The invention provides a vehicle control method and device, a vehicle and a storage medium. According to the method, a half axle disengagement request can be responded, a torque motor in the vehicle is controlled to reduce the torque firstly, when the torque of the torque motor is reduced to a torque threshold value, the torque motor is controlled to reduce the rotating speed without controlling the torque, and when the rotating speed of the torque motor is reduced to a rotating speed threshold value, a half axle is controlled to be disengaged from a target wheel finally. According to the method, after a torque motor is controlled to meet a half axle disengagement condition through two control stages, a half axle is controlled to be disengaged from a target wheel. Therefore, the requirement of a driver for disengagement of the half shaft under a certain condition can be met. In addition, according to the method, the torque of the torque motor is not controlled in the rotating speed reducing process, and therefore the situation that a torque increasing instruction is generated due to torque increasing, and then half shaft combination is frequently caused can be avoided. Therefore, according to the method, the situation that the half shaft is frequently combined and disengaged after the half shaft disengagement request is responded can be avoided, the stability of the half shaft disengagement process can be improved, and the driving safety is improved.
本申请提供控制车辆的方法、装置、车辆及存储介质。该方法能够响应半轴脱开请求,先控制车辆中的扭矩电机降低扭矩,在扭矩电机的扭矩降低至扭矩阈值时,进而再控制该扭矩电机降低转速且不控制扭矩,在扭矩电机的转速降低至转速阈值时,最后控制半轴与目标车轮脱开。该方法通过两个控制阶段控制扭矩电机满足半轴脱开条件后,控制半轴与目标车轮脱开。这能够满足驾驶员在一定条件下对半轴的脱开需求。此外,该方法在降低转速的过程中不控制扭矩电机的扭矩,这能够避免因扭矩增加而产生的扭矩增加指令,进而频繁地造成半轴结合。因此,该方法可避免在响应半轴脱开请求后,半轴频繁地结合和脱开,该方法可提高半轴脱开过程的稳定性,提高驾驶安全。
Method and device for controlling vehicle, vehicle and storage medium
控制车辆的方法、装置、车辆及存储介质
2024-08-16
Patent
Electronic Resource
Chinese
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