Hybrid motorcycle power assist control method, device, equipment and medium

Abstract

The present invention belongs to the technical field of motorcycle motor control, and provides a hybrid motorcycle power-assistance control method, device, equipment and medium, wherein the method includes: obtaining vehicle status information; judging whether the driving power-assistance control conditions are met based on the vehicle status information, and then controlling the motor to execute the driving power-assistance program. Using the technical solution of the present application, it is necessary to pre-set a priority order for the driving power-assistance control conditions so that the vehicle can judge in an orderly manner whether the driving power-assistance control conditions are met, and then control the execution of the driving power-assistance program. By judging the data associated with the motorcycle drive in a preset priority order, a stable judgment of the vehicle condition can be achieved, efficient data processing can be achieved, and the efficiency of the judgment process is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motorcycle motor control, and in particular to a power-assistance control method, device, equipment and medium for a hybrid power motorcycle. Background Art

[0002] With the trend of electrification in the international market, emissions from traditional engine vehicles are an urgent problem that all major vehicle manufacturers need to solve. They are faced with the following choices:

[0003] 1) Directly transition from fuel vehicles to pure electric vehicles;

[0004] 2) Update the technology of traditional fuel vehicles and promote the hybrid system to ensure that vehicle emissions meet standards.

[0005] Based on the motorcycle hybrid control system, it mainly optimizes emissions and performs low-speed oil-electric hybrid operation for traditional fuel vehicles to provide power output.

[0006] Currently, hybrid motorcycles are used to adapt to the electrification trend. However, hybrid motorcycles can be driven by pure electric power or pure power generation during riding. During riding, the controller frequently switches between electric mode and power generation mode, prompting the engine to start frequently, increasing fuel consumption and leading to large emissions. Summary of the Invention

[0007] In response to the defects in the existing technology, the present invention provides a hybrid motorcycle power assistance control method, device, equipment and medium to solve the problem that existing hybrid motorcycles can only be driven by pure electric power or pure power generation during riding, resulting in frequent engine starting.

[0008] In a first aspect, the present invention provides a power assist control method for a hybrid motorcycle, comprising:

[0009] Obtaining vehicle status information; the vehicle status information includes input data of the vehicle control system and fault information of the vehicle controller;

[0010] Whether the driving assistance control condition is met is determined according to the vehicle state information, and the motor is controlled to execute a driving assistance program, where the driving assistance program is used to control the motor to execute a target driving torque.

[0011] As can be seen from the above technical solution, the hybrid motorcycle power-assistance control method provided by the present invention pre-sets a priority order for the power-assistance control conditions, enabling the vehicle to systematically determine whether the power-assistance control conditions are met before executing the power-assistance program. By determining data related to the motorcycle's drive in a pre-set priority order, a stable judgment of the vehicle's condition is achieved, efficient data processing is achieved, and the efficiency of the judgment process is improved.

[0012] Optionally, the driving assistance control condition includes:

[0013] The data associated with the motorcycle drive in the vehicle status information is judged according to a preset priority order. If any of the data associated with the motorcycle drive does not meet the drive assist control conditions, the judgment process is terminated; otherwise, the motor is controlled to execute the drive assist program.

[0014] Optionally, the judgment conditions of the data associated with motorcycle driving involved in the priority order include:

[0015] First priority:

[0016] S201, vehicle operation mark is valid;

[0017] Second priority:

[0018] S202, the current system operation flag is valid;

[0019] S203, battery SOC>A;

[0020] S204, engine speed <B;

[0021] S205, current vehicle speed <C;

[0022] S206, throttle opening > D;

[0023] S207, brake signal invalid;

[0024] S208: The current motor system has no faults;

[0025] S209: The current engine system has no faults;

[0026] S210, throttle opening increasing rate>E;

[0027] Third priority:

[0028] S211, vehicle speed stability signal is invalid;

[0029] Among them, A is the preset SOC threshold, B is the preset engine speed threshold, C is the preset vehicle speed threshold, D is the preset throttle opening threshold, and E is the preset throttle opening increase rate threshold;

[0030] When the data meets the judgment conditions in the first priority, the data in the second priority is judged. If the judgment conditions in the second priority and the judgment conditions in the third priority are met, the driving assist control conditions are met.

[0031] Optionally, the controlling the motor to execute the driving assist program includes:

[0032] A minimum torque value among the maximum limit torque, the battery allowable driving torque associated with the battery SOC, and the speed limit torque associated with the motor speed is obtained, and a target driving torque is obtained based on the minimum torque value.

[0033] Optionally, obtaining the battery allowable driving torque associated with the battery SOC includes:

[0034] Based on a first relationship array, obtaining a current maximum allowable discharge current associated with a current battery SOC; the first relationship array is obtained by pre-associating the battery SOC and the maximum allowable discharge current;

[0035] The current battery allowable driving torque is obtained according to the current voltage and the current maximum allowable discharge current.

[0036] Optionally, obtaining the speed limit torque associated with the motor speed includes:

[0037] Based on the second relational array, the speed limit torque corresponding to the current motor speed is obtained; the second relational array is obtained by pre-associating the motor speed and the driving torque value.

[0038] Optionally, obtaining the speed limit torque associated with the motor speed includes:

[0039] Based on the second relational array, the speed limit torque corresponding to the current motor speed is obtained; the second relational array is obtained by pre-associating the motor speed and the driving torque value.

[0040] Optionally, the target driving torque=the minimum torque value×throttle opening.

[0041] In a second aspect, the present invention provides a hybrid motorcycle power assist control device, comprising:

[0042] An information acquisition module is used to obtain vehicle status information; the vehicle status information includes input data of the vehicle control system and fault information of the vehicle controller;

[0043] The power assist judgment and execution module is used to judge whether the driving power assist control condition is met according to the vehicle status information, and then control the motor to execute the driving power assist program, and the driving power assist program is used to control the motor to execute the target driving torque.

[0044] Optionally, the assistance judgment and execution module is further configured to:

[0045] The data associated with the motorcycle drive in the vehicle status information is judged according to a preset priority order. If any of the data associated with the motorcycle drive does not meet the drive assist control conditions, the judgment process is terminated; otherwise, the motor is controlled to execute the drive assist program.

[0046] Optionally, in the power assist judgment and execution module, the judgment conditions of the motorcycle driving-related data involved in the priority order include:

[0047] First priority:

[0048] S201, vehicle operation mark is valid;

[0049] Second priority:

[0050] S202, the current system operation flag is valid;

[0051] S203, battery SOC>A;

[0052] S204, engine speed <B;

[0053] S205, current vehicle speed <C;

[0054] S206, throttle opening > D;

[0055] S207, brake signal invalid;

[0056] S208: The current motor system has no faults;

[0057] S209: The current engine system has no faults;

[0058] S210, throttle opening increasing rate>E;

[0059] Third priority:

[0060] S211, vehicle speed stability signal is invalid;

[0061] Among them, A is the preset SOC threshold, B is the preset engine speed threshold, C is the preset vehicle speed threshold, D is the preset throttle opening threshold, and E is the preset throttle opening increase rate threshold;

[0062] When the data meets the judgment conditions in the first priority, the data in the second priority is judged. If the judgment conditions in the second priority and the judgment conditions in the third priority are met, the driving assist control conditions are met.

[0063] Optionally, the assistance judgment and execution module is further configured to:

[0064] A minimum torque value among the maximum limit torque, the battery allowable driving torque associated with the battery SOC, and the speed limit torque associated with the motor speed is obtained, and a target driving torque is obtained based on the minimum torque value.

[0065] Optionally, the assistance judgment and execution module is further configured to:

[0066] Based on a first relationship array, obtaining a current maximum allowable discharge current associated with a current battery SOC; the first relationship array is obtained by pre-associating the battery SOC and the maximum allowable discharge current;

[0067] The current battery allowable driving torque is obtained according to the current voltage and the current maximum allowable discharge current.

[0068] Optionally, the assistance judgment and execution module is further configured to:

[0069] Based on the second relational array, the speed limit torque corresponding to the current motor speed is obtained; the second relational array is obtained by pre-associating the motor speed and the driving torque value.

[0070] Optionally, in the power assist judgment and execution module, the target driving torque=the minimum torque value×throttle opening.

[0071] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above methods when executing the computer program.

[0072] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having computer program instructions stored thereon, which implement the steps of any of the above methods when executed by a processor.

[0073] By adopting the above technical solution, this application has the following beneficial effects:

[0074] During hybrid motorcycle operation, vehicle data must be prioritized. For example, data related to the vehicle's operating status, such as the validity of the vehicle's operating flag, is crucial for determining whether the vehicle is operating normally. Data related to driving status, on the other hand, is prioritized. Therefore, a pre-set priority order is required for the power assist control conditions, allowing the vehicle to systematically determine whether the conditions are met before executing the power assist control program. By prioritizing data related to the motorcycle's operation, a stable assessment of vehicle status is achieved, enabling efficient data processing and improving the efficiency of the judgment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0076] Figure 1 A flow chart showing a power assist control method for a hybrid motorcycle provided by an embodiment of the present invention is shown;

[0077] Figure 2 A structural diagram of a power-assistance control device for a hybrid motorcycle provided by an embodiment of the present invention is shown;

[0078] Figure 3 A structural diagram of an electronic device provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0079] The following embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore only examples and are not intended to limit the scope of protection of the present invention.

[0080] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0081] Figure 1 FIG1 shows a flow chart of a power assist control method for a hybrid motorcycle provided by an embodiment of the present invention. Figure 1 As shown, a power assist control method for a hybrid motorcycle according to an embodiment of the present invention includes:

[0082] Obtain vehicle status information to determine the current vehicle status;

[0083] Based on the vehicle status information, it is determined whether the driving assistance control conditions are met, and the motor is controlled to execute the driving assistance program, which is used to control the motor to execute the target driving torque.

[0084] Specifically, the vehicle status information is obtained to determine the current vehicle status, and whether the driving assistance control conditions are met is determined based on the vehicle status information. During driving, by determining whether the vehicle status requires assistance, the motor is controlled to execute the driving assistance program. The driving assistance program is used to control the motor. When it is determined that assistance is needed based on the vehicle status information, the motor is controlled to execute the target driving torque.

[0085] In one example, when the driver presses the accelerator pedal, the throttle opening increases, meaning the rate of increase is greater, indicating a need for assist. If the throttle opening remains stable or decreases, assist is no longer needed and deceleration is required. Therefore, the accelerator pedal can be used as a criterion for determining whether a vehicle meets the assist control conditions. If the accelerator pedal is pressed, it indicates the driver intends to control the vehicle, meaning the vehicle requires assist. In actual operation, other parameters will inevitably affect the vehicle's driving process. The accelerator pedal mentioned here is merely an example.

[0086] Optionally, the driving assistance control conditions include:

[0087] The data associated with the motorcycle drive in the vehicle status information is judged according to the preset priority order. If any of the data associated with the motorcycle drive does not meet the drive assist control conditions, the judgment process is terminated; otherwise, the motor is controlled to execute the drive assist program.

[0088] During motorcycle operation, vehicle data must be prioritized. For example, data related to vehicle operating status, such as the validity of the vehicle's operating flag, is crucial for determining whether the vehicle is operating normally. However, data related to driving status is prioritized. Therefore, a pre-set priority order is required for the power assist control conditions, allowing the vehicle to systematically determine whether the conditions are met before executing the power assist control program.

[0089] By judging the data associated with the motorcycle drive in a preset priority order, a stable judgment of the vehicle condition can be achieved, efficient data processing can be realized, and the efficiency of the judgment process can be improved.

[0090] Optionally, the judgment conditions of the motorcycle driving-related data involved in the priority order include:

[0091] First priority:

[0092] S201, vehicle operation mark is valid;

[0093] Second priority:

[0094] S202, the current system operation flag is valid;

[0095] S203, battery SOC>A;

[0096] S204, engine speed <B;

[0097] S205, current vehicle speed <C;

[0098] S206, throttle opening > D;

[0099] S207, brake signal invalid;

[0100] S208: The current motor system has no faults;

[0101] S209: The current engine system has no faults;

[0102] S210, throttle opening increasing rate>E;

[0103] Third priority:

[0104] S211, vehicle speed stability signal is invalid;

[0105] Among them, A is the preset SOC threshold, B is the preset engine speed threshold, C is the preset vehicle speed threshold, D is the preset throttle opening threshold, and E is the preset throttle opening increase rate threshold;

[0106] When the data meets the judgment conditions in the first priority, the data in the second priority is judged. If the judgment conditions in the second priority and the judgment conditions in the third priority are met, the driving assist control conditions are met.

[0107] In a possible implementation, a hall motor is used, with A=60%, B=6000, C=40, D=0, and E==2‰. The specific values ​​shown above are only examples and are not intended to limit the present application.

[0108] Specifically, in the process of judging the vehicle data in order of priority, the specific process includes three priorities, namely the first priority, the second priority and the third priority. The first priority corresponds to the valid vehicle operation flag. The vehicle operation flag is a flag that represents the vehicle status. It is used to determine whether the current vehicle is in a normal driving state based on the vehicle's output. This is the primary criterion for judging by obtaining the vehicle status data. When the vehicle's vehicle operation flag is valid, the vehicle is in a normal driving process.

[0109] It should be noted that the throttle opening rate of increase referred to in S110 is the rate at which the throttle sampling voltage rises. The throttle opening rate of increase is a condition for initiating power assist. For example, if the driver needs to accelerate, the throttle opening will increase, that is, the opening rate of increase will increase, indicating a need for power assist. If the throttle opening remains stable or decreases, it means that power assist is not needed and deceleration is required. Therefore, the throttle opening rate of increase is a judgment condition for power assist.

[0110] Secondly, when the data in the first priority level meets the judgment conditions, that is, when the vehicle operation flag is valid, the data in the second priority level is judged, including the specific data judgment conditions S102-S110. The data in the second priority level is judged synchronously. Only when the data in the second priority level meets the judgment conditions at the same time will the judgment of the third priority level be entered, otherwise the assisted judgment process will be terminated.

[0111] The data in the third priority level includes the judgment of vehicle speed. When the vehicle speed stabilization signal is invalid, that is, the vehicle speed changes, the data in the third priority level meets the judgment conditions. At this time, the motorcycle is in the acceleration stage and needs to be driven by the motor to provide assistance.

[0112] By dividing the judgment conditions into three priority orders, the control system can make judgments in the order of the above three priorities. If the above judgment conditions are met, the motorcycle meets the drive assist control conditions, and controls the motor to output the target drive torque to provide assistance for the acceleration of the motorcycle.

[0113] Optionally, controlling the motor to execute a driving assist program includes:

[0114] The minimum value among the maximum limit torque, the battery allowable driving torque associated with the battery SOC, and the speed limit torque associated with the motor speed is obtained, and the target driving torque is obtained based on the minimum value.

[0115] For the motor to execute the drive assist program, the target drive torque output is determined based on the maximum limit torque, the battery's allowable drive torque associated with the battery SOC, and the speed limit torque associated with the motor speed. During the driving process of a motorcycle, there is a maximum limit torque during driving. The maximum limit torque is limited by the vehicle's own performance. For different vehicles, the actual value of the maximum limit torque varies. The battery's allowable drive torque is associated with the battery SOC, and is related to the battery's performance and the battery's state of charge. At the same time, at the current vehicle speed, the speed limit torque associated with the motor speed is also limited.

[0116] The minimum of the three limiting torques is obtained, and based on this minimum, the target driving torque can be obtained to achieve power assist control of the motorcycle. While meeting the vehicle's driving performance, the efficiency of the motor is effectively improved, reducing fuel consumption during driving.

[0117] Optionally, obtaining the battery allowable driving torque associated with the battery SOC includes:

[0118] Based on the first relationship array, obtaining the current maximum allowable discharge current associated with the current battery SOC; the first relationship array is obtained by pre-associating the battery SOC and the maximum allowable discharge current;

[0119] The current battery allowable driving torque is obtained according to the current voltage and the current maximum allowable discharge current.

[0120] Specifically, there is a corresponding relationship between the battery SOC and the maximum allowable discharge current. The specific corresponding relationship table is a corresponding table established in advance by acquiring data, that is, a first relationship array, see Table 1:

[0121] Table 1

[0122]

[0123] The battery SOC can be obtained in real time when the vehicle is in motion. The current maximum allowable discharge current can be determined in the first relation array based on the obtained battery SOC. The current power can be determined based on the obtained current voltage, the maximum allowable discharge current and the current voltage. N = Maximum allowable discharge current I × current voltage U. The current battery allows driving torque T N The current power P N and speed n N Sure,

[0124] Optionally, obtaining a speed limit torque associated with the motor speed includes:

[0125] Based on the second relation array, the speed limit torque corresponding to the current motor speed is obtained; the second relation array is obtained by pre-associating the motor speed and the driving torque value.

[0126] Table 2

[0127]

[0128] Specifically, see Table 2, which shows an example of a second relational array. This second relational array is a pre-established correspondence between speed and drive torque based on motor characteristics. In this second relational array, the speed limit torque is determined based on the current motor speed. The speed limit torque is related to the motor characteristics.

[0129] The purpose of establishing the first relationship array and the second relationship array is to better limit the system to operate within the allowable torque to prevent the system from exceeding the bearing capacity of the system components and causing system failure or damage.

[0130] Alternatively, target driving torque=minimum torque×accelerator opening.

[0131] To ensure that the target drive torque meets constraints such as motor characteristics during vehicle operation, the target torque is determined by the minimum of the maximum torque limit, the battery's allowable drive torque associated with the battery SOC, and the speed-limited torque associated with the motor speed. This ensures that the target drive torque meets performance indicators such as motor speed. The throttle opening reflects the driver's acceleration desire; a wider throttle opening indicates a greater driver's acceleration intent. In this embodiment, the target drive torque is determined by the minimum of the maximum torque limit, the battery's allowable drive torque associated with the battery SOC, and the speed-limited torque associated with the motor speed. This ensures vehicle stability while meeting the acceleration requirements of the current driving process, providing active power assistance tailored to the current driving environment and reducing fuel consumption.

[0132] In one embodiment, see Figure 2 , provides a hybrid motorcycle power assist control device 30, comprising:

[0133] The information acquisition module 301 is used to obtain vehicle status information; the vehicle status information includes input data of the vehicle control system and fault information of the vehicle controller;

[0134] The power assist judgment and execution module 302 is used to judge whether the driving power assist control condition is met according to the vehicle state information, and then control the motor to execute the driving power assist program, which is used to control the motor to execute the target driving torque.

[0135] Optionally, the assistance judgment and execution module 302 is further configured to:

[0136] The data associated with the motorcycle drive in the vehicle status information is judged according to a preset priority order. If any of the data associated with the motorcycle drive does not meet the drive assist control conditions, the judgment process is terminated; otherwise, the motor is controlled to execute the drive assist program.

[0137] Optionally, in the power assist judgment and execution module 302, the judgment conditions of the motorcycle driving-related data involved in the priority order include:

[0138] First priority:

[0139] S201, vehicle operation mark is valid;

[0140] Second priority:

[0141] S202, the current system operation flag is valid;

[0142] S203, battery SOC>A;

[0143] S204, engine speed <B;

[0144] S205, current vehicle speed <C;

[0145] S206, throttle opening > D;

[0146] S207, brake signal invalid;

[0147] S208: The current motor system has no faults;

[0148] S209: The current engine system has no faults;

[0149] S210, throttle opening increasing rate>E;

[0150] Third priority:

[0151] S211, vehicle speed stability signal is invalid;

[0152] Among them, A is the preset SOC threshold, B is the preset engine speed threshold, C is the preset vehicle speed threshold, D is the preset throttle opening threshold, and E is the preset throttle opening increase rate threshold;

[0153] When the data meets the judgment conditions in the first priority, the data in the second priority is judged. If the judgment conditions in the second priority and the judgment conditions in the third priority are met, the driving assist control conditions are met.

[0154] Optionally, the assistance judgment and execution module 302 is further configured to:

[0155] A minimum torque value among the maximum limit torque, the battery allowable driving torque associated with the battery SOC, and the speed limit torque associated with the motor speed is obtained, and a target driving torque is obtained based on the minimum torque value.

[0156] Optionally, the assistance judgment and execution module 302 is further configured to:

[0157] Based on a first relationship array, obtaining a current maximum allowable discharge current associated with a current battery SOC; the first relationship array is obtained by pre-associating the battery SOC and the maximum allowable discharge current;

[0158] The current battery allowable driving torque is obtained according to the current voltage and the current maximum allowable discharge current.

[0159] Optionally, the assistance judgment and execution module 302 is further configured to:

[0160] Based on the second relational array, the speed limit torque corresponding to the current motor speed is obtained; the second relational array is obtained by pre-associating the motor speed and the driving torque value.

[0161] Optionally, in the power assist judgment and execution module, the target driving torque=the minimum torque value×throttle opening.

[0162] The hybrid motorcycle power-assistance control device 30 provided in the embodiment of the present application adopts the same inventive concept as the above-mentioned hybrid motorcycle power-assistance control method and can achieve the same beneficial effects, which will not be described in detail here.

[0163] Based on the same inventive concept as the above hybrid motorcycle power assist control method, the embodiment of the present application further provides an electronic device 40, such as Figure 3 As shown, the electronic device 40 may include a processor 401 and a memory 402 .

[0164] The processor 401 can be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0165] Memory 402 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules. Memory can include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (Random Access Memory, RAM), a static random access memory (Static Random Access Memory, SRAM), a programmable read-only memory (Programmable Read Only Memory, PROM), a read-only memory (Read Only Memory, ROM), an electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a magnetic memory, a disk, an optical disc, etc. Memory is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory 402 in the embodiment of the present application can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0166] Those skilled in the art will appreciate that all or part of the steps of the above-mentioned method embodiments may be implemented by hardware associated with program instructions, and the aforementioned program may be stored in a computer-readable storage medium. When the program is executed, the program executes the steps of the above-mentioned method embodiments. The above-mentioned computer storage medium may be any available medium or data storage device that can be accessed by a computer, including but not limited to: mobile storage devices, random access memory (RAM), magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memories (NAND FLASH), solid-state drives (SSDs)), and other media that can store program codes.

[0167] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: a mobile storage device, a random access memory (RAM, Random Access Memory), a magnetic storage device (such as a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical storage device (such as a CD, DVD, BD, HVD, etc.), and a semiconductor memory (such as a ROM, EPROM, EEPROM, a non-volatile memory (NAND FLASH), a solid-state drive (SSD)) and other various media that can store program code.

[0168] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A power assist control method for a hybrid motorcycle, characterized in that: include: Obtain vehicle status information to determine the current vehicle status; If it is determined that the driving assistance control condition is met according to the vehicle state information, the motor is controlled to execute a driving assistance program, wherein the driving assistance program is used to control the motor to execute a target driving torque; The controlling motor executes the driving assist program, including: obtaining a minimum torque value among a maximum limit torque, a battery allowable driving torque associated with a battery SOC, and a speed limit torque associated with a motor speed, and obtaining a target driving torque based on the minimum torque value; Obtaining the battery allowable driving torque associated with the battery SOC includes: Based on a first relationship array, obtaining a current maximum allowable discharge current associated with a current battery SOC; the first relationship array is obtained by pre-associating the battery SOC and the maximum allowable discharge current; Obtaining a current battery allowable driving torque according to the current voltage and the current maximum allowable discharge current; Obtaining the speed limit torque associated with the motor speed includes: Based on a second relational array, obtaining a speed limit torque corresponding to the current motor speed; the second relational array is obtained by pre-associating the motor speed and the driving torque value; The first relation array and the second relation array limit the system to operate within the permitted torque to prevent the system from being exceeded in capacity and causing system failure or damage; The target driving torque=the minimum torque value×the throttle opening.

2. The power assist control method for a hybrid motorcycle according to claim 1, characterized in that: The driving assistance control conditions include: The data associated with the motorcycle drive in the vehicle status information is judged according to a preset priority order. If any of the data associated with the motorcycle drive does not meet the drive assist control conditions, the judgment process is terminated; otherwise, the motor is controlled to execute the drive assist program.

3. The power assist control method for a hybrid motorcycle according to claim 2, characterized in that: The judgment conditions of the motorcycle driving-related data involved in the priority order include: First priority: S201, vehicle operation mark is valid; Second priority: S202, the current system operation flag is valid; S203, battery SOC>A; S204, engine speed <B; S205, current vehicle speed <C; S206, throttle opening > D; S207, brake signal invalid; S208: The current motor system has no faults; S209: The current engine system has no faults; S210, throttle opening increasing rate>E; Third priority: S211, vehicle speed stability signal is invalid; Among them, A is the preset SOC threshold, B is the preset engine speed threshold, C is the preset vehicle speed threshold, D is the preset throttle opening threshold, and E is the preset throttle opening increase rate threshold; When the data meets the judgment conditions in the first priority, the data in the second priority is judged. If the judgment conditions in the second priority are met and the judgment conditions in the third priority are met, the driving assist control conditions are met.

4. A hybrid power assist control device for a motorcycle, characterized in that: include: Information acquisition module, used to obtain vehicle status information; The vehicle status information includes input data of the vehicle control system and fault information of the vehicle controller; a power assist judgment and execution module, configured to determine, based on the vehicle state information, whether a driving power assist control condition is satisfied, and then control the motor to execute a driving power assist program, wherein the driving power assist program is configured to control the motor to execute a target driving torque; The controlling motor executes the driving assist program, including: obtaining a minimum torque value among a maximum limit torque, a battery allowable driving torque associated with a battery SOC, and a speed limit torque associated with a motor speed, and obtaining a target driving torque based on the minimum torque value; Obtaining the battery allowable driving torque associated with the battery SOC includes: Based on a first relationship array, obtaining a current maximum allowable discharge current associated with a current battery SOC; the first relationship array is obtained by pre-associating the battery SOC and the maximum allowable discharge current; Obtaining a current battery allowable driving torque according to the current voltage and the current maximum allowable discharge current; Obtaining the speed limit torque associated with the motor speed includes: Based on a second relational array, obtaining a speed limit torque corresponding to the current motor speed; the second relational array is obtained by pre-associating the motor speed and the driving torque value; The first relation array and the second relation array limit the system to operate within the permitted torque to prevent the system from being exceeded in capacity and causing system failure or damage; The target driving torque=the minimum torque value×the throttle opening.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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