WO2025077333A1

WO2025077333A1 - Control method for four-wheel-drive pure electric hill-holding system, and vehicle

Info

Publication number: WO2025077333A1
Application number: PCT/CN2024/105764
Authority: WO
Inventors: 刘建康; 王燕; 王德平; 赵慧超; 刘元治; 霍云龙; 王云龙; 车显达; 刘力源
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-10-09
Filing date: 2024-07-16
Publication date: 2025-04-17
Anticipated expiration: 2026-04-09
Also published as: CN117183761A

Abstract

A control method for a four-wheel-drive pure electric hill-holding system, and a vehicle. The method comprises the following steps: when it is determined that a target vehicle is in a climbing state, acquiring torque information and first temperature information of a motor used for driving the target vehicle to run; on the basis of the torque information, determining a first demand torque for the target vehicle when parked on an uphill road segment; on the basis of the first temperature information, determining a heat exchange mode of the target vehicle, wherein the heat exchange mode comprises a radiator heat dissipation mode and an air conditioner heat dissipation mode; acquiring second temperature information of the motor after the heat exchange mode is executed; and generating a control strategy on the basis of the first demand torque and the second temperature information, wherein the control strategy is used for controlling the target vehicle to park on the uphill road segment. The problems of over-temperature of a powertrain and rolling away caused by using an accelerator to complete parking on a hill are solved.

Description

Control method and vehicle of four-wheel drive pure electric hill-holding system

Technical Field

本申请涉及车辆技术领域，具体而言，涉及一种四驱纯电动驻坡系统的控制方法及车辆。本申请要求于2023年10月09日提交至中国国家知识产权局、申请号为2023113013117、发明名称为“四驱纯电动驻坡系统的控制方法及车辆”的专利申请的优先权。The present application relates to the field of vehicle technology, and more specifically, to a control method and vehicle for a four-wheel drive pure electric hill-holding system. The present application claims priority to a patent application filed with the State Intellectual Property Office of China on October 9, 2023, with application number 2023113013117 and invention name “Control method and vehicle for a four-wheel drive pure electric hill-holding system”.

Background Art

针对纯电动汽车，存在一种上坡拥堵工况，例如在市区拥堵上坡或者商场地下停车场上坡排队缴费，车辆会面临在坡上起起停停的场景，停车时，有些驾驶员习惯不拉手刹(不按电子驻车EPB)而是踩着油门，利用电机动力保持车辆在坡上静止。针对驾驶员的这种操作，当前现有技术通常时采用仪表报警，提醒驾驶员手动电机电子驻车EPB进行坡道驻车。现有技术不够智能，增加了驾驶员的操作，比较麻烦，而且仪表提醒以后如果驾驶员短时间内没有激活EPB，则出现溜车，很可能出现撞击后车，带来安全隐患。For pure electric vehicles, there is a congested uphill condition, such as when driving uphill in a congested urban area or queuing uphill to pay fees in a shopping mall underground parking lot. The vehicle will face the scene of starting and stopping on the slope. When parking, some drivers are accustomed to not pulling the handbrake (not pressing the electronic parking EPB) but stepping on the accelerator to use the power of the motor to keep the vehicle stationary on the slope. In response to this operation of the driver, the current existing technology usually uses an instrument alarm to remind the driver to manually use the motor electronic parking EPB to park on the slope. The existing technology is not smart enough, increases the driver's operation, is more troublesome, and if the driver does not activate the EPB within a short period of time after the instrument reminds, the vehicle will slip and may hit the vehicle behind, posing a safety hazard.

发明内容Summary of the invention

本申请的主要目的在于提供一种四驱纯电动驻坡系统的控制方法及车辆，以解决现有技术中智能化较低且安全隐患较高的问题。The main purpose of the present application is to provide a control method and vehicle for a four-wheel drive pure electric hill-holding system to solve the problems of low intelligence and high safety hazards in the prior art.

为了实现上述目的，根据本申请的一个方面，提供了一种四驱纯电动驻坡系统的控制方法，方法包括以下步骤：在确定目标车辆处于爬坡状态的情况下，获取用于驱动目标车辆行驶的电机的扭矩信息和第一温度信息；基于扭矩信息，确定目标车辆在爬坡路段上驻车时的第一需求扭矩；基于第一温度信息，确定目标车辆的换热模式，其中，换热模式包括散热器散热模式和空调散热模式；获取执行换热模式后的电机的第二温度信息；基于第一需求扭矩和第二温度信息生成控制策略，控制策略用于控制目标车辆在爬坡路段上进行驻车。In order to achieve the above-mentioned purpose, according to one aspect of the present application, a control method for a four-wheel drive pure electric hill-holding system is provided, and the method includes the following steps: when it is determined that a target vehicle is in a climbing state, obtaining torque information and first temperature information of a motor used to drive the target vehicle to travel; based on the torque information, determining a first required torque when the target vehicle is parked on a climbing section; based on the first temperature information, determining a heat exchange mode of the target vehicle, wherein the heat exchange mode includes a radiator heat dissipation mode and an air-conditioning heat dissipation mode; obtaining second temperature information of the motor after executing the heat exchange mode; and generating a control strategy based on the first required torque and the second temperature information, the control strategy being used to control the target vehicle to park on the climbing section.

进一步地，第一需求扭矩包括如下至少之一：第一电机的第一需求扭矩、第二电机的第一需求扭矩，第一温度信息包括如下至少之一：第一电机的第一温度信息、第二电机的第一温度信息，第二温度信息包括如下至少之一：第一电机的第二温度信息、第二电机的第二温度信息，基于第一需求扭矩和第二温度信息生成控制策略，控制策略用于控制目标车辆在爬坡路段上进行驻车，包括：判断第一电机的第二温度信息与第二电机的第二温度信息中的最大值是否大于第一预设温度值；在确定第一电机的第二温度信息与第二电机的第二温度信息中的最大值大于第一预设温度值的情况下，生成第一控制策略，第一控制策略用于控制制动控制单元执行自动停车作业，在执行自动停车作业的过程中，控制车轮制动以及控制第一电机的扭矩逐渐降为零、控制第二电机的扭矩逐渐降为零。 Further, the first required torque includes at least one of the following: the first required torque of the first motor, the first required torque of the second motor, the first temperature information includes at least one of the following: the first temperature information of the first motor, the first temperature information of the second motor, the second temperature information includes at least one of the following: the second temperature information of the first motor, the second temperature information of the second motor, and a control strategy is generated based on the first required torque and the second temperature information. The control strategy is used to control the target vehicle to park on a climbing section, including: determining whether the maximum value of the second temperature information of the first motor and the second temperature information of the second motor is greater than a first preset temperature value; when it is determined that the maximum value of the second temperature information of the first motor and the second temperature information of the second motor is greater than the first preset temperature value, generating a first control strategy, the first control strategy is used to control the braking control unit to perform an automatic parking operation, and in the process of performing the automatic parking operation, the wheel braking is controlled and the torque of the first motor is controlled to gradually drop to zero, and the torque of the second motor is controlled to gradually drop to zero.

进一步地，在确定第一电机的第二温度信息与第二电机的第二温度信息中的最大值大于第一预设温度值的情况下，生成第一控制策略之后，包括：在确定制动控制单元执行自动停车作业的情况下，生成第二控制策略，第二控制策略用于记录制动控制单元执行自动停车作业的执行总时长；判断执行总时长是否大于预设时长值；在确定执行总时长大于预设时长值的情况下，生成第三控制策略，第三控制策略用于控制制动控制单元停止执行自动停车作业。Furthermore, when it is determined that the maximum value between the second temperature information of the first motor and the second temperature information of the second motor is greater than the first preset temperature value, after generating the first control strategy, it includes: when it is determined that the braking control unit performs an automatic parking operation, generating a second control strategy, the second control strategy is used to record the total execution time of the braking control unit performing the automatic parking operation; judging whether the total execution time is greater than the preset time value; when it is determined that the total execution time is greater than the preset time value, generating a third control strategy, the third control strategy is used to control the braking control unit to stop performing the automatic parking operation.

进一步地，在确定执行总时长大于预设时长值的情况下，生成第三控制策略之后，包括：获取第三温度信息，其中，第三温度信息至少包括如下至少之一：第一电机的第三温度信息、第二电机的第三温度信息；判断第一电机的第三温度信息与第二电机的第三温度信息中的最大值是否大于第一预设温度值；在确定第一电机的第三温度信息与第二电机的第三温度信息中的最大值大于第一预设温度值的情况下，生成第四控制策略，第四控制策略用于控制制动控制单元执行驻车锁止作业，同时控制仪表显示系统接收提示信息，提示信息用于提醒松开油门踏板。Furthermore, when it is determined that the total execution time is greater than the preset time value, after generating the third control strategy, it includes: obtaining third temperature information, wherein the third temperature information includes at least one of the following: the third temperature information of the first motor, the third temperature information of the second motor; judging whether the maximum value of the third temperature information of the first motor and the third temperature information of the second motor is greater than the first preset temperature value; when it is determined that the maximum value of the third temperature information of the first motor and the third temperature information of the second motor is greater than the first preset temperature value, generating a fourth control strategy, the fourth control strategy is used to control the braking control unit to perform the parking lock operation, and at the same time control the instrument display system to receive prompt information, the prompt information is used to remind to release the accelerator pedal.

进一步地，在确定第一电机的第三温度信息与第二电机的第三温度信息中的最大值大于第一预设温度值的情况下，生成第四控制策略之后，包括：整车控制器控制驻坡热管理子系统执行空调散热模式。Furthermore, when it is determined that the maximum value of the third temperature information of the first motor and the third temperature information of the second motor is greater than the first preset temperature value, after generating the fourth control strategy, it includes: the vehicle controller controls the hill-staying thermal management subsystem to execute the air conditioning cooling mode.

进一步地，基于第一温度信息，确定目标车辆的换热模式，包括：判断第一电机的第一温度信息与第二电机的第一温度信息中的最大值是否大于第二预设温度值；在确定第一电机的第一温度信息与第二电机的第一温度信息中的最大值大于第二预设温度值的情况下，整车控制器控制驻坡热管理子系统执行空调散热模式，确定目标车辆的换热模式为空调散热模式。Furthermore, based on the first temperature information, a heat exchange mode of the target vehicle is determined, including: judging whether a maximum value between the first temperature information of the first motor and the first temperature information of the second motor is greater than a second preset temperature value; when it is determined that the maximum value between the first temperature information of the first motor and the first temperature information of the second motor is greater than the second preset temperature value, the vehicle controller controls the hill-staying thermal management subsystem to execute an air-conditioning cooling mode, and determines that the heat exchange mode of the target vehicle is the air-conditioning cooling mode.

进一步地，基于第一温度信息，确定目标车辆的换热模式，包括：判断第一电机的第一温度信息与第二电机的第一温度信息中的最大值是否小于第三预设温度值；在确定第一电机的第一温度信息与第二电机的第一温度信息中的最大值小于第三预设温度值的情况下，整车控制器控制驻坡热管理子系统执行散热器散热模式，确定目标车辆的换热模式为散热器散热模式。Furthermore, based on the first temperature information, a heat exchange mode of the target vehicle is determined, including: judging whether the maximum value of the first temperature information of the first motor and the first temperature information of the second motor is less than a third preset temperature value; when it is determined that the maximum value of the first temperature information of the first motor and the first temperature information of the second motor is less than the third preset temperature value, the vehicle controller controls the hill-staying thermal management subsystem to execute the radiator cooling mode, and determines that the heat exchange mode of the target vehicle is the radiator cooling mode.

进一步地，在确定第一电机的第一温度信息与第二电机的第一温度信息中的最大值小于第三预设温度值的情况下，整车控制器控制驻坡热管理子系统执行散热器散热模式，确定目标车辆的换热模式为散热器散热模式，包括：基于第一电机的第一温度信息与第二电机的第一温度信息，整车控制器控制电动水泵的转速和散热风扇的负荷；判断第一电机的第一温度信息与第二电机的第一温度信息中的最大值是否小于第四预设温度值；在确定第一电机的第一温度信息与第二电机的第一温度信息中的最大值小于第四预设温度值的情况下，整车控制器控制散热风扇关闭，电动水泵工作；在确定第一电机的第一温度信息与第二电机的第一温度信息中的最大值小于第三预设温度值，且大于第四预设温度值的情况下，整车控制器控制散热风扇打开。Further, when it is determined that the maximum value between the first temperature information of the first motor and the first temperature information of the second motor is less than the third preset temperature value, the vehicle controller controls the hill-standing thermal management subsystem to execute the radiator cooling mode, and determines that the heat exchange mode of the target vehicle is the radiator cooling mode, including: based on the first temperature information of the first motor and the first temperature information of the second motor, the vehicle controller controls the speed of the electric water pump and the load of the cooling fan; determines whether the maximum value between the first temperature information of the first motor and the first temperature information of the second motor is less than the fourth preset temperature value; when it is determined that the maximum value between the first temperature information of the first motor and the first temperature information of the second motor is less than the fourth preset temperature value, the vehicle controller controls the cooling fan to turn off and the electric water pump to work; when it is determined that the maximum value between the first temperature information of the first motor and the first temperature information of the second motor is less than the third preset temperature value and greater than the fourth preset temperature value, the vehicle controller controls the cooling fan to turn on.

进一步地，在确定第一电机的第一温度信息与第二电机的第一温度信息中的最大值大于第二预设温度值的情况下，整车控制器控制驻坡热管理子系统执行空调散热模式，确定目标车辆的换热模式为空调散热模式，包括：基于第一电机的第一温度信息与第二电机的第一温度信息，整车控制器控制电动水泵的转速和空调压缩机的工作负荷。Further, when it is determined that the maximum value of the first temperature information of the first motor and the first temperature information of the second motor is greater than the second preset temperature value, the vehicle controller controls the hill-standing thermal management subsystem to execute the air conditioning cooling mode to determine the target The heat exchange mode of the vehicle is an air conditioning cooling mode, including: based on the first temperature information of the first motor and the first temperature information of the second motor, the vehicle controller controls the speed of the electric water pump and the workload of the air conditioning compressor.

进一步地，判断第一电机的第二温度与第二电机的第二温度中的最大值是否大于第一预设温度值之后，包括：在确定第一电机的第二温度信息与第二电机的第二温度信息中的最大值小于等于第一预设温度值的情况下，生成第五控制策略，第五控制策略用于控制驻坡热管理子系统执行散热器散热模式或空调散热模式。Further, after determining whether the maximum value between the second temperature of the first motor and the second temperature of the second motor is greater than the first preset temperature value, it includes: when it is determined that the maximum value between the second temperature information of the first motor and the second temperature information of the second motor is less than or equal to the first preset temperature value, generating a fifth control strategy, the fifth control strategy is used to control the hill-standing thermal management subsystem to execute a radiator cooling mode or an air-conditioning cooling mode.

进一步地，判断第一电机的第三温度信息与第二电机的第三温度信息中的最大值是否大于第一预设温度值之后，包括：确定第一电机的第三温度信息与第二电机的第三温度信息中的最大值小于等于第一预设温度值的情况下，获取电机的第二需求扭矩，其中，第二需求扭矩至少包括如下之一：第一电机的第二需求扭矩、第二电机的第二需求扭矩；基于电机的第二需求扭矩，生成第六控制策略，第六控制策略用于控制第一电机执行第一电机的第二扭矩指令，第二电机系统执行第二电机的第二扭矩指令；整车控制器接收第四温度信息，其中，第四温度信息至少包括如下之一：第一电机的第四温度信息、第二电机的第四温度信息；基于第四温度信息，生成第七控制策略，第七控制策略用于控制驻坡热管理子系统执行散热器散热模式或空调散热模式。Further, after determining whether the maximum value of the third temperature information of the first motor and the third temperature information of the second motor is greater than the first preset temperature value, it includes: when determining that the maximum value of the third temperature information of the first motor and the third temperature information of the second motor is less than or equal to the first preset temperature value, obtaining the second required torque of the motor, wherein the second required torque includes at least one of the following: the second required torque of the first motor, the second required torque of the second motor; based on the second required torque of the motor, generating a sixth control strategy, the sixth control strategy is used to control the first motor to execute the second torque instruction of the first motor, and the second motor system to execute the second torque instruction of the second motor; the vehicle controller receives fourth temperature information, wherein the fourth temperature information includes at least one of the following: the fourth temperature information of the first motor, the fourth temperature information of the second motor; based on the fourth temperature information, generating a seventh control strategy, the seventh control strategy is used to control the hill-standing thermal management subsystem to execute a radiator cooling mode or an air-conditioning cooling mode.

根据本申请的另一方面，提供了一种车辆，车辆采用四驱纯电动驻坡系统的控制方法进行控制，四驱纯电动驻坡系统的控制方法为上述的四驱纯电动驻坡系统的控制方法。According to another aspect of the present application, a vehicle is provided, and the vehicle is controlled by a control method of a four-wheel drive pure electric hill-holding system, and the control method of the four-wheel drive pure electric hill-holding system is the control method of the four-wheel drive pure electric hill-holding system mentioned above.

应用本申请的技术方案，采用获取驱动目标车辆行驶的电机扭矩信息的同时监控电机温度以生成策略控制的方式，通过控制策略用于控制目标车辆在爬坡路段上进行驻车，从而实现了斜坡频繁起停工况下自动进入驻车的技术效果，进而解决了由于使用油门完成坡上驻车造成的动力系统过温、溜车的技术问题。By applying the technical solution of the present application, a method is adopted in which the motor torque information that drives the target vehicle is obtained while the motor temperature is monitored to generate a strategy control. The control strategy is used to control the target vehicle to park on a climbing section, thereby achieving the technical effect of automatically entering the parking state under frequent starting and stopping conditions on the slope, thereby solving the technical problems of power system overheating and slipping caused by using the accelerator to complete parking on the slope.

BRIEF DESCRIPTION OF THE DRAWINGS

构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

图1示出了根据本申请的四驱纯电动驻坡系统的控制方法的第一实施例的流程示意图；FIG1 is a schematic flow chart showing a first embodiment of a control method for a four-wheel drive pure electric hill-holding system according to the present application;

图2示出了根据本申请的四驱纯电动驻坡系统的第一实施例的结构示意图；FIG2 shows a schematic structural diagram of a first embodiment of a four-wheel drive pure electric hill-holding system according to the present application;

图3示出了根据本申请的四驱纯电动驻坡系统的第二实施例的结构示意图；FIG3 shows a schematic structural diagram of a second embodiment of a four-wheel drive pure electric hill-holding system according to the present application;

图4示出了根据本申请的四驱纯电动驻坡系统的控制方法中的热管理系统的结构示意图；FIG4 shows a schematic structural diagram of a thermal management system in a control method for a four-wheel drive pure electric hill-holding system according to the present application;

图5示出了根据本申请的四驱纯电动驻坡系统的控制方法的第二实施例的流程示意图；FIG5 is a schematic flow chart showing a second embodiment of a control method for a four-wheel drive pure electric hill-holding system according to the present application;

图6示出了根据本申请的四驱纯电动驻坡系统的控制方法中的热管理系统的控制方法的第一实施例的流程示意图； FIG6 is a flow chart showing a first embodiment of a control method for a thermal management system in a control method for a four-wheel drive pure electric hill-holding system according to the present application;

图7示出了根据本申请的四驱纯电动驻坡系统的控制方法中的热管理系统的控制方法的第二实施例的流程示意图。FIG7 shows a flow chart of a second embodiment of a control method for a thermal management system in a control method for a four-wheel drive pure electric hill-holding system according to the present application.

其中，上述附图包括以下附图标记：
11、第一电机；12、第二电机；13、电动水泵；14、膨胀水箱；15、三通阀；16、散热器；
17、空调换热器；18、散热风扇；19、空调系统；
1、整车控制器；2、第一电机控制器；3、第二电机控制器；4、制动控制单元；5、空调
控制器；6、热管理控制单元；7、仪表显示系统。The above drawings include the following reference numerals:
11. First motor; 12. Second motor; 13. Electric water pump; 14. Expansion water tank; 15. Three-way valve; 16. Radiator;
17. Air conditioning heat exchanger; 18. Cooling fan; 19. Air conditioning system;
1. Vehicle controller; 2. First motor controller; 3. Second motor controller; 4. Braking control unit; 5. Air conditioning controller; 6. Thermal management control unit; 7. Instrument display system.

DETAILED DESCRIPTION

需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and/or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and/or combinations thereof.

需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便这里描述的本申请的实施方式例如能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

现在，将参照附图更详细地描述根据本申请的示例性实施方式。然而，这些示例性实施方式可以由多种不同的形式来实施，并且不应当被解释为只限于这里所阐述的实施方式。应当理解的是，提供这些实施方式是为了使得本申请的公开彻底且完整，并且将这些示例性实施方式的构思充分传达给本领域普通技术人员，在附图中，为了清楚起见，有可能扩大了层和区域的厚度，并且使用相同的附图标记表示相同的器件，因而将省略对它们的描述。Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. In the accompanying drawings, for the sake of clarity, the thickness of the layers and regions may be enlarged, and the same reference numerals are used to represent the same devices, and thus their descriptions will be omitted.

结合图1至图7所示，根据本申请的具体实施例，提供了一种四驱纯电动驻坡系统的控制方法。With reference to FIGS. 1 to 7 , according to a specific embodiment of the present application, a control method for a four-wheel drive pure electric hill-holding system is provided.

具体地，如图1所示，四驱纯电动驻坡系统的控制方法，方法包括以下步骤：Specifically, as shown in FIG1 , a control method for a four-wheel drive pure electric hill-holding system includes the following steps:

步骤S1：在确定目标车辆处于爬坡状态的情况下，获取用于驱动目标车辆行驶的电机的扭矩信息和第一温度信息。Step S1: when it is determined that the target vehicle is in a climbing state, obtaining torque information and first temperature information of a motor used to drive the target vehicle.

步骤S2：基于扭矩信息，确定目标车辆在爬坡路段上驻车时的第一需求扭矩。 Step S2: Based on the torque information, determine a first required torque when the target vehicle is parked on a climbing section.

步骤S3：基于第一温度信息，确定目标车辆的换热模式，其中，换热模式包括散热器散热模式和空调散热模式。Step S3: Based on the first temperature information, determine the heat exchange mode of the target vehicle, wherein the heat exchange mode includes a radiator heat dissipation mode and an air conditioning heat dissipation mode.

步骤S4：获取执行换热模式后的电机的第二温度信息。Step S4: obtaining second temperature information of the motor after executing the heat exchange mode.

步骤S5：基于第一需求扭矩和第二温度信息生成控制策略，控制策略用于控制目标车辆在爬坡路段上进行驻车。Step S5: Generate a control strategy based on the first required torque and the second temperature information, where the control strategy is used to control the target vehicle to park on the climbing section.

通过上述步骤：采用获取驱动目标车辆行驶的电机扭矩信息的同时监控电机温度以生成策略控制的方式，通过控制策略用于控制目标车辆在爬坡路段上进行驻车，从而实现了斜坡频繁起停工况下自动进入驻车的技术效果，进而解决了由于使用油门完成坡上驻车造成的动力系统过温、溜车的技术问题。Through the above steps: the motor torque information that drives the target vehicle is obtained while the motor temperature is monitored to generate a strategy control method, and the control strategy is used to control the target vehicle to park on a climbing section, thereby achieving the technical effect of automatically entering the parking state under the condition of frequent starting and stopping on the slope, thereby solving the technical problems of power system overheating and slipping caused by using the accelerator to complete parking on the slope.

需要说明的是，上述实施例中的控制方法用于控制四驱电动汽车的动力系统，四驱电动汽车的动力系统的结构如图2所示，包括第一电机、第一减速器、第二电机和第二减速器，第一电机连接第一减速器驱动前车轮轴，第二电机连接第二减速器驱动后车轮轴。It should be noted that the control method in the above embodiment is used to control the power system of a four-wheel drive electric vehicle. The structure of the power system of the four-wheel drive electric vehicle is shown in Figure 2, including a first motor, a first reducer, a second motor and a second reducer. The first motor is connected to the first reducer to drive the front wheel axle, and the second motor is connected to the second reducer to drive the rear wheel axle.

需要说明的是，上述实施例中的动力系统包括驻坡系统，在本申请的一个实施例中，驻坡系统包括驻坡控制子系统和热管理子系统。It should be noted that the power system in the above embodiment includes a hill-holding system. In one embodiment of the present application, the hill-holding system includes a hill-holding control subsystem and a thermal management subsystem.

结合图3所示，驻车控制子系统包括：整车控制器(VCU)、第一电机控制器(MCU1)、第二电机控制器(MCU2)、电子驻车控制单元(EPB)、空调控制器(ATC)、仪表显示系统(IC)和热管理控制单元(TMC)，其中，第一电机控制器(MCU1)将第一电机的转速、转矩、温度上报给整车控制器(VCU)，整车控制器(VCU)将第一电机的扭矩命令发送给第一电机控制器(MCU1)，第二电机控制器(MCU2)将第二电机转速、转矩、温度上报给整车控制器(VCU)，整车控制器(VCU)将第二电机的扭矩命令发送给第二电机控制器(MCU2)；制动控制单元将Autohold制动状态、驻车锁止状态发送给整车控制器(VCU)，整车控制器(VCU)将驻车锁止命令、Autohold液压制动命令发给制动控制单元，空调控制器(ATC)将空调开启状态发送给整车控制器(VCU)，整车控制器(VCU)将空调压缩机负荷和空调开启指令发送给空调控制器(ATC)，整车控制器(VCU)将相关仪表提示信息发送给仪表显示系统(IC)，整车控制器(VCU)将三通阀控制指令、电动水泵控制指令、散热风扇负荷指令发送给热管理控制单元(TMC)，热管理控制单元(TMC)将三通阀状态、电动水泵实际转速、散热风扇实际负荷发送给整车控制器(VCU)。As shown in FIG3 , the parking control subsystem includes: a vehicle control unit (VCU), a first motor controller (MCU1), a second motor controller (MCU2), an electronic parking control unit (EPB), an air conditioning controller (ATC), an instrument display system (IC) and a thermal management control unit (TMC), wherein the first motor controller (MCU1) reports the speed, torque and temperature of the first motor to the vehicle control unit (VCU), the vehicle control unit (VCU) sends the torque command of the first motor to the first motor controller (MCU1), the second motor controller (MCU2) reports the speed, torque and temperature of the second motor to the vehicle control unit (VCU), and the vehicle control unit (VCU) sends the torque command of the second motor to the second motor controller (MCU2); the brake control unit reports the speed, torque and temperature of the second motor to the vehicle control unit (VCU), and the vehicle control unit (VCU) sends the torque command of the second motor to the second motor controller (MCU2); The hold brake status and the parking lock status are sent to the vehicle control unit (VCU), the vehicle control unit (VCU) sends the parking lock command and the Autohold hydraulic brake command to the brake control unit, the air conditioning controller (ATC) sends the air conditioning start status to the vehicle control unit (VCU), the vehicle control unit (VCU) sends the air conditioning compressor load and the air conditioning start command to the air conditioning controller (ATC), the vehicle control unit (VCU) sends the relevant instrument prompt information to the instrument display system (IC), the vehicle control unit (VCU) sends the three-way valve control command, the electric water pump control command, and the cooling fan load command to the thermal management control unit (TMC), and the thermal management control unit (TMC) sends the three-way valve status, the actual speed of the electric water pump, and the actual load of the cooling fan to the vehicle control unit (VCU).

结合图4所示，热管理子系统包括第一电机、第二电机、电动水泵、膨胀水箱、三通阀、散热器和散热风扇、空调系统、空调换热器(chiller)。热管理子系统包括还包括散热器散热模式和空调散热模式，其中，当热管理子系统处于散热器散热模式时，三通阀的一二开关连通，三通阀的三开关关闭，第一电机系统、第二电机系统、电动水泵、膨胀水箱、散热器和散热风扇组成一个闭合的循环冷却水路，通过散热风扇的控制，将两个电机系统的发热量经过散热器带走；当热管理子系统处于空调散热模式时，三通阀的二开关关闭，三通阀的一三开关连通，第一电机系统、第二电机系统、电动水泵、膨胀水箱、空调换热器组成一个闭合的循环冷却水路，通过空调系统的控制，将两个电机系统的发热量经过空调换热器带走。空调制冷能力相比散热风扇更强，能够带走更多的热量，从而支持电机发挥更大的扭矩能力。As shown in FIG4 , the thermal management subsystem includes a first motor, a second motor, an electric water pump, an expansion water tank, a three-way valve, a radiator and a cooling fan, an air conditioning system, and an air conditioning heat exchanger (chiller). The thermal management subsystem also includes a radiator cooling mode and an air conditioning cooling mode, wherein when the thermal management subsystem is in the radiator cooling mode, the first and second switches of the three-way valve are connected, the third switch of the three-way valve is closed, the first motor system, the second motor system, the electric water pump, the expansion water tank, the radiator and the cooling fan form a closed circulating cooling water circuit, and the heat generated by the two motor systems is taken away through the radiator by the control of the cooling fan; when the thermal management subsystem is in the air conditioning cooling mode, the second switch of the three-way valve is closed, the first and third switches of the three-way valve are connected, the first motor system, the second motor system, the electric water pump, the expansion water tank, and the air conditioning heat exchanger form a closed The circulating cooling water circuit, through the control of the air conditioning system, removes the heat generated by the two motor systems through the air conditioning heat exchanger. The air conditioning cooling capacity is stronger than the cooling fan, and can remove more heat, thereby supporting the motor to exert greater torque capacity.

如图5所示，第一需求扭矩包括如下至少之一：第一电机11的第一需求扭矩、第二电机12的第一需求扭矩，第一温度信息包括如下至少之一：第一电机11的第一温度信息、第二电机12的第一温度信息，第二温度信息包括如下至少之一：第一电机11的第二温度信息、第二电机12的第二温度信息，步骤S5基于第一需求扭矩和第二温度信息生成控制策略，控制策略用于控制目标车辆在爬坡路段上进行驻车，包括：As shown in FIG5 , the first required torque includes at least one of the following: the first required torque of the first motor 11 and the first required torque of the second motor 12; the first temperature information includes at least one of the following: the first temperature information of the first motor 11 and the first temperature information of the second motor 12; the second temperature information includes at least one of the following: the second temperature information of the first motor 11 and the second temperature information of the second motor 12; step S5 generates a control strategy based on the first required torque and the second temperature information, and the control strategy is used to control the target vehicle to park on a climbing section, including:

步骤S51：判断第一电机11的第二温度信息与第二电机12的第二温度信息中的最大值是否大于第一预设温度值。Step S51 : determining whether a maximum value of the second temperature information of the first motor 11 and the second temperature information of the second motor 12 is greater than a first preset temperature value.

步骤S52：在确定第一电机11的第二温度信息与第二电机12的第二温度信息中的最大值大于第一预设温度值的情况下，生成第一控制策略，第一控制策略用于控制制动控制单元4执行自动停车作业，在执行自动停车作业的过程中，控制车轮制动以及控制第一电机11的扭矩逐渐降为零、控制第二电机12的扭矩逐渐降为零。Step S52: When it is determined that the maximum value of the second temperature information of the first motor 11 and the second temperature information of the second motor 12 is greater than the first preset temperature value, a first control strategy is generated. The first control strategy is used to control the brake control unit 4 to perform an automatic parking operation. During the automatic parking operation, the wheel braking is controlled and the torque of the first motor 11 is controlled to gradually drop to zero, and the torque of the second motor 12 is controlled to gradually drop to zero.

这样可以利用自动停车液压制动顶替电机进行制动，防止电机温度继续上升，有效保证电驱寿命，同时可以继续维持车辆进行驻坡。自动停车制动车轮的具体方法为本领域现有技术，不再详细说明。In this way, the automatic parking hydraulic brake can be used to replace the motor for braking, preventing the motor temperature from continuing to rise, effectively ensuring the life of the electric drive, and at the same time, the vehicle can continue to stay on the slope. The specific method of automatic parking brake wheel is the existing technology in this field and will not be described in detail.

本实施例中，Tem_cal1为第一预设温度值，Tem_motor1表示第一电机11的第二温度信息，Tem_motor2表示第二电机12的第二温度信息，Max(Tem_motor1,Tem_motor2)表示第一电机11的第二温度信息与第二电机12的第二温度信息中的最大值。In this embodiment, Tem_cal1 is the first preset temperature value, Tem_motor1 represents the second temperature information of the first motor 11 , Tem_motor2 represents the second temperature information of the second motor 12 , and Max(Tem_motor1, Tem_motor2) represents the maximum value of the second temperature information of the first motor 11 and the second temperature information of the second motor 12 .

进一步地，步骤S52在确定第一电机11的第二温度信息与第二电机12的第二温度信息中的最大值大于第一预设温度值的情况下，生成第一控制策略之后，包括：Further, in step S52, after determining that the maximum value of the second temperature information of the first motor 11 and the second temperature information of the second motor 12 is greater than the first preset temperature value, the first control strategy is generated, including:

步骤S53：在确定制动控制单元4执行自动停车作业的情况下，生成第二控制策略，第二控制策略用于记录制动控制单元4执行自动停车作业的执行总时长。Step S53: when it is determined that the brake control unit 4 performs the automatic parking operation, a second control strategy is generated, and the second control strategy is used to record the total execution time of the brake control unit 4 performing the automatic parking operation.

步骤S54：判断执行总时长是否大于预设时长值。Step S54: Determine whether the total execution time is greater than a preset time value.

步骤S55：在确定执行总时长大于预设时长值的情况下，生成第三控制策略，第三控制策略用于控制制动控制单元4停止执行自动停车作业。Step S55: When it is determined that the total execution time is greater than the preset time value, a third control strategy is generated, and the third control strategy is used to control the brake control unit 4 to stop executing the automatic parking operation.

本实施例中，当自动停车液压制动开始起作用以后，开始计时，当时间t_sum>t_cal(计时超出一定时间)，自动停车即退出液压制动，防止液压制动机构长时间出现过热，影响寿命。t_sum为执行总时长，t_cal为预设时长值。In this embodiment, when the automatic parking hydraulic brake starts to work, the timing starts. When the time t_sum>t_cal (the timing exceeds a certain time), the automatic parking stops the hydraulic brake to prevent the hydraulic brake mechanism from overheating for a long time and affecting its life. t_sum is the total execution time, and t_cal is the preset time value.

可选地，步骤S55在确定执行总时长大于预设时长值的情况下，生成第三控制策略之后，包括：Optionally, in step S55, when it is determined that the total execution time is greater than the preset time value, after generating the third control strategy, the following steps are performed:

步骤S56；获取第三温度信息，其中，第三温度信息至少包括如下至少之一：第一电机11的第三温度信息、第二电机12的第三温度信息。 Step S56 : Acquire third temperature information, wherein the third temperature information includes at least one of the following: third temperature information of the first motor 11 , and third temperature information of the second motor 12 .

步骤S57：判断第一电机11的第三温度信息与第二电机12的第三温度信息中的最大值是否大于第一预设温度值。Step S57 : determining whether a maximum value of the third temperature information of the first motor 11 and the third temperature information of the second motor 12 is greater than a first preset temperature value.

步骤S58：在确定第一电机11的第三温度信息与第二电机的第三温度信息中的最大值大于第一预设温度值的情况下，生成第四控制策略，第四控制策略用于控制制动控制单元4执行驻车锁止作业，同时控制仪表显示系统7接收提示信息，提示信息用于提醒松开油门踏板。Step S58: When it is determined that the maximum value of the third temperature information of the first motor 11 and the third temperature information of the second motor is greater than the first preset temperature value, a fourth control strategy is generated. The fourth control strategy is used to control the brake control unit 4 to perform the parking lock operation, and at the same time control the instrument display system 7 to receive prompt information, and the prompt information is used to remind to release the accelerator pedal.

本实施例中，第三温度信息为车辆制动后的温度，如果(Tem_motor1，Tem_motor2)>Tem_cal1，说明电机温度较高不再适合进行驻车，VCU发送激活EPB驻车锁止命令，同时发送提示信息到仪表进行提示，所述的提示信息如下“EPB已锁止，请松开油门踏板，避免动力系统过温”，此步骤的目的是当电机长时间持续大扭矩输出时，电机温度升到无法控制，而且Autohold已经超出工作时长，则自动激活EPB，防止电驱过温，防止车辆溜坡。这里Tem_motor1表示第一电机11的第三温度信息，Tem_motor2表示第二电机12的第三温度信息，Tem_cal1表示第一预设温度值。In this embodiment, the third temperature information is the temperature after the vehicle is braked. If (Tem_motor1, Tem_motor2)>Tem_cal1, it means that the motor temperature is too high and is no longer suitable for parking. The VCU sends a command to activate the EPB parking lock, and at the same time sends a prompt message to the instrument for prompting. The prompt message is as follows: "EPB is locked, please release the accelerator pedal to avoid overheating of the power system." The purpose of this step is to automatically activate EPB when the motor continues to output high torque for a long time, the motor temperature rises to an uncontrollable level, and the Autohold has exceeded the working time, to prevent the electric drive from overheating and the vehicle from rolling down the slope. Here, Tem_motor1 represents the third temperature information of the first motor 11, Tem_motor2 represents the third temperature information of the second motor 12, and Tem_cal1 represents the first preset temperature value.

可选地，在确定第一电机11的第三温度信息与第二电机的第三温度信息中的最大值大于第一预设温度值的情况下，生成第四控制策略之后，包括：Optionally, when it is determined that the maximum value of the third temperature information of the first motor 11 and the third temperature information of the second motor is greater than the first preset temperature value, after the fourth control strategy is generated, the method includes:

步骤S59：整车控制器1控制驻坡热管理子系统执行空调散热模式。Step S59: the vehicle controller 1 controls the hill-holding thermal management subsystem to execute the air conditioning cooling mode.

具体地，默认即进入空调散热模式，三通阀的一二开关关闭，一三开关连通。VCU控制空调压缩机负荷开到最大，水泵转速开到最高，以便于尽快将电驱温度降下来。Specifically, the air conditioning cooling mode is entered by default, the first and second switches of the three-way valve are closed, and the first and third switches are connected. The VCU controls the air conditioning compressor load to the maximum and the water pump speed to the highest, so as to reduce the temperature of the electric drive as soon as possible.

如图6所示，步骤S3基于第一温度信息，确定目标车辆的换热模式，包括：As shown in FIG6 , step S3 determines the heat exchange mode of the target vehicle based on the first temperature information, including:

步骤S31：判断第一电机11的第一温度信息与第二电机12的第一温度信息中的最大值是否大于第二预设温度值。Step S31 : determining whether a maximum value of the first temperature information of the first motor 11 and the first temperature information of the second motor 12 is greater than a second preset temperature value.

步骤S32：在确定第一电机的第一温度信息与第二电机的第一温度信息中的最大值大于第二预设温度值的情况下，整车控制器1控制驻坡热管理子系统执行空调散热模式，确定目标车辆的换热模式为空调散热模式。Step S32: When it is determined that the maximum value of the first temperature information of the first motor and the first temperature information of the second motor is greater than the second preset temperature value, the vehicle controller 1 controls the hill-staying thermal management subsystem to execute the air-conditioning cooling mode, and determines that the heat exchange mode of the target vehicle is the air-conditioning cooling mode.

本实施例中，三通阀一二开关关闭，一三开关连通。VCU根据两个电机的温度控制电动水泵转速和空调压缩机的工作负荷，电动压缩机负荷根据两个电机温度而定，具体采用线性插值查表计算而得，具体如下表1，电动水泵转速也根据上述温度进行线性查表插值计算，具体如下表1所示，所述的n_max为电动水泵最高转速。In this embodiment, the switches 1 and 2 of the three-way valve are closed, and the switches 1 and 3 are connected. The VCU controls the speed of the electric water pump and the workload of the air-conditioning compressor according to the temperatures of the two motors. The load of the electric compressor is determined according to the temperatures of the two motors, and is specifically calculated by linear interpolation table lookup, as shown in Table 1 below. The speed of the electric water pump is also calculated by linear table lookup interpolation according to the above temperature, as shown in Table 1 below. The n_max is the maximum speed of the electric water pump.

表1空调压缩机负荷控制及电动水泵转速控制

Table 1 Air conditioning compressor load control and electric water pump speed control

步骤S33：判断第一电机11的第一温度信息与第二电机12的第一温度信息中的最大值是否小于第三预设温度值。Step S33: determining whether a maximum value of the first temperature information of the first motor 11 and the first temperature information of the second motor 12 is less than a third preset temperature value.

步骤S34：在确定第一电机11的第一温度信息与第二电机12的第一温度信息中的最大值小于第三预设温度值的情况下，整车控制器1控制驻坡热管理子系统执行散热器散热模式，确定目标车辆的换热模式为散热器散热模式。Step S34: When it is determined that the maximum value of the first temperature information of the first motor 11 and the first temperature information of the second motor 12 is less than the third preset temperature value, the vehicle controller 1 controls the hill-staying thermal management subsystem to execute the radiator cooling mode, and determines that the heat exchange mode of the target vehicle is the radiator cooling mode.

具体地，三通阀一二开关连通，一三开关关闭。VCU根据两个电机的温度控制电动水泵转速和散热风扇的工作负荷，当两个电机温度的较大值小于一定值Tem_cal4(例如60℃)时，散热风扇关闭，不工作，仅电动水泵工作，电动水泵以恒定转速运转，所述的转速为电动水泵最高转速的10％～30％(优选20％)，具体可标定。Specifically, the switches 1 and 2 of the three-way valve are connected, and the switches 1 and 3 are closed. The VCU controls the speed of the electric water pump and the workload of the cooling fan according to the temperatures of the two motors. When the larger value of the two motor temperatures is less than a certain value Tem_cal4 (for example, 60°C), the cooling fan is turned off and does not work, and only the electric water pump works. The electric water pump runs at a constant speed, which is 10% to 30% (preferably 20%) of the maximum speed of the electric water pump, and can be specifically calibrated.

当Tem_cal4<max(Tem_motor1,Tem_motor2)<Tem_cal3时，散热风扇工作，其负荷根据两个电机温度而定，具体采用线性插值查表计算而得，具体如下表1，电动水泵转速也根据上述温度进行线性查表插值计算，具体如下表2所示，所述的n_max为电动水泵最高转速。When Tem_cal4<max(Tem_motor1, Tem_motor2)<Tem_cal3, the cooling fan works, and its load is determined according to the temperatures of the two motors, which is specifically calculated by linear interpolation table lookup, as shown in Table 1 below. The speed of the electric water pump is also calculated by linear table interpolation based on the above temperature, as shown in Table 2 below. The n_max is the maximum speed of the electric water pump.

表2散热风扇负荷控制及电动水泵转速控制
Table 2 Cooling fan load control and electric water pump speed control

所述的Tem_cal1(例如130℃)>Tem_cal2(例如110℃)>Tem_cal3(例如100℃)>Tem_cal4(例如60℃)。Tem_cal1表示第一预设温度值，Tem_cal2表示第二预设温度值，Tem_cal3表示第三预设温度值，Tem_cal4表示第四预设温度值。The Tem_cal1 (for example, 130° C.)>Tem_cal2 (for example, 110° C.)>Tem_cal3 (for example, 100° C.)>Tem_cal4 (for example, 60° C.) Tem_cal1 represents the first preset temperature value, Tem_cal2 represents the second preset temperature value, Tem_cal3 represents the third preset temperature value, and Tem_cal4 represents the fourth preset temperature value.

进一步地，步骤S34中确定第一电机11的第一温度信息与第二电机12的第一温度信息中的最大值小于第三预设温度值的情况下，整车控制器1控制驻坡热管理子系统执行散热器散热模式，确定目标车辆的换热模式为散热器散热模式，包括：Further, when it is determined in step S34 that the maximum value of the first temperature information of the first motor 11 and the first temperature information of the second motor 12 is less than the third preset temperature value, the vehicle controller 1 controls the hill-standing thermal management subsystem to execute the radiator cooling mode, and determines that the heat exchange mode of the target vehicle is the radiator cooling mode, including:

步骤S341：基于第一电机11的第一温度信息与第二电机12的第一温度信息，整车控制器控制电动水泵13的转速和散热风扇的负荷。Step S341 : Based on the first temperature information of the first motor 11 and the first temperature information of the second motor 12 , the vehicle controller controls the rotation speed of the electric water pump 13 and the load of the cooling fan.

步骤S342：判断第一电机11的第一温度信息与第二电机12的第一温度信息中的最大值是否小于第四预设温度值。 Step S342 : determining whether a maximum value of the first temperature information of the first motor 11 and the first temperature information of the second motor 12 is less than a fourth preset temperature value.

步骤S343：在确定第一电机11的第一温度信息与第二电机12的第一温度信息中的最大值小于第四预设温度值的情况下，整车控制器1控制散热风扇关闭，电动水泵13工作。Step S343: when it is determined that the maximum value of the first temperature information of the first motor 11 and the first temperature information of the second motor 12 is less than the fourth preset temperature value, the vehicle controller 1 controls the cooling fan to be turned off and the electric water pump 13 to operate.

步骤S344：在确定第一电机11的第一温度信息与第二电机12的第一温度信息中的最大值小于第三预设温度值，且大于第四预设温度值的情况下，整车控制器1控制散热风扇打开。Step S344: when it is determined that the maximum value of the first temperature information of the first motor 11 and the first temperature information of the second motor 12 is less than the third preset temperature value and greater than the fourth preset temperature value, the vehicle controller 1 controls the cooling fan to turn on.

进一步地，步骤S32中在确定第一电机的第一温度信息与第二电机的第一温度信息中的最大值大于第二预设温度值的情况下，整车控制器1控制驻坡热管理子系统执行空调散热模式，确定目标车辆的换热模式为空调散热模式，包括：Further, in step S32, when it is determined that the maximum value of the first temperature information of the first motor and the first temperature information of the second motor is greater than the second preset temperature value, the vehicle controller 1 controls the hill-staying thermal management subsystem to execute the air conditioning cooling mode, and determines that the heat exchange mode of the target vehicle is the air conditioning cooling mode, including:

步骤S321：基于第一电机11的第一温度信息与第二电机12的第一温度信息，整车控制器1控制电动水泵13的转速和空调压缩机的工作负荷。Step S321 : Based on the first temperature information of the first motor 11 and the first temperature information of the second motor 12 , the vehicle controller 1 controls the rotation speed of the electric water pump 13 and the workload of the air-conditioning compressor.

进一步地，判断第一电机11的第二温度与第二电机12的第二温度中的最大值是否大于第一预设温度值之后，包括：Further, after determining whether the maximum value of the second temperature of the first motor 11 and the second temperature of the second motor 12 is greater than the first preset temperature value, the method includes:

在确定第一电机11的第二温度信息与第二电机12的第二温度信息中的最大值小于等于第一预设温度值的情况下，生成第五控制策略，第五控制策略用于控制驻坡热管理子系统执行散热器散热模式或空调散热模式。When it is determined that the maximum value of the second temperature information of the first motor 11 and the second temperature information of the second motor 12 is less than or equal to the first preset temperature value, a fifth control strategy is generated, and the fifth control strategy is used to control the hill-standing thermal management subsystem to execute a radiator cooling mode or an air conditioning cooling mode.

进一步地，判断第一电机11的第三温度信息与第二电机12的第三温度信息中的最大值是否大于第一预设温度值之后，包括：Further, after determining whether the maximum value of the third temperature information of the first motor 11 and the third temperature information of the second motor 12 is greater than the first preset temperature value, the method includes:

确定第一电机11的第三温度信息与第二电机12的第三温度信息中的最大值小于等于第一预设温度值的情况下，获取电机的第二需求扭矩，其中，第二需求扭矩至少包括如下之一：第一电机11的第二需求扭矩、第二电机12的第二需求扭矩。When it is determined that the maximum value of the third temperature information of the first motor 11 and the third temperature information of the second motor 12 is less than or equal to the first preset temperature value, the second required torque of the motor is obtained, wherein the second required torque includes at least one of the following: the second required torque of the first motor 11 and the second required torque of the second motor 12.

基于电机的第二需求扭矩，生成第六控制策略，第六控制策略用于控制第一电机11执行第一电机11的第二扭矩指令，第二电机12执行第二电机12的第二扭矩指令。Based on the second required torque of the motor, a sixth control strategy is generated, and the sixth control strategy is used to control the first motor 11 to execute the second torque command of the first motor 11 and the second motor 12 to execute the second torque command of the second motor 12 .

整车控制器1接收第四温度信息，其中，第四温度信息至少包括如下之一：第一电机11的第四温度信息、第二电机12的第四温度信息。The vehicle controller 1 receives fourth temperature information, wherein the fourth temperature information includes at least one of the following: fourth temperature information of the first motor 11 and fourth temperature information of the second motor 12 .

基于第四温度信息，生成第七控制策略，第七控制策略用于控制驻坡热管理子系统执行散热器散热模式或空调散热模式。Based on the fourth temperature information, a seventh control strategy is generated, and the seventh control strategy is used to control the hill-standing thermal management subsystem to execute a radiator cooling mode or an air-conditioning cooling mode.

本实施例中，第四温度信息表示电机执行第二扭矩指令的温度值。具体如图7所示。默认即进入空调散热模式，三通阀一二开关关闭，一三开关连通。整车控制器(VCU)控制空调压缩机负荷开到最大，水泵转速开到最高，以便于尽快将电驱温度降下来。In this embodiment, the fourth temperature information indicates the temperature value of the motor executing the second torque instruction. As shown in FIG7 , the air conditioning cooling mode is entered by default, the first and second switches of the three-way valve are closed, and the first and third switches are connected. The vehicle controller (VCU) controls the air conditioning compressor load to the maximum and the water pump speed to the highest, so as to reduce the temperature of the electric drive as soon as possible.

四驱纯电动驻坡系统包括：驻坡热管理子系统，驻坡热管理子系统包括第一电机11、第二电机12、电动水泵13、膨胀水箱14、三通阀15、散热器16、空调换热器17，膨胀水箱14 与电动水泵13连通，其中，第一电机、第二电机、电动水泵通过三通阀15与散热器16或空调换热器17中的一个连通地设置，以进行热交换；驻坡控制子系统，驻坡控制子系统包括整车控制器1、第一电机控制器2、第二电机控制器3、制动控制单元4、空调控制器5、热管理控制单元6、仪表显示系统7，第一电机控制器2、第二电机控制器3、制动控制单元4、空调控制器5、热管理控制单元6、仪表显示系统7分别与整车控制器1电性连接。驻坡热管器子系统具有散热器散热模式，在散热器散热模式下，第一电机11、第二电机、电动水泵通过三通阀15的一二开关与散热器16依次连通形成第一冷却回路，散热器16连接散热风扇18。驻坡热管器子系统具有空调散热模式，在空调散热模式下，第一电机11、第二电机、电动水泵通过三通阀15的一三开关与空调换热器17依次连通形成第二冷却回路，空调换热器17连接空调系统19。The four-wheel drive pure electric hill-holding system includes: a hill-holding thermal management subsystem, which includes a first motor 11, a second motor 12, an electric water pump 13, an expansion water tank 14, a three-way valve 15, a radiator 16, an air conditioning heat exchanger 17, an expansion water tank 14 The first motor, the second motor and the electric water pump are connected to the radiator 16 or the air conditioning heat exchanger 17 through the three-way valve 15 to exchange heat; the hill-holding control subsystem includes a vehicle controller 1, a first motor controller 2, a second motor controller 3, a brake control unit 4, an air conditioning controller 5, a thermal management control unit 6, and an instrument display system 7. The first motor controller 2, the second motor controller 3, the brake control unit 4, the air conditioning controller 5, the thermal management control unit 6, and the instrument display system 7 are electrically connected to the vehicle controller 1. The hill-holding heat pipe subsystem has a radiator heat dissipation mode. In the radiator heat dissipation mode, the first motor 11, the second motor and the electric water pump are connected to the radiator 16 in sequence through the one or two switches of the three-way valve 15 to form a first cooling circuit, and the radiator 16 is connected to the cooling fan 18. The slope-holding heat pipe subsystem has an air-conditioning cooling mode. In the air-conditioning cooling mode, the first motor 11, the second motor, and the electric water pump are connected to the air-conditioning heat exchanger 17 in sequence through the one-three switch of the three-way valve 15 to form a second cooling circuit, and the air-conditioning heat exchanger 17 is connected to the air-conditioning system 19.

面对车辆在坡道上起起停停的工况，在坡道停车时驾驶员不主动激活EPB而是采用踩油门的操作方法，本申请所述的技术方案即是针对此工况提出的；本申请提出的动力驻坡控制方法能够利用电机堵转和EPB相结合的方法，智能控制车辆实现驻坡，一方面减少了驾驶员的手动操作，另一方面防止溜坡，提升了车辆安全性。Faced with the condition that the vehicle starts and stops on a slope, the driver does not actively activate the EPB when parking on the slope but instead uses the accelerator operation method. The technical solution described in this application is proposed for this condition; the power hill-holding control method proposed in this application can utilize a combination of motor stalling and EPB to intelligently control the vehicle to achieve hill-holding, which on the one hand reduces the driver's manual operation, and on the other hand prevents rolling down the slope, thereby improving vehicle safety.

为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述作出相应解释。For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

除上述以外，还需要说明的是在本说明书中所谈到的“一个实施例”、“另一个实施例”、“实施例”等，指的是结合该实施例描述的具体特征、结构或者特点包括在本申请概括性描述的至少一个实施例中。在说明书中多个地方出现同种表述不是一定指的是同一个实施例。进一步来说，结合任一实施例描述一个具体特征、结构或者特点时，所要主张的是结合其他实施例来实现这种特征、结构或者特点也落在本申请的范围内。In addition to the above, it should be noted that "one embodiment", "another embodiment", "embodiment", etc. mentioned in this specification refer to the specific features, structures or characteristics described in conjunction with the embodiment included in at least one embodiment generally described in this application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure or characteristic in conjunction with any embodiment, it is claimed that the realization of such feature, structure or characteristic in conjunction with other embodiments also falls within the scope of this application.

在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。 The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

A control method for a four-wheel drive pure electric hill-holding system, characterized in that the method comprises the following steps:

When it is determined that the target vehicle is in a climbing state, obtaining torque information and first temperature information of a motor used to drive the target vehicle;

Based on the torque information, determining a first required torque when the target vehicle is parked on a climbing section;

Based on the first temperature information, determining a heat exchange mode of the target vehicle, wherein the heat exchange mode includes a radiator heat dissipation mode and an air conditioning heat dissipation mode;

Acquiring second temperature information of the motor after executing the heat exchange mode;

A control strategy is generated based on the first required torque and the second temperature information, where the control strategy is used to control the target vehicle to park on a climbing section.

The control method according to claim 1 is characterized in that the first required torque includes at least one of the following: a first required torque of the first motor (11), a first required torque of the second motor (12), the first temperature information includes at least one of the following: first temperature information of the first motor (11), first temperature information of the second motor (12), the second temperature information includes at least one of the following: second temperature information of the first motor (11), second temperature information of the second motor (12), and a control strategy is generated based on the first required torque and the second temperature information, the control strategy being used to control the target vehicle to park on a climbing section, comprising:

Determining whether a maximum value of the second temperature information of the first motor (11) and the second temperature information of the second motor (12) is greater than a first preset temperature value;

When it is determined that the maximum value of the second temperature information of the first motor (11) and the second temperature information of the second motor (12) is greater than the first preset temperature value, a first control strategy is generated, wherein the first control strategy is used to control the brake control unit (4) to perform an automatic parking operation, and in the process of performing the automatic parking operation, the wheel braking is controlled, the torque of the first motor (11) is controlled to gradually decrease to zero, and the torque of the second motor (12) is controlled to gradually decrease to zero.

The control method according to claim 2, characterized in that, when it is determined that the maximum value of the second temperature information of the first motor (11) and the second temperature information of the second motor (12) is greater than the first preset temperature value, after generating the first control strategy, it comprises:

When it is determined that the brake control unit (4) performs an automatic parking operation, a second control strategy is generated, wherein the second control strategy is used to record the total execution time of the brake control unit (4) performing the automatic parking operation;

Determine whether the total execution time is greater than a preset time value;

When it is determined that the total execution time is greater than the preset time value, a third control strategy is generated, wherein the third control strategy is used to control the brake control unit (4) to stop executing the automatic parking operation.

The control method according to claim 3 is characterized in that, when it is determined that the total execution time is greater than the preset time value, after generating the third control strategy, it includes:

Acquiring third temperature information, wherein the third temperature information includes at least one of the following: third temperature information of the first motor (11), and third temperature information of the second motor (12);

Determining whether a maximum value of the third temperature information of the first motor (11) and the third temperature information of the second motor (12) is greater than the first preset temperature value;

When it is determined that the maximum value of the third temperature information of the first motor (11) and the third temperature information of the second motor is greater than the first preset temperature value, a fourth control strategy is generated, wherein the fourth control strategy is used to control the brake control unit (4) to perform a parking lock operation, and at the same time control the instrument display system (7) to receive prompt information, wherein the prompt information is used to remind the user to release the accelerator pedal.

The control method according to claim 4, characterized in that, when it is determined that the maximum value of the third temperature information of the first motor (11) and the third temperature information of the second motor is greater than the first preset temperature value, after generating the fourth control strategy, it comprises:

The vehicle controller (1) controls the hill-holding thermal management subsystem to execute an air conditioning cooling mode.

The control method according to claim 1, characterized in that determining the heat exchange mode of the target vehicle based on the first temperature information comprises:

Determining whether a maximum value of first temperature information of the first motor (11) and first temperature information of the second motor (12) is greater than a second preset temperature value;

When it is determined that the maximum value of the first temperature information of the first motor and the first temperature information of the second motor is greater than the second preset temperature value, the vehicle controller (1) controls the hill-staying thermal management subsystem to execute the air conditioning cooling mode, and determines that the heat exchange mode of the target vehicle is the air conditioning cooling mode.

Determining whether a maximum value of first temperature information of the first motor (11) and first temperature information of the second motor (12) is less than a third preset temperature value;

When it is determined that the maximum value of the first temperature information of the first motor (11) and the first temperature information of the second motor (12) is less than a third preset temperature value, the vehicle controller (1) controls the hill-standing thermal management subsystem to execute a radiator cooling mode, and determines that the heat exchange mode of the target vehicle is the radiator cooling mode.

The control method according to claim 7 is characterized in that, when it is determined that the maximum value of the first temperature information of the first motor (11) and the first temperature information of the second motor (12) is less than a third preset temperature value, the vehicle controller (1) controls the hill-standing thermal management subsystem to execute a radiator cooling mode, and determines that the heat exchange mode of the target vehicle is a radiator cooling mode, comprising:

Based on the first temperature information of the first motor (11) and the first temperature information of the second motor (12), the vehicle controller controls the rotation speed of the electric water pump (13) and the load of the cooling fan;

Determining whether a maximum value of the first temperature information of the first motor (11) and the first temperature information of the second motor (12) is less than a fourth preset temperature value;

When it is determined that the maximum value of the first temperature information of the first motor (11) and the first temperature information of the second motor (12) is less than a fourth preset temperature value, the vehicle controller (1) controls the cooling fan to be turned off and the electric water pump (13) to operate;

When it is determined that the maximum value of the first temperature information of the first motor (11) and the first temperature information of the second motor (12) is less than the third preset temperature value and greater than the fourth preset temperature value, the vehicle controller (1) controls the cooling fan to turn on.

The control method according to claim 6 is characterized in that, when it is determined that the maximum value of the first temperature information of the first motor and the first temperature information of the second motor is greater than the second preset temperature value, the vehicle controller (1) controls the hill-staying thermal management subsystem to execute an air conditioning cooling mode, and determines that the heat exchange mode of the target vehicle is an air conditioning cooling mode, comprising:

Based on the first temperature information of the first motor (11) and the first temperature information of the second motor (12), the vehicle controller (1) controls the rotation speed of the electric water pump (13) and the workload of the air-conditioning compressor.

The control method according to claim 2, characterized in that after determining whether the maximum value of the second temperature of the first motor (11) and the second temperature of the second motor (12) is greater than a first preset temperature value, it comprises:

When it is determined that the maximum value of the second temperature information of the first motor (11) and the second temperature information of the second motor (12) is less than or equal to the first preset temperature value, a fifth control strategy is generated, wherein the fifth control strategy is used to control the ramp thermal management subsystem to execute a radiator cooling mode or an air conditioning cooling mode.

The control method according to claim 4, characterized in that after determining whether the maximum value of the third temperature information of the first motor (11) and the third temperature information of the second motor (12) is greater than the first preset temperature value, it comprises:

When determining that the maximum value of the third temperature information of the first motor (11) and the third temperature information of the second motor (12) is less than or equal to the first preset temperature value, obtaining a second required torque of the motor, wherein the second required torque includes at least one of the following: the second required torque of the first motor (11) and the second required torque of the second motor (12);

Based on the second required torque of the motor, a sixth control strategy is generated, wherein the sixth control strategy is used to control the first motor (11) to execute a second torque instruction of the first motor (11), and the second motor (12) to execute a second torque instruction of the second motor (12);

The vehicle controller (1) receives fourth temperature information, wherein the fourth temperature information includes at least one of the following: fourth temperature information of the first motor (11) and fourth temperature information of the second motor (12);

Based on the fourth temperature information, a seventh control strategy is generated, where the seventh control strategy is used to control the hill-standing thermal management subsystem to execute a radiator cooling mode or an air-conditioning cooling mode.

A vehicle, characterized in that the vehicle is controlled by a control method of a four-wheel drive pure electric hill-holding system, and the control method of the four-wheel drive pure electric hill-holding system is the control method of the four-wheel drive pure electric hill-holding system according to any one of claims 1 to 11.