EP-4741210-A1 - METHOD, APPARATUS, CONTROLLER, VEHICLE AND PROGRAM PRODUCT FOR CONTROLLING VEHICLE

EP4741210A1EP 4741210 A1EP4741210 A1EP 4741210A1EP-4741210-A1

Abstract

Examples of the present disclosure relate to a method, an apparatus, a controller, a vehicle, and a computer program product for controlling a vehicle. The method includes determining a target torque provided by a first motor in a first electric drive axle in response to the first electric drive axle of a plurality of electric drive axles of the vehicle performing a gearing operation. The method further comprises adjusting a torque provided by a second motor in a second electric drive axle of the plurality of electric drive axles not performing a gearing operation based on the target torque. The method further comprises controlling the vehicle based on the target torque and the adjusted torque. Through the method of the embodiment of the present disclosure, torque compensation can be provided by the other electric drive axles while one of the plurality of electric drive axles shifts gears, so that the power transitions smoothly during the gearing without power interruption, thereby increasing vehicle driving comfort, power and safety.

Inventors

ZHANG, Hantian

Assignees

Robert Bosch GmbH

Dates

Publication Date: 20260513
Application Date: 20251029

Claims (15)

A method (200) for controlling a vehicle, comprising: determining (202) a target torque provided by a first motor in a first electric drive axle in response to the first electric drive axle of a plurality of electric drive axles of the vehicle performing a gearing operation; adjusting (204) a torque provided by a second motor in a second electric drive axle of the plurality of electric drive axles not performing the gearing operation based on the target torque; and controlling (206) the vehicle based on the target torque and the adjusted torque.
The method (200) according to claim 1, wherein adjusting the torque provided by the second motor in the second electric drive axle of the plurality of electric drive axles not performing a gearing operation comprises: obtaining a total wheel end torque for driving the vehicle; and 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.
The method (200) according to claim 2, wherein obtaining the total wheel end torque for driving the vehicle comprises: receiving the total wheel end torque for driving the vehicle from a vehicle controller of the vehicle.
The method (200) according to 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 electric drive axle; determining a first wheel end torque provided by the first electric drive axle based on the first gear and the target torque; and 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.
The method (200) according to claim 4, wherein determining the 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 determining the first wheel end torque provided by the first electric drive axle based on the first speed ratio and the target torque.
The method (200) according to 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 adjusting the torque provided by the second motor in the second electric drive axle based on the second wheel end torque.
The method (200) according to claim 6, wherein adjusting the torque provided by the second motor in the second electric drive axle based on the second wheel end torque comprises: determining a second gear being used in the second electric drive axle; 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.
The method (200) according to 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 motor of the second electric drive axle based on the second speed ratio and the second wheel end torque; and adjusting the torque provided by the second motor based on the second torque.
The method (200) according to 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 adjusting the torque provided by the second motor in the second electric drive axle to the second torque in response to the second torque not exceeding the threshold torque.
The method (200) according to claim 9, wherein adjusting the torque provided by the second motor based on the second torque further comprises: adjusting the torque provided by the second motor in the second electric drive axle to the threshold torque in response to the second torque exceeding the threshold torque.
The method (200) according to claim 1, further comprising: in response to the first electric drive axle completing the gearing operation, controlling the second electric drive axle to perform the gearing operation.
An apparatus (600) for controlling a vehicle, comprising: a target torque determination module (602) configured to determine a target torque provided by a first motor in a first electric drive axle in response to the first electric drive axle of a plurality of electric drive axles of the vehicle performing a gearing operation; a torque adjustment module (604) configured to adjust a torque provided by a second motor in a second electric drive axle of the plurality of electric drive axles not performing the gearing 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.
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 according to any one of claims 1 to 11.
A vehicle, comprising a first electric drive axle, a second electric drive axle, and the controller according to claim 13.
A machine program product, comprising machine-executable instructions, wherein the machine-executable instructions are executed by a processor to implement the method according to any one of claims 1 to 11.

Description

Technical Field Examples of the present disclosure generally relate to the field of vehicle control, and specifically to a method, an apparatus, a controller, a vehicle, and a program product for controlling a vehicle. Background Art As technology has developed, automobiles have also started to use electric energy as a source of power. Since the advantages of electric vehicles are particularly evident, the electric vehicles are also developing particularly rapidly. For example, in environmental conservation, electric vehicles can achieve zero emissions and high energy efficiency. In addition, the operational costs of electric vehicles are lower due to lower energy and maintenance costs. In addition, electric vehicles use electric motors to control their speed, so they accelerate fast and make little noise. With the rapid development of batteries and power systems, the power and performance of electric vehicles are constantly improving. Moreover, with the development of vehicle control technology, the control of electric vehicles is becoming more and more intelligent. As a result, electric vehicles are beginning to be accepted by more and more users and have become an important vehicle for people to travel or transport cargo. Summary of the Invention Embodiments of the present disclosure provide a method, an apparatus, a controller, a vehicle, and a program product 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 motor in a first electric drive axle in response to the first electric drive axle of a plurality of electric drive axles of the vehicle performing a gearing operation. The method further comprises adjusting a torque provided by a second motor in a second electric drive axle of the plurality of electric drive axles not performing a gearing operation based on the target torque. The method further comprises 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 determine a target torque provided by a first motor in a first electric drive axle in response to the first electric drive axle of a plurality of electric drive axles of the vehicle performing a gearing operation; a torque adjustment module configured to adjust a torque provided by a second motor in a second electric drive axle of the plurality of electric drive axles not performing a gearing 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 comprises 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 steps of the method of the first aspect of the present disclosure. According to a fourth aspect of the present disclosure, a vehicle is provided. The vehicle comprises a first electric drive axle, a second electric drive axle, and a controller in the 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, wherein the machine-executable instructions are executed by a processor to implement the steps of the method in the first aspect of the present disclosure. Brief Description of the Drawings FIG. 1 is a schematic diagram of an exemplary environment in which a device and/or method according to some examples of the present disclosure may be implemented;FIG. 2 is a schematic diagram of an exemplary method for controlling a vehicle according to some examples of the present disclosure;FIG. 3 is a schematic view of an exemplary process for adjusting a torque according to some examples of the present disclosure;FIG. 4 is a schematic diagram of an exemplary architecture for controlling a vehicle according to some examples of the present disclosure;FIG. 5 is a schematic diagram of a change in torque according to some embodiments of the present disclosure;FIG. 6 is a schematic diagram of an apparatus for controlling a vehicle according to some examples of the present disclosure;FIG. 7 is a schematic block diagram of an exemplary device suitable for implementing some examples of the present disclosure. In the various accompanying drawings, the same or corresponding numbers represent the same or corresponding portions. Detailed Description of the Embodiments The examples of the present disclosure will be described in further detail below with reference to the accompanying drawings. While certain examples of the present disclosure