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CN-122009188-A - Method, device, controller, vehicle and program product for controlling a vehicle

CN122009188ACN 122009188 ACN122009188 ACN 122009188ACN-122009188-A

Abstract

Embodiments of the present disclosure relate to methods, devices, controllers, vehicles, and program products for controlling a vehicle. The method includes determining a target torque provided by a first electric machine in a first electric drive axle of a plurality of electric drive axles of the vehicle in response to a first electric drive axle performing a shift operation. The method also includes adjusting torque provided by a second electric machine in a second one of the plurality of electric drive bridges that is not performing the shift operation based on the target torque. The method also includes controlling the vehicle based on the target torque and the adjusted torque. By the method, torque can be compensated by one electric drive bridge in the plurality of electric drive bridges during gear shifting, so that power is smoothly transited and is not interrupted during gear shifting, and vehicle driving comfort, power performance and safety are improved.

Inventors

  • ZHANG HANTIAN

Assignees

  • 罗伯特·博世有限公司

Dates

Publication Date
20260512
Application Date
20241111

Claims (15)

  1. 1. A method (200) for controlling a vehicle, comprising: determining (202) a target torque provided by a first electric machine in a plurality of electric bridges of a vehicle in response to a first electric bridge performing a shift operation; Adjusting (204) torque provided by a second motor in a second one of the plurality of electrically driven bridges that did not perform the shift operation based on the target torque, and The vehicle is controlled (206) based on the target torque and the adjusted torque.
  2. 2. The method (200) of claim 1, wherein adjusting torque provided by a second motor in a second one of the plurality of electrically driven bridges that does not perform the shift operation comprises: Acquiring a total wheel end torque for driving the vehicle, and The torque provided by the second electric machine in the second electric drive axle is adjusted based on the total wheel end torque and the target torque.
  3. 3. The method (200) of claim 2, wherein obtaining a total wheel end torque for driving the vehicle comprises: The total wheel end torque for driving the vehicle is received from a vehicle controller of the vehicle.
  4. 4. The method (200) of claim 2, wherein adjusting the torque provided by the second motor in the second electric drive axle based on the total wheel end torque and the target torque comprises: Determining a first gear being used in the first electrically driven bridge; Determining a first wheel end torque provided by the first electric drive axle based on the first gear and the target torque, and The torque provided by the second motor in the second electric drive axle is adjusted based on the first wheel end torque and the total wheel end torque.
  5. 5. The method (200) of claim 4, wherein determining a first wheel end torque provided by the first electric drive axle comprises: Determining a first speed ratio for the first gear based on the first gear, and The first wheel end torque provided by the first electric drive axle is determined based on the first speed ratio and the target torque.
  6. 6. The method (200) of claim 4, wherein adjusting the torque provided by the second motor in the second electric drive axle based on the first wheel end torque and the total wheel end torque comprises: determining a second wheel end torque that may be provided by the second electric drive axle based on the first wheel end torque and the total wheel end torque, and The torque provided by the second motor in the second electric drive axle is adjusted based on the second wheel end torque.
  7. 7. The method (200) of claim 6, wherein adjusting the torque provided by the second motor in the second electrically driven bridge based on the second wheel end torque comprises: determining a second gear being used in the second electrically driven bridge, and The torque provided by the second motor in the second electric drive axle is adjusted based on the second wheel end torque and the second gear.
  8. 8. The method (200) of claim 7, wherein the target torque is a first torque, and adjusting the torque provided by the second motor in the second electric drive axle based on the second wheel end torque and the second gear comprises: Determining a second speed ratio for the second gear based on the second gear, and Determining a second torque to be provided by the second electric machine of the second electric drive axle based on the second speed ratio and the second wheel end torque, and The torque provided by the second motor is adjusted based on the second torque.
  9. 9. The method (200) of claim 8, wherein adjusting the torque provided by the second motor based on the second torque comprises: determining whether the second torque exceeds a threshold torque for the second motor, and The torque provided by the second motor in the second electrically driven bridge is adjusted to the second torque in response to the second torque not exceeding the threshold torque.
  10. 10. The method (200) of claim 9, wherein adjusting the torque provided by the second motor based on the second torque further comprises: The torque provided by the second motor in the second electrically driven bridge is adjusted to the threshold torque in response to the second torque exceeding the threshold torque.
  11. 11. The method (200) of claim 1, further comprising: And controlling the second electric drive bridge to perform the shift operation in response to the first electric drive bridge completing the shift operation.
  12. 12. An apparatus (600) for controlling a vehicle, comprising: a target torque determination module (602) configured to determine a target torque provided by a first electric machine in a plurality of electric bridges of a vehicle in response to a first electric bridge performing a shift operation; a torque adjustment module (604) configured to adjust torque provided by a second motor in a second one of the plurality of electrically driven bridges that does not perform the shift operation based on the target torque, and A vehicle control module (606) configured to control the vehicle based on the target torque and the adjusted torque.
  13. 13. A controller (700), comprising: at least one processor, and A memory coupled to the at least one processor and having instructions stored thereon that, when executed by the at least one processor, cause the controller to perform the method of any of claims 1-11.
  14. 14. A vehicle comprising a first electrically driven bridge, a second electrically driven bridge and a controller according to claim 13.
  15. 15. A machine program product comprising machine executable instructions, wherein the machine executable instructions are executed by a processor to implement the method of any one of claims 1 to 11.

Description

Method, device, controller, vehicle and program product for controlling a vehicle Technical Field Embodiments of the present disclosure relate generally to the field of vehicle control, and in particular, relate to a method, apparatus, controller, vehicle, and program product for controlling a vehicle. Background With the development of technology, automobiles also begin to use electric energy as a power source. The electric automobile has particularly remarkable advantages, so that the development of the electric automobile is particularly rapid. For example, in terms of environmental protection and energy saving, the electric automobile can realize zero emission and has high energy utilization efficiency. In addition, the operation cost of the electric automobile is lower due to lower energy and maintenance cost. In addition, the electric automobile adopts a motor to control the speed of the automobile, so that the speed of the automobile is high, and the noise is low. With the rapid development of batteries and power systems, the power and performance of electric vehicles are continuously improved. And with the development of vehicle control technology, the control of the electric automobile is more and more intelligent. Therefore, electric vehicles are beginning to be accepted by more and more users, and become an important tool for people to travel or carry goods. Disclosure of Invention Embodiments of the present disclosure provide methods, apparatus, controllers, vehicles, and program products for controlling a vehicle. According to a first aspect of the present disclosure, a method for controlling a vehicle is provided. The method includes determining a target torque provided by a first electric machine in a first electric drive axle of a plurality of electric drive axles of the vehicle in response to a first electric drive axle performing a shift operation. The method also includes adjusting torque provided by a second electric machine in a second one of the plurality of electric drive bridges that is not performing the shift operation based on the target torque. The method also includes controlling the vehicle based on the target torque and the adjusted torque. According to a second aspect of the present disclosure, an apparatus for controlling a vehicle is provided. The apparatus includes a target torque determination module configured to perform a shift operation in response to a first electric drive bridge of a plurality of electric drive bridges of a vehicle, determine a target torque provided by a first motor of the first electric drive bridge, a torque adjustment module configured to adjust a torque provided by a second motor of a second electric drive bridge of the plurality of electric drive bridges that does not perform the shift operation based on the target torque, and a vehicle control module configured to control the vehicle based on the target torque and the adjusted torque. According to a third aspect of the present disclosure, a controller is provided. The controller includes at least one processor, and a memory coupled to the at least one processor and having instructions stored thereon that, when executed by the at least one processor, cause the controller to perform the steps of the method in the first aspect of the present disclosure. According to a fourth aspect of the present disclosure, a vehicle is provided. The vehicle includes a first electric drive bridge, a second electric drive bridge, and a controller in a third aspect of the present disclosure. According to a fifth aspect of the present disclosure, a machine program product is provided. The machine program product comprises machine executable instructions which are executed by a processor to implement the steps of the method in the first aspect of the present disclosure. Drawings FIG. 1 illustrates a schematic diagram of an example environment in which devices and/or methods may be implemented, according to some embodiments of the present disclosure; FIG. 2 illustrates a schematic diagram of an example method for controlling a vehicle, according to some embodiments of the present disclosure; FIG. 3 illustrates a schematic diagram of an example process for adjusting torque, according to some embodiments of the present disclosure; FIG. 4 illustrates a schematic diagram of an example architecture for controlling a vehicle, according to some embodiments of the present disclosure; FIG. 5 illustrates a schematic diagram of torque variation according to some embodiments of the present disclosure; FIG. 6 illustrates a schematic diagram of an apparatus for controlling a vehicle according to some embodiments of the present disclosure; Fig. 7 illustrates a schematic block diagram of an example device suitable for use in practicing some embodiments of the present disclosure. Like or corresponding reference characters indicate like or corresponding parts throughout the several views. Detailed Description Embodiments of the presen