EP-4737190-A1 - VEHICLE AND CONTROL METHOD THEREFOR, AND COMPUTER-READABLE STORAGE MEDIUM

EP4737190A1EP 4737190 A1EP4737190 A1EP 4737190A1EP-4737190-A1

Abstract

A vehicle and a control method thereof, including: obtaining (S101) operation information of a vehicle in a two-wheel drive state; when it is determined that the vehicle has a need to switch to a four-wheel drive state according to the operation information, controlling (S102) a rotational speed of a target motor to reach a target rotational speed, where the target motor is a motor that has not been started in the vehicle in the two-wheel drive state; controlling (S103) the target motor to combine with a disengagement and combination apparatus (3) in the vehicle; and loading (S104) a combined torque that matches acceleration information of the vehicle to the target motor during a process of combining the target motor with the disengagement and combination apparatus (3), which reduce a rotational speed different between the target motor and the disengagement and combination apparatus (3), thereby reducing a noise generated when the vehicle enters a four-wheel drive.

Inventors

SHEN, Keqing
CHEN, DONG
ZHU, KUNLUN
MA, Yingguo
CHEN, Qimiao

Assignees

ZHEJIANG ZEEKR INTELLIGENT TECHNOLOGY CO., LTD.
VIRIDI E-MOBILITY TECHNOLOGY (NINGBO) CO., LTD.
Zhejiang Geely Holding Group Co., Ltd.

Dates

Publication Date: 20260506
Application Date: 20230629

Claims (10)

A vehicle control method, comprising: obtaining operation information of a vehicle in a two-wheel drive state; when it is determined that the vehicle has a need to switch to a four-wheel drive state according to the operation information, controlling a rotational speed of a target motor to reach a target rotational speed, wherein the target motor is a motor that has not been started in the vehicle in the two-wheel drive state; controlling the target motor to combine with a disengagement and combination apparatus in the vehicle; and loading a combined torque that matches acceleration information of the vehicle to the target motor during a process of combining the target motor with the disengagement and combination apparatus.
The vehicle control method according to claim 1, wherein after the step of loading the combined torque that matches the acceleration information of the vehicle to the target motor during the process of combining the target motor with the disengagement and combination apparatus, the method further comprises: determining a target torque of the target motor in the four-wheel drive state after a combination of the target motor with the disengagement and combination apparatus has completed; and loading a torque of the target motor to the target torque.
The vehicle control method according to claim 2, wherein before the step of determining the target torque of the target motor in the four-wheel drive state, the method further comprises: stopping loading the combined torque to the target motor, and determining a target duration according to the combined torque and a corresponding torque attenuation rate, wherein the target duration is used to indicate a duration for which the combined torque attenuates to 0; and loading an allocation torque to the target motor within the target duration.
The vehicle control method according to claim 2, wherein the method further comprises: during a process of loading the torque of the target motor to the target torque, controlling a torque of a power source of the vehicle, so that a sum of the torque of the target motor and the torque of the power source is equal to a total torque required for the vehicle to travel.
The vehicle control method according to any one of claims 1-4, wherein the step of loading the combined torque that matches the acceleration information of the vehicle to the target motor during the process of combining the target motor with the disengagement and combination apparatus comprises: obtaining a driving acceleration of the vehicle or a rotational speed acceleration of a power source of the vehicle during the process of combining the target motor with the disengagement and combination apparatus, wherein the acceleration information comprises the driving acceleration or the rotational speed acceleration; and determining the combined torque according to the driving acceleration or the rotational speed acceleration, and loading the combined torque to the target motor.
The vehicle control method according to any one of claims 1-4, wherein the step of loading the combined torque that matches the acceleration information of the vehicle to the target motor during the process of combining the target motor with the disengagement and combination apparatus comprises: obtaining a braking torque of the vehicle, a torque of a power source of the vehicle and a slope of a road where the vehicle is located during the process of combining the target motor with the disengagement and combination apparatus, wherein the acceleration information comprises the braking torque, the torque of the power source and the slope; and determining the combined torque according to the braking torque, the torque of the power source and the slope, and loading the combined torque to the target motor.
The vehicle control method according to any one of claims 1-4, wherein the step of loading the combined torque that matches the acceleration information of the vehicle to the target motor during the process of combining the target motor with the disengagement and combination apparatus comprises: obtaining a first opening degree of an accelerator pedal of the vehicle, a second opening degree of a brake pedal of the vehicle and a slope of a road where the vehicle is located during the process of combining the target motor with the disengagement and combination apparatus, wherein the acceleration information comprises the first opening degree, the second opening degree and the slope; and determining the combined torque according to the first opening degree, the second opening degree and the slope, and loading the combined torque to the target motor.
A vehicle, comprising: an obtaining module, configured to obtain operation information of a vehicle in a two-wheel drive state; a first control module, configured to, when it is determined that the vehicle has a need to switch to a four-wheel drive state according to the operation information, control a rotational speed of a target motor to reach a target rotational speed, wherein the target motor is a motor that has not been started in the vehicle in the two-wheel drive state; a second control module, configured to control the target motor to combine with a disengagement and combination apparatus in the vehicle; and a loading module, configured to load a combined torque that matches acceleration information of the vehicle to the target motor during a process of combining the target motor with the disengagement and combination apparatus.
A vehicle, comprising: a processor, and a memory connected in communication with the processor; wherein the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the method according to any one of claims 1-7.
A computer-readable storage medium, wherein the computer-readable storage medium stores computer execution instructions, which, when executed by a processor, are used to implement the method according to any one of claims 1-7.

Description

TECHNICAL FIELD The present application relates to a field of vehicle control technologies and, in particular, to a vehicle and a control method thereof, and a computer-readable storage medium. BACKGROUND With the improvement of people's lives, vehicles have become a commonly used tool for riding instead of walk in their daily lives. The vehicle is provided with driving modes of two-wheel drive and four-wheel drive. The two-wheel drive refers to driving a vehicle with two wheels, while the four-wheel drive refers to driving a vehicle with four wheels. When the vehicle has a power demand (such as high throttle) or a four-wheel drive demand (such as skidding, unpaved roads), the vehicle will switch from two-wheel drive to four-wheel drive. Through combining a motor with a disengagement and combination apparatus, the vehicle connects the motor to a drive shaft, so as to connect the motor to a wheel connected to the drive shaft. The gear of the motor engages with the gear of the disengagement and combination apparatus, which can achieve the combination of the motor with the disengagement and combination apparatus. However, due to a certain acceleration of the vehicle itself, the undriven wheel also has a certain acceleration. As the disengagement and combination apparatus is connected to the undriven wheel through the drive shaft, the gear of the disengagement and combination apparatus itself has a certain acceleration. When the gear of the motor engages with the gear of the disengagement and combination apparatus, because the gear of the disengagement and combination apparatus has acceleration, there is a certain rotational speed difference between the gear of the motor and the gear of the disengagement and combination apparatus, resulting in collision between the gear of the motor and the gear of the disengagement and combination apparatus, causing damage to the vehicle and generating significant noise. SUMMARY The present application provides a vehicle and a control method thereof, and a computer-readable storage medium, to solve the problem that significant noise is generated during a process of a vehicle switching from a two-wheel drive to a four-wheel drive. In one aspect, the present application provides a vehicle control method, including: obtaining operation information of a vehicle in a two-wheel drive state;when it is determined that the vehicle has a need to switch to a four-wheel drive state according to the operation information, controlling a rotational speed of a target motor to reach a target rotational speed, where the target motor is a motor that has not been started in the vehicle in the two-wheel drive state;controlling the target motor to combine with a disengagement and combination apparatus in the vehicle; andloading a combined torque that matches acceleration information of the vehicle to the target motor during a process of combining the target motor with the disengagement and combination apparatus. In one possible design, after the step of loading the combined torque that matches the acceleration information of the vehicle to the target motor during the process of combining the target motor with the disengagement and combination apparatus, the method further includes: determining a target torque of the target motor in the four-wheel drive state after a combination of the target motor with the disengagement and combination apparatus has completed; andloading a torque of the target motor to the target torque. In one possible design, before the step of determining the target torque of the target motor in the four-wheel drive state, the method further includes: stopping loading the combined torque to the target motor, and determining a target duration according to the combined torque and a corresponding torque attenuation rate, where the target duration is used to indicate a duration for which the combined torque attenuates to 0; andloading an allocation torque to the target motor within the target duration. In one possible design, the method further includes: during a process of loading the torque of the target motor to the target torque, controlling a torque of a power source of the vehicle, so that a sum of the torque of the target motor and the torque of the power source is equal to a total torque required for the vehicle to travel. In one possible design, the step of loading the combined torque that matches the acceleration information of the vehicle to the target motor during the process of combining the target motor with the disengagement and combination apparatus includes: obtaining a driving acceleration of the vehicle or a rotational speed acceleration of a power source of the vehicle during the process of combining the target motor with the disengagement and combination apparatus, where the acceleration information includes the driving acceleration or the rotational speed acceleration; anddetermining the combined torque according to the driving acceleration or the rotational sp