Vehicle control method and device based on external intervention torque

Abstract

Embodiments of the present disclosure provide a vehicle control method, device, storage medium, and electronic device based on externally intervened torque. The control method includes: obtaining the working mode and working parameters of a hybrid vehicle in the current state; in response to a request for externally intervened torque, allocating the required power and / or required torque based on the working parameters, the working mode, and the current state of charge (SOC) of the power battery. Embodiments of the present disclosure separately control the vehicle operation modes of series, parallel, and pure electric. Without increasing costs and without changing the hardware, different externally intervened torque control methods can be executed according to different vehicle modes. Further, different control methods can be selected according to different requests for torque increase / decrease. In addition, while fully utilizing the maximum capacity of the power battery, reliability and safety are ensured, and the NVH and driving performance differences caused by changes in the engine operating point are minimized as much as possible.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the field of hybrid vehicle control, and particularly to a vehicle control method, device, storage medium, and electronic device based on external intervention torque. Background Art

[0002] In hybrid vehicle control, in addition to normal driving control, when functions related to ESP (such as TCS / MSR) intervene, due to the large number of hybrid vehicle modes and control components, poor torque coordination and control are likely to cause phenomena such as overcharging and over-discharging of the battery, unexpected vehicle acceleration and deceleration, and poor engine operating conditions, affecting the reliability of vehicle components, vehicle drivability, and economy. Among them, when external torque intervenes in a hybrid vehicle, problems affecting the reliability, drivability, and economy of vehicle components occur. However, currently, there are not many control methods for external torque intervention. Most of them discuss the speed of torque switching during external torque intervention or overcharging and over-discharging protection of the battery during vehicle driving. Summary of the Invention

[0003] Aiming at the deficiencies of the above-mentioned prior art, embodiments of the present disclosure provide a vehicle control method, device, storage medium, and electronic device based on external intervention torque to solve the problems of affecting the reliability, drivability, and economy of vehicle components when external torque intervenes in existing hybrid vehicles.

[0004] To solve the above technical problems, embodiments of the present disclosure adopt the following technical solutions:

[0005] A vehicle control method based on external intervention torque, comprising:

[0006] Obtain the working mode and working parameters of a hybrid vehicle in the current state;

[0007] In response to a request for external intervention torque, allocate demand power and / or demand torque based on the working parameters, the working mode, and the current SOC of the power battery.

[0008] In some embodiments, the working mode is any one of a series mode, a parallel mode, or a pure electric mode.

[0009] In some embodiments, the allocating demand power and / or demand torque based on the working parameters, the working mode, and the current SOC of the power battery in response to a request for external intervention torque includes:

[0010] When the working mode is the series mode and the external intervention torque is less than or equal to the driving motor demand torque, if the current SOC of the power battery is greater than or equal to the first threshold, the first demand power distribution is performed and an engine quick torque request is issued; if the current SOC of the power battery is less than the first threshold, the second demand power distribution is performed.

[0011] In some embodiments, when the external intervention torque is greater than the driving motor demand torque, if the current SOC of the power battery is less than or equal to the second threshold, the third demand power distribution is performed and an engine quick torque request is issued; if the current SOC of the power battery is greater than the second threshold, the fourth demand power distribution is performed.

[0012] In some embodiments, the request in response to the external intervention torque, based on the working parameters, the working mode, and the current SOC of the power battery, performs the distribution of demand power and / or demand torque, including:

[0013] When the working mode is the parallel mode and the external intervention torque is less than or equal to the driving motor demand torque, if the current SOC of the power battery is greater than or equal to the first threshold, the first demand torque distribution is performed and an engine quick torque request is issued; if the current SOC of the power battery is less than the first threshold, the second demand torque distribution is performed.

[0014] In some embodiments, when the external intervention torque is greater than the driving motor demand torque, if the current SOC of the power battery is less than or equal to the second threshold, the third demand torque distribution is performed and an engine quick torque request is issued; if the current SOC of the power battery is greater than the second threshold, the fourth demand torque distribution is performed.

[0015] In some embodiments, the request in response to the external intervention torque, based on the working parameters, the working mode, and the current SOC of the power battery, performs the distribution of demand power and / or demand torque, including:

[0016] When the working mode is the pure electric mode, the distribution of the driving motor demand torque is performed.

[0017] The present disclosure also provides a vehicle control device based on external intervention torque, which includes: an acquisition module for acquiring the working mode and working parameters of a hybrid vehicle in the current state; a distribution module for, in response to a request for external intervention torque, performing the distribution of demand power and / or demand torque based on the working parameters, the working mode, and the current SOC of the power battery.

[0018] The present disclosure also provides a storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of the above are implemented.

[0019] The present disclosure also provides an electronic device, at least including a memory and a processor. A computer program is stored on the memory, and when the processor executes the computer program on the memory, the steps of any one of the above-mentioned methods are implemented.

[0020] In the embodiments of the present disclosure, the vehicle operation modes are divided into series, parallel, and pure electric for separate control. Without increasing costs and without changing the hardware, different external torque intervention control methods can be executed according to different vehicle modes. Further, different control methods are selected according to different up / down torque requests. In addition, while making full use of the maximum capacity of the power battery, reliability and safety are ensured, and the NVH and drivability differences caused by changes in the engine operating point are minimized as much as possible. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a schematic structural diagram of a hybrid vehicle according to an embodiment of the present disclosure;

[0023] Figure 2 It is a schematic diagram of the steps of a vehicle control method based on external intervention torque according to an embodiment of the present disclosure;

[0024] Figure 3 It is a schematic diagram of the steps of a vehicle control method based on external intervention torque according to an embodiment of the present disclosure;

[0025] Figure 4 It is a schematic diagram of the engine universal characteristic curve according to an embodiment of the present disclosure;

[0026] Figure 5 It is a schematic diagram of the steps of a vehicle control method based on external intervention torque according to an embodiment of the present disclosure

[0027] Figure 6 It is a schematic diagram of the steps of a vehicle control method based on external intervention torque according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] Reference is made herein to the accompanying drawings to describe the various aspects and features of the present disclosure.

[0029] It should be understood that various modifications can be made to the embodiments claimed herein. Accordingly, the above description should not be construed as limiting, but merely as exemplifications of embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the present disclosure.

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with the general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the disclosure.

[0031] These and other features of the disclosure will become apparent from the following description of the preferred forms of the embodiments, given by way of non-limiting example with reference to the accompanying drawings.

[0032] It should also be understood that, although the disclosure has been described with reference to some specific examples, those skilled in the art can surely implement many other equivalent forms of the disclosure, which have the features as claimed and thus are all within the protection scope defined thereby.

[0033] When taken in conjunction with the accompanying drawings, the above and other aspects, features, and advantages of the disclosure will become more apparent in view of the following detailed description.

[0034] Specific embodiments of the disclosure will be described hereinafter with reference to the accompanying drawings; however, it should be understood that the claimed embodiments are merely examples of the disclosure, which can be implemented in various ways. Well-known and / or repetitive functions and structures are not described in detail to avoid obscuring the disclosure with unnecessary or redundant details. Accordingly, the specific structural and functional details claimed herein are not intended to be limiting, but merely as a basis for the claims and a representative basis for teaching those skilled in the art to use the disclosure in substantially any suitable detailed structure in a variety of ways.

[0035] This specification may use the phrases "in one embodiment", "in another embodiment", "in yet another embodiment", or "in other embodiments", each of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0036] Embodiments of the present disclosure relate to a vehicle control method based on external intervention torque, and the vehicle control method is applicable to a hybrid vehicle, and the external intervention torque herein generally refers to the torque requested when functions related to ESP (or functions such as TCS / MSR, etc.) intervene.

[0037] Figure 1A hybrid vehicle 100 is shown. The hybrid vehicle 100 here includes an engine 10, a drive motor 20, and a power battery 50. The engine 10 is connected to a wheel 40 at the wheel end of the hybrid vehicle 100 through a clutch 30 to provide power. The drive motor 20 is connected to the power battery 50, and the output end of the drive motor 20 is connected to the wheel 40. The structure of the hybrid vehicle 100 here is not limited to this.

[0038] Based on the structure of the hybrid vehicle 100 described above, the hybrid vehicle 100 can be in different working modes. The working modes here at least include any one of a series mode, a parallel mode, and a pure electric mode. Among them, in the series mode, the clutch 30 is disengaged, and the engine 10 does not transmit torque to the wheel end, but drives the drive motor 20 to directly drive the wheel 40. In the parallel mode, the clutch 30 is engaged, and the engine 10 drives the drive motor 20 and jointly drives the wheel 40 with the drive motor 20. In the pure electric mode, the clutch 30 is disengaged, the engine 10 stops, and the drive motor 20 directly drives the wheel 40.

[0039] By adopting the structure of the hybrid vehicle 100 described above, the vehicle control method involved in the embodiments of the present disclosure, as Figure 2 shown, includes the following steps:

[0040] S1, Obtain the working mode and working parameters of the hybrid vehicle in the current state.

[0041] The hybrid vehicle here is in any one of the series mode, the parallel mode, or the pure electric mode.

[0042] S2, In response to a request for external intervention torque, allocate the required power and / or required torque based on the working parameters, the working mode, and the current SOC of the power battery.

[0043] The following will separately introduce the hybrid vehicle 100 when it is in the series mode, the parallel mode, and the pure electric mode respectively:

[0044] For the hybrid vehicle 100 in the series mode, as Figure 3 shown, the vehicle control method includes:

[0045] S101, Obtain the working parameters of the hybrid vehicle in the current state.

[0046] In this step, the operating parameters of the hybrid vehicle in the current state are obtained. When the hybrid vehicle 100 is based on the series mode and in normal driving, the operating parameters of the hybrid vehicle 100 in the current state are monitored and obtained through devices such as sensors on the hybrid vehicle 100.

[0047] The operating parameters here include, for example, the engine demand power P_engine_request, the drive motor demand torque T_TM_request, the actual engine torque T_engine_act, the actual engine speed N_engine_act, the actual drive motor torque T_TM_act, the actual drive motor speed N_TM_act, the current SOC of the power battery C_SOC_act, the vehicle accessory power P_compt, and other parameter signals.

[0048] In addition, the engine demand speed N_engine_request and the engine demand torque can also be obtained. Among them, the engine demand speed N_engine_request here can be obtained by looking up a table according to the economic table of the engine 10 based on the engine demand power P_engine_request.

[0049] After obtaining the engine demand speed N_engine_request, the engine demand torque T_engine_request is obtained by the following formula, that is

[0050] T_engine_request = P_engine_request * 9550 / N_engine_request.

[0051] Among them, the economic table of the above-mentioned engine 10 can be obtained in the following way: (1) As Figure 4 shown, obtain the universal characteristic curve and specific fuel consumption distribution of the engine 10; (2) Draw an isopower curve on the universal characteristic curve; (3) Take the point with the lowest specific fuel consumption on the isopower curve and obtain its engine speed; (4) Finally, obtain the economic table of the engine 10 based on the relationship between power and speed.

[0052] For example, in a specific embodiment, the economic table obtained based on the engine demand power is shown as follows:

[0053] Engine required power 10 20 30 …… Engine required speed 1200 1500 2000

[0054] S102, in response to a request for external intervention torque, allocate the demand power based on the operating parameters, the operating mode, and the current SOC of the power battery.

[0055] In this step, in response to a request for external intervention torque, the demand power is allocated based on the working parameters, the working mode, and the current SOC of the power battery. The external intervention torque here needs to be converted to the drive motor end and is represented by T_external.

[0056] In this step, first, it is necessary to determine whether a request for external intervention torque is received. When the request for external intervention torque is received and responded to, the magnitude of the external intervention torque T_external and the drive motor demand torque T_TM_request is compared to identify torque reduction and torque increase requests, and the demand power is reallocated based on the comparison result. Specifically:

[0057] When the external intervention torque T_external is less than or equal to the drive motor demand torque T_TM_request, that is, a torque reduction request, the demand power is reallocated.

[0058] Furthermore, before reallocating the demand power, it is also necessary to judge the current SOC of the power battery. Specifically: compare the current SOC of the power battery, i.e., C_SOC_act, with the minimum value of C_SOC_1 and C_SOC_uplim. Among them, C_SOC_1 is the first threshold of SOC. Due to the SOC median control logic of the hybrid vehicle 100 and the user big data analysis results, the SOC of the power battery is normally distributed. For example, the SOC at μ + 3σ of the user big data normal distribution can be set as C_SOC_1, and the SOC at μ - 3σ can be set as C_SOC_2. Here, C_SOC_1 and C_SOC_2 are fed back to the vehicle controller in real time through the cloud platform; C_SOC_uplim is the upper limit of the available SOC determined by the battery hardware and protection strategy.

[0059] (1) If the current SOC of the power battery, i.e., C_SOC_act >= min(C_SOC_1, C_SOC_uplim), then perform the first allocation of the demand power. In the first allocation:

[0060] First, reallocate the engine demand power, that is

[0061] P_engine_request1 = T_external * N_TM_act / 9550 + P_compt, where P_engine_request1 is the engine demand power after the demand power is reallocated;

[0062] Secondly, obtain the engine required torque based on the allocated engine required power, that is, T_engine_request1 = P_engine_request1 * 9550 / N_engine_request1. The reallocated engine required speed N_engine_request1 here can be obtained by looking up the table in the economy table obtained in step S101; after obtaining the engine required torque, an engine quick torque request is also sent. In this way, when the engine 10 is outside the SOC threshold, sending a quick torque request can avoid overcharging and over-discharging of the power battery 50.

[0063] Finally, reset the allocated drive motor required torque, that is

[0064] T_TM_request1 = T_external.

[0065] (2) If the current SOC of the power battery, i.e., C_SOC_act < min(C_SOC_1, C_SOC_uplim), then perform the second demand power allocation. In the second allocation:

[0066] First, reset the engine required power, that is

[0067] P_engine_request1 = P_engine_request, where P_engine_request1 is the engine required power after the demand power is reallocated;

[0068] Secondly, reset the engine required speed, that is

[0069] N_engine_request1 = N_engine_request, where N_engine_request1 is the engine required speed after the demand power is reallocated;

[0070] Finally, reset the allocated drive motor required torque, that is

[0071] T_TM_request1 = T_external, where T_TM_request1 is the reallocated drive motor required torque.

[0072] For the torque reduction request, when it is higher than a certain SOC threshold, reduce the engine required power to meet the vehicle torque reduction demand and effectively protect the battery to prevent overcharging of the battery; when it is lower than the SOC threshold, maintain the engine required power, that is, the stability of the engine operating point, to meet the vehicle economy.

[0073] It should be noted that the SOC control threshold of the power battery 50 adopted in the reallocation of the required power can be determined according to the user big data analysis technology, and the operating points of the engine 10 and the drive motor 20 can be controlled according to the different current SOCs of the power battery, so as to realize the maximum possible improvement of economy in the controllable range of the power battery 50 by using the real-time feedback of the user big data analysis results.

[0074] When the external intervention torque T_external is greater than the drive motor required torque T_TM_request, that is, a torque increase request, the reallocation of the required power is performed.

[0075] Furthermore, before the reallocation of the required power, it is also necessary to judge the current SOC of the power battery. Specifically, judge whether the current SOC of the power battery, namely C_SOC_act, is compared with the maximum value of C_SOC_1 and C_SOC_lowlim. Among them, C_SOC_lowlim is the lower limit of the SOC that can be used determined by the battery hardware and the protection strategy.

[0076] (1) If the current SOC of the power battery, namely C_SOC_act <= max(C_SOC_2, C_SOC_lowlim), then the third allocation of the required power is executed. In the third allocation:

[0077] First, reallocate the engine required power, that is

[0078] P_engine_request1 = T_external * N_TM_act / 9550 + P_compt, where P_engine_request1 is the reallocated engine required power;

[0079] Secondly, obtain the engine required torque based on the reallocated engine required power, that is, T_engine_request1 = P_engine_request1 * 9550 / N_engine_request1. The reallocated engine required speed N_engine_request1 here can be obtained by looking up the table in the economy table obtained in step S101; after obtaining the engine required torque, a fast torque request for the engine is also issued at the same time. In this way, when the engine 10 issues a fast torque request outside the SOC threshold, overcharging and over-discharging of the power battery 50 can be avoided.

[0080] Finally, reset the required torque of the drive motor after allocation, that is

[0081] T_TM_request1 = T_external, where T_TM_request1 is the required torque of the drive motor after redistribution.

[0082] (2) If the current SOC of the power battery, i.e., C_SOC_act > max(C_SOC_2, C_SOC_lowlim), then perform the fourth allocation of the required power. In the fourth allocation:

[0083] First, redistribute the required power of the engine, i.e.,

[0084] P_engine_request1 = P_engine_request, where P_engine_request1 is the required power of the engine after redistribution;

[0085] Second, reset the required speed of the engine, i.e.,

[0086] N_engine_request1 = N_engine_request, where N_engine_request1 is the required speed of the engine after redistribution;

[0087] Finally, reset the required torque of the engine and the required torque of the drive motor after allocation, i.e.,

[0088] T_engine_request1 = T_engine_request, where T_engine_request1 is the required torque of the engine after redistribution;

[0089] T_TM_request1 = T_external, where T_TM_request1 is the required torque of the drive motor after redistribution.

[0090] For the torque increase request, when it is below a certain SOC threshold, increase the required power of the engine to meet the vehicle's torque increase requirement and effectively protect the power battery to prevent over-discharge of the battery; when it is above the SOC threshold, maintain the required power of the engine, i.e., the stability of the engine operating point, to meet the vehicle's economy.

[0091] In addition, if the request for the external intervention torque is not received, send the engine torque / speed request, the drive motor torque request, etc. to the relevant actuators.

[0092] For the hybrid vehicle 100 in the parallel mode, adopt a similar control method to ensure the smoothness of the engine operating point to the greatest extent while ensuring that the wheel-end torque meets the external intervention torque, as Figure 5 shown, the vehicle control method includes:

[0093] S201. Obtain the operating parameters of the hybrid vehicle in the current state.

[0094] In this step, obtain the operating parameters of the hybrid vehicle in the current state. When the hybrid vehicle 100 is based on the parallel mode and in normal driving, monitor and obtain the operating parameters of the hybrid vehicle 100 in the current state through devices such as sensors on the hybrid vehicle 100.

[0095] The operating parameters here include, for example, engine demand torque T_engine_request, drive motor demand torque T_TM_request, engine actual torque T_engine_act, drive motor actual torque T_TM_act, drive motor actual speed N_TM_act, current SOC of the power battery C_SOC_act, vehicle accessory power P_compt, and the transmission ratio Tans_eng2TM from the engine 10 to the drive motor 20, etc., as parameter signals.

[0096] S202. In response to a request for external intervention torque, allocate the demand torque based on the operating parameters, the operating mode, and the current SOC of the power battery.

[0097] In this step, in response to the external intervention torque, allocate the demand power and / or demand torque based on the operating parameters, the operating mode, and the current SOC of the power battery. The external intervention torque here needs to be converted to the drive motor end and is represented by T_external.

[0098] In this step, first, it is necessary to determine whether a request for external intervention torque is received. When the request for external intervention torque is received and responded to, compare the magnitude between the external intervention torque T_external and the drive motor demand torque T_TM_request, so as to identify the torque reduction and torque increase requests, and re-allocate the demand torque based on the comparison result. Specifically:

[0099] When the external intervention torque T_external is less than or equal to the drive motor demand torque T_TM_request, re-allocate the demand torque.

[0100] Further, before redistributing the required torque, it is necessary to determine the current SOC of the power battery. Specifically, compare the current SOC of the power battery, i.e., C_SOC_act, with the minimum value of C_SOC_1 and C_SOC_uplim. Here, C_SOC_1 is the first threshold of SOC. Due to the SOC median control logic of the hybrid vehicle 100 and the user big data analysis results, the SOC of the power battery is normally distributed. For example, the SOC at μ + 3σ of the user big data normal distribution can be taken as C_SOC_1, and the SOC at μ - 3σ as C_SOC_2. Here, C_SOC_1 and C_SOC_2 are fed back to the controller in real time through the cloud platform; C_SOC_uplim is the upper limit of the available SOC determined by the battery hardware and protection strategy.

[0101] (1) If the current SOC of the power battery, i.e., C_SOC_act >= min(C_SOC_1, C_SOC_uplim), then perform the first distribution of the required torque. In the first distribution, redistribute the required torque of the engine and the required torque of the drive motor. Specifically:

[0102] First, redistribute the required torque of the engine, i.e., T_engine_request1 = T_external / Tans_eng2TM + P_compt * 9550 / N_engine_act, where T_engine_request1 is the redistributed required torque of the engine; after obtaining the required torque of the engine, simultaneously send a fast torque request for the engine. In this way, when the engine 10 is outside the SOC threshold, sending a fast torque request can avoid overcharging and over-discharging of the power battery 50.

[0103] Then, redistribute the required torque of the drive motor, i.e., T_TM_request1 = T_external - T_engine_act * Tans_eng2TM - T_TM_request, where T_TM_request1 is the redistributed required torque of the engine.

[0104] (2) If the current SOC of the power battery, i.e., C_SOC_act < min(C_SOC_1, C_SOC_uplim), then perform the second distribution of the required torque. In the second distribution, redistribute the required torque of the engine and the required torque of the drive motor. Specifically:

[0105] First, redistribute the required torque of the engine, i.e.,

[0106] T_engine_request1 = T_engine_request, where T_engine_request1 is the engine demand torque after redistribution;

[0107] Then, redistribute the drive motor demand torque, i.e., T_TM_request1 = T_external - T_engine_act * Tans_eng2TM - T_TM_request, where T_TM_request1 is the drive motor demand torque after redistribution.

[0108] It should be noted that the SOC control threshold of the power battery 50 used in the redistribution of the demand torque can be determined according to the user big data analysis technology, and the operating points of the engine 10 and the drive motor 20 can be controlled according to the different current SOCs of the power battery, so as to realize the maximum possible improvement of economy in real time by feeding back the user big data analysis results within the controllable range of the power battery 50.

[0109] When the external intervention torque T_external is greater than the drive motor demand torque T_TM_request, the demand torque is redistributed.

[0110] Furthermore, before redistributing the demand torque, it is also necessary to judge the current SOC of the power battery. Specifically, judge whether the current SOC of the power battery, i.e., C_SOC_act, is compared with the maximum value of C_SOC_1 and C_SOC_lowlim, where C_SOC_lowlim is the lower limit of the SOC that can be used determined by the battery hardware and the protection strategy.

[0111] (1) If the current SOC of the power battery, i.e., C_SOC_act <= max(C_SOC_2, C_SOC_lowlim), then perform the third power distribution. In the third distribution, redistribute the engine demand torque and the drive motor demand torque. Specifically:

[0112] First, redistribute the engine demand torque, i.e.,

[0113] T_engine_request1 = T_external / Tans_eng2TM + P_compt * 9550 / N_engine_act, where T_engine_request ared is the engine demand torque after redistribution; after obtaining the engine demand torque, an engine quick torque request is also sent at the same time. In this way, when the engine 10 is outside the SOC threshold, a quick torque request is sent, which can avoid overcharging and over-discharging of the power battery 50.

[0114] Then, reallocate the required torque of the drive motor, i.e.,

[0115] T_TM_request1 = T_external - T_engine_act * Tans_eng2TM - T_TM_request, where T_TM_request1 is the required torque of the drive motor after reallocation.

[0116] (2) If the current SOC of the power battery, i.e., C_SOC_act > max(C_SOC_2, C_SOC_lowlim), then perform the fourth allocation of the required torque. In the fourth allocation, reallocate the required torque of the engine and the required torque of the drive motor. Specifically:

[0117] First, reallocate the required torque of the engine, i.e.,

[0118] T_engine_request1 = T_engine_request, where T_engine_request1 is the required torque of the engine after reallocation;

[0119] Then, reallocate the required torque of the drive motor, i.e.,

[0120] T_TM_request1 = T_external - T_engine_act * Tans_eng2TM - T_TM_request, where T_TM_request1 is the required torque of the drive motor after reallocation.

[0121] In addition, if no request for the external intervention torque is received, send the engine torque / speed request, the drive motor torque request, etc. to the relevant actuators.

[0122] For the hybrid vehicle 100 in the pure electric mode, since the pure electric mode is directly driven by the drive motor 20, directly change the drive torque request to the request for the external intervention torque, meeting the safety requirements. As Figure 6 shown, the vehicle control method includes:

[0123] S301, obtain the working parameters of the hybrid vehicle in the current state.

[0124] In this step, obtain the working parameters of the hybrid vehicle in the current state. When the hybrid vehicle 100 is based on the pure electric mode and in the normal driving process, monitor and obtain the working parameters of the hybrid vehicle 100 in the current state through devices such as sensors on the hybrid vehicle 100.

[0125] The working parameters herein include, for example, parameters signals such as the required torque of the drive motor, i.e., T_TM_request, the actual torque of the drive motor, i.e., T_TM_act, the actual rotational speed of the drive motor, i.e., N_TM_act, the current SOC of the power battery, i.e., C_SOC_act, and the power of vehicle accessories, i.e., P_compt.

[0126] S302. In response to a request for external intervention torque, allocate the required torque based on the working parameters, the working mode, and the current SOC of the power battery.

[0127] In this step, in response to a request for external intervention torque, allocate the required power and / or the required torque based on the working parameters, the working mode, and the current SOC of the power battery. The external intervention torque here needs to be converted to the drive motor side and is represented by T_external.

[0128] In this step, first, it is necessary to determine whether a request for external intervention torque is received. When the request for external intervention torque is received and a response is made, re-allocate the required torque, i.e.,

[0129] T_TM_request1 = T_external, where T_TM_request1 is the required torque of the drive motor after re-allocation.

[0130] In addition, if the request for external intervention torque is not received, send the engine torque / rotational speed request, the drive motor torque request, etc. to the relevant actuators.

[0131] The embodiments of the present disclosure classify the vehicle operation modes into series, parallel, and pure electric for separate control. Without increasing costs and without changing the hardware, different external torque intervention control methods can be executed according to different vehicle modes, and different control methods can be selected according to different up / down torque requests. In addition, while making full use of the maximum capacity of the power battery, reliability and safety are ensured, and the NVH and driving performance differences caused by changes in the engine operating point are minimized.

[0132] The second embodiment of the present disclosure relates to a vehicle control device based on external intervention torque, which includes an acquisition module and an allocation module that are coupled to each other, and:

[0133] The acquisition module is used to acquire the working mode and working parameters of the hybrid vehicle in the current state;

[0134] The allocation module is used to, in response to a request for external intervention torque, allocate the required power and / or the required torque based on the working parameters, the working mode, and the current SOC of the power battery.

[0135] Further, the working mode is any one of a series mode, a parallel mode, or a pure electric mode.

[0136] The distribution module includes a first distribution unit, which is configured to, when the working mode is the series mode and the externally intervened torque is less than or equal to the required torque of the drive motor, perform the first distribution of the required power and issue an engine quick torque request when the current SOC of the power battery is greater than or equal to the first threshold, and perform the second distribution of the required power when the current SOC of the power battery is less than the first threshold.

[0137] Further, when the externally intervened torque is greater than the required torque of the drive motor, perform the third distribution of the required power and issue an engine quick torque request when the current SOC of the power battery is less than or equal to the second threshold, and perform the fourth distribution of the required power when the current SOC of the power battery is greater than the second threshold.

[0138] The distribution module includes a second distribution unit, which is configured to, when the working mode is the parallel mode and the externally intervened torque is less than or equal to the required torque of the drive motor, perform the first distribution of the required torque and issue an engine quick torque request when the current SOC of the power battery is greater than or equal to the first threshold, and perform the second distribution of the required torque when the current SOC of the power battery is less than the first threshold.

[0139] Further, when the externally intervened torque is greater than the required torque of the drive motor, perform the third distribution of the required torque and issue an engine quick torque request when the current SOC of the power battery is less than or equal to the second threshold, and perform the fourth distribution of the required torque when the current SOC of the power battery is greater than the second threshold.

[0140] The distribution module includes a third distribution unit, which is configured to perform the distribution of the required torque of the drive motor when the working mode is the pure electric mode.

[0141] The embodiments of the present disclosure classify the vehicle operation modes into series, parallel, and pure electric for separate control, which can, without increasing costs and without changing the hardware, perform different external torque intervention control methods according to different vehicle modes, further select different control methods according to different up / down torque requests, and in addition, make full use of the maximum capacity of the power battery while ensuring reliability and safety, and minimize the NVH and drivability differences caused by changes in the engine operating points.

[0142] The third embodiment of the present disclosure provides a storage medium, which is a computer-readable medium and stores a computer program. When the computer program is executed by a processor, it implements the method provided in the first embodiment of the present disclosure, including the following steps S11 to S12:

[0143] S11. Obtain the operating mode and operating parameters of the hybrid vehicle in the current state;

[0144] S12. In response to a request for external intervention torque, allocate the required power and / or required torque based on the operating parameters, the operating mode, and the current SOC of the power battery.

[0145] Furthermore, when the computer program is executed by a processor, it implements the other methods provided in the first embodiment of the present disclosure

[0146] The embodiments of the present disclosure classify the vehicle operating modes into series, parallel, and pure electric for separate control. Without increasing costs and without changing the hardware, different external torque intervention control methods can be executed according to different vehicle modes. Further, different control methods can be selected according to different up / down torque requests. In addition, while making full use of the maximum capacity of the power battery, reliability and safety are ensured, and the NVH and drivability differences caused by changes in the engine operating points are minimized.

[0147] The fourth embodiment of the present disclosure provides an electronic device. The electronic device at least includes a memory and a processor. A computer program is stored on the memory. When the processor executes the computer program on the memory, it implements the methods provided in any embodiment of the present disclosure. Exemplarily, the computer program steps of the electronic device are as follows S21 to S22:

[0148] S21. Obtain the operating mode and operating parameters of the hybrid vehicle in the current state;

[0149] S22. In response to a request for external intervention torque, allocate the required power and / or required torque based on the operating parameters, the operating mode, and the current SOC of the power battery.

[0150] Furthermore, the processor also executes the computer program in the above-mentioned third embodiment

[0151] The embodiments of the present disclosure classify the vehicle operating modes into series, parallel, and pure electric for separate control. Without increasing costs and without changing the hardware, different external torque intervention control methods can be executed according to different vehicle modes. Further, different control methods can be selected according to different up / down torque requests. In addition, while making full use of the maximum capacity of the power battery, reliability and safety are ensured, and the NVH and drivability differences caused by changes in the engine operating points are minimized.

[0152] The above storage medium may be included in the above electronic device; or it may exist separately and not be assembled into the electronic device.

[0153] The above storage medium stores one or more programs which, when executed by the electronic device, cause the electronic device to: obtain at least two Internet Protocol addresses; send a node evaluation request including the at least two Internet Protocol addresses to a node evaluation device, where the node evaluation device selects an Internet Protocol address from the at least two Internet Protocol addresses and returns it; receive the Internet Protocol address returned by the node evaluation device; wherein the obtained Internet Protocol addresses indicate edge nodes in a content delivery network.

[0154] Alternatively, the above storage medium stores one or more programs which, when executed by the electronic device, cause the electronic device to: receive a node evaluation request including at least two Internet Protocol addresses; select an Internet Protocol address from the at least two Internet Protocol addresses; return the selected Internet Protocol address; wherein the received Internet Protocol addresses indicate edge nodes in a content delivery network.

[0155] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages or combinations thereof. The programming languages include, but are not limited to, object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the passenger computer, partly on the passenger computer, as a stand-alone software package, partly on the passenger computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the passenger computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0156] It should be noted that the above-mentioned storage medium in the present disclosure may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any storage medium other than the computer-readable storage medium, and this computer-readable signal medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0157] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0158] The units involved in the embodiments of the present disclosure can be implemented in software or in hardware. In some cases, the name of a unit does not constitute a limitation on the unit itself.

[0159] The functions described above herein can be performed, at least in part, by one or more hardware logic components. By way of example, and without limitation, the types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0160] In the context of the present disclosure, a machine-readable medium may be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0161] The above description is only of the preferred embodiments of the present disclosure and an illustration of the technical principles applied. Those skilled in the art should understand that the scope of the disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by the mutual replacement of the above features with the technical features (but not limited to) having similar functions disclosed in the present disclosure.

[0162] In addition, although the operations are depicted in a particular order, this should not be construed as requiring that the operations be performed in the particular order shown or in sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features described in the context of separate embodiments may also be implemented combinatorially in a single embodiment. Conversely, the various features described in the context of a single embodiment may also be implemented separately or in any suitable sub-combination in multiple embodiments.

[0163] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. On the contrary, the specific features and acts described above are merely example forms of implementing the claims.

[0164] The above has described multiple embodiments of the present disclosure in detail, but the present disclosure is not limited to these specific embodiments. Based on the concept of the present disclosure, those skilled in the art can make various variations and modifications to the embodiments, and these variations and modifications should all fall within the scope claimed by the present disclosure.

Claims

1. A vehicle control method based on externally intervened torque, characterized in that, Including: Obtain the working mode and working parameters of the hybrid vehicle in the current state; In response to a request for external intervention torque, allocate the required power and / or required torque based on the working parameters, the working mode, and the current state of charge (SOC) of the power battery; The step of allocating the required power and / or required torque in response to a request for external intervention torque based on the working parameters, the working mode, and the current SOC of the power battery includes: When the working mode is the series mode and the external intervention torque is less than or equal to the required torque of the drive motor, if the current SOC of the power battery is greater than or equal to the first threshold, perform the first allocation of the required power and issue a fast engine torque request; if the current SOC of the power battery is less than the first threshold, perform the second allocation of the required power; The step of performing the first allocation of the required power includes: Reallocate the required power of the engine; that is: P_engine_request1 = T_external * N_TM_act / 9550 + P_compt, where P_engine_request1 is the required power of the engine after reallocation; T_external is the external intervention torque; N_TM_act is the actual speed of the drive motor; P_compt is the power of vehicle accessories; Obtain the required torque of the engine based on the allocated required power of the engine; Reset the required torque of the drive motor after allocation to the external intervention torque; The step of performing the second allocation of the required power includes: Reset the required power of the engine; Reset the required speed of the engine; Reset the required torque of the drive motor after allocation to the external intervention torque.

2. The vehicle control method according to claim 1, wherein The working mode is any one of the series mode, the parallel mode, or the pure electric mode.

3. The vehicle control method according to claim 1, wherein, When the external intervention torque is greater than the required torque of the drive motor, if the current SOC of the power battery is less than or equal to the second threshold, perform the third allocation of the required power and issue a fast engine torque request; if the current SOC of the power battery is greater than the second threshold, perform the fourth allocation of the required power; The step of performing the third allocation of the required power includes: Reallocate the required power of the engine; Obtain the required torque of the engine based on the reallocated required power of the engine; Reset the required torque of the drive motor after allocation; The step of performing the fourth allocation of the required power includes: Reallocate the required power of the engine; Reset the required speed of the engine; Reset the required torque of the engine and the required torque of the drive motor after allocation.

4. The vehicle control method according to claim 2, wherein The step of allocating the required power and / or required torque in response to a request for external intervention torque based on the working parameters, the working mode, and the current SOC of the power battery includes: When the working mode is the parallel mode and the external intervention torque is less than or equal to the required torque of the drive motor, if the current SOC of the power battery is greater than or equal to the first threshold, perform the first allocation of the required torque and issue a fast engine torque request; if the current SOC of the power battery is less than the first threshold, perform the second allocation of the required torque; The execution of the first demand torque distribution includes redistributing the engine demand torque and the drive motor demand torque; The execution of the second demand torque distribution includes redistributing the engine demand torque and the drive motor demand torque.

5. The vehicle control method according to claim 4, wherein When the external intervention torque is greater than the drive motor demand torque, if the current SOC of the power battery is less than or equal to the second threshold, the third demand torque distribution is executed and an engine quick torque request is issued; if the current SOC of the power battery is greater than the second threshold, the fourth demand torque distribution is executed; The execution of the third demand torque distribution includes redistributing the engine demand torque and the drive motor demand torque; The execution of the fourth demand torque distribution includes redistributing the engine demand torque and the drive motor demand torque.

6. The vehicle control method according to claim 2, characterized in that, The response to the external intervention torque request, and the distribution of demand power and / or demand torque based on the working parameters, the working mode, and the current SOC of the power battery includes: When the working mode is the pure electric mode, the distribution of the drive motor demand torque is executed.

7. A vehicle control device based on an externally intervened torque, characterized in that, Includes: An acquisition module for acquiring the working mode and working parameters of the hybrid vehicle in the current state; A distribution module for, in response to the external intervention torque request, distributing demand power and / or demand torque based on the working parameters, the working mode, and the current SOC of the power battery; The distribution module includes a first distribution unit, which is used to, when the working mode is the series mode and the external intervention torque is less than or equal to the drive motor demand torque, if the current SOC of the power battery is greater than or equal to the first threshold, execute the first demand power distribution and issue an engine quick torque request; if the current SOC of the power battery is less than the first threshold, execute the second demand power distribution; The execution of the first demand power distribution includes: Redistributing the engine demand power; that is: P_engine_request1 = T_external * N_TM_act / 9550 + P_compt, where P_engine_request1 is the engine demand power after the demand power is redistributed; T_external is the external intervention torque; N_TM_act is the actual speed of the drive motor; P_compt is the vehicle accessory power; Obtaining the engine demand torque based on the redistributed engine demand power; Resetting the redistributed drive motor demand torque to the external intervention torque; The execution of the second demand power distribution includes: Resetting the engine demand power; Resetting the engine demand speed; Resetting the redistributed drive motor demand torque to the external intervention torque.

8. A storage medium stores a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method described in any one of claims 1 to 6 are implemented.

9. An electronic device, at least comprising a memory and a processor, wherein a computer program is stored on the memory, characterized in that, When the processor executes the computer program on the memory, the steps of the method described in any one of claims 1 to 6 are implemented.

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