A method for controlling a vehicle

Abstract

The application discloses a control method of a vehicle. The method comprises the following steps: obtaining a first vehicle driving mode, a second vehicle driving mode and a vehicle state, wherein the first vehicle driving mode comprises one of a pure electric driving mode and a hybrid driving mode, the second vehicle driving mode comprises one of a driving mode, an idling mode and a parking mode, and the vehicle state comprises at least one of an accelerator pedal opening degree, a vehicle gear, a vehicle speed, a flag bit information and an engine speed; and switching the second driving mode based on the first vehicle driving mode and the vehicle state. The application solves the technical problem that the vehicle is unstable when switching the driving mode due to unbalanced power distribution or intermittent power in the related art.

Description

Technical Field

[0001] The present invention relates to the field of smart cars, and in particular to a vehicle control method. Background Art

[0002] Taking into account the power and economy of automobiles, more and more automobile manufacturers have begun to develop and promote hybrid vehicles. Hybrid vehicles mainly obtain power from electric drive systems and traditional engines. Based on the coordinated control of motors and engines, they can achieve a larger driving torque output while optimizing the engine's operating range, reducing the engine's load pressure, and reducing the engine fuel consumption and exhaust emissions of the entire vehicle, thereby achieving green travel with energy conservation and emission reduction.

[0003] Since hybrid vehicles are powered by both motors and engines, the output distribution of different power sources is involved when the vehicle switches driving modes. If the power output distribution provided by multiple power sources is unbalanced, it can easily cause the vehicle to become jerky and unstable when switching driving modes, such as when switching from idle mode to drive mode, thereby affecting the vehicle's driving safety, stability, and the driver's driving experience.

[0004] To address the above issues, no effective solutions have been proposed so far. Summary of the Invention

[0005] An embodiment of the present invention provides a vehicle control method to at least solve the technical problem in the related art that the vehicle is unstable when switching driving modes due to unbalanced power distribution or intermittent power.

[0006] According to one aspect of an embodiment of the present invention, a vehicle control method is provided, comprising: acquiring a first vehicle driving mode, a second vehicle driving mode and a vehicle status, wherein the first vehicle driving mode comprises one of the following: a pure electric driving mode and a hybrid driving mode, the second vehicle driving mode comprises one of the following: a driving mode, an idle mode and a parking mode, and the vehicle status comprises at least one of the following: an accelerator pedal opening, a vehicle gear position, a vehicle speed, flag position information and an engine speed; and switching the second driving mode based on the first vehicle driving mode and the vehicle status.

[0007] Optionally, based on the first vehicle driving mode and the vehicle status, switching to the second driving mode includes: confirming whether the vehicle status meets the corresponding control conditions, wherein the control conditions include at least one of the following: the first control condition, the second control condition, the third control condition and the fourth control condition; in response to the vehicle status meeting the corresponding control conditions, obtaining a rotational speed value based on the first vehicle driving mode and the second vehicle driving mode; in response to the rotational speed value meeting a preset range, switching the vehicle to the second vehicle driving mode.

[0008] Optionally, the method further includes: controlling the second driving mode to switch from parking mode to idle mode based on the vehicle state meeting the first control condition; and controlling the second driving mode to switch from idle mode to parking mode based on the vehicle state meeting the second control condition.

[0009] Optionally, in response to the vehicle state meeting the third control condition, a speed value is obtained based on the first vehicle driving mode and the second vehicle driving mode, including: in response to the first vehicle driving mode being a pure electric driving mode and the second vehicle driving being an idle mode, obtaining the accelerator pedal opening; comparing the accelerator pedal opening with a first opening threshold; when the accelerator pedal opening is greater than or equal to the first opening threshold, determining the speed value based on the motor creep speed target value and the first speed offset; when the accelerator pedal opening is less than the first opening threshold, determining the speed value based on the motor creep speed target value and the second speed offset.

[0010] Optionally, in response to the vehicle state meeting the fourth control condition, a speed value is obtained based on the first vehicle driving mode and the second vehicle driving mode, including: in response to the first vehicle driving mode being a pure electric driving mode and the second vehicle driving mode being a drive mode, obtaining the accelerator pedal opening; comparing the accelerator pedal opening with a first opening threshold; when the accelerator pedal opening is greater than or equal to the first opening threshold, determining the speed value based on the motor creep speed target value and the third speed offset; when the accelerator pedal opening is less than the first opening threshold, determining the speed value based on the motor creep speed target value and the fourth speed offset.

[0011] Optionally, in response to the vehicle state meeting the third control condition, a speed value is obtained based on the first vehicle driving mode and the second vehicle driving mode, wherein the speed value includes a fifth speed value and a sixth speed value, including: in response to the first vehicle driving mode being a hybrid driving mode and the second vehicle driving mode being an idle mode, obtaining the accelerator pedal opening; comparing the accelerator pedal opening with a second opening threshold; when the accelerator pedal opening is greater than or equal to the second opening threshold, determining the fifth speed value based on the engine idle target value and the fifth speed offset; when the accelerator pedal opening is less than the second opening threshold, determining the sixth speed value based on the engine idle target value and the sixth speed offset.

[0012] Optionally, in response to the vehicle state meeting the fourth control condition, a speed value is obtained based on the first vehicle driving mode and the second vehicle driving mode, including: in response to the first vehicle driving mode being a hybrid driving mode and the second vehicle driving mode being a drive mode, obtaining the accelerator pedal opening; and comparing the accelerator pedal opening with a second opening threshold; when the accelerator pedal opening is greater than or equal to the second opening threshold, determining the speed value based on the engine idle target value and the seventh speed offset; when the accelerator pedal opening is less than the second opening threshold, determining the speed threshold based on the engine idle target value and the eighth speed offset.

[0013] Optionally, in response to the rotational speed value being within a preset range, switching the second vehicle driving mode of the vehicle includes: controlling the second driving mode to be switched to the drive mode.

[0014] Optionally, in response to the rotational speed value being within a preset range, switching the vehicle to a second vehicle driving mode includes: controlling the second driving mode to be switched to an idle mode.

[0015] Optionally, the flag information includes: a first flag for indicating that the motor speed continues to increase, a second flag for indicating that the motor is prohibited from stopping, a third flag for indicating that the idle mode is switched to the drive mode, and a fourth flag for indicating that the speed value is less than a preset speed value; the first control condition includes at least one of the following: the vehicle gear meets the first preset gear, the first flag is the first preset value, and the second flag is the first preset value; the second control condition includes: the vehicle gear meets the second preset gear, the vehicle speed is less than or equal to the first threshold, the first flag is the second preset value and the second flag is the second preset value; the third control condition includes: the vehicle gear does not meet the second preset gear, the fourth flag is the second preset value, and at least one of the following: the third flag is The first preset value and the engine speed are greater than or equal to the speed value; the fourth control condition includes at least one of the following: the vehicle gear meets the second preset gear, the speed value limited flag is in the first state, the vehicle gear does not meet the second preset gear, and the engine speed is less than the speed value; wherein, determining the preset value of the third flag includes: when determining that the first vehicle driving mode is a hybrid driving mode, if the engine speed is greater than or equal to the first preset threshold, then determining the third flag to be the first preset value, wherein the first preset threshold is determined based on the engine idle target speed and the ninth speed offset; when determining that the first vehicle driving mode is a pure electric driving mode, if the speed value is greater than the engine idle target speed, then determining the third flag to be the first preset value.

[0016] According to another aspect of an embodiment of the present invention, a vehicle control device is also provided, including: a first acquisition module, used to acquire a first vehicle driving mode, a second vehicle driving mode and a vehicle status, wherein the first vehicle driving mode includes one of the following: a pure electric driving mode and a hybrid driving mode, the second vehicle driving mode includes one of the following: a driving mode, an idle mode and a parking mode, and the vehicle status includes at least one of the following: an accelerator pedal opening, a vehicle gear position, a vehicle speed, flag position information and an engine speed; and a mode switching module, used to switch to the second driving mode based on the first vehicle driving mode and the vehicle status.

[0017] Optionally, the mode switching module includes: a state determination unit, for confirming whether the vehicle state meets the corresponding control conditions, wherein the control conditions include at least one of the following: a first control condition, a second control condition, a third control condition and a fourth control condition; a speed value acquisition unit, for obtaining a speed value based on the first vehicle driving mode and the second vehicle driving mode in response to the vehicle state meeting the corresponding control conditions; and a mode switching unit, for switching the vehicle to the second vehicle driving mode in response to the speed value meeting a preset range.

[0018] Optionally, the device also includes: an idle switching module, which is used to control the second driving mode to switch from parking mode to idle mode based on the vehicle state meeting the first control condition; and a parking switching module, which is used to control the second driving mode to switch from idle mode to parking mode based on the vehicle state meeting the second control condition.

[0019] Optionally, the speed value acquisition unit includes: a first opening acquisition subunit, used to obtain the accelerator pedal opening in response to the first vehicle driving mode being a pure electric driving mode and the second vehicle driving being an idle mode; a first opening comparison subunit, used to compare the accelerator pedal opening with a first opening threshold; a first speed value determination subunit, used to determine the speed value based on the motor creep speed target value and the first speed offset when the accelerator pedal opening is greater than or equal to the first opening threshold; and determine the speed value based on the motor creep speed target value and the second speed offset when the accelerator pedal opening is less than the first opening threshold.

[0020] Optionally, the speed value acquisition unit includes: a second opening acquisition subunit, used to acquire the accelerator pedal opening in response to the first vehicle driving mode being a pure electric driving mode and the second vehicle driving mode being a drive mode; a second opening comparison subunit, used to compare the accelerator pedal opening with a first opening threshold; a second speed value comparison subunit, used to determine the speed value based on the motor creep speed target value and the third speed offset when the accelerator pedal opening is greater than or equal to the first opening threshold; a second speed value determination subunit, used to determine the speed value based on the motor creep speed target value and the fourth speed offset when the accelerator pedal opening is less than the first opening threshold.

[0021] Optionally, the speed value acquisition unit includes: a third opening acquisition subunit, used to obtain the accelerator pedal opening in response to the first vehicle driving mode being a hybrid driving mode and the second vehicle driving mode being an idle mode; a third opening comparison subunit, used to compare the accelerator pedal opening with a second opening threshold; a third speed value determination subunit, used to determine a fifth speed value based on the engine idle target value and a fifth speed offset when the accelerator pedal opening is greater than or equal to the second opening threshold; and determine a sixth speed value based on the engine idle target value and a sixth speed offset when the accelerator pedal opening is less than the second opening threshold.

[0022] Optionally, the speed value acquisition unit includes: a fourth opening acquisition subunit, used to acquire the accelerator pedal opening in response to the first vehicle driving mode being a hybrid driving mode and the second vehicle driving mode being a drive mode; a fourth opening comparison subunit, used to compare the accelerator pedal opening with a second opening threshold; a fourth speed value determination subunit, used to determine the speed value based on the engine idle target value and the seventh speed offset when the accelerator pedal opening is greater than or equal to the second opening threshold; and determine the speed threshold based on the engine idle target value and the eighth speed offset when the accelerator pedal opening is less than the second opening threshold.

[0023] Optionally, the mode switching unit includes: a first driving switching subunit, configured to control the second driving mode to switch to the driving mode.

[0024] Optionally, the mode switching unit includes: a second drive switching sub-unit, used to control the second driving mode to switch to the idle mode.

[0025] Optionally, the flag information obtained by the first obtaining module comprises: a first flag bit for indicating that the motor speed continues to increase, a second flag bit for indicating that the motor is prohibited from stopping, a third flag bit for indicating that the idling mode is switched to the driving mode, and a fourth flag bit for indicating that the motor speed is less than a preset motor speed value; the first control condition obtained by the state determining unit comprises at least one of the following: the vehicle gear position meets a first preset gear position, the first flag bit is a first preset value, and the second flag bit is a first preset value; the second control condition comprises: the vehicle gear position meets a second preset gear position, the vehicle speed is less than or equal to a first threshold value, the first flag bit is a second preset value, and the second flag bit is a second preset value; the third control condition comprises: the vehicle gear position does not meet the second preset gear position, the fourth flag bit is a second preset value, and at least one of the following: the third flag bit is a first preset value and the motor speed is greater than or equal to the motor speed value; the fourth control condition comprises at least one of the following: the vehicle gear position meets the second preset gear position, the motor speed limiting flag bit is a first state, the vehicle gear position does not meet the second preset gear position, and the motor speed is less than the motor speed value; wherein, the preset value of the third flag bit comprises: in a case where the first vehicle driving mode is determined to be a hybrid driving mode, if the motor speed is greater than or equal to a first preset threshold value, the third flag bit is determined to be a first preset value, wherein the first preset threshold value is determined based on the engine idling target speed and a ninth speed offset; in a case where the first vehicle driving mode is determined to be an all-electric driving mode, if the motor speed value is greater than the engine idling target speed, the third flag bit is determined to be a first preset value.

[0026] According to another aspect of the embodiments of the present application, a vehicle is provided, and the vehicle comprises one or more processors and a storage medium for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors perform the method in any one of claims 1-10.

[0027] In the embodiments of the present application, the first vehicle driving mode, the second vehicle driving mode and the vehicle state are obtained, and the second driving mode is switched based on the first vehicle driving mode and the vehicle state. Different running driving mode switching conditions are set for different power driving modes, i.e., the switching conditions of the second vehicle driving mode, to ensure the safety and stability of vehicle driving, and the running driving mode is switched only when all the response switching conditions are met, so that the running driving mode is smoothly switched in different power driving modes, thereby solving the technical problem that the vehicle is unstable when switching the running driving mode due to unbalanced power distribution or intermittent power in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0029] Figure 1 is a schematic diagram of a system structure of a hybrid vehicle according to an embodiment of the present invention;

[0030] Figure 2 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0031] Figure 3 is a structural diagram illustrating a driving mode switching condition according to an embodiment of the present invention;

[0032] Figure 4 This is a flow chart of a method for switching from an idle mode to a driving mode in a pure electric power mode according to an embodiment of the present invention;

[0033] Figure 5 This is a flow chart of a method for switching from a driving mode to an idle mode in a pure electric power mode according to an embodiment of the present invention;

[0034] Figure 6 This is a flow chart of a method for switching from an idle mode to a driving mode in a hybrid power mode according to an embodiment of the present invention;

[0035] Figure 7 is a schematic diagram showing a mapping relationship between an accelerator pedal opening and an idle speed target value according to an embodiment of the present invention;

[0036] Figure 8 This is a flow chart of a method for switching from a driving mode to an idle mode in a hybrid power mode according to an embodiment of the present invention;

[0037] Figure 9 4 is a structural block diagram of a vehicle control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0039] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the numbers used in this manner are interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatus.

[0040] According to an embodiment of the present invention, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0041] Figure 1 FIG. 1 is a schematic diagram of a hybrid vehicle system structure according to an embodiment of the present invention. Figure 1 As shown, the hybrid system primarily includes power components such as an engine 101, a motor 102, a power battery 103, a gearbox 104, a clutch 105, a DC / DC voltage converter 106, and a drive shaft 107. The voltage converter converts the high-voltage power output of the power battery into low-voltage power, providing low-voltage power to the vehicle's electrical appliances. The power battery is connected to the motor, providing direct current to the motor. One side of the motor is connected to the engine via a clutch, assisting with engine starting and recovering braking energy. It can also work in conjunction with the engine to provide hybrid power. The other side of the motor is directly connected to the gearbox, directly providing power to the drive shaft, providing a pure electric power mode. When the clutch is closed, the motor and engine maintain the same speed.

[0042] Generally, the engine is controlled by an EMS (Engine Management System), the motor is controlled by an MCU (Motor Control Unit), and the power battery is controlled by a BMS (Battery Management System).

[0043] Figure 2 FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 2 As shown, the method includes the following steps:

[0044] Step S202: Acquire the first vehicle driving mode, the second vehicle driving mode, and the vehicle status.

[0045] Among them, the first vehicle driving mode includes one of the following: pure electric driving mode and hybrid driving mode, the second vehicle driving mode includes one of the following: drive mode, idle mode and parking mode, and the vehicle status includes at least one of the following: accelerator pedal opening, vehicle gear, vehicle speed, flag information and engine speed.

[0046] The above-mentioned first vehicle driving mode can generally be divided into two categories. The first category is the pure electric power mode, i.e., the pure electric power driving mode, which mainly converts the electrical energy in the power battery into mechanical energy for vehicle driving through the motor, and is a vehicle driving mode with high economy. The second category is the hybrid power mode, i.e., the hybrid power driving mode, in which the vehicle is driven by the motor and the engine, and is a vehicle driving mode that can take into account both economy and power. Optionally, an active switching button can be set in the vehicle, and the driver can manually switch the vehicle's power driving mode by pressing the active switching button according to his or her own driving habits or road conditions. For example, with the pure electric power mode as the default power driving mode, when the driver presses the switch button, the button's status signal becomes True, and the vehicle control system controls the vehicle to switch to the hybrid power mode; when the driver presses the switch button again, the button's status signal becomes False, and the vehicle control system controls the vehicle to switch back to the pure electric power mode.

[0047] The above-mentioned second vehicle driving mode can generally be divided into three categories. The first category is parking mode. Generally, when the gear is switched to P gear or N gear, or the vehicle's driving speed is less than a certain threshold, the vehicle enters parking mode; the second category is idle mode. Generally, when the gear is switched to D gear or R gear, the vehicle enters idle mode, which can complete the uphill crawling function; the third category is driving mode. Generally, when the driver steps on the accelerator pedal and the system detects the intention to accelerate, the vehicle enters driving mode.

[0048] The above-mentioned vehicle status generally refers to the current status parameters of the vehicle, which may include but are not limited to: accelerator pedal opening AccPedPstn, gear position, driving speed VehSpd, flag information and motor speed, engine speed and other parameters used to indicate the current driving status of the vehicle, among which the flag information may include but is not limited to: engine speed continues to increase flag, motor shutdown prohibited flag, idle mode switching drive mode flag, speed threshold is within the preset range flag, etc.

[0049] Specifically, the engine speed continuously increasing flag is generally used to indicate the change of the engine speed, when the engine speed continuously increasing flag is True, it represents that the vehicle is currently accelerating or cruising; when the engine speed continuously increasing flag is False, it represents that the vehicle is currently decelerating.

[0050] The motor stop flag is generally used to indicate the working state of the motor, when the motor stop flag is True, it represents that the motor is currently working, and the vehicle is in a starting state or a driving state; when the motor stop flag is False, it represents that the motor is currently stopped working, and the vehicle is in a decelerating state or a stopping state.

[0051] The idle mode to driving mode switching flag is generally used to indicate whether the vehicle can switch from the idle mode to the driving mode, when the idle mode to driving mode switching flag is True, it represents that the engine speed is greater than or equal to the preset switching speed, and the vehicle meets the condition of switching from the idle mode to the driving mode; when the idle mode to driving mode switching flag is False, it represents that the engine speed is less than the preset switching speed, and the vehicle does not meet the condition of switching from the idle mode to the driving mode, and cannot switch from the idle mode to the driving mode. The preset switching speed is generally the engine idle target value + speed offset Spd', wherein the speed offset Spd' is generally the speed offset of the vehicle switching from the idle mode to the driving mode in the hybrid mode, and is generally 50 rpm. The specific method of obtaining the engine idle target value is described below.

[0052] The speed threshold in preset range flag is generally used to indicate whether the speed threshold calculated according to the current state parameters of the vehicle meets the preset range, when the speed threshold in preset range flag is True, it represents that the current engine or motor speed threshold of the vehicle is in the preset range, and can provide smooth and safe power, so that the vehicle can switch between the running driving modes; when the speed threshold in preset range flag is False, it represents that the current engine or motor speed threshold of the vehicle is not in the preset range, and there may be a problem of intermittent and unstable power, so as to avoid the vehicle from jolting, the vehicle can not switch between the running driving modes.

[0053] The vehicle control system can determine whether to switch the running driving mode of the vehicle according to the above-mentioned multiple flags and the switching conditions of different running driving modes in different power driving modes, so as to realize the smooth and safe switching of the running driving mode of the vehicle.

[0054] Generally, the switching of the running driving mode of the vehicle can be controlled by the HCU (Hybrid Control Unit) in the vehicle control system, and the running driving mode of the vehicle is automatically switched by combining different powers provided by the power source.

[0055] Optionally, the vehicle control system can detect the power and the running driving mode of the vehicle and the driving state of the vehicle in real time, so as to avoid the problem that the running driving mode is not switched in time and is not stable when the driver controls the vehicle to brake or accelerate suddenly; and the vehicle control system can also only acquire the power and the running driving mode of the vehicle and the driving state of the vehicle when the mode switching intention of the driver, for example, stepping on the accelerator pedal, is detected, so as to reduce the operation pressure of the vehicle control system and improve the operation efficiency in other vehicle control aspects.

[0056] In step S204, the second driving mode is switched based on the first vehicle driving mode and the vehicle state.

[0057] After the current power driving mode and the current driving state of the vehicle are acquired, the vehicle control system can switch the current running driving mode of the vehicle according to the current power driving mode and the driving state.

[0058] Optionally, the vehicle control system can first determine the power driving mode currently selected by the driver, the opening degree of the accelerator pedal and other state parameters, compare the opening degree of the accelerator pedal with a first opening degree threshold value if the current power driving mode is the pure electric power mode, the first opening degree threshold value is a preset threshold value of the accelerator pedal in the pure electric power mode, then determine the motor state parameters required for calculating the rotation speed threshold value, such as the target motor creep rotation speed value and the motor rotation speed offset, according to different comparison results, determine whether the rotation speed threshold value is in a preset range after the rotation speed threshold value is calculated, so as to ensure that the current working state of the motor is normal, and finally further judge whether the current state parameters of the vehicle meet the condition for switching the corresponding running driving mode, so as to ensure that the power is not interrupted when the running driving mode of the vehicle is switched, thereby guaranteeing the stability and safety of the vehicle. The condition for switching the corresponding running driving mode is described below.

[0059] If the current power driving mode is the hybrid power mode, the opening degree of the accelerator pedal needs to be compared with a second opening degree threshold value, the second opening degree threshold value is a preset threshold value of the accelerator pedal in the hybrid power mode, then the engine state parameters required for calculating the rotation speed threshold value, such as the target engine idle speed value and the engine rotation speed offset, are determined according to different comparison results, it is determined whether the rotation speed threshold value is in a preset range after the rotation speed threshold value is calculated, and finally it is further judged whether the current state parameters of the vehicle meet the condition for switching the running driving mode.

[0060] For example, if the vehicle is currently in pure electric power mode and needs to switch from idle mode to acceleration mode, the system can first determine whether the accelerator pedal opening is greater than a first opening threshold. If so, the vehicle's current motor creep speed target and speed offset can be determined. Based on the motor creep speed target and speed offset, the speed threshold required to switch from idle mode to acceleration mode can be calculated. After calculating the speed threshold, the system can first determine whether the speed threshold is within a preset safe speed threshold range. If so, the system further determines whether the vehicle's current state meets the switching conditions, such as whether the motor speed is greater than the speed threshold. Only when all conditions are met will the vehicle control system control the vehicle to switch to drive mode.

[0061] In an embodiment of the present invention, a method is adopted in which a first vehicle driving mode, a second vehicle driving mode and a vehicle state are obtained; and based on the first vehicle driving mode and the vehicle state, the second driving mode is switched. By setting different operating driving mode switching conditions, i.e., switching conditions for the second vehicle driving mode, for different power driving modes, i.e., the first vehicle driving mode, to ensure the safety and stability of vehicle driving, the operating driving mode is switched only when all the response switching conditions are met, thereby achieving smooth and smooth switching of the operating driving mode under different power driving modes, thereby solving the technical problem in the related art that the vehicle is unstable when switching the operating driving mode due to unbalanced power distribution or intermittent power.

[0062] In an optional embodiment, switching to the second driving mode based on the first vehicle driving mode and the vehicle status includes: confirming whether the vehicle status meets the corresponding control conditions, wherein the control conditions include at least one of the following: the first control condition, the second control condition, the third control condition and the fourth control condition; in response to the vehicle status meeting the corresponding control conditions, obtaining a rotational speed value based on the first vehicle driving mode and the second vehicle driving mode; in response to the rotational speed value meeting a preset range, switching the vehicle to the second vehicle driving mode.

[0063] The above-mentioned first control condition refers to the condition that needs to be met when the vehicle starts and then drives slowly, that is, the condition required for the vehicle to switch from stop mode to idle mode. It generally means that the vehicle's current gear is R gear, D gear or S gear, or when the flag bit of the motor or engine speed continues to increase is True, or the flag bit of the motor or engine prohibiting shutdown is True.

[0064] The second control condition refers to a condition required for the vehicle to switch from slow driving to stopping, i.e., a condition required for the vehicle to switch from the idle mode to the stop mode. Generally, the condition refers to that the current gear of the vehicle is P or N, the current driving speed VehSpd of the vehicle is less than a preset parking speed threshold, and the flag of the continuously increasing motor or engine speed is False, and the flag of the motor or engine prohibition of stopping is False. Optionally, the parking speed threshold can be set to 5 km / h in consideration of the driving safety of the vehicle.

[0065] The third control condition refers to a condition required for the vehicle to switch from slow driving to normal driving, i.e., a condition required for the vehicle to switch from the idle mode to the drive mode. Generally, the condition refers to that the current gear of the vehicle is not P or N, the flag of the limited engine speed is False, and the flag of the idle mode to the drive mode is True, i.e., the current engine speed of the vehicle is not less than the drive speed threshold DrvTgtSpd, and the accelerator pedal opening AccPedPstn of the vehicle is greater than the opening threshold AccPedPct1.

[0066] The fourth control condition refers to a condition required for the vehicle to switch from normal driving to slow driving, i.e., a condition required for the vehicle to switch from the drive mode to the idle mode. Generally, the condition refers to that the current gear of the vehicle is P or N, or the flag of the limited engine speed is True, or when the current gear of the vehicle is not P or N, the current engine speed of the vehicle is less than the drive speed threshold IdleTgtSpd, and the accelerator pedal opening AccPedPstn of the vehicle is not greater than the opening threshold AccPedPct2.

[0067] It should be noted that the drive speed threshold IdleTgtSpd and the drive speed threshold DrvTgtSpd both refer to the speed threshold of the motor or engine, and the difference is that the speed threshold IdleTgtSpd refers to the speed threshold of the motor or engine corresponding to the deceleration of the vehicle, and the aforementioned speed threshold DrvTgtSpd refers to the speed threshold of the motor or engine corresponding to the acceleration of the vehicle, in order to distinguish different speed change conditions, different names are used instead. The speed threshold has different values in different power driving modes and different running driving modes, which can be calculated according to the current state parameters of the vehicle, which can include but are not limited to the motor creep speed target value, the motor speed offset, the engine idle speed target value, the engine speed offset, etc., without specific limitation, and the related calculation method of the speed threshold is introduced below.

[0068] It should be noted that the aforementioned opening threshold AccPedPct1 generally refers to the accelerator pedal opening threshold when the vehicle's current driving mode is pure electric power mode; the aforementioned opening threshold AccPedPct2 generally refers to the accelerator pedal opening threshold when the vehicle's current driving mode is hybrid power mode. These thresholds can be set by the designer based on their needs, with AccPedPct2 > AccPedPct1. Considering the driving habits of most drivers in pure electric and hybrid power modes, and to facilitate rapid judgment by the vehicle control system, AccPedPct1 is generally set to 5%, and AccPedPct2 to 50%.

[0069] When the vehicle is in different power driving modes, the corresponding threshold parameters such as accelerator pedal opening threshold AccPedPct1 and AccPedPct2, speed threshold DrvTgtSpd and IdleTgtSpd are also different, thereby improving the control system's adaptability to different power driving modes and avoiding the judgment that the vehicle cannot smoothly switch the vehicle operation driving mode under different power driving modes due to only judging by a single parameter threshold.

[0070] Figure 3 is a structural diagram showing a driving mode switching condition according to an embodiment of the present invention. Figure 3 As shown, if the current state of the vehicle meets the first control condition, it can switch from stop mode to idle mode; if the current state of the vehicle meets the second control condition, it can switch from idle mode to stop mode; if the current state of the vehicle meets the third control condition, it can switch from idle mode to drive mode; if the current state of the vehicle meets the fourth control condition, it can switch from drive mode to idle mode.

[0071] After detecting the vehicle's current power driving mode, running driving mode, and current vehicle state, the vehicle control system determines whether the vehicle currently meets the control conditions. For example, if the vehicle's current gear is P and the engine speed limit flag is True, the vehicle can be determined to meet the fourth control condition. Based on the corresponding control conditions and state parameters, as well as the vehicle's current power driving mode, the control system calculates a speed value, namely, a motor speed threshold or an engine speed threshold. It then determines whether the speed value falls within a preset range. If so, the control system further determines whether the vehicle's current state meets the corresponding control condition. For example, if the vehicle currently meets the fourth control condition, the control system further determines whether the current motor or engine speed is less than the speed value. If so, the HCU switches the vehicle to running driving mode; if not, the HCU does not switch. If the speed value is not within the preset range, the vehicle's motor or engine is experiencing an abnormality. Switching to running driving mode could result in insufficient power and a jerky start, and the HCU will not switch the vehicle to running driving mode. Considering the speed performance of most engines and motors, the preset range is generally set between 650 and 1300 rpm.

[0072] In an optional embodiment, based on the vehicle state meeting the first control condition, the second driving mode is controlled to switch from parking mode to idle mode; based on the vehicle state meeting the second control condition, the second driving mode is controlled to switch from idle mode to parking mode.

[0073] If the current state of the vehicle meets the first control condition mentioned above, for example, the current gear of the vehicle is R gear and the motor speed continues to increase flag is True, the HCU directly controls the vehicle's operating driving mode from stop mode to idle mode.

[0074] If the vehicle's current state meets the aforementioned second control condition, for example, the vehicle's current gear is P gear, and the vehicle's current speed is 3 km / h, which is less than the speed threshold of 5 km / h, the HCU directly controls the vehicle's operating driving mode to switch from idle mode to stop mode.

[0075] In an optional embodiment, in response to the vehicle state meeting the third control condition, a speed value is obtained based on the first vehicle driving mode and the second vehicle driving mode, including: in response to the first vehicle driving mode being a pure electric driving mode and the second vehicle driving being an idle mode, obtaining the accelerator pedal opening; comparing the accelerator pedal opening with a first opening threshold; when the accelerator pedal opening is greater than or equal to the first opening threshold, determining the speed value based on the motor creep speed target value and the first speed offset; when the accelerator pedal opening is less than the first opening threshold, determining the speed value based on the motor creep speed target value and the second speed offset.

[0076] If the current state of the vehicle meets the third control condition mentioned above, for example, the current gear of the vehicle is R gear and the engine speed limit flag is False, it can be determined that the vehicle's operating driving mode needs to be switched from idle mode to drive mode. At this time, the vehicle control system can determine the speed value based on the vehicle's current power driving mode and vehicle state parameters, and further determine whether to switch the vehicle's operating driving mode.

[0077] Figure 4 FIG. 1 is a flow chart of a method for switching from an idle mode to a driving mode in a pure electric power mode according to an embodiment of the present invention. Figure 4 As shown, the method includes:

[0078] Step S402 , in response to the first vehicle driving mode being the pure electric driving mode and the second vehicle driving mode being the idle mode, obtaining an accelerator pedal opening;

[0079] Since the current state of the vehicle meets the third control condition, the vehicle control system can determine that the vehicle is currently in idle mode. If the power driving mode currently selected by the driver is pure electric power mode, the vehicle control system can obtain the vehicle's accelerator pedal opening AccPedPstn at this time.

[0080] Step S404: Compare the accelerator pedal opening with a first opening threshold.

[0081] The first opening threshold is the opening threshold AccPedPstn1, which is generally set to 5%. After obtaining the vehicle's accelerator pedal, the accelerator pedal opening AccPedPstn can be compared with the opening threshold AccPedPstn1 to make different speed value judgments for different acceleration situations, thereby improving the adaptability of the vehicle control system.

[0082] Step S40G: When the accelerator pedal opening is greater than or equal to the first opening threshold, the speed value is determined based on the motor creep speed target value and the first speed offset.

[0083] If the accelerator pedal opening AccPedPstn is greater than or equal to the opening threshold AccPedPstn1, the vehicle control system can further determine the motor's creep speed target value, speed offset Spd1 and speed offset Spd2 at this time, where the motor creep speed target value refers to the motor speed output value required when the vehicle is traveling at a speed lower than a certain speed in order to overcome driving resistance, such as air resistance and ground friction. For example, when the vehicle needs to travel at 7km / h, its motor creep speed target value is generally 700rpm; the speed offset Spd1 generally refers to the motor speed offset when the vehicle's operating driving mode switches from drive mode to idle mode in pure electric power mode when the accelerator pedal opening is greater than or equal to the opening threshold, which is generally 200rpm; the speed offset Spd2 generally refers to the motor speed offset when the vehicle's operating driving mode switches from idle mode to drive mode in pure electric power mode when the accelerator pedal opening is greater than or equal to the opening threshold, which is generally 300rpm.

[0084] Since the vehicle's driving mode at this time is switched from idle mode to drive mode, the speed value at this time, that is, the speed threshold DrvTgtSpd at this time, is calculated as follows: speed threshold DrvTgtSpd = motor creep speed target value - speed offset Spd1 + speed offset Spd2. Taking the above-mentioned motor creep speed target value of 700rpm, speed offset Spd1 of 200rpm, and speed offset Spd2 of 300rpm as an example, the speed threshold DrvTgtSpd at this time is 800rpm.

[0085] Step S408 : When the accelerator pedal opening is less than the first opening threshold, the speed value is determined based on the motor creep speed target value and the second speed offset.

[0086] Corresponding to the aforementioned step S406, if the accelerator pedal opening AccPedPstn is less than the opening threshold AccPedPstn1, the vehicle control system can determine the motor's creep speed target value, speed offset Spd3 and speed offset Spd4 at this time, wherein the speed offset Spd3 generally refers to when the accelerator pedal opening is less than the opening threshold, the vehicle's operating driving mode is in pure electric power mode, and the motor speed offset when switching from drive mode to idle mode is generally 30rpm; the speed offset Spd4 generally refers to when the accelerator pedal opening is greater than or equal to the opening threshold, the vehicle's operating driving mode is in pure electric power mode, and the motor speed offset when switching from idle mode to drive mode is generally 50rpm.

[0087] At this time, the calculation formula of the speed threshold DrvTgtSpd is: speed threshold DrvTgtSpd=motor creep speed target value-speed offset Spd3+speed offset Spd4.

[0088] Taking the above motor creep speed target value of 700 rpm, speed offset Spd1 of 20 rpm, and speed offset Spd2 of 50 rpm as an example, the speed threshold DrvTgtSpd at this time is 730 rpm.

[0089] Step S410 : In response to the rotation speed value being within a preset range, determining whether the vehicle state satisfies a third control condition.

[0090] After obtaining the current speed threshold DrvTgtSpd, taking the speed threshold DrvTgtSpd as 800rpm and the preset range of 650rpm to 1300rpm as an example, when the speed threshold DrvTgtSpd meets the above preset range, further determine whether the current state of the vehicle meets the third control condition, for example, determine whether the current speed of the motor is greater than or equal to 800rpm.

[0091] Step S412: In response to the vehicle state satisfying the third control condition, the second driving mode is controlled to switch to the driving mode.

[0092] After determining that the current state of the vehicle satisfies the third control condition, the HCU in the vehicle control system can control the vehicle's operating driving mode to switch from the idle mode to the drive mode.

[0093] Step S414: In response to the vehicle state not satisfying the third control condition, the second driving mode is not controlled to switch to the driving mode.

[0094] If it is determined that the current state of the vehicle does not satisfy the third control condition, the operating driving mode of the vehicle is not controlled to switch from the idle mode to the drive mode.

[0095] In an optional embodiment, in response to the vehicle state meeting the fourth control condition, a speed value is obtained based on the first vehicle driving mode and the second vehicle driving mode, including: in response to the first vehicle driving mode being a pure electric driving mode and the second vehicle driving mode being a drive mode, obtaining the accelerator pedal opening; comparing the accelerator pedal opening with a first opening threshold; when the accelerator pedal opening is greater than or equal to the first opening threshold, determining the speed value based on the motor creep speed target value and the third speed offset; when the accelerator pedal opening is less than the first opening threshold, determining the speed value based on the motor creep speed target value and the fourth speed offset.

[0096] If the current state of the vehicle meets the aforementioned fourth control condition, for example, the current gear of the vehicle is N gear and the engine speed limited flag is True, it can be determined that the vehicle's operating driving mode needs to be switched from drive mode to idle mode. At this time, the vehicle control system can determine the speed value based on the vehicle's current power driving mode and vehicle state parameters, and further determine whether to switch the vehicle's operating driving mode.

[0097] Figure 5 FIG. 1 is a flow chart of a method for switching from a driving mode to an idle mode in a pure electric power mode according to an embodiment of the present invention. Figure 5 As shown, the method includes:

[0098] Step S502 , in response to the first vehicle driving mode being the pure electric driving mode and the second vehicle driving mode being the driving mode, obtaining an accelerator pedal opening.

[0099] Since the current state of the vehicle meets the fourth control condition, the vehicle control system can determine that the vehicle is currently in driving mode. If the power driving mode currently selected by the driver is pure electric power mode, the vehicle control system can obtain the vehicle's accelerator pedal opening AccPedPstn at this time.

[0100] Step S504: Compare the accelerator pedal opening with a first opening threshold.

[0101] After the accelerator pedal opening AccPedPstn is obtained, it is compared with the opening threshold AccPedPstn1.

[0102] Step S506 : When the accelerator pedal opening is greater than or equal to the first opening threshold, a speed value is determined based on the motor creep speed target value and the third speed offset.

[0103] If the accelerator pedal opening AccPedPstn is greater than or equal to the opening threshold AccPedPstn1 , the vehicle control system may further determine the creep speed target value and speed offset Spd1 of the motor at this time.

[0104] Since the vehicle's current operating mode has switched from drive mode to idle mode, the speed threshold calculation formula is: Speed ​​Threshold IdleTgtSpd = Motor Creep Speed ​​Target Value - Speed ​​Offset Spd1. For example, if the motor creep speed target value is 900 rpm and the speed offset Spd1 is 200 rpm, the speed threshold IdleTgtSpd is 700 rpm.

[0105] Step S508 : When the accelerator pedal opening is less than the first opening threshold, a speed value is determined based on the motor creep speed target value and the fourth speed offset.

[0106] Corresponding to the aforementioned step S506 , if the accelerator pedal opening AccPedPstn is less than the opening threshold AccPedPstn1 , the vehicle control system may further determine the creep speed target value and speed offset Spd3 of the motor at this time.

[0107] The speed threshold IdleTgtSpd is calculated as follows: Speed ​​threshold IdleTgtSpd = Motor creep speed target - Speed ​​offset Spd3. For example, if the motor creep speed target is 800 rpm and the speed offset Spd1 is 20 rpm, the speed threshold IdleTgtSpd is 780 rpm.

[0108] Step S510: In response to the rotation speed value being within a preset range, it is determined whether the vehicle state satisfies a fourth control condition.

[0109] After obtaining the current speed threshold IdleTgtSpd, taking the speed threshold IdleTgtSpd as 700rpm and the preset range of 650rpm to 1300rpm as an example, when the speed threshold IdleTgtSpd meets the above preset range, further determine whether the current state of the vehicle meets the fourth control condition, for example, determine whether the current speed of the motor is less than 700rpm.

[0110] Step S512: In response to the vehicle state satisfying the fourth control condition, the second driving mode is controlled to switch to the idle mode.

[0111] After determining that the current state of the vehicle satisfies the fourth control condition, the HCU in the vehicle control system may control the vehicle's operating driving mode to switch from the driving mode to the idle mode.

[0112] Step S514: In response to the vehicle state not satisfying the fourth control condition, the second driving mode is not controlled to switch to the idle mode.

[0113] If it is determined that the current state of the vehicle does not satisfy the fourth control condition, the operating driving mode of the vehicle is not controlled to switch from the driving mode to the idle mode.

[0114] In an optional embodiment, in response to the vehicle state meeting the third control condition, a speed value is obtained based on the first vehicle driving mode and the second vehicle driving mode, wherein the speed value includes a fifth speed value and a sixth speed value, including: in response to the first vehicle driving mode being a hybrid driving mode and the second vehicle driving mode being an idle mode, obtaining the accelerator pedal opening; comparing the accelerator pedal opening with the second opening threshold; when the accelerator pedal opening is greater than or equal to the second opening threshold, determining the fifth speed value based on the engine idle target value and the fifth speed offset; when the accelerator pedal opening is less than the second opening threshold, determining the sixth speed value based on the engine idle target value and the sixth speed offset.

[0115] Corresponding to the aforementioned optional embodiment, Figure 6 FIG. 1 is a flow chart of a method for switching from an idle mode to a driving mode in a hybrid mode according to an embodiment of the present invention. Figure 6 As shown, the method includes:

[0116] Step S602 : in response to the first vehicle driving mode being the hybrid driving mode and the second vehicle driving mode being the idle mode, obtaining an accelerator pedal opening.

[0117] Since the current state of the vehicle meets the third control condition, the vehicle control system can determine that the vehicle is currently in idle mode. If the power driving mode currently selected by the driver is hybrid mode, the vehicle control system can obtain the vehicle's accelerator pedal opening AccPedPstn at this time.

[0118] Step S604: Compare the accelerator pedal opening with a second opening threshold.

[0119] The second opening threshold is the opening threshold AccPedPstn2, which is generally set to 50%. After the accelerator pedal of the vehicle is acquired, the accelerator pedal opening AccPedPstn can be compared with the opening threshold AccPedPstn2.

[0120] Step S606 : When the accelerator pedal opening is greater than or equal to the second opening threshold, a fifth speed value is determined based on the engine idle speed target value and the fifth speed offset.

[0121] If the accelerator pedal opening AccPedPstn is greater than or equal to the opening threshold AccPedPstn2, the vehicle control system can further determine the engine's idle target value, speed offset Spd5 and speed offset Spd6 at this time, where the engine idle target value refers to the motor speed output value required for the vehicle to overcome driving resistance, such as air resistance and ground friction, when traveling at a speed lower than a certain driving speed, which is related to the accelerator pedal opening; the transfer offset Spd5 generally refers to the engine speed offset when the vehicle's operating driving mode is in hybrid mode, switching from drive mode to idle mode when the accelerator pedal opening is greater than or equal to the opening threshold, which can be determined based on the accelerator pedal opening AccPedPstn and the engine idle target value; the speed offset Spd6 generally refers to the motor speed offset when the vehicle's operating driving mode is in hybrid mode, switching from idle mode to drive mode when the accelerator pedal opening is greater than or equal to the opening threshold, which is generally 250rpm.

[0122] Figure 7 FIG. 1 is a schematic diagram showing a mapping relationship between an accelerator pedal opening and an idle speed target value according to an embodiment of the present invention. Figure 7 As shown, when the accelerator pedal opening AccPedPstn is 60% and the engine idle speed target value is 1000 rpm, the corresponding transfer offset Spd5 is 150 rpm.

[0123] Since the vehicle's driving mode at this time is switched from idle mode to drive mode, the speed value at this time, that is, the speed threshold DrvTgtSpd at this time, is calculated as follows: speed threshold DrvTgtSpd = engine idle target value - speed offset Spd5 + speed offset Spd6. Taking the above-mentioned engine idle target value of 1000rpm, speed offset Spd5 of 150rpm, and speed offset Spd2 of 250rpm as an example, the speed threshold DrvTgtSpd at this time is 1100rpm.

[0124] Step S608: When the accelerator pedal opening is less than the second opening threshold, a sixth speed value is determined based on the engine idle speed target value and the sixth speed offset.

[0125] Corresponding to the foregoing step S606, if the accelerator pedal opening AccPedPstn is less than the opening threshold value AccPedPstn2, the vehicle control system can determine the engine idle target value, the speed offset Spd7 and the speed offset Spd8 at this time, wherein the speed offset Spd7 generally refers to the engine speed offset when the accelerator pedal opening is less than the opening threshold value, and the vehicle operating driving mode is switched from the driving mode to the idle mode in the hybrid mode, generally 40 rpm; the speed offset Spd8 generally refers to the motor speed offset when the accelerator pedal opening is greater than or equal to the opening threshold value, and the vehicle operating driving mode is switched from the idle mode to the driving mode in the hybrid mode, generally 60 rpm.

[0126] At this time, the calculation formula of the speed threshold DrvTgtSpd is: speed threshold DrvTgtSpd = engine idle target value - speed offset Spd7 + speed offset Spd8.

[0127] Taking the above engine idle target value of 1000 rpm, the speed offset Spd7 of 40 rpm, and the speed offset Spd8 of 60 rpm as an example, the speed threshold DrvTgtSpd at this time is 1020 rpm.

[0128] Step S610, in response to the speed value meeting the preset range, determining whether the vehicle state meets the third control condition.

[0129] After obtaining the current speed threshold DrvTgtSpd, taking the speed threshold DrvTgtSpd of 1100 rpm and the preset range of 650 rpm to 1300 rpm as an example, when the speed threshold DrvTgtSpd meets the above preset range, it is further determined whether the current state of the vehicle meets the third control condition, for example, whether the current speed of the motor is greater than or equal to 1000 rpm.

[0130] Step S612, in response to the vehicle state meeting the third control condition, controlling the second driving mode to switch to the driving mode.

[0131] After determining that the current state of the vehicle meets the third control condition, the HCU in the vehicle control system can control the operating driving mode of the vehicle to switch from the idle mode to the driving mode.

[0132] Step S614, in response to the vehicle state not meeting the third control condition, not controlling the second driving mode to switch to the driving mode.

[0133] If it is determined that the current state of the vehicle does not meet the third control condition, the operating driving mode of the vehicle is not controlled to switch from the idle mode to the driving mode.

[0134] In an optional embodiment, in response to the vehicle state meeting the fourth control condition, a speed value is obtained based on the first vehicle driving mode and the second vehicle driving mode, including: in response to the first vehicle driving mode being a hybrid driving mode and the second vehicle driving mode being a drive mode, obtaining the accelerator pedal opening; comparing the accelerator pedal opening with a second opening threshold; when the accelerator pedal opening is greater than or equal to the second opening threshold, determining the speed value based on the engine idle target value and the seventh speed offset; when the accelerator pedal opening is less than the second opening threshold, determining the speed threshold based on the engine idle target value and the eighth speed offset.

[0135] Corresponding to the aforementioned optional embodiment, Figure 8 FIG. 1 is a flow chart of a method for switching from a driving mode to an idle mode in a hybrid mode according to an embodiment of the present invention. Figure 8 As shown, the method includes:

[0136] Step S802 : in response to the first vehicle driving mode being the hybrid driving mode and the second vehicle driving mode being the drive mode, obtaining an accelerator pedal opening.

[0137] Since the current state of the vehicle meets the fourth control condition, the vehicle control system can determine that the vehicle is currently in driving mode. If the power driving mode currently selected by the driver is hybrid mode, the vehicle control system can obtain the vehicle's accelerator pedal opening AccPedPstn at this time.

[0138] Step S804: Compare the accelerator pedal opening with a second opening threshold.

[0139] After the accelerator pedal opening AccPedPstn is obtained, it is compared with the opening threshold AccPedPstn2.

[0140] Step S806: When the accelerator pedal opening is greater than or equal to the second opening threshold, a speed value is determined based on the engine idle speed target value and the seventh speed offset.

[0141] If the accelerator pedal opening AccPedPstn is greater than or equal to the opening threshold AccPedPstn2, the vehicle control system can further determine the idle target value and speed offset Spd5 of the engine at this time.

[0142] Since the vehicle's current operating mode has switched from drive mode to idle mode, the speed threshold calculation formula is: Speed ​​threshold IdleTgtSpd = Engine idle target value - Speed ​​offset Spd5. For example, if the motor creep speed target value is 1000 rpm and the accelerator pedal opening is 60%, the speed offset Spd5 is 150 rpm, and the speed threshold IdleTgtSpd is 850 rpm.

[0143] Step S808: When the accelerator pedal opening is less than the second opening threshold, a speed threshold is determined based on the engine idle speed target value and the eighth speed offset.

[0144] Corresponding to the aforementioned step S806 , if the accelerator pedal opening AccPedPstn is less than the opening threshold AccPedPstn2 , the vehicle control system may further determine the idle target value and the speed offset Spd7 of the engine at this time.

[0145] The speed threshold IdleTgtSpd is calculated as follows: Speed ​​threshold IdleTgtSpd = Motor creep speed target - Speed ​​offset Spd7. For example, if the engine idle target is 1000 rpm and the speed offset Spd7 is 40 rpm, the speed threshold DrvTgtSpd is 960 rpm.

[0146] Step S810: In response to the rotation speed value being within a preset range, it is determined whether the vehicle state satisfies a fourth control condition.

[0147] After obtaining the current speed threshold IdleTgtSpd, taking the speed threshold IdleTgtSpd as 850rpm and the preset range of 650rpm to 1300rpm as an example, when the speed threshold IdleTgtSpd meets the above preset range, further determine whether the current state of the vehicle meets the fourth control condition, for example, determine whether the current speed of the motor is less than 1000rpm.

[0148] Step S812: In response to the vehicle state satisfying the fourth control condition, the second driving mode is controlled to switch to the idle mode.

[0149] After determining that the current state of the vehicle satisfies the fourth control condition, the HCU in the vehicle control system may control the vehicle's operating driving mode to switch from the driving mode to the idle mode.

[0150] Step S814: In response to the vehicle state not satisfying the fourth control condition, the second driving mode is not controlled to switch to the idle mode.

[0151] If it is determined that the current state of the vehicle does not satisfy the fourth control condition, the operating driving mode of the vehicle is not controlled to switch from the driving mode to the idle mode.

[0152] In an optional embodiment, in response to the rotational speed value being within a preset range, switching the second vehicle driving mode of the vehicle includes: controlling the second driving mode to be switched to the drive mode.

[0153] Through the method of the above optional embodiment, after determining that the speed threshold is within the preset range and the current state of the vehicle meets the third control condition, the vehicle's operating driving mode can be switched to the drive mode.

[0154] In an optional embodiment, in response to the rotational speed value being within a preset range, switching the vehicle to the second vehicle driving mode includes: controlling the second driving mode to be switched to an idle mode.

[0155] Through the method of the above optional embodiment, after determining that the speed threshold is within the preset range and the current state of the vehicle meets the fourth control condition, the vehicle's operating driving mode can be switched to the drive mode.

[0156] In an optional embodiment, the flag information includes: a first flag for indicating that the motor speed continues to increase, a second flag for indicating that the motor is prohibited from stopping, a third flag for indicating that the idle mode is switched to the drive mode, and a fourth flag for indicating that the speed value is less than the preset speed value; the first control condition includes at least one of the following: the vehicle gear meets the first preset gear, the first flag is the first preset value, and the second flag is the first preset value; the second control condition includes: the vehicle gear meets the second preset gear, the vehicle speed is less than or equal to the first threshold, the first flag is the second preset value and the second flag is the second preset value; the third control condition includes: the vehicle gear does not meet the second preset gear, the fourth flag is the second preset value, and at least one of the following: the third The flag is a first preset value and the engine speed is greater than or equal to the speed value; the fourth control condition includes at least one of the following: the vehicle gear meets the second preset gear, the speed value limited flag is in the first state, the vehicle gear does not meet the second preset gear, and the engine speed is less than the speed value; wherein, determining the preset value of the third flag includes: when determining that the first vehicle driving mode is a hybrid driving mode, if the engine speed is greater than or equal to the first preset threshold, then determining the third flag to be the first preset value, wherein the first preset threshold is determined based on the engine idle target speed and the ninth speed offset; when determining that the first vehicle driving mode is a pure electric driving mode, if the speed value is greater than the engine idle target speed, then determining the third flag to be the first preset value.

[0157] In the vehicle's current state parameters, the flag information, vehicle gear position, control conditions and other related information are as shown in the previous text and will not be repeated here.

[0158] Through the above steps, combined with various operating mode switching factors, comprehensive consideration is given to whether the vehicle can switch operating modes, thereby ensuring that the power provided by the vehicle is uninterrupted when switching operating modes, ensuring the stability and safety of the vehicle.

[0159] According to another aspect of the present invention, corresponding to the embodiment of the vehicle control method described above, this specification also provides a vehicle control device. The specific implementation and application scenarios are the same as those of the above embodiment and will not be repeated here.

[0160] Please refer to Figure 9 , Figure 9 1 is a block diagram of a vehicle control device according to an embodiment of the present invention, the device comprising:

[0161] The first acquisition module 902 is used to obtain a first vehicle driving mode, a second vehicle driving mode and a vehicle status, wherein the first vehicle driving mode includes one of the following: a pure electric driving mode and a hybrid driving mode, the second vehicle driving mode includes one of the following: a driving mode, an idle mode and a parking mode, and the vehicle status includes at least one of the following: an accelerator pedal opening, a vehicle gear position, a vehicle speed, flag information and an engine speed; the mode switching module 904 is used to switch to the second driving mode based on the first vehicle driving mode and the vehicle status.

[0162] Optionally, the mode switching module 904 includes: a state determination unit, for confirming whether the vehicle state meets the corresponding control conditions, wherein the control conditions include at least one of the following: a first control condition, a second control condition, a third control condition and a fourth control condition; a speed value acquisition unit, for obtaining a speed value based on the first vehicle driving mode and the second vehicle driving mode in response to the vehicle state meeting the corresponding control conditions; and a mode switching unit, for switching the vehicle to the second vehicle driving mode in response to the speed value meeting a preset range.

[0163] Optionally, the device also includes: an idle switching module, which is used to control the second driving mode to switch from parking mode to idle mode based on the vehicle state meeting the first control condition; and a parking switching module, which is used to control the second driving mode to switch from idle mode to parking mode based on the vehicle state meeting the second control condition.

[0164] Optionally, the speed value acquisition unit comprises: a first opening acquisition subunit, configured to acquire the accelerator pedal opening in response to the first vehicle driving mode being the pure electric driving mode and the second vehicle driving mode being the idling mode; a first opening comparison subunit, configured to compare the accelerator pedal opening with the first opening threshold; a first speed value determination subunit, configured to determine the speed value based on the motor idling speed target value and the first speed offset in the case that the accelerator pedal opening is greater than or equal to the first opening threshold; and determine the speed value based on the motor idling speed target value and the second speed offset in the case that the accelerator pedal opening is less than the first opening threshold.

[0165] Optionally, the speed value acquisition unit comprises: a second opening acquisition subunit, configured to acquire the accelerator pedal opening in response to the first vehicle driving mode being the pure electric driving mode and the second vehicle driving mode being the driving mode; a second opening comparison subunit, configured to compare the accelerator pedal opening with the first opening threshold; a second speed value comparison subunit, configured to determine the speed value based on the motor idling speed target value and the third speed offset in the case that the accelerator pedal opening is greater than or equal to the first opening threshold; and determine the speed value based on the motor idling speed target value and the fourth speed offset in the case that the accelerator pedal opening is less than the first opening threshold.

[0166] Optionally, the speed value acquisition unit comprises: a third opening acquisition subunit, configured to acquire the accelerator pedal opening in response to the first vehicle driving mode being the hybrid driving mode and the second vehicle driving mode being the idling mode; a third opening comparison subunit, configured to compare the accelerator pedal opening with the second opening threshold; a third speed value determination subunit, configured to determine the fifth speed value based on the engine idling target value and the fifth speed offset in the case that the accelerator pedal opening is greater than or equal to the second opening threshold; and determine the sixth speed value based on the engine idling target value and the sixth speed offset in the case that the accelerator pedal opening is less than the second opening threshold.

[0167] Optionally, the speed value acquisition unit comprises: a fourth opening acquisition subunit, configured to acquire the accelerator pedal opening in response to the first vehicle driving mode being the hybrid driving mode and the second vehicle driving mode being the driving mode; a fourth opening comparison subunit, configured to compare the accelerator pedal opening with the second opening threshold; a fourth speed value determination subunit, configured to determine the speed value based on the engine idling target value and the seventh speed offset in the case that the accelerator pedal opening is greater than or equal to the second opening threshold; and determine the speed threshold based on the engine idling target value and the eighth speed offset in the case that the accelerator pedal opening is less than the second opening threshold.

[0168] Optionally, the mode switching unit comprises: a first driving switching subunit, configured to control the second driving mode to switch to the driving mode.

[0169] Optionally, the mode switching unit comprises a second driving mode switching subunit configured to control the second driving mode to switch to the idling mode.

[0170] Optionally, the flag information obtained by the first obtaining module 902 comprises: a first flag bit for indicating that the motor speed continues to increase, a second flag bit for indicating that the motor is prohibited from stopping, a third flag bit for indicating that the idling mode switches to the driving mode, and a fourth flag bit for indicating that the motor speed is less than a preset motor speed value; the first control condition obtained by the state determining unit comprises at least one of the following: the vehicle gear position meets a first preset gear position, the first flag bit is a first preset value, and the second flag bit is a first preset value; the second control condition comprises: the vehicle gear position meets a second preset gear position, the vehicle speed is less than or equal to a first threshold value, the first flag bit is a second preset value, and the second flag bit is a second preset value; the third control condition comprises: the vehicle gear position does not meet the second preset gear position, the fourth flag bit is a second preset value, and at least one of the following: the third flag bit is a first preset value and the motor speed is greater than or equal to the motor speed value; the fourth control condition comprises at least one of the following: the vehicle gear position meets the second preset gear position, the motor speed limiting flag bit is a first state, the vehicle gear position does not meet the second preset gear position, and the motor speed is less than the motor speed value; wherein, the preset value of the third flag bit comprises: in a case where the first vehicle driving mode is determined to be a hybrid driving mode, if the motor speed is greater than or equal to a first preset threshold value, the third flag bit is determined to be a first preset value, wherein the first preset threshold value is determined based on the engine idling target speed and a ninth speed offset; in a case where the first vehicle driving mode is determined to be a pure electric driving mode, if the motor speed value is greater than the engine idling target speed, the third flag bit is determined to be a first preset value.

[0171] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided, which includes a stored program, wherein the program, when executed, causes the device on which the computer readable storage medium is located to perform the vehicle control method according to the method embodiments.

[0172] According to another aspect of the embodiments of the present application, a processor is also provided, which is configured to execute a program, wherein the program, when executed, performs the vehicle control method according to the method embodiments.

[0173] According to another aspect of the embodiments of the present application, corresponding to the aforementioned vehicle control method embodiments, the present specification also provides a vehicle, which comprises one or more processors, and a computer readable storage medium configured to store one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the vehicle control method according to the method embodiments.

[0174] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0175] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0176] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected to achieve the purpose of the present embodiment according to actual needs.

[0177] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0178] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc., which can store program code.

[0179] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: include: In response to detecting a mode switching intention, obtaining a first vehicle driving mode, a second vehicle driving mode, and a vehicle state, wherein the first vehicle driving mode includes one of the following: a pure electric driving mode and a hybrid driving mode, and the second vehicle driving mode includes one of the following: a driving mode, an idle mode, and a parking mode, and the vehicle state includes at least one of the following: an accelerator pedal opening, a vehicle gear position, a vehicle speed, flag information, and an engine speed, wherein different first vehicle driving modes correspond to different accelerator pedal opening thresholds and speed thresholds, and the flag information includes at least one of the following: an engine speed continuously increasing flag, a motor shutdown prohibited flag, an idle mode switching driving mode flag, and a speed threshold within a preset range flag; switching the second vehicle driving mode based on the first vehicle driving mode and the vehicle state; Wherein, based on the first vehicle driving mode and the vehicle state, switching to the second vehicle driving mode includes: confirming whether the vehicle state meets the corresponding control conditions, wherein the control conditions include at least one of the following: a first control condition, a second control condition, a third control condition and a fourth control condition; in response to the vehicle state meeting the corresponding control conditions, obtaining a speed value based on the first vehicle driving mode and the second vehicle driving mode; in response to the speed value meeting a preset range, switching to the second vehicle driving mode of the vehicle, the flag information includes: a first flag for indicating that the motor speed continues to increase, a second flag for indicating that the motor is prohibited from stopping, a third flag for indicating that the idle mode is switched to the drive mode, and a fourth flag for indicating that the speed value is less than a preset speed value; the first control condition includes At least one of the following: the vehicle gear meets the first preset gear, the first flag is the first preset value, and the second flag is the first preset value; the second control condition includes: the vehicle gear meets the second preset gear, the vehicle speed is less than or equal to the first threshold, the first flag is the second preset value and the second flag is the second preset value; the third control condition includes: the vehicle gear does not meet the second preset gear, the fourth flag is the second preset value, and at least one of the following: the third flag is the first preset value and the engine speed is greater than or equal to the speed value; the fourth control condition includes at least one of the following: the vehicle gear meets the second preset gear, the speed value limited flag is the first state, the vehicle gear does not meet the second preset gear, and the engine speed is less than the speed value.

2. The method according to claim 1, characterized in that The method further comprises: Based on the vehicle state meeting the first control condition, controlling the second vehicle driving mode to switch from the parking mode to the idle mode; Based on the vehicle state satisfying a second control condition, the second vehicle driving mode is controlled to switch from the idle mode to the parking mode.

3. The method according to claim 1, characterized in that In response to the vehicle state satisfying the third control condition, obtaining the rotational speed value based on the first vehicle driving mode and the second vehicle driving mode includes: In response to the first vehicle driving mode being the pure electric driving mode and the second vehicle driving mode being the idle mode, obtaining the accelerator pedal opening; comparing the accelerator pedal opening with a first opening threshold; When the accelerator pedal opening is greater than or equal to the first opening threshold, determining the speed value based on a motor creep speed target value and a first speed offset; When the accelerator pedal opening is less than the first opening threshold, the speed value is determined based on the motor creep speed target value and a second speed offset.

4. The method according to claim 1, wherein In response to the vehicle state satisfying the fourth control condition, obtaining the rotational speed value based on the first vehicle driving mode and the second vehicle driving mode includes: In response to the first vehicle driving mode being the pure electric driving mode and the second vehicle driving mode being the driving mode, obtaining the accelerator pedal opening; comparing the accelerator pedal opening with a first opening threshold; When the accelerator pedal opening is greater than or equal to the first opening threshold, determining the speed value based on a motor creep speed target value and a third speed offset; When the accelerator pedal opening is less than the first opening threshold, the speed value is determined based on the motor creep speed target value and a fourth speed offset.

5. The method according to claim 1, wherein In response to the vehicle state meeting the third control condition, the speed value is obtained based on the first vehicle driving mode and the second vehicle driving mode, wherein the speed value includes a fifth speed value and a sixth speed value, including: In response to the first vehicle driving mode being the hybrid driving mode and the second vehicle driving mode being the idle mode, acquiring the accelerator pedal opening; comparing the accelerator pedal opening with a second opening threshold; determining a fifth speed value based on an engine idle speed target value and a fifth speed offset when the accelerator pedal opening is greater than or equal to the second opening threshold; When the accelerator pedal opening is smaller than the second opening threshold, a sixth speed value is determined based on the engine idle speed target value and a sixth speed offset.

6. The method according to claim 1, characterized in that In response to the vehicle state satisfying the fourth control condition, obtaining the rotational speed value based on the first vehicle driving mode and the second vehicle driving mode includes: In response to the first vehicle driving mode being the hybrid driving mode and the second vehicle driving mode being the drive mode, obtaining the accelerator pedal opening; comparing the accelerator pedal opening with a second opening threshold; determining the speed value based on an engine idle speed target value and a seventh speed offset when the accelerator pedal opening is greater than or equal to the second opening threshold; When the accelerator pedal opening is smaller than the second opening threshold, the speed threshold is determined based on the engine idle speed target value and an eighth speed offset.

7. The method according to claim 3 or 5, characterized in that In response to the speed value being within a preset range, switching the vehicle to a second vehicle driving mode includes: Control the second vehicle driving mode to switch to the driving mode.

8. The method according to claim 4 or 6, characterized in that In response to the speed value being within a preset range, switching the vehicle to a second vehicle driving mode includes: Control the second vehicle driving mode to switch to the idle mode.

9. The method according to claim 1, characterized in that Determining the preset value of the third flag bit includes: When the first vehicle driving mode is determined to be the hybrid driving mode, if the engine speed is greater than or equal to a first preset threshold, determining the third flag to be the first preset value, wherein the first preset threshold is determined based on an engine idle target speed and a ninth speed offset; When it is determined that the first vehicle driving mode is the pure electric driving mode, if the speed value is greater than the engine idle target speed, the third flag is determined to be the first preset value.

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