
and the second condition determining module is used for determining that the vehicle state information meets the mode switching condition when the clutch state information meets the sliding friction driving condition and the current driving mode is the target driving mode.
In one embodiment of the present application, the clutch state information includes an overheat signal and a hardware failure signal, and the vehicle control device 200 includes:
And the second condition determining module is used for determining that the clutch state information meets the sliding friction driving condition under the condition that the overheat signal indicates that the clutch is not overheated and the hardware fault signal indicates that the clutch has no hardware fault.
In one embodiment of the present application, the mode switching module 202 includes:
The pressure determining submodule is used for determining target clutch pressure based on the current engine torque of the engine and a preset mapping relation, wherein the mapping relation represents a comparison relation between the engine torque and the clutch pressure in a clutch sliding state;
And the mode switching sub-module is used for controlling the clutch to be switched to a sliding friction state based on the target clutch pressure so as to enable the vehicle to be switched from the current driving mode to the low-speed direct driving mode.
In one embodiment of the present application, the mode switching submodule includes:
A first state switching unit for controlling the current clutch pressure of the clutch to be increased to a target clutch pressure in order to switch the clutch from an open state to a slip state in the case that the current driving mode is an idle electric four-drive mode;
and a second state switching unit for controlling the current clutch pressure of the clutch to be reduced to the target clutch pressure in order to switch the clutch from the closed state to the slip state in the case that the current driving mode is the direct driving mode.
In an embodiment of the application, the first state switching unit is specifically configured to control the current clutch pressure of the clutch to gradually increase to the target clutch pressure according to a preset first pressure variation gradient, and the second state switching unit is specifically configured to control the current clutch pressure of the clutch to gradually decrease to the target clutch pressure according to a preset second pressure variation gradient.
In an embodiment of the present application, the mode switching module 202 further includes:
The intervention value determining submodule is used for determining an engine torque intervention value under the condition that the rotating speed difference at two ends of the clutch exceeds a preset rotating speed range;
the torque adjustment sub-module is used for adjusting the torque of the engine based on the engine torque intervention value.
In an embodiment of the application, the intervention value determination submodule is specifically configured to determine an engine torque intervention value based on a current engine torque of the engine and a rotational speed difference across the clutch.
It should be noted that, the specific implementation of the vehicle control device 200 according to the embodiment of the present application refers to the specific implementation of the vehicle control method set forth in the first aspect of the embodiment of the present application, and will not be described herein.
In a third aspect, based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium having stored thereon an executable program that when executed by a processor implements the vehicle control method set forth in the first aspect of the present application.
It should be noted that, the specific implementation of the computer readable storage medium according to the embodiment of the present application refers to the specific implementation of the vehicle control method set forth in the first aspect of the foregoing embodiment of the present application, and will not be described herein.
Fourth aspect, referring to fig. 3, based on the same inventive concept, an embodiment of the present application provides a vehicle 300 including:
a memory 301 for storing an executable program;
A processor 302;
the vehicle control method proposed in the first aspect of the application is implemented when the executable program is executed by the processor 302.
It should be noted that, the specific implementation of the vehicle 300 according to the embodiment of the present application refers to the specific implementation of the vehicle control method set forth in the first aspect of the embodiment of the present application, and will not be described herein.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of additional like elements in a process, method, article, or terminal device comprising the element.
While the invention has been described in detail in terms of a vehicle control method, storage medium, and vehicle, specific examples are set forth herein to provide an understanding of the principles and embodiments of the invention, and are not to be construed as limiting the invention to those of ordinary skill in the art, in view of the teachings of the invention, as long as the embodiments and applications are varied.
Claims (10)
1. A vehicle control method, characterized in that the method comprises:
Acquiring vehicle state information under the condition that the vehicle is in a low-speed four-wheel drive state;
and under the condition that the vehicle state information meets the mode switching condition, controlling the vehicle to switch from a current driving mode to a low-speed direct-drive mode, and controlling the vehicle to run in the low-speed direct-drive mode, wherein in the low-speed direct-drive mode, a clutch of the vehicle is in a sliding friction state, and an engine is in a driving state.
2. The vehicle control method according to claim 1, wherein the vehicle state information includes clutch state information, and any one of first state information and second state information, wherein the first state information includes a current ambient temperature and a current road condition;
the method further comprises the steps of:
Determining that the vehicle state information satisfies the mode switching condition under the conditions that the clutch state information satisfies a slip driving condition, the current ambient temperature is less than a temperature threshold, and the current road condition is a slip road condition, or
And determining that the vehicle state information satisfies the mode switching condition in a case where the clutch state information satisfies a slip driving condition and the current driving mode is a target driving mode.
3. The vehicle control method according to claim 2, wherein the clutch state information includes an overheat signal and a hardware failure signal, the method further comprising:
And determining that the clutch state information meets the slip driving condition when the overheat signal indicates that the clutch is not overheated and the hardware fault signal indicates that the clutch has no hardware fault.
4. The vehicle control method according to claim 1, characterized in that the step of controlling the vehicle to switch from the current drive mode to the low-speed direct drive mode includes:
Determining a target clutch pressure based on the current engine torque of the engine and a preset mapping relation, wherein the mapping relation represents a comparison relation between the engine torque and the clutch pressure in a clutch slip state;
and controlling the clutch to switch to the slip state based on the target clutch pressure to switch the vehicle from the current drive mode to the low-speed direct drive mode.
5. The vehicle control method according to claim 4, characterized in that the step of controlling the clutch to switch to the slip state based on the target clutch pressure includes:
controlling a current clutch pressure of the clutch to be increased to the target clutch pressure under the condition that the current driving mode is an idle electric four-drive mode so as to switch the clutch from an open state to the slip state;
and when the current driving mode is a direct driving mode, controlling the current clutch pressure of the clutch to be reduced to the target clutch pressure so as to enable the clutch to be switched from a closed state to the sliding friction state.
6. The vehicle control method according to claim 5, characterized in that the step of controlling the current clutch pressure of the clutch to be increased to the target clutch pressure includes:
According to a preset first pressure change gradient, controlling the current clutch pressure of the clutch to gradually increase to the target clutch pressure;
A step of controlling a current clutch pressure of the clutch to be reduced to the target clutch pressure, comprising:
and according to a preset second pressure change gradient, controlling the current clutch pressure of the clutch to gradually reduce to the target clutch pressure.
7. The vehicle control method according to claim 1, characterized in that the step of controlling the vehicle to travel in the low-speed direct-drive mode includes:
Determining an engine torque intervention value under the condition that the rotating speed difference at two ends of the clutch exceeds a preset rotating speed range;
and performing torque adjustment on the engine based on the engine torque intervention value.
8. The vehicle control method according to claim 7, characterized in that the step of determining the engine torque intervention value includes:
The engine torque intervention value is determined based on a current engine torque of the engine and a rotational speed difference across the clutch.
9. A computer-readable storage medium having stored thereon an executable program, wherein the executable program when executed by a processor implements the vehicle control method according to any one of claims 1 to 8.
10. A vehicle, characterized by comprising:
A memory for storing an executable program;
A processor;
The vehicle control method according to any one of claims 1 to 8, when the executable program is executed by the processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411748933.9A CN119189978B (en) | 2024-12-02 | 2024-12-02 | Vehicle control method, storage medium and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411748933.9A CN119189978B (en) | 2024-12-02 | 2024-12-02 | Vehicle control method, storage medium and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN119189978A true CN119189978A (en) | 2024-12-27 |
| CN119189978B CN119189978B (en) | 2025-02-28 |
Family
ID=94055211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411748933.9A Active CN119189978B (en) | 2024-12-02 | 2024-12-02 | Vehicle control method, storage medium and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119189978B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872687A (en) * | 2022-05-18 | 2022-08-09 | 中国第一汽车股份有限公司 | Control method and device of double-motor vehicle and electronic equipment |
| WO2023000943A1 (en) * | 2021-07-21 | 2023-01-26 | 长城汽车股份有限公司 | Hybrid vehicle control method and apparatus, and electronic device |
| CN115848346A (en) * | 2023-02-02 | 2023-03-28 | 蜂巢传动系统(江苏)有限公司 | Gear shifting control method of hybrid system, vehicle and computer storage medium |
| CN116238474A (en) * | 2023-03-28 | 2023-06-09 | 蜂巢传动系统(江苏)有限公司 | Hybrid vehicle starting control method, device, system, vehicle and storage medium |
| CN116252773A (en) * | 2023-03-28 | 2023-06-13 | 蜂巢传动系统(江苏)有限公司 | Ejection start control method, device, system, vehicle and storage medium |
| CN116424297A (en) * | 2023-04-21 | 2023-07-14 | 蜂巢传动系统(江苏)有限公司 | Mode switching control method, device, storage medium and vehicle of hybrid vehicle |
| CN117799598A (en) * | 2023-12-29 | 2024-04-02 | 长城汽车股份有限公司 | A vehicle ejection start control method, device, storage medium and vehicle |
| CN118025127A (en) * | 2024-03-29 | 2024-05-14 | 重庆赛力斯凤凰智创科技有限公司 | Control method, device, medium and equipment for double-motor hybrid electric vehicle |
-
2024
- 2024-12-02 CN CN202411748933.9A patent/CN119189978B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023000943A1 (en) * | 2021-07-21 | 2023-01-26 | 长城汽车股份有限公司 | Hybrid vehicle control method and apparatus, and electronic device |
| CN114872687A (en) * | 2022-05-18 | 2022-08-09 | 中国第一汽车股份有限公司 | Control method and device of double-motor vehicle and electronic equipment |
| CN115848346A (en) * | 2023-02-02 | 2023-03-28 | 蜂巢传动系统(江苏)有限公司 | Gear shifting control method of hybrid system, vehicle and computer storage medium |
| CN116238474A (en) * | 2023-03-28 | 2023-06-09 | 蜂巢传动系统(江苏)有限公司 | Hybrid vehicle starting control method, device, system, vehicle and storage medium |
| CN116252773A (en) * | 2023-03-28 | 2023-06-13 | 蜂巢传动系统(江苏)有限公司 | Ejection start control method, device, system, vehicle and storage medium |
| CN116424297A (en) * | 2023-04-21 | 2023-07-14 | 蜂巢传动系统(江苏)有限公司 | Mode switching control method, device, storage medium and vehicle of hybrid vehicle |
| CN117799598A (en) * | 2023-12-29 | 2024-04-02 | 长城汽车股份有限公司 | A vehicle ejection start control method, device, storage medium and vehicle |
| CN118025127A (en) * | 2024-03-29 | 2024-05-14 | 重庆赛力斯凤凰智创科技有限公司 | Control method, device, medium and equipment for double-motor hybrid electric vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN119189978B (en) | 2025-02-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3710085B2 (en) | Control device for front and rear wheel drive vehicle | |
| CN108437849B (en) | Regenerative braking systems and methods | |
| CN109017747B (en) | Front and rear axle torque distribution method and system of new energy four-wheel drive vehicle and related components | |
| US9267556B2 (en) | Apparatus and method for determining engine clutch transfer torque of environmentally-friendly vehicle | |
| CN102442304B (en) | The clutch control device of motor vehicle driven by mixed power | |
| US20130162009A1 (en) | Electric vehicle regenerative braking system | |
| EP4699877A1 (en) | Mode switching control method and device for hybrid vehicle, storage medium, and vehicle | |
| CN105460001A (en) | Torque distribution method and device for four-wheel drive system of electric automobile | |
| JP2016534933A (en) | Dynamic deceleration control of hybrid vehicle | |
| CN116279396B (en) | Control method and device for hybrid vehicle, storage medium and vehicle | |
| JP2011088595A (en) | Controller for hybrid electric automobile | |
| US20230094431A1 (en) | Methods and system for thermal management of an electric energy storage device | |
| US20230159016A1 (en) | Maintaining multi-axle drive capability in a hybrid vehicle | |
| JP7410306B2 (en) | Hybrid vehicle creep control | |
| CN103386962B (en) | The method of the driveline components of vehicle and control vehicle | |
| US7328096B2 (en) | Driving force switching control apparatus | |
| CN105015539B (en) | Traction control for hybrid electric powertrain system | |
| CN119078793A (en) | Vehicle control method, device, storage medium and vehicle | |
| KR20180070341A (en) | Hybrid vehicle and method of controlling mode transition | |
| KR102355425B1 (en) | Hybrid vehicle and method of controlling engine for the same | |
| WO2021214187A1 (en) | Trigger conditions for hybrid vehicle operating mode changes | |
| CN116923363A (en) | Output torque adjustment method, device, vehicle and storage medium | |
| CN119189978B (en) | Vehicle control method, storage medium and vehicle | |
| CN111032398B (en) | Method for switching between transmission modes on a hybrid motor vehicle | |
| CN117067926A (en) | A vehicle control method, device, storage medium and vehicle |
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 |