WO2022262731A1 - 一种全地形控制方法、装置、存储介质及车辆 - Google Patents

一种全地形控制方法、装置、存储介质及车辆 Download PDF

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Publication number
WO2022262731A1
WO2022262731A1 PCT/CN2022/098730 CN2022098730W WO2022262731A1 WO 2022262731 A1 WO2022262731 A1 WO 2022262731A1 CN 2022098730 W CN2022098730 W CN 2022098730W WO 2022262731 A1 WO2022262731 A1 WO 2022262731A1
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Prior art keywords
mode
terrain
vehicle
driving
module
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PCT/CN2022/098730
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English (en)
French (fr)
Inventor
任东旭
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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Priority to BR112023026570A priority Critical patent/BR112023026570A2/pt
Priority to EP22824210.3A priority patent/EP4353554A4/en
Publication of WO2022262731A1 publication Critical patent/WO2022262731A1/zh
Anticipated expiration legal-status Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/172—Driving mode indication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options

Definitions

  • the present application relates to the technical field of vehicles, in particular to an all-terrain control method, device, storage medium and vehicle.
  • ATS system is an electronic control system of a car.
  • the driver can select the corresponding terrain mode according to the actual terrain conditions of the car, such as: snow, sand, mud, etc., so that Each subsystem of the vehicle enters the working mode corresponding to the terrain mode, and at this time, each subsystem can maximize the stability and safety of the vehicle under the terrain condition.
  • the ATS system is mainly used in fuel vehicles and pure electric vehicles.
  • some hybrid vehicles on the market have been equipped with ATS systems, such as snow mode, mud mode, and sand mode, because the previous software architecture is mainly concentrated in
  • the interaction between the ATS system and the electronic power steering system is so incompatible with hybrid vehicles of various architectures, that when hybrid vehicles are equipped with existing ATS, software needs to be redesigned, resulting in unnecessary resources And the waste of cost is not conducive to the rapid iteration of software.
  • the present application provides an all-terrain control method, device, storage medium and vehicle to solve the problem that the existing ATS system cannot be compatible with hybrid vehicles of various architectures.
  • the application discloses an all-terrain control method applied to a hybrid vehicle equipped with an ATS module, the method comprising:
  • the changed all-terrain mode is used to control the driving mode of the vehicle, wherein the all-terrain mode of the vehicle is The mode change is triggered by the switch of the ATS module;
  • the all-terrain mode of the vehicle is controlled by using the changed driving mode, wherein the change in the driving mode of the vehicle is Triggered by the switch of the HUT module.
  • using the changed all-terrain mode to control the driving mode of the vehicle includes :
  • the all-terrain mode is the standard mode or the economic mode, and the driving mode of the vehicle is maintained;
  • the driving mode of the vehicle is switched to a hybrid mode; wherein, the other modes are modes other than the standard mode and the economical mode in the all-terrain mode.
  • using the changed driving mode to control the all-terrain mode of the vehicle includes:
  • the changed driving mode is pure electric mode or energy-saving mode
  • switch the all-terrain mode of the vehicle to the standard mode, and prompt to exit the 4L mode of the four-wheel drive system.
  • the method further includes: when the all-terrain mode of the vehicle does not change, controlling the driving mode of the vehicle based on the switching request of the user, and the switching request of the user is triggered by the switch of the HUT module .
  • controlling the driving mode of the vehicle based on the user's switching request includes:
  • the driving mode of the vehicle is switched to the hybrid mode.
  • the method further includes: when the driving mode of the vehicle does not change, switching the all-terrain mode of the vehicle based on the user's switching request, and the user's switching request is triggered by the switch of the ATS module .
  • switching the all-terrain mode of the vehicle based on the user's switching request includes:
  • the other modes switch the all-terrain mode of the vehicle according to the user's request, and prompt to exit the 4L mode of the four-wheel drive system; among them, the other modes are all-terrain modes except standard mode and economic mode modes other than
  • the all-terrain mode of the vehicle is switched according to the user's request.
  • the hybrid vehicle is equipped with: ESP module, EMS module, TCU module, 4WD module, EPS module, EDL module and IP instrument, the method also includes:
  • EMS module Based on the corresponding relationship between the all-terrain mode and the ESP module, EMS module, TCU module, 4WD module, EPS module, EDL module, IP instrument, respectively control the ESP module, EMS module, TCU module, 4WD module, EPS module, EDL module And IP meter to work.
  • the present application discloses an all-terrain control device, which is applied to a hybrid vehicle equipped with an ATS module, and the device includes:
  • the first monitoring module is used to monitor the all-terrain mode of the vehicle
  • the second monitoring module is used to monitor the driving mode of the vehicle
  • the first control module is configured to use the changed all-terrain mode to control the driving mode of the vehicle based on the corresponding relationship between the all-terrain mode and the driving mode when the all-terrain mode of the vehicle is detected to be changed;
  • the second control module is configured to use the changed driving mode to control the all-terrain mode of the vehicle based on the corresponding relationship between the driving mode and the all-terrain mode when a change in the driving mode of the vehicle is detected.
  • the present application discloses a computer-readable storage medium, on which an all-terrain control program is stored.
  • the all-terrain control program is executed by a processor, the all-terrain control program according to any one of the above-mentioned first aspects is realized. The steps of the control method.
  • the present application discloses a vehicle, which controls the working state of the vehicle through the all-terrain control method according to any one of the above-mentioned first aspect.
  • the present application includes the following advantages:
  • the all-terrain mode and the driving mode of the vehicle are monitored in real time, and the corresponding relationship between the driving mode of the vehicle and the all-terrain mode is used to perform closed-loop control on the driving mode and the all-terrain mode of the vehicle.
  • the driving mode of the vehicle will automatically respond to the change of the all-terrain mode; when the driving mode of the vehicle is changed, the all-terrain mode will automatically respond to the change of the driving mode.
  • the independent selection and switching between the all-terrain mode and the driving mode can be realized, the driving mode switching function of the all-terrain control system is expanded, and the existing all-terrain control system is applied to the hybrid electric vehicle.
  • the gap in control makes the all-terrain control system compatible with hybrid vehicles of various architectures.
  • Fig. 1 is a flow chart of an all-terrain control method according to an embodiment of the present application
  • FIG. 2 is a flowchart of a control strategy of a driving mode according to an embodiment of the present application
  • FIG. 3 is a flowchart of a control strategy of an all-terrain mode according to an embodiment of the present application
  • Fig. 4 is an all-terrain control device according to an embodiment of the present application.
  • FIG. 5 is a structural block diagram of an electronic device provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a hardware structure of an electronic device provided by an embodiment of the present application.
  • the all-terrain control method of the present application is carried out based on the all-terrain control system on the hybrid vehicle, and the all-terrain control system includes ATS (All Terrain System, all-terrain control system) module, HUT (Head Unit System, host system) module And the HCU (Hybrid Control Unit, hybrid control unit) module, the ATS module is connected with the HUT module and the HCU module through the CAN bus.
  • the user manually switches the all-terrain mode by operating the switch of the ATS module, manually switches the driving mode of the vehicle by operating the switch of the HUT module, or automatically switches between the all-terrain mode or the driving mode through the corresponding relationship between the ATS module and the HCU mode.
  • Fig. 1 shows a flowchart of an all-terrain control method according to an embodiment of the present application.
  • the method is applied to a hybrid vehicle equipped with an ATS module, the method includes:
  • Step S101 monitoring the all-terrain mode in which the vehicle is located, and monitoring the driving mode of the vehicle;
  • the execution subject of the embodiment of the present application may be various controllers or processors that are suitable for being configured in vehicles, for example, on the one hand, the controllers or processors that are included in the vehicle.
  • the controllers or processors that are included in the vehicle.
  • the all-terrain control device monitors the all-terrain mode (all-terrain mode signal) of the vehicle in real time;
  • the all-terrain mode of the vehicle includes: standard mode, economical mode, sports mode, Snow mode, mud mode, sand mode, 4L mode, rock mode, mountain mode, rough road mode and sand mode, each mode can achieve different functions.
  • Standard mode In this mode, both the power and economy of the vehicle are considered, and the driving style of the vehicle is more conventional
  • Economic mode (ECO) In this mode, the fuel economy of the vehicle is improved, and it is suitable for urban roads, Flat and hard roads such as paved roads.
  • Sports mode In this mode, the accelerator pedal is sensitive, the transmission shifts gears later, the power of the vehicle is increased, and the driving style of the vehicle tends to be more intense;
  • Snow mode This mode is mainly used for driving under low adhesion coefficient conditions Or off-road driving, the main roads used include snow, ice, grass, gravel roads, etc.;
  • Mud mode This mode is mainly used in deep mud and shallow mud driving or off-road driving;
  • Rock mode Rock
  • This mode This mode is mainly used for climbing wet or dry hard roads;
  • Mountain mode Meluntain
  • Pothole mode This mode is mainly used for uneven roads ;Mud_Sand mode (Mud_Sand): This mode is mainly used for uneven roads ;Mud_Sand mode (M
  • the all-terrain control device monitors the driving mode (driving mode signal) of the vehicle in real time, and the driving mode of the vehicle includes: pure electric mode (EV), energy-saving mode (Save) and hybrid mode (HEV).
  • EV mode in this mode, the motor provides power and the engine does not work
  • SAVE mode in this mode, when the battery power is greater than a certain value, the motor provides power
  • HEV mode in this mode, the motor and the engine jointly provide power.
  • Step S102 when it is detected that the all-terrain mode of the vehicle changes, based on the corresponding relationship between the all-terrain mode and the driving mode, use the changed all-terrain mode to control the driving mode of the vehicle, wherein the vehicle is in The change of the all-terrain mode is triggered by the switch of the ATS module;
  • Table 1 shows a control strategy of an all-terrain control system according to an embodiment of the present application. It can be seen from Table 1 that in Standard mode and ECO mode, the driving mode of the vehicle is: any one of EV mode, SAVE mode and HEV mode; in Sport mode, Snow mode, Mud mode, Sand mode, 4L mode, In Rock mode, Mountain mode, Pothole mode and Mud_Sand mode, the driving mode of the vehicle is HEV mode.
  • the all-terrain control device detects that the all-terrain mode of the vehicle changes, such as when the all-terrain mode is switched from the Standard mode to the Mud mode through the switch of the ATS module, based on the difference between the all-terrain mode and the driving mode Corresponding relationship, the HCU module will automatically switch the drive mode to HEV mode.
  • Step S103 when it is detected that the driving mode of the vehicle changes, based on the corresponding relationship between the driving mode and the all-terrain mode, use the changed driving mode to control the all-terrain mode that the vehicle is in, wherein the driving mode of the vehicle
  • the change is triggered by the switch of the HUT module.
  • the ATS module will automatically Switch All Terrain mode to Standard mode.
  • the driving mode of the vehicle and the all-terrain mode are checked. Closed-loop control.
  • the driving mode of the vehicle will automatically respond to the change of the all-terrain mode; when the driving mode of the vehicle is changed, the all-terrain mode will automatically respond to the change of the driving mode.
  • the independent selection and switching between the all-terrain mode and the driving mode can be realized, the driving mode switching function of the all-terrain control system is expanded, and the existing all-terrain control system is applied to the hybrid electric vehicle.
  • the gap in control makes the all-terrain control system compatible with hybrid vehicles of various architectures.
  • step S102 when it is detected that the all-terrain mode of the vehicle changes, based on the corresponding relationship between the all-terrain mode and the driving mode, the vehicle is driven using the changed all-terrain mode Modes to control include:
  • Step S1021 maintain the driving mode of the vehicle when the changed all-terrain mode is the standard mode or the economical mode
  • Step S1022 when the changed all-terrain mode is another mode, switch the driving mode of the vehicle to a hybrid mode; wherein, the other mode is a mode other than the standard mode and the economical mode in the all-terrain mode.
  • the driving mode when the all-terrain mode of the vehicle changes, the driving mode will respond to the change of the all-terrain mode.
  • the all-terrain control device detects that the all-terrain mode changes, if the changed all-terrain mode is the Standard mode or the ECO mode, the vehicle can work in any driving mode in the Standard mode or the ECO mode. Therefore, the HCU The module will not switch the driving mode of the vehicle, that is, the driving mode of the vehicle remains unchanged.
  • the HCU module needs to switch the driving mode of the vehicle to HEV mode. For example, when the all-terrain mode is switched from the 4L mode to the ECO mode, the driving mode of the vehicle remains unchanged.
  • step S103 when it is detected that the driving mode of the vehicle changes, based on the corresponding relationship between the driving mode and the all-terrain mode, the all-terrain mode of the vehicle is determined using the changed driving mode.
  • Controls include:
  • Step S1031 when the changed driving mode is the hybrid mode, maintain the all-terrain mode in which the vehicle is located;
  • Step S1032 when the changed driving mode is pure electric mode or energy-saving mode, switch the all-terrain mode of the vehicle to the standard mode, and prompt to exit the 4L mode of the four-wheel drive system.
  • the all-terrain mode when the driving mode of the vehicle changes, the all-terrain mode will respond to the change of the driving mode.
  • the all-terrain control device detects that the driving mode of the vehicle has changed, if the changed driving mode is the HEV mode, since the HEV mode is suitable for all the all-terrain modes, the ATS module will not perform any changes to the all-terrain modes described by the vehicle. Switch automatically.
  • the changed driving mode is EV mode or Save mode
  • the terrain mode corresponding to EV mode or Save mode is Standard mode or ECO mode
  • the ATS module automatically switches the all-terrain mode to Standard mode or ECO mode.
  • the output of the ATS module must be a definite result. Therefore, in the embodiment of the present application, when the changed driving mode is the Standard mode or the ECO mode, the ATS module automatically switches the all-terrain mode.
  • the terrain mode is switched to the Standard mode. In the Standard mode, there is no need to output high torque, so the all-terrain control device will remind the user to exit the 4L mode of the four-wheel drive system.
  • the all-terrain control method further includes:
  • Step S104 when the all-terrain mode of the vehicle has not changed, control the driving mode of the vehicle based on the switching request of the user, and the switching request of the user is triggered by the switch of the HUT module.
  • the user in addition to switching the driving mode of the vehicle based on the change of the all-terrain mode, the user can manually select the driving mode through the switch on the HUT module to switch the driving mode of the vehicle to the optimal working mode. That is, the all-terrain control device detects that the all-terrain mode of the vehicle has not changed, but it detects that the switch of the HUT module has changed, and the all-terrain control device outputs a corresponding driving mode based on the change of the switch of the HUT module.
  • the user can operate the switch of the HUT module to generate the driving mode switching request signal DrvModReq_HUT, which is transmitted to the all-terrain control device through the CAN bus, and the all-terrain control device transmits the driving mode switching signal DrvModReq_HUT to the HCU module through the CAN bus, and the HCU module
  • the driving mode of the vehicle is controlled according to the driving mode switching signal DrvModReq_HUT.
  • the driving mode switching request signal DrvModReq_HUT carries the target driving mode.
  • a control system architecture that can take into account both manual selection of driving modes and automatic switching of driving modes is proposed, which not only improves the intelligence of the all-terrain control system, but also satisfies various needs of customers to the greatest extent.
  • step S104 when the all-terrain mode of the vehicle has not changed, controlling the driving mode of the vehicle based on the switching request of the user includes:
  • Step S1041 when the user's switching request is pure electric mode or energy-saving mode, and the all-terrain mode of the vehicle is other modes, switch the driving mode of the vehicle to hybrid mode, and prompt to exit the 4L mode of the four-wheel drive system; , other modes are modes other than the standard mode and economic mode in the all-terrain mode;
  • Step S1042 when the user's switching request is the pure electric mode or the energy-saving mode, and the all-terrain mode of the vehicle is the standard mode or the economical mode, switch the driving mode of the vehicle according to the user's request;
  • Step S1043 when the switching request from the user is the hybrid mode, switch the driving mode of the vehicle to the hybrid mode.
  • the switching is based on the user's subjective will, so it is possible to select a driving mode that does not match the all-terrain mode. affect the drivability of the vehicle.
  • the all-terrain control device will judge the switching operation based on the correspondence between the all-terrain mode and the driving mode. If it is correct, switch the driving mode according to the user's switching request, that is, use the driving mode corresponding to the switch of the HUT module to switch the driving mode of the vehicle.
  • the all-terrain mode of the vehicle when the user requests to switch the driving mode to pure electric mode or energy-saving mode through the switch on the HUT module, the all-terrain mode of the vehicle is Sport mode or Snow mode or Mud mode or Sand mode or 4L mode or Rock mode or Mountain mode or Pothole mode or Mud_Sand mode, the all-terrain control device switches the driving mode of the vehicle to HEV mode; when the user requests to switch the driving mode to pure electric mode or energy-saving mode through the switch on the HUT module, the all-terrain mode of the vehicle is In Standard mode or ECO mode, the all-terrain control device will switch the driving mode of the vehicle according to the switching request of the user.
  • the all-terrain control device will switch the driving mode of the vehicle to EV mode;
  • the drive mode switch to hybrid mode is requested through the switch on the HUT module, and since the hybrid mode is applicable to all terrain modes, the all-terrain control device switches the drive mode of the vehicle to HEV mode.
  • the all-terrain control method further includes:
  • Step S105 when the driving mode of the vehicle does not change, switch the all-terrain mode of the vehicle based on the switching request of the user, and the switching request of the user is triggered by the switch of the ATS module.
  • the user in addition to switching the all-terrain mode based on the change of the driving mode, can also switch the all-terrain mode through the switch on the ATS module to switch the vehicle's all-terrain mode to the best working mode . That is, the all-terrain control device detects that the driving mode of the vehicle has not changed, but it detects that the switch of the ATS module has changed, and the all-terrain control device outputs the corresponding all-terrain mode based on the change of the switch of the ATS module.
  • the user can operate the switch of the ATS module to generate an all-terrain mode switching request signal DrivingModReq, which is transmitted to the all-terrain control device through the CAN bus, and the all-terrain control device transmits the all-terrain mode switching request signal DrivingModReq to the ATS module through the CAN bus , the ATS module controls the all-terrain mode of the vehicle according to the all-terrain mode switching request signal DrivingModReq.
  • the all-terrain mode switching request signal DrivingModReq carries the target all-terrain mode.
  • a control system architecture that can take into account both manual selection of the all-terrain mode and automatic switching of the all-terrain mode is proposed, which not only improves the intelligence of the all-terrain control system, but also satisfies various needs of customers to the greatest extent.
  • step S105 when the driving mode of the vehicle does not change, switching the all-terrain mode of the vehicle based on the user's switching request includes:
  • Step S1051 when the user's switching request is other modes, switch the all-terrain mode of the vehicle according to the user's request, and prompt to exit the 4L mode of the four-wheel drive system; wherein, the other modes are the all-terrain modes except the standard mode and models other than the economic model;
  • Step S1052 when the user's switching request is the standard mode or the economical mode, switch the all-terrain mode of the vehicle according to the user's request.
  • the switch when the user manually switches the all-terrain mode through the switch on the ATS module, the switch is based on the user's subjective will, so it is possible to choose the all-terrain mode that does not match the driving mode. affect the drivability of the vehicle.
  • the all-terrain control device when the user switches the all-terrain mode of the vehicle through the switch on the ATS module, the all-terrain control device will judge the switching operation based on the correspondence between the driving mode and the all-terrain mode. If the request is correct, switch the driving mode according to the user's switching request, that is, use the all-terrain mode corresponding to the switch of the ATS module to switch the all-terrain mode that the vehicle is in.
  • the all-terrain mode of the vehicle is switched according to the user's request. For example, if the user's switching request is Snow mode, the all-terrain control device switches the all-terrain mode of the vehicle to Snow mode, and prompts the user to exit the 4L mode of the four-wheel drive system.
  • the hybrid vehicle is equipped with: ESP module, EMS module, TCU module, 4WD module, EPS module, EDL module and IP instrument, and the all-terrain control method also includes:
  • Step S106 based on the corresponding relationship between the all-terrain mode and the ESP module, EMS module, TCU module, 4WD module, EPS module, EDL module, and IP instrument, respectively control the ESP module, EMS module, TCU module, 4WD module, and EPS module , EDL modules and IP instruments to work.
  • the ATS module communicates with ESP (Electronic Stability Program, vehicle body electronic stability system) module, EMS (Engine Management System, engine management system) module, TCU (Transmission Control Unit, transmission control unit) module, 4WD (Four Wheel Driving System, four-wheel drive system) module, EPS (Electric Power Steering, electronic power steering system) module, EDL (Electronic Differential Lock, electronic differential lock) module and IP (Instrument Panel, instrument ) connection
  • ESP Electronic Stability Program
  • EMS Engine Management System
  • TCU Transmission Control Unit, transmission control unit
  • 4WD Full Wheel Driving System, four-wheel drive system
  • EPS Electronic Power Steering, electronic power steering system
  • EDL Electronic Differential Lock
  • IP Intra Differential Lock
  • Fig. 2 shows a flowchart of a control strategy of a driving mode according to an embodiment of the present application.
  • the control method of the driving mode in the present embodiment is:
  • S201 Monitor whether the all-terrain mode of the vehicle changes. When the all-terrain mode of the vehicle changes, perform S202; when the all-terrain mode of the vehicle does not change, perform S203;
  • S203 Monitor whether the switch of the HUT module changes, and when the switch of the HUT module changes, execute S204; when the switch of the HUT module does not change, maintain the driving mode of the vehicle;
  • the all-terrain control device continuously monitors the all-terrain mode of the vehicle and the switch of the HUT module.
  • the control of the driving mode is performed according to S202;
  • the control of the driving mode is executed according to S204 and S205;
  • the driving mode Control is performed according to S202.
  • the all-terrain control device will switch the driving mode of the vehicle to HEV mode.
  • the driving mode corresponding to the Sport mode is the HEV mode before the change, it can be understood here that the driving mode remains unchanged.
  • the all-terrain mode is changed from the Standard mode to the Sport mode, it is necessary to switch the driving mode corresponding to the Standard mode (EV mode or SAVE mode or HEV mode) to the HEV mode.
  • the driving mode corresponding to the switch of the HUT module changes from HEV mode to EV mode.
  • All Terrain Control switches the vehicle's drive mode to EV mode.
  • Fig. 3 shows a flowchart of a control strategy of an all-terrain mode according to an embodiment of the present application.
  • the control method of the all-terrain mode in the present embodiment is:
  • S302 detect whether the all-terrain mode corresponding to the switch of the ATS module is Sport mode or Snow mode or Mud mode or Sand mode or 4L mode or Rock mode or Mountain mode or Pothole mode or Mud_Sand mode, if so, the all-terrain mode where the vehicle is in Switch the mode to the all-terrain mode corresponding to the switch of the ATS module and issue an instruction to exit the 4L mode of the four-wheel drive system; if not, switch the all-terrain mode of the vehicle to the all-terrain mode corresponding to the switch of the ATS module;
  • S303 Monitor whether the driving mode of the vehicle changes, and if the driving mode of the vehicle changes, execute S304; if the driving mode of the vehicle does not change, maintain the all-terrain mode in which the vehicle is located;
  • the all-terrain control device will continuously monitor the driving mode of the vehicle and the switch of the ATS module.
  • the present application discloses an all-terrain control device applied to a hybrid vehicle equipped with an ATS module.
  • Fig. 4 shows an all-terrain control device according to an embodiment of the present application. Referring to Figure 4, the device includes:
  • the first monitoring module 101 is configured to monitor the all-terrain mode of the vehicle and the driving mode of the vehicle;
  • the first control module 103 is configured to use the changed all-terrain mode to control the driving mode of the vehicle based on the corresponding relationship between the all-terrain mode and the driving mode when it is detected that the all-terrain mode of the vehicle is changed, Among them, the change of the all-terrain mode of the vehicle is triggered by the switch of the ATS module;
  • the second control module 103 is configured to use the changed driving mode to control the all-terrain mode of the vehicle based on the corresponding relationship between the driving mode and the all-terrain mode when it is detected that the driving mode of the vehicle is changed, wherein , the change of the driving mode of the vehicle is triggered by the switch of the HUT module.
  • the first monitoring module 101 includes:
  • the first monitoring submodule 1011 is used to monitor the all-terrain mode of the vehicle
  • the second monitoring sub-module 1012 is used to monitor the driving mode of the vehicle.
  • the first control module 102 includes:
  • the first control submodule is used to maintain the driving mode of the vehicle when the changed all-terrain mode is the standard mode or the economical mode;
  • the second control submodule is used to switch the driving mode of the vehicle to a hybrid mode when the changed all-terrain mode is another mode; wherein, the other modes are modes other than the standard mode and the economical mode in the all-terrain mode .
  • the second control module 103 includes:
  • the third control submodule is used to maintain the all-terrain mode of the vehicle when the changed driving mode is the hybrid mode;
  • the fourth control sub-module is used to switch the all-terrain mode of the vehicle to the standard mode when the changed driving mode is the pure electric mode or the energy-saving mode, and prompt to exit the 4L mode of the four-wheel drive system.
  • the all-terrain control device further includes:
  • the third control module is used to control the driving mode of the vehicle based on the switching request of the user when the all-terrain mode of the vehicle does not change, and the switching request of the user is triggered by the switch of the HUT module.
  • the fourth control module is used to switch the all-terrain mode of the vehicle based on the user's switching request when the driving mode of the vehicle does not change, and the user's switching request is triggered by the switch of the ATS module.
  • the present application discloses a computer-readable storage medium, where an all-terrain control program is stored on the computer-readable storage medium, and when the all-terrain control program is executed by a processor, any one of the above-mentioned first aspects can be realized.
  • the present application discloses a vehicle, which controls the working state of the vehicle through the all-terrain control method described in any one of the above-mentioned first aspects.
  • the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.
  • embodiments of the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, the embodiment of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • Embodiments of the present application are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor or processor of other programmable data processing terminal equipment to produce a machine such that instructions executed by the computer or processor of other programmable data processing terminal equipment Produce means for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the The instruction means implements the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.
  • the various component embodiments of the present application may be realized in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components in the computing processing device according to the embodiments of the present application.
  • DSP digital signal processor
  • the present application can also be implemented as an apparatus or apparatus program (eg, computer program and computer program product) for performing a part or all of the methods described herein.
  • Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals.
  • Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.
  • Fig. 5 shows a computing processing device that may implement a method according to the present application.
  • the computing processing device conventionally includes a processor 1010 and a computer program product or computer readable medium in the form of memory 1020 .
  • Memory 1020 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the memory 1020 has a storage space 1030 for program code 1031 for performing any method steps in the methods described above.
  • the storage space 1030 for program codes may include respective program codes 1031 for respectively implementing various steps in the above methods. These program codes can be read from or written into one or more computer program products.
  • These computer program products comprise program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks.
  • Such a computer program product is typically a portable or fixed storage unit as described with reference to FIG. 6 .
  • the storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 1020 in the computing processing device of FIG. 5 .
  • the program code can eg be compressed in a suitable form.
  • the storage unit includes computer readable code 1031', i.e. code readable by, for example, a processor such as 1010, which code, when executed by a computing processing device, causes the computing processing device to perform the above-described methods. each step.

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Abstract

一种全地形控制方法、装置、存储介质及车辆，涉及车辆技术领域。该全地形控制方法应用于安装有ATS模块的混合动力汽车，该方法包括：对车辆所处的全地形模式进行监测，以及对车辆的驱动模式进行监测；在监测到车辆所处的全地形模式发生变化时，基于全地形模式与驱动模式之间的对应关系，利用变化后的全地形模式对车辆的驱动模式进行控制；在监测到车辆的驱动模式发生变化时，基于驱动模式与全地形模式之间的对应关系，利用变化后的驱动模式对车辆所处的全地形模式进行控制。该控制方法使得全地形控制系统可以兼容各种架构的汽车。

Description

一种全地形控制方法、装置、存储介质及车辆
相关申请的交叉引用
本申请要求在2021年06月17日提交中国专利局、申请号为202110674891.9、名称为“一种全地形控制方法、装置、存储介质及车辆”的中国专利公开的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及车辆技术领域，特别是涉及一种全地形控制方法、装置、存储介质及车辆。
背景技术
随着经济与科学技术的不断发展，汽车对于人们来说不再仅是代步工具，而是前沿技术集成的大众化产品，为了给用户带来更多的驾驶乐趣与科技体验感，基于各种场景开发的全地形控制系统(All Terrain System，ATS)应运而生。
ATS系统是一种汽车的电子控制系统，驾驶配备全地形控制系统的汽车，驾驶者可以根据汽车行驶的实际地形状况，例如：雪地、沙地、泥地等，选择对应的地形模式，从而使得汽车的各子系统进入该地形模式对应的工作模式，此时各子系统可以最大程度的提升汽车在该地形状况下的稳定性和安全性。
目前，ATS系统主要应用在燃油车型和纯电动车型上，虽然市面上已有部分混合动力车型已配置ATS系统，如雪地模式、泥地模式、沙地模式，但是因为前期软件架构主要集中在ATS系统和电子转向助力系统之间的交互上，以致于无法兼容各种架构的混合动力车型，造成混合动力车型在搭载现有的ATS的时候，都需要重新进行软件设计，造成不必要的资源和成本的浪费，不利于软件的快速迭代。
概述
本申请提供一种全地形控制方法、装置、存储介质及车辆，以解决现有的ATS系统无法兼容各种架构的混合动力车型的问题。
为了解决上述问题，本申请公开了一种全地形控制方法，应用于安装有ATS模块的混合动力汽车，该方法包括：
对车辆所处的全地形模式进行监测，以及对车辆的驱动模式进行监测；
在监测到车辆所处的全地形模式发生变化时，基于全地形模式与驱动模式之间的对应关系，利用变化后的全地形模式对车辆的驱动模式进行控制，其中，车辆所处的全地形模式发生变化是通过ATS模块的开关进行触发的；
在监测到车辆的驱动模式发生变化时，基于驱动模式与全地形模式之间的对应关系，利用变化后的驱动模式对车辆所处的全地形模式进行控制，其中，车辆的驱动模式发生变化是通过HUT模块的开关进行触发的。
在一可选实施例中，在监测到车辆所处的全地形模式发生变化时，基于全地形模式与驱动模式之间的对应关系，利用变化后的全地形模式对车辆的驱动模式进行控制包括：
在变化后的全地形模式为标准模式或经济模式，维持车辆的驱动模式；
在变化后的全地形模式为其它模式时，将车辆的驱动模式切换为混动模式；其中，其它模式为全地形模式中除标准模式和经济模式之外的模式。
在一可选实施例中，在监测到车辆的驱动模式发生变化时，基于驱动模式与全地形模式之间的对应关系，利用变化后的驱动模式对车辆所处的全地形模式进行控制包括：
在变化后的驱动模式为混动模式时，维持车辆所处的全地形模式；
在变化后的驱动模式为纯电模式或节能模式时，将车辆所处的全地形模式切换为标准模式，并提示退出四驱系统的4L模式。
在一可选实施例中，该方法还包括：在车辆所处的全地形模式未发生变化时，基于用户的切换请求对车辆的驱动模式进行控制，用户的切换请求通过HUT模块的开关进行触发。
在一可选实施例中，在车辆所处的全地形模式未发生变化时，基于用户的切换请求对车辆的驱动模式进行控制包括：
在用户的切换请求为纯电或节能模式，车辆所处的全地形模式为其它模式时，将车辆的驱动模式切换为混动模式，并提示退出四驱系统的4L模式；其中，其它模式为全地形模式中除标准模式和经济模式之外的模式；
在用户的切换请求为纯电或节能模式，且车辆所处的全地形模式为标准模式或经济模式时，按照用户的请求对车辆的驱动模式进行切换；
在用户的切换请求为混动模式时，将车辆的驱动模式切换为混动模式。
在一可选实施例中，该方法还包括：在车辆的驱动模式未发生变化时，基于用户的切换请求对车辆所处的全地形模式进行切换，用户的切换请求通过ATS模块的开关进行触发。
在一可选实施例中，在车辆的驱动模式未发生变化时，基于用户的切换请求对车辆所处的全地形模式进行切换包括：
在用户的切换请求为其它模式时，按照用户的请求对车辆所处的全地形模式进行切换，并提示退出四驱系统的4L模式；其中，其它模式为全地形模式中除标准模式和经济模式之外的模式；
在用户的切换请求为标准模式或经济模式，按照用户的请求对车辆所处的全地形模式进行切换。
在一可选实施例中，混合动力汽车上安装有：ESP模块、EMS模块、TCU模块、4WD模块、EPS模块、EDL模块以及IP仪表，方法还包括：
基于全地形模式与ESP模块、EMS模块、TCU模块、4WD模块、EPS模块、EDL模块、IP仪表之间的对应关系，分别控制ESP模块、EMS模块、TCU模块、4WD模块、EPS模块、EDL模块以及IP仪表进行工作。
第二方面，本申请公开了一种全地形控制装置，应用于安装有ATS模块的混合动力汽车，该装置包括：
第一监测模块，用于对车辆所处的全地形模式进行监测；
第二监测模块，用于对车辆的驱动模式进行监测；
第一控制模块，用于在监测到车辆所处的全地形模式发生变化时，基于全地形模式与驱动模式之间的对应关系，利用变化后的全地形模式对车辆的驱动模式进行控制；
第二控制模块，用于在监测到车辆的驱动模式发生变化时，基于驱动模式与全地形模式之间的对应关系，利用变化后的驱动模式对车辆所处的全地形模式进行控制。
第三方面，本申请公开了一种计算机可读存储介质，计算机可读存储介质上存储有全地形控制程序，全地形控制程序被处理器执行时实现如上述第一方面任一项的全地形控制方法的步骤。
第四方面，本申请公开了一种车辆，通过如上述第一方面任意一项的全地形控制方法控制车辆的工作状态。
与现有技术相比，本申请包括以下优点：
本申请中通过实时监测车辆所处的全地形模式和驱动模式，通过车辆的驱动模式与全地形模式的对应关系，对车辆的驱动模式和所处的全地形模式进行闭环控制。当车辆的全地形模式发生变化时，车辆的驱动模式会自动响应全地形模式的变化；当车辆的驱动模式发生变化时，全地形模式会自动响应驱动模式的变化。根据上述技术方案，可以实现全地形模式和驱动模式的自主选择和切换，扩展了全地形控制系统的驱动模式切换功能，弥补了现有的全地形控制系统应用到混合动力汽车时，在驱动模式控制方面的空白，使得全地形控制系统可以兼容各种架构的混合动力车型。
附图简述
图1是本申请实施例的一种全地形控制方法的流程图；
图2是本申请实施例的一种驱动模式的控制策略的流程图；
图3是本申请实施例的一种全地形模式的控制策略的流程图；
图4是本申请实施例的一种全地形控制装置；
图5为本申请实施例提供的一种电子设备的结构框图；并且
图6为本申请实施例提供的一种电子设备的硬件结构示意图。
详细描述
为使本申请的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本申请作进一步详细的说明。
本申请的全地形控制方法是基于混合动力汽车上的全地形控制系统进行的，该全地形控制系统包括ATS(All Terrain System，全地形控制系统)模块、HUT(Head Unit System，主机系统)模块以及HCU(Hybrid Control Unit，混合动力控制单元)模块，ATS模块与HUT模块、HCU模块通过CAN总线连接。用户通过操作ATS模块的开关人工切换全地形模式，通过操作HUT模块的开关人工切换车辆的驱动模式，也可以通过ATS模块与HCU模式之间的对应关系，自动切换全地形模式或驱动模式。
图1示出了本申请实施例的一种全地形控制方法的流程图。参见图1，该方法应用于安装有ATS模块的混合动力汽车，该方法包括：
步骤S101、对车辆所处的全地形模式进行监测，以及对车辆的驱动模式 进行监测；
关于本申请实施例的执行主体，其可以是各种适于配置在车辆中的控制器或处理器，例如一方面车辆所自带的控制器或处理器，通过对这些控制器或处理器进行相应的硬件和软件的改进，以实现本申请实施例中的车辆地形模式控制方法；另一方面，其还可以是额外配置在车辆上的处理器或控制器，以实现如本申请中所描述的车辆地形模式控制方法，且以上实施方式都属于本申请的保护范围内。
具体地，在本申请实施例中，全地形控制装置对车辆所处的全地形模式(全地形模式信号)进行实时监测；车辆所处的全地形模式包括：标准模式、经济模式、运动模式、雪地模式、泥地模式、沙地模式、4L模式、岩石模式、山地模式、凹凸路模式以及泥沙模式，各个模式能够实现不同的作用。
具体地，标准模式(Standard)：该模式下兼顾整车的动力性以及经济性，整车的驾驶风格偏常规；经济模式(ECO)：该模式下提高车辆燃油经济性，适用于城市道路、铺装路等平坦坚硬路面。运动模式(Sport)：该模式下加速踏板灵敏，变速器延迟换挡，车辆的动力性增加，整车的驾驶风格趋于激烈；雪地模式(Snow)：该模式主要在低附着系数条件下行驶或越野行驶，主要使用的路面包括雪地、冰面、草地、砾石路等；泥地模式(Mud)：该模式主要应用在深泥和浅泥的行驶或越野行驶；沙地模式(Sand)：该模式主要应用于沙漠以及戈壁的行驶或者越野行驶；4L模式：该模式主要用于在低速脱困工况(如爬坡工况、陷车工况)，以及需要大扭矩爬坡的工况；岩石模式(Rock)：该模式主要用于攀爬湿润或干燥的硬路面；山地模式(Mountain)：该模式主要应用于山路行驶；凹凸路模式(Pothole)：该模式主要用于凹凸不平的路面；泥沙模式(Mud_Sand)：该模式主要用于泥泞且具有沙子的深沟路面。
需要说明的是，在Sport模式、Snow模式、Mud模式、Sand模式、4L模式、Rock模式、Mountain模式、Pothole模式以及Mud_Sand模式下，车辆的四驱系统处于低档位(即四驱系统处于4L模式)，此时可以输出大扭矩。
具体地，在本申请实施例中，全地形控制装置对车辆的驱动模式(驱动模式信号)进行实时监测，车辆的驱动模式包括：纯电模式(EV)、节能模式(Save)和混动模式(HEV)。其中，EV模式：在该模式下电机提供动力，发动机不工作；SAVE模式：在该模式下当电池的电量大于一定值时，由电机提供动力；当电池的电量小于一定值时，通过发电机给电池进行充电；当需 要大扭矩的时候，由发动机和电机共同提供动力；HEV模式：在该模式下由电机和发动机共同提供动力。
步骤S102、在监测到车辆所处的全地形模式发生变化时，基于全地形模式与驱动模式之间的对应关系，利用变化后的全地形模式对车辆的驱动模式进行控制，其中，车辆所处的全地形模式发生变化是通过ATS模块的开关进行触发的；
表1示出了本申请实施例的一种全地形控制系统的控制策略。从表1中可知，在Standard模式和ECO模式下，车辆的驱动模式为：EV模式、SAVE模式和HEV模式中的任意一种；在Sport模式、Snow模式、Mud模式、Sand模式、4L模式、Rock模式、Mountain模式、Pothole模式以及Mud_Sand模式下，车辆的驱动模式为HEV模式。
表1一种全地形控制系统的控制策略
Figure PCTCN2022098730-appb-000001
具体地，当全地形控制装置监测到车辆所处的全地形模式发生变化时，如通过ATS模块的开关将全地形模式从Standard模式切换为Mud模式时，基于全地形模式与驱动模式之间的对应关系，HCU模块会自动将驱动模式切换 为HEV模式。
步骤S103、在监测到车辆的驱动模式发生变化时，基于驱动模式与全地形模式之间的对应关系，利用变化后的驱动模式对车辆所处的全地形模式进行控制，其中，车辆的驱动模式发生变化是通过HUT模块的开关进行触发的。
具体地，当全地形控制装置监测到车辆的驱动模式发生变化时，如通过HUT模块的开关将HEV模式切换为EV模式时，基于全地形模式与驱动模式之间的对应关系，ATS模块会自动将全地形模式切换为标准模式。
与现有技术相比，本申请中通过实时监测车辆所处的全地形模式和驱动模式，通过车辆的驱动模式与全地形模式的对应关系，对车辆的驱动模式和所处的全地形模式进行闭环控制。当车辆的全地形模式发生变化时，车辆的驱动模式会自动响应全地形模式的变化；当车辆的驱动模式发生变化时，全地形模式会自动响应驱动模式的变化。根据上述技术方案，可以实现全地形模式和驱动模式的自主选择和切换，扩展了全地形控制系统的驱动模式切换功能，弥补了现有的全地形控制系统应用到混合动力汽车时，在驱动模式控制方面的空白，使得全地形控制系统可以兼容各种架构的混合动力车型。
在一可选实施例中，步骤S102中，在监测到车辆所处的全地形模式发生变化时，基于全地形模式与驱动模式之间的对应关系，利用变化后的全地形模式对车辆的驱动模式进行控制包括：
步骤S1021、在变化后的全地形模式为标准模式或经济模式，维持车辆的驱动模式；
步骤S1022、在变化后的全地形模式为其它模式时，将车辆的驱动模式切换为混动模式；其中，其它模式为全地形模式中除标准模式和经济模式之外的模式。
具体地，在本申请实施例中，在车辆的全地形模式发生变化时，驱动模式会响应全地形模式的变化。当全地形控制装置监测到全地形模式发生变化时，若变化后的全地形模式为Standard模式或者ECO模式，在Standard模式或者ECO模式下，车辆在任何一个驱动模式下均可工作，因此，HCU模块不会对车辆的驱动模式进行切换，即车辆的驱动模式保持不变。若变化后的全地形模式为Sport模式或Snow模式或Mud模式或Sand模式或4L模式或Rock模式或Mountain模式或Pothole模式或Mud_Sand模式，由于这几种模式只有在HEV模式下才能正常工作，因此，HCU模块需要将车辆的驱动模式切换 为HEV模式。示例地，如当全地形模式由4L模式切换为ECO模式时，车辆的驱动模式保持不变。
在一可选实施例中，步骤S103中，在监测到车辆的驱动模式发生变化时，基于驱动模式与全地形模式之间的对应关系，利用变化后的驱动模式对车辆所处的全地形模式进行控制包括：
步骤S1031、在变化后的驱动模式为混动模式时，维持车辆所处的全地形模式；
步骤S1032、在变化后的驱动模式为纯电模式或节能模式时，将车辆所处的全地形模式切换为标准模式，并提示退出四驱系统的4L模式。
具体地，在本申请实施例中，在车辆的驱动模式发生变化时，全地形模式会响应驱动模式的变化。当全地形控制装置监测到车辆的驱动模式发生变化时，若变化后的驱动模式为HEV模式，由于HEV模式适合所有的全地形模式，因此，ATS模块不会对车辆所述的全地形模式进行自动切换。当变化后的驱动模式为EV模式或者Save模式，由于EV模式或者Save模式对应的地形模式为Standard模式或者ECO模式，因此ATS模块自动地将全地形模式切换为Standard模式或者ECO模式。由于利用ATS模块自动切换全地形模式时，ATS模块的输出必须是一个确定的结果，因此，本申请实施例中，在变化后的驱动模式为Standard模式或者ECO模式时，ATS模块自动地将全地形模式切换为Standard模式，在Standard模式下，不需要输出大扭矩，因此全地形控制装置会提醒用户退出四驱系统的4L模式。
在一可选实施例中，全地形控制方法还包括：
步骤S104、在车辆所处的全地形模式未发生变化时，基于用户的切换请求对车辆的驱动模式进行控制，用户的切换请求通过HUT模块的开关进行触发。
本申请实施例中，除了基于全地形模式的变化切换车辆的驱动模式外，用户还可以通过HUT模块上的开关对驱动模式进行人工点选，将车辆的驱动模式切换至最佳的工作模式。即全地形控制装置监测到车辆所处的全地形模式未发生变化，但其检测到HUT模块的开关发生了变化，全地形控制装置基于HUT模块的开关的变化情况，输出相应的驱动模式。具体地，用户可以操作HUT模块的开关产生驱动模式切换请求信号DrvModReq_HUT，该信号通过CAN总线传送至全地形控制装置，全地形控制装置通过CAN总线将驱动 模式切换信号DrvModReq_HUT传输至HCU模块，HCU模块依据驱动模式切换信号DrvModReq_HUT对车辆的驱动模式进行控制。本实施例中，驱动模式切换请求信号DrvModReq_HUT中携带有目标驱动模式。通过本申请实施例，提出了能兼顾手动选择驱动模式和自动切换驱动模式的控制系统架构，它不仅提升了全地形控制系统的智能程度同时最大程度上满足了客户的各种需求。
在一可选实施例中，步骤S104中，在车辆所处的全地形模式未发生变化时，基于用户的切换请求对车辆的驱动模式进行控制包括：
步骤S1041、在用户的切换请求为纯电模式或节能模式，车辆所处的全地形模式为其它模式时，将车辆的驱动模式切换为混动模式，并提示退出四驱系统的4L模式；其中，其它模式为全地形模式中除标准模式和经济模式之外的模式；
步骤S1042、在用户的切换请求为纯电模式或节能模式，且车辆所处的全地形模式为标准模式或经济模式时，按照用户的请求对车辆的驱动模式进行切换；
步骤S1043、在用户的切换请求为混动模式时，将车辆的驱动模式切换为混动模式。
具体地，本申请实施例中，用户通过HUT模块上的开关对驱动模式进行人工点选时，是基于用户的主观意愿进行切换的，因此有可能会选择与全地形模式不匹配的驱动模式，影响车辆的驾驶性。为了避免此种情况的发生，用户通过HUT模块上的开关切换车辆的驱动模式时，全地形控制装置会基于全地形模式与驱动模式之间的对应关系对该切换操作进行判断，只有在切换请求正确的情况下，按照用户的切换请求切换驱动模式，即利用HUT模块的开关对应的驱动模式对车辆的驱动模式进行切换。
具体地，在用户通过HUT模块上的开关请求将驱动模式切换为纯电模式或节能模式，车辆的全地形模式为Sport模式或Snow模式或Mud模式或Sand模式或4L模式或Rock模式或Mountain模式或Pothole模式或者Mud_Sand模式时，全地形控制装置将车辆的驱动模式切换为HEV模式；在用户通过HUT模块上的开关请求将驱动模式切换为纯电模式或节能模式时，车辆的全地形模式为Standard模式或者ECO模式时，全地形控制装置会按照用户的切换请求对车辆的驱动模式进行切换，如用户的切换请求为EV模式，全地形控 制装置将车辆的驱动模式切换为EV模式；在用户通过HUT模块上的开关请求将驱动模式切换为混动模式，由于混动模式适用于所有地形模式，因此全地形控制装置将车辆的驱动模式切换为HEV模式。
在一可选实施例中，全地形控制方法还包括：
步骤S105、在车辆的驱动模式未发生变化时，基于用户的切换请求对车辆所处的全地形模式进行切换，用户的切换请求通过ATS模块的开关进行触发。
具体地，本申请实施例中，除了基于驱动模式的变化切换全地形模式外，用户还可以通过ATS模块上的开关对全地形模式进行切换，将车辆的全地形模式切换至最佳的工作模式。即全地形控制装置监测到车辆的驱动模式未发生变化，但其检测到ATS模块的开关发生了变化，全地形控制装置基于ATS模块的开关的变化情况，输出相应的全地形模式。具体地，用户可以操作ATS模块的开关产生全地形模式切换请求信号DrivingModReq，该信号通过CAN总线传送至全地形控制装置，全地形控制装置通过CAN总线将全地形模式切换请求信号DrivingModReq传输至ATS模块，ATS模块依据全地形模式切换请求信号DrivingModReq对车辆所处的全地形模式进行控制。本实施例中，全地形模式切换请求信号DrivingModReq中携带有目标全地形模式。
通过本申请实施例，提出了能兼顾手动选择全地形模式和自动切换全地形模式的控制系统架构，它不仅提升了全地形控制系统的智能程度同时最大程度上满足了客户的各种需求。
在一可选实施例中，步骤S105中，在车辆的驱动模式未发生变化时，基于用户的切换请求对车辆所处的全地形模式进行切换包括：
步骤S1051、在用户的切换请求为其它模式时，按照用户的请求对车辆所处的全地形模式进行切换，并提示退出四驱系统的4L模式；其中，其它模式为全地形模式中除标准模式和经济模式之外的模式；
步骤S1052、在用户的切换请求为标准模式或经济模式，按照用户的请求对车辆所处的全地形模式进行切换。
具体地，本申请实施例中，用户通过ATS模块上的开关对全地形模式进行人工切换时，是基于用户的主观意愿进行切换的，因此有可能会选择与驱动模式不匹配的全地形模式，影响车辆的驾驶性。为了避免此种情况的发生，用户通过ATS模块上的开关切换车辆的全地形模式时，全地形控制装置会基 于驱动模式与全地形模式之间的对应关系对该切换操作进行判断，只有在切换请求正确的情况下，按照用户的切换请求切换驱动模式，即利用ATS模块的开关对应的全地形模式对车辆所处的全地形模式进行切换。
具体地，在用户通过ATS模块上的开关请求将全地形模式切换为Sport模式或Snow模式或Mud模式或Sand模式或4L模式或Rock模式或Mountain模式或Pothole模式或者Mud_Sand模式时，按照用户的请求对车辆所处的全地形模式进行切换，并提示退出四驱系统的4L模式。在用户通过ATS模块上的开关请求将全地形模式切换为Standard模式或者ECO模式时，按照用户的请求对车辆所处的全地形模式进行切换。示例地，若用户的切换请求为Snow模式，全地形控制装置将车辆所处的全地形模式切换为Snow模式，并提示用户退出四驱系统的4L模式。
在一可选实施例中，混合动力汽车上安装有：ESP模块、EMS模块、TCU模块、4WD模块、EPS模块、EDL模块以及IP仪表，全地形控制方法还包括：
步骤S106、基于全地形模式与ESP模块、EMS模块、TCU模块、4WD模块、EPS模块、EDL模块、IP仪表之间的对应关系，分别控制ESP模块、EMS模块、TCU模块、4WD模块、EPS模块、EDL模块以及IP仪表进行工作。
具体地，在本申请实施例中，ATS模块通过CAN总线分别与ESP(Electronic Stability Program，车身电子稳定系统)模块、EMS(Engine Ma nagement System，发动机管理系统)模块、TCU(Transmission Control Unit，变速器控制单元)模块、4WD(Four Wheel Driving System，四驱系统)模块、EPS(Electric Power Steering，电子助力转向系统)模块、EDL(Electronic Differential Lock，电子差速锁)模块以及IP(Instrument Panel，仪表)连接，在全地形模式发生变化时，ESP模块、EMS模块、TCU模块、4WD模块、EPS模块、EDL模块以及IP仪表也会采取相应的控制策略(按照表1执行)。示例地，当全地形模式由Standard模式切换为Snow模式时，ESP模块、EMS模块、TCU模块、4WD模块、EPS模块、EDL模块也会执行Snow模式下的相应操作。
图2示出了本申请实施例的一种驱动模式的控制策略的流程图。参见图2，本实施例中驱动模式的控制方法为：
S201、监测车辆所处的全地形模式是否发生变化，当车辆所处的全地形模式发生变化时，执行S202；当车辆所处的全地形模式未发生变化时，执行S203；
S202、检测变化后的全地形模式是否为Standard模式或者ECO模式；若是，维持车辆的驱动模式；若否，将车辆的驱动模式切换为HEV模式；
S203、监测HUT模块的开关是否发生变化，当HUT模块的开关发生变化时，执行S204；当HUT模块的开关未发生变化时，维持车辆的驱动模式；
S204、检测HUT模块的开关对应的驱动模式是否为EV模式或SAVE模式；若是，执行S205；若否，将车辆的驱动模式切换为HEV模式；
S205、检测车辆所处的全地形模式是否为Sport模式或Snow模式或Mud模式或Sand模式或4L模式或Rock模式或Mountain模式或Pothole模式或者Mud_Sand模式，若是，将车辆的驱动模式切换为HEV模式，提醒用户退出4L模式；若否，按照HUT模块的开关对应的驱动模式对车辆的驱动模式进行切换。
具体地，在本申请实施例中，全地形控制装置会对车辆所处的全地形模式和HUT模块的开关进行持续监测。(1)当车辆所处的全地形模式发生变化但HUT模块的开关未发生变化，驱动模式的控制按照S202执行；(2)当车辆所处的全地形模式未发生变化但HUT模块的开关发生变化，驱动模式的控制按照S204、S205执行；(3)当车辆所处的全地形模式和HUT模块的开关均发生变化，由于全地形模式的优先级别高于HUT模块的开关，因此驱动模式的控制按照S202执行。
示例地，当车辆所处的全地形模式由Sport模式变化为Rock模式，但HUT模块的开关未发生变化，此时全地形控制装置会将车辆的驱动模式切换为HEV模式，本实施例中，由于变化前Sport模式对应的驱动模式为HEV模式，因此，此处可以理解为驱动模式保持不变。但当全地形模式由Standard模式变化为Sport模式，此时需要将Standard模式对应的驱动模式(EV模式或SAVE模式或HEV模式)切换为HEV模式。
示例地，当车辆所处的全地形模式未发生变化(当前全地形模式为Standard模式)，但HUT模块的开关发生变化，HUT模块的开关对应的驱动模式由HEV模式变为EV模式，此时全地形控制装置会车辆的驱动模式切换为EV模式。
图3示出了本申请实施例的一种全地形模式的控制策略的流程图。参见图3，本实施例中全地形模式的控制方法为：
S301、监测ATS模块的是否发生变化；当ATS模块的开关发生变化时，执行S302；当ATS模块的开关未发生变化时，执行S303；
S302、检测ATS模块的开关对应的全地形模式是否为Sport模式或Snow模式或Mud模式或Sand模式或4L模式或Rock模式或Mountain模式或Pothole模式或者Mud_Sand模式，若是，将车辆所处的全地形模式切换为ATS模块的开关对应的全地形模式并发出退出四驱系统的4L模式的指示；若否，将车辆的全地形模式切换为ATS模块的开关对应的全地形模式；
S303、监测车辆的驱动模式是否发生变化，若车辆的驱动模式发生变化，执行S304；若车辆的驱动模式未发生变化，维持车辆所处的全地形模式；
S304、检测车辆变化后的驱动模式，若变化后的驱动模式为HEV模式，维持车辆所处的全地形模式；若变化后的驱动模式为EV模式或Save模式，将车辆所处的全地形模式切换为Standard模式，并提示退出四驱系统的4L模式。
具体地，在本申请实施例中，全地形控制装置会对车辆的驱动模式和ATS模块的开关进行持续监测。(1)当ATS模块的开关发生变化，但车辆的驱动模式未发生变化时，按照S302方式控制车辆所处的全地形模式；(2)当ATS模块的开关未发生变化，但车辆的驱动模式发生变化时，按照S304方式控制车辆所处的全地形模式；(3)当ATS模块的开关和车辆的驱动模式均发生变化时，按照S302方式控制车辆所处的全地形模式。
第二方面，本申请公开了一种全地形控制装置，应用于安装有ATS模块的混合动力汽车。图4示出了本申请实施例的一种全地形控制装置。参见图4，该装置包括：
第一监测模块101，用于对车辆所处的全地形模式进行监测以及对车辆的驱动模式进行监测；
第一控制模块103，用于在监测到车辆所处的全地形模式发生变化时，基于全地形模式与驱动模式之间的对应关系，利用变化后的全地形模式对车辆的驱动模式进行控制，其中，车辆所处的全地形模式发生变化是通过ATS模块的开关进行触发的；
第二控制模块103，用于在监测到车辆的驱动模式发生变化时，基于驱动 模式与全地形模式之间的对应关系，利用变化后的驱动模式对车辆所处的全地形模式进行控制，其中，车辆的驱动模式发生变化是通过HUT模块的开关进行触发的。
在一可选实施例中，第一监测模块101包括：
第一监测子模块1011，用于对车辆所处的全地形模式进行监测；
第二监测子模块1012，用于对车辆的驱动模式进行监测。
在一可选实施例中，第一控制模块102包括：
第一控制子模块，用于在变化后的全地形模式为标准模式或经济模式，维持车辆的驱动模式；
第二控制子模块，用于在变化后的全地形模式为其它模式时，将车辆的驱动模式切换为混动模式；其中，其它模式为全地形模式中除标准模式和经济模式之外的模式。
在一可选实施例中，第二控制模块103包括：
第三控制子模块，用于在变化后的驱动模式为混动模式时，维持车辆所处的全地形模式；
第四控制子模块，用于在变化后的驱动模式为纯电模式或节能模式时，将车辆所处的全地形模式切换为标准模式，并提示退出四驱系统的4L模式。在一可选实施例中，全地形控制装置还包括：
第三控制模块，用于在车辆所处的全地形模式未发生变化时，基于用户的切换请求对车辆的驱动模式进行控制，用户的切换请求通过HUT模块的开关进行触发。
第四控制模块，用于在车辆的驱动模式未发生变化时，基于用户的切换请求对车辆所处的全地形模式进行切换，用户的切换请求通过ATS模块的开关进行触发。
第三方面，本申请公开了一种计算机可读存储介质，所述计算机可读存储介质上存储有全地形控制程序，所述全地形控制程序被处理器执行时实现如上述第一方面任一项所述的全地形控制方法的步骤。
第四方面，本申请公开了一种车辆，所述车辆通过如上述第一方面任意一项所述的全地形控制方法控制车辆的工作状态。
对于装置实施例而言，由于其与方法实施例基本相似，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。
本领域内的技术人员应明白，本申请实施例的实施例可提供为方法、装置、或计算机程序产品。因此，本申请实施例可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请实施例可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请实施例是参照根据本申请实施例的方法、终端设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理终端设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理终端设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理终端设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理终端设备上，使得在计算机或其他可编程终端设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程终端设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以 理解并实施。
本申请的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本申请实施例的计算处理设备中的一些或者全部部件的一些或者全部功能。本申请还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本申请的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
例如，图5示出了可以实现根据本申请的方法的计算处理设备。该计算处理设备传统上包括处理器1010和以存储器1020形式的计算机程序产品或者计算机可读介质。存储器1020可以是诸如闪存、EEPROM(电可擦除可编程只读存储器)、EPROM、硬盘或者ROM之类的电子存储器。存储器1020具有用于执行上述方法中的任何方法步骤的程序代码1031的存储空间1030。例如，用于程序代码的存储空间1030可以包括分别用于实现上面的方法中的各种步骤的各个程序代码1031。这些程序代码可以从一个或者多个计算机程序产品中读出或者写入到这一个或者多个计算机程序产品中。这些计算机程序产品包括诸如硬盘，紧致盘(CD)、存储卡或者软盘之类的程序代码载体。这样的计算机程序产品通常为如参考图6所述的便携式或者固定存储单元。该存储单元可以具有与图5的计算处理设备中的存储器1020类似布置的存储段、存储空间等。程序代码可以例如以适当形式进行压缩。通常，存储单元包括计算机可读代码1031’，即可以由例如诸如1010之类的处理器读取的代码，这些代码当由计算处理设备运行时，导致该计算处理设备执行上面所描述的方法中的各个步骤。
尽管已描述了本申请实施例的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例做出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请实施例范围的所有变更和修改。
最后，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语 仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者终端设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者终端设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者终端设备中还存在另外的相同要素。
以上对本申请所提供的一种全地形控制方法、装置、存储介质及车辆，进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (12)

  1. 一种全地形控制方法，其特征在于，应用于安装有ATS模块的混合动力汽车，所述方法包括：
    对车辆所处的全地形模式进行监测，以及对所述车辆的驱动模式进行监测；
    在监测到所述车辆所处的全地形模式发生变化时，基于全地形模式与驱动模式之间的对应关系，利用变化后的全地形模式对所述车辆的驱动模式进行控制，其中，所述车辆所处的全地形模式发生变化是通过ATS模块的开关进行触发的；
    在监测到所述车辆的驱动模式发生变化时，基于驱动模式与全地形模式之间的对应关系，利用变化后的驱动模式对所述车辆所处的全地形模式进行控制，其中，所述车辆的驱动模式发生变化是通过所述HUT模块的开关进行触发的。
  2. 根据权利要求1所述的全地形控制方法，其特征在于，所述在监测到所述车辆所处的全地形模式发生变化时，基于全地形模式与驱动模式之间的对应关系，利用变化后的全地形模式对所述车辆的驱动模式进行控制包括：
    在所述变化后的全地形模式为标准模式或经济模式，维持所述车辆的驱动模式；
    在所述变化后的全地形模式为其它模式时，将所述车辆的驱动模式切换为混动模式；其中，所述其它模式为所述全地形模式中除所述标准模式和经济模式之外的模式。
  3. 根据权利要求1所述的全地形控制方法，其特征在于，所述在监测到所述车辆的驱动模式发生变化时，基于驱动模式与全地形模式之间的对应关系，利用变化后的驱动模式对所述车辆所处的全地形模式进行控制包括：
    在所述变化后的驱动模式为混动模式时，维持所述车辆所处的全地形模式；
    在所述变化后的驱动模式为纯电模式或节能模式时，将所述车辆所处的全地形模式切换为标准模式，并提示退出四驱系统的4L模式。
  4. 根据权利要求1所述的全地形控制方法，其特征在于，所述方法还包括：在车辆所处的全地形模式未发生变化时，基于用户的切换请求对所述车 辆的驱动模式进行控制，所述用户的切换请求通过HUT模块的开关进行触发。
  5. 根据权利要求4所述的全地形控制方法，其特征在于，所述在车辆所处的全地形模式未发生变化时，基于用户的切换请求对所述车辆的驱动模式进行控制包括：
    在所述用户的切换请求为纯电模式或节能模式，所述车辆所处的全地形模式为其它模式时，将所述车辆的驱动模式切换为混动模式，并提示退出四驱系统的4L模式；其中，所述其它模式为所述全地形模式中除标准模式和经济模式之外的模式；
    在所述用户的切换请求为所述纯电模式或所述节能模式，且所述车辆所处的全地形模式为所述标准模式或所述经济模式时，按照所述用户的切换请求对所述车辆的驱动模式进行切换；
    在所述用户的切换请求为混动模式时，将所述车辆的驱动模式切换为混动模式。
  6. 根据权利要求1所述的全地形控制方法，其特征在于，所述方法还包括：在车辆的驱动模式未发生变化时，基于用户的切换请求对所述车辆所处的全地形模式进行切换，所述用户的切换请求通过ATS模块的开关进行触发。
  7. 根据权利要求6所述的全地形控制方法，其特征在于，所述在车辆的驱动模式未发生变化时，基于用户的切换请求对所述车辆所处的全地形模式进行切换包括：
    在所述用户的切换请求为其它模式时，按照用户的请求对所述车辆所处的全地形模式进行切换，并提示退出四驱系统的4L模式；其中，所述其它模式为所述全地形模式中除标准模式和经济模式之外的模式；
    在所述用户的切换请求为所述标准模式或经济模式，按照用户的切换请求对所述车辆所处的全地形模式进行切换。
  8. 一种全地形控制装置，其特征在于，应用于安装有ATS模块的混合动力汽车，所述装置包括：
    第一监测模块，用于对车辆所处的全地形模式进行监测；
    第二监测模块，用于对所述车辆的驱动模式进行监测；
    第一控制模块，用于在监测到车辆所处的全地形模式发生变化时，基于全地形模式与驱动模式之间的对应关系，利用变化后的全地形模式对所述车辆的驱动模式进行控制；
    第二控制模块，用于在监测到车辆的驱动模式发生变化时，基于驱动模式与全地形模式之间的对应关系，利用变化后的驱动模式对所述车辆所处的全地形模式进行控制。
  9. 一种车辆，其特征在于，通过如权利要求1～7任意一项所述的全地形控制方法控制所述车辆的工作状态。
  10. 一种电子设备，其特征在于，包括处理器，存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1-7任一项所述的全地形控制方法的步骤。
  11. 一种计算机程序，包括计算机可读代码，当所述计算机可读代码在计算处理设备上运行时，导致所述计算处理设备执行根据权利要求1-7任一项所述的全地形控制方法的步骤。
  12. 一种可读存储介质，其特征在于，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求11所述的计算机程序。
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