Dynamic torque control method and device of vehicle, storage medium and electronic equipment

Abstract

The application discloses a dynamic torque control method and device of a hybrid vehicle, a storage medium and an electronic device. The hybrid vehicle comprises an engine and a motor, the engine is connected with the motor through a clutch, and the method comprises the following steps: in response to an intervention request, corresponding coordination control modes and coordination values are determined, the intervention request at least comprises a torque intervention request and / or a rotating speed intervention request; when being in a torque coordination control mode, torque instructions of the engine and the motor are determined based on the torque intervention request; when being in a rotating speed coordination control mode, rotating speed instructions and torque instructions of the engine and rotating speed instructions and torque instructions of the motor are determined based on the rotating speed intervention request. Through the design of responding to an external intervention request, corresponding coordination modes and coordination values are determined to operate engine instructions and motor instructions, so that the drivability and driving stability of the vehicle are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hybrid electric vehicles, in particular to a dynamic torque control method and device for a hybrid electric vehicle, a storage medium and an electronic device. BACKGROUND

[0002] With the rapid development of global economy, energy and environmental problems are increasingly prominent, and energy saving and environmental protection have become a major challenge faced by the world. The low-carbon economic policy worldwide has promoted the development of new energy vehicles, and the progress, industrialization and application of new energy vehicle technology will drive the development of its upstream and downstream industries and bring fundamental changes to human transportation and travel. As a new energy vehicle technology that can effectively reduce energy consumption of vehicles, hybrid electric vehicle technology has become one of the focuses of governments, enterprises and research institutions around the world.

[0003] A hybrid electric vehicle is mainly a vehicle that obtains power transmission from an electric drive system and an engine. Through the collaborative development of a vehicle controller HCU, based on the collaborative control of torque distribution of the motor and the engine, not only can a greater driving torque output be achieved, but also the working area of the engine can be optimized, ultimately reducing fuel consumption and emissions and achieving the goal of energy saving and emission reduction. In addition to controlling the torque output of the two power sources of the engine and the motor, there are also some control systems on the hybrid electric vehicle. These control systems will issue some torque requests under certain specific conditions to ensure driving safety. The control systems include, for example, TCS (Traction Control System), ABS (Anti lock Brake System), ACC (Adaptive Cruise Control), and TCU (Transmission Control Unit).

[0004] During normal driving of the vehicle, the HCU normally coordinates the torque output of the motor and the engine to meet the vehicle driving needs of the driver. At this time, if the TCS, ABS, ACC or TCU has a torque intervention requirement, the HCU should respond to the dynamic torque request of these controllers. How to reliably and accurately respond to the dynamic torque request of these control systems is one of the key technical problems to be solved at present. The existing technology mainly considers the demand of the power system input shaft, and performs torque increase and decrease distribution control based on the target instruction of vehicle driving demand, so that the actual torque of the input shaft is consistent with the target torque. However, there is currently no effective solution to the dynamic torque calculation method and torque coordination control strategy specifically for torque intervention conditions such as TCS, ABS, ACC, etc. SUMMARY

[0005] In view of this, the purpose of the present disclosure is to provide a dynamic torque control method, device, storage medium and electronic device for a hybrid vehicle, so as to at least solve the technical problem in the prior art that the dynamic torque request of the control system that issues a torque intervention demand cannot be reliably and accurately responded to.

[0006] In order to achieve the above-mentioned objectives, in a first aspect, the present disclosure provides a dynamic torque control method for a hybrid vehicle, wherein the hybrid vehicle includes an engine and a motor, and the engine is connected to the motor through a clutch. The method includes: determining a corresponding coordinated control mode and a coordinated value in response to an intervention request, and the intervention request includes at least a torque intervention request and / or a speed intervention request; when in the torque coordinated control mode, determining the torque command of the engine and the torque command of the motor based on the torque intervention request; when in the speed coordinated control mode, determining the speed command and torque command of the engine and the speed command and torque command of the motor based on the speed intervention request.

[0007] In some embodiments, in response to an intervention request, a corresponding coordinated control mode and coordination value are determined, including: when the intervention request includes at least a torque intervention request, determining the coordinated control mode as a torque coordinated control mode and determining the system dynamic torque coordination value; when the intervention request is a speed intervention request, determining the coordinated control mode as a speed coordinated control mode and determining the system dynamic speed coordination value.

[0008] In some embodiments, when the intervention request includes at least a torque intervention request, the coordinated control mode is determined to be a torque coordinated control mode and the system dynamic torque coordination value is determined, including: when the torque intervention request comes from a single controller, determining the torque request value of the controller as the system dynamic torque coordination value; when the torque intervention request comes from multiple controllers, based on the priority of the controllers, determining the torque request value of the controller with the highest priority as the system dynamic torque coordination value.

[0009] In some embodiments, the torque intervention request comes from at least one of a TCS controller, an ABS controller, an ACC controller, and a TCU controller.

[0010] In some embodiments, when in the torque coordination control mode, determining the torque command of the engine and the torque command of the motor based on the torque intervention request includes: determining the motor dynamic torque coordination value based on the system dynamic torque coordination value, the state of the clutch, and the torque parameter value of the engine, wherein the torque parameter value of the engine includes at least the torque loss value of the engine and the torque request value of the engine;

[0011] A torque command for the motor is determined based on the motor dynamic torque coordination value.

[0012] In some embodiments, the torque request value of the engine is adjusted based on the motor dynamic torque coordination value, wherein the torque request value of the engine is adjusted when the motor dynamic torque coordination value is less than the motor minimum peak torque value or the motor dynamic torque coordination value is greater than the motor maximum peak torque value.

[0013] In some embodiments, when in the speed coordination control mode, the speed command and torque command of the engine and the speed command and torque command of the motor are determined based on the speed intervention request, including: determining the speed control mode, the speed control mode at least including the motor speed control mode and the engine speed control mode; when in the motor speed control mode, determining the system dynamic speed coordination value as the speed command of the motor and determining the engine idle speed value as the speed command of the engine; when in the engine speed control mode, determining the system dynamic speed coordination value as the speed command of the engine and the speed command of the motor.

[0014] In some embodiments, it also includes: when in the motor speed control mode, the torque command of the engine is determined as the sum of the fuel torque of the engine and the torque loss of the engine, and the torque command of the motor is the dynamic torque coordination value of the motor; when in the engine speed control mode, the torque command of the motor is determined based on the torque request value of the motor, and the torque command of the engine is determined based on the torque request value of the engine.

[0015] In a second aspect, the present disclosure also provides a dynamic torque control device for a hybrid vehicle, wherein the hybrid vehicle includes an engine and a motor, and the engine is connected to the motor through a clutch. The device includes: a mode determination module, which is used to determine the corresponding coordinated control mode and coordination value in response to an intervention request, and the intervention request includes at least a torque intervention request and / or a speed intervention request; a torque determination module, which is used to determine the torque command of the engine and the torque command of the motor based on the torque intervention request when in the torque coordinated control mode; and when in the speed coordinated control mode, determine the speed command and torque command of the engine and the speed command and torque command of the motor based on the speed intervention request.

[0016] In a third aspect, the present disclosure also provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the dynamic torque control method of the hybrid vehicle described in any of the above technical solutions.

[0017] In a fourth aspect, the present disclosure also provides an electronic device, comprising one or more processors; a storage device for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to run the programs, wherein the program is configured to execute the dynamic torque control method for a hybrid vehicle described in any one of the above technical solutions during operation.

[0018] The present disclosure determines the corresponding coordinated control mode and coordination value in response to the intervention request, and determines the control instructions of the engine and the motor based on the coordinated control mode and coordination value, fully considering the dynamic torque requirements that may appear in each control system during the operation of the hybrid vehicle, thereby realizing the coordinated distribution and output control of dynamic torque, making the torque control more efficient and reliable, ensuring the driving safety of the vehicle, improving driving comfort and power, and improving the economy level of the hybrid vehicle.

[0019] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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:

[0021] Figure 1 is a schematic structural diagram of a hybrid vehicle provided by the present disclosure;

[0022] Figure 2 is a flow chart of a dynamic torque control method for a hybrid vehicle provided by the present disclosure;

[0023] Figure 3 is a flow chart for determining the torque command of the motor provided by the present disclosure;

[0024] Figure 4 is a flow chart for determining the speed control mode of the hybrid vehicle provided by the present disclosure;

[0025] Figure 5 It is a structural diagram of the electronic device provided by the present disclosure.

[0026] The above drawings include the following reference numerals:

[0027] 1-Engine; 2-Motor; 3-Clutch; 4-Power battery; 5-Gearbox. DETAILED DESCRIPTION

[0028] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, but are not intended to limit the present disclosure.

[0029] It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be considered as limiting, but merely as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

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

[0031] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0032] It should also be understood that although the present disclosure has been described with reference to certain specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the characteristics recited in the claims and are therefore within the scope of protection defined thereby.

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

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

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] This description may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," each of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0037] The present disclosure will be further described below with reference to the accompanying drawings and specific embodiments.

[0038] The first aspect of the present disclosure provides a dynamic torque control method for a hybrid vehicle. The control method is applicable to when some control systems of the hybrid vehicle issue torque requirements to ensure driving safety. Based on these torque requirements, the control instructions of the engine and the motor are determined, and the torque is coordinated and distributed and output controlled between the engine and the motor according to the control instructions, so that the control is more efficient and reliable, and the driving safety of the vehicle can be ensured, and the driving comfort and power are improved.

[0039] Here hybrid vehicles, such as Figure 1 As shown, it consists of an engine 1, a motor 2, a clutch 3, a power battery 4, a gearbox 5, a drive shaft, etc., wherein the engine 1 is connected to the motor 2 through the clutch 3, and the other side of the motor 2 is connected to the gearbox 5. Each component is controlled by its controller, such as the motor controller MCU controls the motor, the engine management system EMS controls the engine, and the vehicle controller HCU collaboratively controls different subsystems to achieve dynamic torque coordinated control.

[0040] like Figure 2 As shown, according to the dynamic torque control method of the hybrid vehicle disclosed in the present invention, the steps are described in detail as follows:

[0041] Step S101 : determining a corresponding coordinated control mode and a coordinated value in response to an intervention request, wherein the intervention request at least includes a torque intervention request and / or a speed intervention request.

[0042] Typically, when a hybrid vehicle is driving, the vehicle controller coordinates the output torque of the motor and engine to meet the driver's vehicle driving needs. At this time, if one of the hybrid vehicle's traction control system (TCS), anti-lock braking system (ABS), adaptive cruise control system (ACC) or transmission system (TCU) issues a torque intervention request based on driving safety requirements, the hybrid vehicle responds to the intervention request, determines that the vehicle is in a torque coordination control mode, and dynamically coordinates the output torque of the hybrid vehicle's motor and engine.

[0043] For example, when the anti-lock braking system proposes a torque request, in response to the torque request, the vehicle control unit calculates a system dynamic torque coordination value, which is the torque request value.

[0044] For another example, when the traction control system or the transmission control system proposes an increase torque request or a fast, slow decrease torque request, in response to the torque request, the vehicle control unit calculates a system dynamic torque coordination value, which is the torque request value.

[0045] For another example, when the adaptive cruise control system deceleration request value is less than a deceleration threshold or the acceleration request value is greater than an acceleration threshold, in response to the torque request, the vehicle control unit calculates a system dynamic torque coordination value, which is the torque request value.

[0046] In the above system dynamic torque coordination value calculation process, when multiple controllers of the traction system TCS, the anti-lock braking system ABS, the adaptive cruise control system ACC or the transmission system TCU of the hybrid vehicle propose intervention requests at the same time, the vehicle control unit determines the torque request value of the controller with the highest priority as the system dynamic torque coordination value based on the priorities of the controllers. The priority is determined in the following way:

[0047] TCS increase torque request > ABS torque request > TCS fast decrease torque request > TCS slow decrease torque request > ACC torque request > TCU fast decrease torque request > TCU slow decrease torque request > TCU increase torque request.

[0048] Correspondingly, if only the TCU controller proposes a speed intervention request and no controller proposes a torque intervention request during the operation of the vehicle, it is determined that the vehicle is in a speed coordination control mode; for the speed intervention request, the vehicle control unit calculates a system dynamic speed coordination value, wherein the speed request value proposed by the TCU controller is the system dynamic speed coordination value. For example, during the shifting process of the vehicle, the TCU controller proposes a request for the speed of the input shaft, at this time, the system dynamic speed coordination value is the speed request value of the engine, i.e. the speed request value of the input shaft.

[0049] In step S102, the control instructions of the engine and the control instructions of the motor are determined according to the control mode of the vehicle, specifically including the following two aspects:

[0050] First, when the hybrid vehicle is in a torque coordination control mode, the torque instructions of the engine and the torque instructions of the motor are determined based on the torque intervention request.

[0051] Here, first, the engine torque command is determined. The engine torque command includes an engine fast torque command and an engine slow torque command. The engine fast torque command is the target torque used for ignition advance angle control, which satisfies vehicle driving force or transmission requirements. The engine slow torque command is the target torque used for intake or fuel control.

[0052] Specifically, the engine fast torque command is determined as the sum of the lower of the engine combustion torque and the clutch disconnection torque limit and the engine torque loss, and the engine slow torque command is determined as the sum of the engine combustion torque and the engine torque loss.

[0053] After determining the torque command of the engine, further determining the torque command of the motor.

[0054] like Figure 3 As shown, determining the torque command of the motor includes the following steps:

[0055] S210: Determine a motor dynamic torque coordination value based on the system dynamic torque coordination value, the clutch state, and the engine torque parameter value, wherein the engine torque parameter value includes at least the engine torque loss value and the engine torque request value.

[0056] Furthermore, according to different operating states of the hybrid vehicle, the motor dynamic torque coordination value can be calculated as follows:

[0057] Specifically, when the hybrid vehicle is in a clutch-engaged state, the motor dynamic torque coordination value is determined as:

[0058] Motor dynamic torque coordination value = system dynamic torque coordination value - engine torque loss value - engine slow torque request value;

[0059] When the hybrid vehicle is in a clutch slip state, the motor dynamic torque coordination value is determined as:

[0060] Motor dynamic torque coordination value = system dynamic torque coordination value - engine torque loss value - min {engine slow torque request value, clutch disconnect torque request value};

[0061] When the hybrid vehicle is in a clutch disengaged state, the motor dynamic torque coordination value is determined as:

[0062] Motor dynamic torque coordination value = system dynamic torque coordination value - engine torque loss value.

[0063] In practice, according to the magnitude of the motor dynamic torque coordination value determined above, the hybrid vehicle selects the engine output torque or the motor output torque to achieve a rapid response to the torque demand of the hybrid vehicle.

[0064] Specifically:

[0065] When the motor dynamic torque coordination value is less than the motor minimum peak torque, the motor dynamic torque coordination capability is insufficient, and the hybrid vehicle controls the engine output torque to respond to the system dynamic torque coordination value;

[0066] When the motor dynamic torque coordination value is between the motor minimum peak torque and the motor maximum peak torque, or is the same as the motor minimum peak torque and the motor maximum peak torque, the motor dynamic torque coordination capability is sufficient, and the hybrid vehicle controls the motor output torque in response to the system dynamic torque coordination value;

[0067] When the motor dynamic torque coordination value is greater than the motor maximum peak torque, the motor dynamic torque coordination value is out of range, which is an abnormal demand situation. The hybrid vehicle controls the engine output torque to respond to the system dynamic torque coordination value.

[0068] In the above calculation process, the minimum peak torque of the motor and the maximum peak torque of the motor can be calculated according to an algorithm commonly used in the art, or can be read from a MAP curve.

[0069] For example, the maximum peak torque of the motor=Min(transmission input shaft torque, maximum torque of the motor), where the maximum torque of the motor can be calculated based on the maximum available power of the battery in the vehicle driving mode and the motor speed.

[0070] It can be seen that by confirming the torque coordination value of the motor and then judging the torque distribution range of the hybrid vehicle, the torque demand of the hybrid vehicle can be more accurately met, thereby realizing dynamic coordinated distribution of torque, ensuring vehicle driving safety and improving driving experience.

[0071] S220: Determine a torque command for the motor based on the motor dynamic torque coordination value.

[0072] Second, when the hybrid vehicle is in the speed coordination control mode, a speed command and a torque command of the engine and a speed command and a torque command of the motor are determined based on the speed intervention request.

[0073] like Figure 4 As shown, determining the speed command of the engine and the speed command of the motor specifically includes the following steps:

[0074] S310: determining a rotational speed control mode in which the hybrid vehicle is located;

[0075] Here, according to the control state of the motor and the operating state of the vehicle, the rotational speed control mode includes at least a motor rotational speed control mode and an engine rotational speed control mode.

[0076] When the motor is in rotational speed control and the vehicle is in an idle state, the rotational speed coordination control mode is in the motor rotational speed control mode, at which time the engine of the vehicle is in torque control and the clutch is in an open state; when the motor is not in rotational speed control or the vehicle is not in an idle state, the rotational speed coordination control mode is in the engine rotational speed control mode, at which time the motor of the vehicle is in torque control and the clutch is in a closed state.

[0077] S320: determining a rotational speed instruction of the engine and a rotational speed instruction of the motor based on the rotational speed control mode.

[0078] Specifically, when the vehicle is in the motor rotational speed control mode, at which time the engine is in torque control, the system dynamic rotational speed coordination value is determined as the rotational speed instruction of the motor, the engine idle rotational speed value is determined as the rotational speed instruction of the engine, the engine slow torque instruction and the engine fast torque instruction are both determined as the sum of the fuel torque of the engine and the torque loss of the engine, and the torque instruction of the motor is determined as the motor dynamic torque coordination value.

[0079] Correspondingly, when the vehicle is in the engine rotational speed control mode, at which time the motor is in torque control, the system dynamic rotational speed coordination value is determined as the rotational speed instruction of the engine and the rotational speed instruction of the motor, and the engine slow torque instruction and the engine fast torque instruction are both determined as an engine torque demand value, which is an engine torque demand for maintaining the dynamic rotational speed coordination value of the engine and can be obtained by querying an engine MAP diagram.

[0080] Further, when the vehicle is in the engine rotational speed control mode, the motor is driven by the engine, the initial torque of the motor is 0, and when the vehicle controller needs the motor to output torque, the motor can increase the output motor torque at a certain slope, thereby meeting the overall demand of the hybrid vehicle.

[0081] After completing the above steps, the vehicle controller will send the confirmed speed command, torque command of the engine and the speed command, torque command of the motor to the engine controller and the motor controller, realizing coordinated control of the torque between the engine and the motor, thereby realizing coordinated distribution and output control of dynamic torque, making torque control more efficient and reliable, ensuring the driving safety of the vehicle, improving driving comfort and power, and improving the economy level of hybrid vehicles.

[0082] Example 2

[0083] The second aspect of the present disclosure also provides a dynamic torque control device for a hybrid vehicle, wherein the hybrid vehicle includes an engine 1 and a motor 2, and the engine 1 is connected to the motor 2 via a clutch 3. The control device includes: a mode determination module, which is used to determine the corresponding coordinated control mode and coordination value in response to an intervention request, and the intervention request includes at least a torque intervention request and / or a speed intervention request; a torque determination module, which is used to determine the torque command of the engine and the torque command of the motor based on the torque intervention request when in the torque coordinated control mode; and when in the speed coordinated control mode, determine the speed command and torque command of the engine and the speed command and torque command of the motor based on the speed intervention request.

[0084] Example 3

[0085] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0086] To this end, the third aspect of the present disclosure provides a storage medium, which is a computer-readable medium and stores a computer program. When the computer program is executed by a processor, the method provided in the embodiment of the present disclosure is implemented, including the following steps S11 to S12.

[0087] S11, determining a corresponding coordinated control mode and a coordinated value in response to an intervention request, wherein the intervention request includes at least a torque intervention request and / or a speed intervention request;

[0088] S12: Determine a control instruction for the engine and a control instruction for the motor according to a control mode of the vehicle.

[0089] Furthermore, when the computer program is executed by a processor, other methods provided by any of the above embodiments of the present disclosure are implemented.

[0090] The disclosed embodiment determines the corresponding coordinated control mode and coordination value in response to the intervention request, and determines the control instructions of the engine and the motor based on the coordinated control mode and coordination value, fully considering the dynamic torque requirements that may appear in each control system during the operation of the hybrid vehicle, thereby achieving coordinated distribution and output control of dynamic torque, making torque control more efficient and reliable, ensuring the driving safety of the vehicle, improving driving comfort and power, and improving the economy of the hybrid vehicle.

[0091] Example 4

[0092] In a fourth aspect, a fourth embodiment of the present disclosure provides an electronic device, such as Figure 5 As shown, the electronic device includes at least a memory 501 and a processor 502. The memory 501 stores a computer program. The processor 502 implements the method provided by any embodiment of the present disclosure when executing the computer program on the memory 501. Exemplarily, the method executed by the electronic device computer program is as follows:

[0093] S21, determining a corresponding coordinated control mode and a coordinated value in response to an intervention request, wherein the intervention request includes at least a torque intervention request and / or a speed intervention request;

[0094] S22 , determining a control instruction for the engine and a control instruction for the motor according to a control mode of the vehicle.

[0095] In specific implementation, the above-mentioned mode determination module and torque determination module are all stored in the memory 501 as program units, and the processor 502 executes the above-mentioned program units stored in the memory 501 to implement corresponding functions.

[0096] The dynamic torque control method, device, storage medium and electronic device of the hybrid vehicle described in the present disclosure determine the corresponding coordinated control mode and coordination value in response to the intervention request, and determine the control instructions of the engine and the motor based on the coordinated control mode and coordination value, fully considering the dynamic torque intervention requirements of each control system during the operation of the hybrid vehicle, thereby realizing the coordinated distribution and output control of dynamic torque, making the control more efficient and reliable, ensuring the driving safety of the vehicle, improving driving comfort and power, and improving the economy level of the hybrid vehicle.

[0097] The storage medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0098] The storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: obtains at least two Internet Protocol addresses; sends a node evaluation request including at least two Internet Protocol addresses to a node evaluation device, wherein the node evaluation device selects an Internet Protocol address from the at least two Internet Protocol addresses and returns it; receives the Internet Protocol address returned by the node evaluation device; wherein the obtained Internet Protocol address indicates an edge node in a content distribution network.

[0099] Alternatively, the storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to: receive a node evaluation request including at least two Internet Protocol addresses; select an Internet Protocol address from the at least two Internet Protocol addresses; and return the selected Internet Protocol address; wherein the received Internet Protocol address indicates an edge node in a content distribution network.

[0100] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the passenger computer, partially on the passenger computer, as a stand-alone software package, partially on the passenger computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the passenger computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0101] It should be noted that the storage medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any storage medium other than a computer-readable storage medium that can transmit, propagate, or convey a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the storage medium may be conveyed using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), or any suitable combination thereof.

[0102] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0103] The units involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a unit does not necessarily limit the unit itself.

[0104] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0105] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0106] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0107] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0108] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

[0109] The above describes in detail multiple embodiments of the present disclosure, but the present disclosure is not limited to these specific embodiments. Those skilled in the art can make various variations and modifications to the embodiments based on the concepts of the present disclosure, and these variations and modifications should fall within the scope of protection required by the present disclosure.

Claims

1. A method for dynamic torque control of a hybrid vehicle, the hybrid vehicle comprising an engine and a motor, the engine being connected to the motor via a clutch, the method comprising: determining a corresponding coordinated control mode and a coordinated value in response to an intervention request, the intervention request including at least a torque intervention request and / or a speed intervention request; When in the torque coordination control mode, determining a torque command of the engine and a torque command of the motor based on the torque intervention request; When in the speed coordinated control mode, determining a speed command and a torque command of the engine and a speed command and a torque command of the motor based on the speed intervention request; In response to the intervention request, determining a corresponding coordinated control mode and a coordinated value, including: When the intervention request includes at least a torque intervention request, determining that the coordinated control mode is a torque coordinated control mode and determining a system dynamic torque coordination value; When the intervention request is a speed intervention request, determining the coordinated control mode to be a speed coordinated control mode and determining a system dynamic speed coordination value; When the intervention request includes at least a torque intervention request, determining that the coordinated control mode is a torque coordinated control mode and determining a system dynamic torque coordination value includes: When the torque intervention request comes from a single controller, determining the torque request value of the controller as a system dynamic torque coordination value; When the torque intervention requests come from multiple controllers, based on the priorities of the controllers, the torque request value of the controller with the highest priority is determined as the system dynamic torque coordination value.

2. The control method according to claim 1, wherein: The torque intervention request comes from at least one of a TCS controller, an ABS controller, an ACC controller, and a TCU controller.

3. The control method according to claim 1, wherein: When in the torque coordination control mode, determining the torque command of the engine and the torque command of the motor based on the torque intervention request includes: determining a motor dynamic torque coordination value based on the system dynamic torque coordination value, the state of the clutch, and a torque parameter value of the engine, wherein the torque parameter value of the engine includes at least a torque loss value of the engine and a torque request value of the engine; A torque command for the motor is determined based on the motor dynamic torque coordination value.

4. The control method according to claim 3, wherein: The torque request value of the engine is adjusted based on the motor dynamic torque coordination value, wherein the torque request value of the engine is adjusted when the motor dynamic torque coordination value is less than the motor minimum peak torque value or the motor dynamic torque coordination value is greater than the motor maximum peak torque value.

5. The control method according to claim 3, wherein: When in the speed coordinated control mode, determining the speed command and torque command of the engine and the speed command and torque command of the motor based on the speed intervention request includes: determining a speed control mode, wherein the speed control mode includes at least a motor speed control mode and an engine speed control mode; When in the motor speed control mode, determining the system dynamic speed coordination value as the speed command of the motor and determining the engine idle speed value as the speed command of the engine; When in the engine speed control mode, the system dynamic speed coordination value is determined to be the speed command of the engine and the speed command of the motor.

6. The control method according to claim 5, characterized in that: Also includes: When in the motor speed control mode, the torque command of the engine is determined as the sum of the fuel torque of the engine and the torque loss of the engine, and the torque command of the motor is the motor dynamic torque coordination value; When in the engine speed control mode, the torque command of the electric motor is determined based on the torque request value of the electric motor, and the torque command of the engine is determined based on the torque request value of the engine.

7. A dynamic torque control device for a hybrid vehicle, the hybrid vehicle comprising an engine and a motor, the engine being connected to the motor via a clutch, the device comprising: a mode determination module configured to determine a corresponding coordinated control mode and a coordinated value in response to an intervention request, wherein the intervention request includes at least a torque intervention request and / or a speed intervention request; a torque determination module configured to determine a torque command for the engine and a torque command for the motor based on the torque intervention request when in a torque coordinated control mode; and to determine a speed command and a torque command for the engine and a speed command and a torque command for the motor based on the speed intervention request when in a speed coordinated control mode; In response to the intervention request, determining the corresponding coordinated control mode and coordination value includes: When the intervention request includes at least a torque intervention request, determining that the coordinated control mode is a torque coordinated control mode and determining a system dynamic torque coordination value; When the intervention request is a speed intervention request, determining the coordinated control mode to be a speed coordinated control mode and determining a system dynamic speed coordination value; When the intervention request includes at least a torque intervention request, determining that the coordinated control mode is a torque coordinated control mode and determining a system dynamic torque coordination value includes: When the torque intervention request comes from a single controller, determining the torque request value of the controller as a system dynamic torque coordination value; When the torque intervention requests come from multiple controllers, based on the priorities of the controllers, the torque request value of the controller with the highest priority is determined as the system dynamic torque coordination value.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the dynamic torque control method according to any one of claims 1 to 6.

9. An electronic device, characterized in that The electronic device includes one or more processors; a storage device for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to run the programs, wherein the programs are configured to execute the dynamic torque control method described in any one of claims 1 to 6 when running.

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