Mode switching control method, device, equipment and storage medium

Abstract

The present invention relates to the field of vehicle control technology, and discloses a mode switching control method, device, equipment and storage medium, the method comprising: determining a target vehicle operating mode according to a current vehicle speed and a current torque of a hybrid vehicle; determining a current vehicle operating mode according to current driving parameters of the hybrid vehicle; switching the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy; since the present invention determines the target vehicle operating mode through the current vehicle speed and the current torque of the hybrid vehicle, and determines the current vehicle operating mode according to the current driving parameters of the hybrid vehicle, the target vehicle operating mode and the current vehicle operating mode are two different modes, and then the switching between the target vehicle operating mode and the current vehicle operating mode is controlled through the clutch control strategy, which can ensure smooth intervention and exit of the clutch, thereby improving the stability of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a control method, device, equipment and storage medium for mode switching. Background Art

[0002] With the continuous development of vehicle technology, the functions of vehicles have been gradually improved, especially for hybrid vehicles with P1+P3 architecture. The modes of hybrid vehicles include series mode, parallel mode and other modes. In series mode, the vehicle travels with the help of an electric motor and the engine driving the generator to generate electricity. In parallel mode, the vehicle travels with the help of both the engine and the electric motor. In the process of switching between series mode and parallel mode, it is mainly achieved by controlling the intervention and exit of the clutch. The current control mode switching method is based on the speed of a conventional motor, but the above mode switching method cannot guarantee the smooth intervention and exit of the clutch, which leads to lower vehicle stability.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a mode switching control method, device, equipment and storage medium, aiming to solve the technical problem that the prior art cannot ensure smooth engagement and exit of the clutch, resulting in poor stability of the vehicle.

[0005] To achieve the above object, the present invention provides a mode switching control method, the mode switching control method comprising the following steps:

[0006] determining a target vehicle operating mode based on a current vehicle speed and a current torque of the hybrid vehicle;

[0007] determining a current vehicle operating mode according to current driving parameters of the hybrid vehicle;

[0008] The current vehicle operating mode is switched according to the target vehicle operating mode through a clutch control strategy.

[0009] Optionally, the target vehicle operation mode includes a series mode and a parallel mode;

[0010] The step of determining the target vehicle operation mode according to the current vehicle speed and current torque of the hybrid vehicle includes:

[0011] When the current vehicle speed of the hybrid vehicle is greater than or equal to a preset vehicle speed threshold and the current torque is greater than or equal to a preset torque threshold, identifying the current vehicle speed and the current torque according to a preset vehicle speed-torque-operation model to determine that the target vehicle operation mode is a parallel mode, wherein the current vehicle operation mode is a series mode;

[0012] When the current vehicle speed of the hybrid vehicle is less than a preset vehicle speed threshold and the current torque is less than a preset torque threshold, the current vehicle speed and the current torque are identified according to a preset vehicle speed-torque-operation model to determine that the target vehicle operation mode is a series mode, wherein the current vehicle operation mode is a parallel mode.

[0013] Optionally, the current vehicle operation mode is a series mode, and the target vehicle operation mode is a parallel mode;

[0014] The switching of the current vehicle operating mode according to the target vehicle operating mode by using a clutch control strategy includes:

[0015] Determine the speed range of the active end of the target clutch according to the engine speed, the first motor speed and the current vehicle speed;

[0016] The speed of the clutch input shaft is adjusted by the target clutch speed adjustment range until the speed of the clutch input shaft is consistent with the speed of the clutch output shaft;

[0017] After the adjustment is completed, the current torque of the clutch is obtained;

[0018] The current torque is adjusted according to the required torque of the mechanical input shaft through the clutch control strategy to achieve switching of the current vehicle operating mode to the target vehicle operating mode.

[0019] Optionally, before determining the target clutch active end speed regulation range according to the engine speed, the first motor speed and the current vehicle speed, the method further includes:

[0020] When the battery SOC is higher than a preset power threshold, the engine required torque is obtained;

[0021] Calculating a first motor required torque according to the first motor-engine speed ratio, the required torque of the mechanical input shaft and the engine required torque, the engine target torque being the engine required torque;

[0022] When the battery SOC is lower than a preset power threshold, the current battery SOC, wheel-end required torque and current vehicle speed are obtained;

[0023] Obtaining a first motor required torque according to the current battery SOC, the wheel end required torque and the current vehicle speed;

[0024] The engine target torque is calculated according to the required torque of the first motor and the required torque of the mechanical input shaft.

[0025] Optionally, before the current torque is adjusted according to the required torque of the mechanical input shaft by the clutch control strategy to switch the current vehicle operation mode to the target vehicle operation mode, the method further includes:

[0026] The target shaft speed is obtained according to the speed of the mechanical output shaft, the shaft speed ratio and the compensation parameter;

[0027] Get the current actual speed and moment of inertia of the mechanical input shaft;

[0028] Obtaining a first torque and a second torque according to the current actual speed and the target shaft speed;

[0029] The third torque is obtained by calculating according to the moment of inertia of the mechanical input shaft and the rate of change of the target shaft speed;

[0030] The required torque of the mechanical input shaft is obtained by calculation according to the first torque, the second torque and the third torque.

[0031] Optionally, the current torque is adjusted according to the required torque of the mechanical input shaft by the clutch control strategy to switch the current vehicle operation mode to the target vehicle operation mode, including:

[0032] Obtain wheel end required torque and engine actual torque;

[0033] Calculating the second motor required torque according to the engine-wheel end speed ratio, the second motor-wheel end speed ratio, the wheel end required torque, the engine actual torque and the current torque of the clutch;

[0034] Compensating the wheel end required torque according to the second motor required torque;

[0035] During the compensation process, the current torque is adjusted according to the required torque of the mechanical input shaft through the clutch control strategy to achieve switching of the current vehicle operating mode to the target vehicle operating mode.

[0036] Optionally, the current vehicle operation mode is a parallel mode, and the target vehicle operation mode is a series mode;

[0037] The switching of the current vehicle operating mode according to the target vehicle operating mode by using a clutch control strategy includes:

[0038] Acquire the current torque of the first motor and the current torque of the engine;

[0039] Reducing the current torque of the first motor by a target slope to obtain a required torque of the first motor;

[0040] Determining whether the required torque of the mechanical input shaft is met according to the required torque of the first motor;

[0041] When the torque of the first motor does not meet the required torque of the mechanical input shaft, reducing the current torque of the engine to obtain the target torque of the engine;

[0042] Determining whether the required torque of the mechanical input shaft is met based on the required torque of the first motor and the target torque of the engine;

[0043] When the first motor required torque and the engine target torque meet the required torque of the mechanical input shaft, the current torque of the clutch is reduced to a preset torque to switch the current vehicle operating mode to the target vehicle operating mode.

[0044] In addition, to achieve the above-mentioned purpose, the present invention further provides a mode switching control device, the mode switching control device comprising:

[0045] a determination module, configured to determine a target vehicle operation mode according to a current vehicle speed and a current torque of the hybrid vehicle;

[0046] The determination module is further configured to determine a current vehicle operation mode according to current driving parameters of the hybrid vehicle;

[0047] A switching module is used to switch the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy.

[0048] In addition, to achieve the above-mentioned purpose, the present invention also proposes a mode switching control device, which includes: a memory, a processor, and a mode switching control program stored in the memory and executable on the processor, and the mode switching control program is configured to implement the mode switching control method as described above.

[0049] In addition, to achieve the above-mentioned purpose, the present invention further proposes a storage medium, on which a mode switching control program is stored, and when the mode switching control program is executed by a processor, the mode switching control method described above is implemented.

[0050] The mode switching control method proposed in the present invention determines the target vehicle operating mode according to the current vehicle speed and current torque of the hybrid vehicle; determines the current vehicle operating mode according to the current driving parameters of the hybrid vehicle; and switches the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy; since the present invention determines the target vehicle operating mode through the current vehicle speed and current torque of the hybrid vehicle, and determines the current vehicle operating mode according to the current driving parameters of the hybrid vehicle, the target vehicle operating mode and the current vehicle operating mode are two different modes, and then the switching between the target vehicle operating mode and the current vehicle operating mode is controlled by the clutch control strategy, which can ensure smooth intervention and exit of the clutch, thereby improving the stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a structural diagram of a control device for mode switching of a hardware operating environment involved in an embodiment of the present invention;

[0052] Figure 2 A schematic flow chart of a first embodiment of a mode switching control method of the present invention;

[0053] Figure 3 A schematic flow chart of a second embodiment of a mode switching control method of the present invention;

[0054] Figure 4 A schematic diagram of switching a series mode to a parallel mode according to an embodiment of a mode switching control method of the present invention;

[0055] Figure 5 A schematic flow chart of a third embodiment of a mode switching control method of the present invention;

[0056] Figure 6 Schematic diagram of functional modules of a first embodiment of a mode switching control device according to the present invention.

[0057] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0059] Reference Figure 1 , Figure 1 A schematic diagram of the structure of a control device for mode switching of a hardware operating environment involved in an embodiment of the present invention.

[0060] like Figure 1As shown, the control device for mode switching may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0061] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the mode switching control device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0062] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a control program for mode switching.

[0063] exist Figure 1 In the mode switching control device shown, the network interface 1004 is mainly used for data communication with the network integration platform workstation; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the mode switching control device of the present invention can be set in the mode switching control device, and the mode switching control device calls the mode switching control program stored in the memory 1005 through the processor 1001, and executes the mode switching control method provided by the embodiment of the present invention.

[0064] Based on the above hardware structure, an embodiment of a control method for mode switching of the present invention is proposed.

[0065] Reference Figure 2 , Figure 2 FIG. 1 is a flow chart of a first embodiment of a mode switching control method according to the present invention.

[0066] In a first embodiment, the mode switching control method comprises the following steps:

[0067] Step S10 , determining a target vehicle operating mode according to the current vehicle speed and current torque of the hybrid vehicle.

[0068] It should be noted that the executor of this embodiment is a control device for mode switching, and may also be other devices that can achieve the same or similar functions, such as a vehicle controller, etc. This embodiment does not limit this. In this embodiment, the vehicle controller is taken as an example for explanation.

[0069] It should be understood that the current vehicle speed refers to the speed of the hybrid vehicle during driving, which can be collected in real time through the vehicle speed sensor. The current torque refers to the torque output from the crankshaft end of the engine at the current moment. Under the condition of fixed engine power, the torque is inversely proportional to the engine speed.

[0070] It can be understood that the target vehicle operating mode refers to the operating mode that the hybrid vehicle needs to switch to at the current moment. The target vehicle operating mode includes a series mode and a parallel mode. That is, the mode switching of this embodiment lies in the reasonable switching between the series mode and the parallel mode. Specifically, when the hybrid vehicle is traveling at a low speed, the series mode is selected and the clutch is controlled to be disconnected. When the hybrid vehicle is traveling at a high speed and with high torque, the parallel mode is selected and the clutch is controlled to be engaged.

[0071] Further, step S10 includes: when the current vehicle speed of the hybrid vehicle is greater than or equal to a preset vehicle speed threshold and the current torque is greater than or equal to a preset torque threshold, identifying the current vehicle speed and the current torque according to a preset vehicle speed-torque-operation model to determine that the target vehicle operation mode is a parallel mode, wherein the current vehicle operation mode is a series mode; when the current vehicle speed of the hybrid vehicle is less than the preset vehicle speed threshold and the current torque is less than the preset torque threshold, identifying the current vehicle speed and the current torque according to a preset vehicle speed-torque-operation model to determine that the target vehicle operation mode is a series mode, wherein the current vehicle operation mode is a parallel mode.

[0072] It should be understood that the preset vehicle speed threshold refers to the minimum value for distinguishing whether the vehicle speed of the hybrid vehicle is high speed. When the current vehicle speed is greater than or equal to the preset vehicle speed threshold, it indicates that the hybrid vehicle is traveling at high speed. Conversely, when the current vehicle speed is less than the preset vehicle speed threshold, it indicates that the hybrid vehicle is traveling at low speed. Similarly, the preset torque threshold refers to the minimum value for distinguishing whether the torque of the hybrid vehicle is high torque. When the current torque is greater than or equal to the preset torque threshold, it indicates that the torque value of the hybrid vehicle is high. Conversely, when the current torque is less than the preset torque threshold, it indicates that the torque value of the hybrid vehicle is low.

[0073] In a specific implementation, after obtaining the current vehicle speed and current torque of the hybrid vehicle of the vehicle controller, the current vehicle speed and current torque are identified through a preset vehicle speed-torque-operation model. When the identification result is that the current vehicle speed is greater than or equal to the preset vehicle speed threshold and the current torque is greater than or equal to the preset torque threshold, the target vehicle operation mode is determined to be a parallel mode. When the identification result is that the current vehicle speed is less than the preset vehicle speed threshold and the current torque is less than the preset torque threshold, the target vehicle operation mode is determined to be a series mode.

[0074] Step S20, determining a current vehicle operating mode according to current driving parameters of the hybrid vehicle.

[0075] It can be understood that the current driving parameters refer to the parameters of the hybrid vehicle during the driving process. The current driving parameters can be vehicle speed, actuation functions and driving behavior. For example, when the vehicle speed is less than a preset vehicle speed threshold, there is no actuation function and the driving behavior is a normal driving behavior, the operating mode of the hybrid vehicle is determined to be the current vehicle operating mode, and the current vehicle operating mode can be a series mode or a parallel mode.

[0076] Step S30: switching the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy.

[0077] It should be understood that the clutch control strategy refers to a strategy for switching the vehicle operating mode by controlling the clutch parameters. The clutch control strategy can be for adjusting the speed of the clutch input shaft or setting the torque of the clutch. After determining the current vehicle operating mode of the hybrid vehicle, the current vehicle operating mode is switched to the target vehicle operating mode through the clutch control strategy. For example, when the current vehicle operating mode is the series mode, the clutch control strategy is used to switch the current vehicle operating mode to the parallel mode. Conversely, when the current vehicle operating mode is the parallel mode, the clutch control strategy is used to switch the current vehicle operating mode to the series mode.

[0078] The present embodiment determines a target vehicle operating mode according to a current speed and a current torque of the hybrid vehicle; determines a current vehicle operating mode according to current driving parameters of the hybrid vehicle; and switches the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy; since the present embodiment determines a target vehicle operating mode through a current speed and a current torque of the hybrid vehicle, and determines the current vehicle operating mode according to current driving parameters of the hybrid vehicle, the target vehicle operating mode and the current vehicle operating mode are two different modes, and then the switching between the target vehicle operating mode and the current vehicle operating mode is controlled through a clutch control strategy, which can ensure smooth engagement and exit of the clutch, thereby improving the stability of the vehicle.

[0079] In one embodiment, if Figure 3 Based on the first embodiment, a second embodiment of the mode switching control method of the present invention is proposed, wherein step S30 includes:

[0080] Step S301, determining the target clutch active end speed regulation range according to the engine speed, the first motor speed and the current vehicle speed.

[0081] It should be understood that the target clutch active end speed regulation range refers to the range of adjusting the speed of the clutch active end, the engine speed refers to the speed of the engine before adjustment, the first motor speed refers to the speed of the first motor before adjustment, and the first motor can be an ISG (integrated-starter-generator) motor. The first motor is an integrated starter generator that is directly integrated into the engine main shaft.

[0082] Furthermore, before step S301, it includes: when the battery SOC is higher than a preset power threshold, obtaining the engine demand torque; calculating the first motor demand torque according to the first motor-engine speed ratio, the demand torque of the mechanical input shaft and the engine demand torque, and the engine target torque is the engine demand torque; when the battery SOC is lower than the preset power threshold, obtaining the current battery SOC, the wheel-end demand torque and the current vehicle speed; obtaining the first motor demand torque according to the current battery SOC, the wheel-end demand torque and the current vehicle speed; and calculating the engine target torque according to the first motor demand torque and the demand torque of the mechanical input shaft.

[0083] It can be understood that the preset power threshold refers to the minimum power value for distinguishing whether the battery SOC is high or not. When the battery SOC is higher than the preset power threshold, it indicates that the battery power is high. The engine demand torque refers to the torque required by the engine during operation at the current moment, that is, the engine target torque is used as the engine demand torque, specifically, the engine needs to meet the functions of speed regulation and maintaining the battery SOC. When the battery power is high, due to the slow response of the engine, the speed regulation is mainly dependent on the first motor, and the engine demand torque remains unchanged. After obtaining the engine demand torque, the first motor demand torque is calculated according to the first motor-engine speed ratio, the demand torque of the mechanical input shaft and the engine demand torque; when the battery power is low, the first motor demand torque is the sum of the power generation torque that meets the battery charging demand and the power generation torque that meets the wheel end demand. The engine needs to meet the speed regulation and power generation requirements. The engine demand torque is the demand torque of the mechanical input shaft minus the first motor demand torque multiplied by the first motor-engine speed ratio. In the speed regulation mode, since the clutch has not yet intervened, the second motor needs to meet the driver's torque demand, and the second motor demand torque is the wheel end demand torque / speed ratio.

[0084] It should be understood that when the battery charge is low, the torque required by the first motor needs to meet the power generation torque to maintain the battery SOC and the power generation torque to maintain the wheel-end power demand. At this time, the torque required by the first motor needs to be slope limited to avoid NVH problems caused by torque jumps.

[0085] Step S302, adjusting the speed of the clutch input shaft through the target clutch active end speed regulation range until the speed of the clutch input shaft is consistent with the speed of the clutch output shaft.

[0086] It can be understood that after obtaining the target clutch active end speed regulation range, since the current vehicle operation mode of the hybrid vehicle is the series mode, it is necessary to switch the front vehicle operation mode to the parallel mode. During the switching process, it is necessary to go through the speed regulation mode and the clutch engagement mode, and the speed regulation mode is achieved by the joint action of the engine and the first motor. In order to ensure the smoothness of the clutch engagement, the speed of the clutch input shaft is adjusted through the target clutch active end speed regulation range so that the speed of the clutch input shaft is consistent with the speed of the clutch output shaft.

[0087] Step S303, after the adjustment is completed, the current torque of the clutch is obtained.

[0088] It should be understood that the current torque refers to the torque when entering the clutch mode. After the adjustment is completed, the hybrid vehicle smoothly transitions from the speed regulation mode to the clutch mode, and then obtains the current torque of the clutch.

[0089] Step S304: adjusting the current torque according to the required torque of the mechanical input shaft through the clutch control strategy to switch the current vehicle operation mode to the target vehicle operation mode.

[0090] It can be understood that after obtaining the current torque of the clutch, the current torque is adjusted through the clutch control strategy so that the current torque of the clutch is ramped to the required torque of the mechanical input shaft. After the adjustment is completed, the hybrid vehicle smoothly transitions from the clutch mode to the parallel mode, that is, the current vehicle operating mode (series mode) is switched to the target vehicle operating mode (parallel mode).

[0091] Furthermore, before step S304, it also includes: obtaining a target shaft speed according to the speed, shaft speed ratio and compensation parameters of the mechanical output shaft; obtaining the current actual speed of the mechanical input shaft; obtaining a first torque and a second torque according to the current actual speed and the target shaft speed; obtaining a third torque by calculating according to the moment of inertia of the mechanical input shaft and the rate of change of the target shaft speed; and obtaining the required torque of the mechanical input shaft by calculating according to the first torque, the second torque and the third torque.

[0092] It should be understood that the target shaft speed refers to the required speed of the mechanical input shaft at the current moment, and the target shaft speed is calculated by the speed of the mechanical output shaft, the shaft speed ratio and the compensation parameter, specifically the speed of the mechanical output shaft * the shaft speed ratio + the speed corresponding to the compensation parameter. The first torque and the second torque are obtained by PID calculation of the difference between the actual speed of the mechanical input shaft and the target speed. The third torque refers to the moment of inertia of the mechanical input shaft and the rate of change of the target shaft speed. Then, the calculation is performed based on the first torque, the second torque and the third torque to obtain the required torque of the mechanical input shaft.

[0093] Further, step S304 includes: obtaining the wheel-end demand torque and the engine actual torque; calculating the second motor demand torque according to the engine-wheel-end speed ratio, the second motor-wheel-end speed ratio, the wheel-end demand torque, the engine actual torque and the current torque of the clutch; compensating the wheel-end demand torque according to the second motor demand torque; during the compensation process, adjusting the current torque according to the demand torque of the mechanical input shaft through the clutch control strategy to achieve switching of the current vehicle operating mode to the target vehicle operating mode.

[0094] It can be understood that the engine-wheel end speed ratio refers to the speed ratio from the engine to the wheel end. Similarly, the second torque motor-wheel end speed ratio refers to the speed ratio from the second motor to the wheel end. The second motor can be a TM motor. The second motor required torque refers to the torque required by the TM motor during operation. Specifically, the torque required by the second motor is calculated by the following formula:

[0095] T_TM=(T_wheel-min(T_eng,(T_clu1+T_clu2))*i) / i_TM;

[0096] Among them, T_TM is the required torque of the second motor, T_wheel is the required torque of the wheel end, T_eng is the actual torque of the engine, T_clu1 and T_clu2 are the current torques of the clutch, i is the engine-wheel end speed ratio, and i_TM is the second motor-wheel end speed ratio.

[0097] It should be understood that since the hybrid vehicle is in clutch mode, the clutch begins to gradually intervene at this time, and the second motor is used to compensate for the torque. Since the current torque of the clutch is changing, and the required torque of the second motor is obtained by the required torque at the wheel end, the actual torque of the engine and the current torque of the clutch, the required torque of the second motor is also constantly changing. During the compensation process, the current torque is adjusted according to the required torque of the mechanical input shaft through the clutch control strategy, thereby realizing the switching of the series mode to the parallel mode.

[0098] Understandably, reference Figure 4, Figure 4 This is a schematic diagram of switching from series mode to parallel mode, specifically: it includes three stages, namely clutch torque, speed regulation and switching from series mode to parallel mode. The clutch torque is 12.8s-13s, the speed regulation is 12.6s-13s, and the switching from series mode to parallel mode is 12.6s-13.2s.

[0099] The present embodiment determines the target clutch active end speed regulation range according to the engine speed, the first motor speed and the current vehicle speed; adjusts the speed of the clutch input shaft through the target clutch active end speed regulation range until the speed of the clutch input shaft is consistent with the speed of the clutch output shaft; after the adjustment is completed, obtains the current torque of the clutch; adjusts the current torque according to the required torque of the mechanical input shaft through the clutch control strategy to achieve switching of the current vehicle operation mode to the target vehicle operation mode; since the present embodiment determines the target clutch active end speed regulation range according to the engine speed, the first motor speed and the current vehicle speed, and then adjusts the speed of the clutch input shaft to be consistent with the speed of the clutch output shaft according to the target clutch active end speed regulation range, and then adjusts the current torque according to the required torque of the mechanical input shaft through the clutch control strategy to achieve switching of the current vehicle operation mode and improve the driving stability of the hybrid vehicle.

[0100] In one embodiment, if Figure 5 Based on the first embodiment, a third embodiment of the mode switching control method of the present invention is proposed, wherein step S30 includes:

[0101] Step S305, obtaining the current torque of the first motor and the current torque of the engine.

[0102] It can be understood that the current vehicle operation mode of the present embodiment is the parallel mode, and the target vehicle operation mode is the series mode, that is, the switching from the parallel mode to the series mode is achieved mainly through the two stages of torque reduction of the mechanical input shaft and clutch opening. The current torque refers to the torque of the first motor and the engine during operation, and the current torque is obtained by real-time acquisition of the torque sensor.

[0103] Step S306 , reducing the current torque of the first motor by the target slope to obtain the required torque of the first motor.

[0104] It should be understood that the target slope refers to the slope of reducing the torque, and the current torque of the first motor is preferentially reduced, and the motor reduced torque refers to the torque reduced by the target slope.

[0105] Step S307 , determining whether the required torque of the mechanical input shaft is satisfied according to the required torque of the first motor.

[0106] It is understandable that, in the process of reducing the required torque of the first motor, it is necessary to determine whether the required torque of the first motor meets the required torque of the mechanical input shaft.

[0107] Step S308: When the first motor torque does not meet the required torque of the mechanical input shaft, the current torque of the engine is reduced to obtain the engine target torque.

[0108] It should be understood that the engine target torque refers to the torque after reducing the current torque of the engine. If the judgment result is that the first motor torque does not meet the required torque of the mechanical input shaft, it is necessary to continue to adjust the current torque of the engine, that is, reduce the current torque of the engine to obtain the engine target torque.

[0109] Step S309 , determining whether the required torque of the mechanical input shaft is satisfied based on the first motor required torque and the engine target torque.

[0110] It is understandable that after reducing the current torque of the engine, it is necessary to determine whether the required torque of the mechanical input shaft is met based on the engine target torque and the required torque of the first motor, and determine whether the clutch needs to be fully opened based on the judgment result.

[0111] Step S310, when the first motor required torque and the engine target torque meet the required torque of the mechanical input shaft, the current torque of the clutch is reduced to a preset torque to switch the current vehicle operating mode to the target vehicle operating mode.

[0112] It should be understood that when the judgment result is that the required torque of the first motor and the target torque of the engine meet the required torque of the mechanical input shaft, it indicates that the torque is no longer transmitted through the clutch at this time, and the current torque of the clutch can be reduced to the preset torque. After the setting is completed, the hybrid vehicle smoothly transitions from parallel mode to series mode.

[0113] This embodiment reduces the current torque of the first motor through the target slope, and then determines whether the required torque of the mechanical input shaft is met based on the required torque of the first motor. If not, the current torque of the engine is reduced to obtain the engine target torque, and then it is determined whether the required torque of the mechanical input shaft is met based on the engine target torque and the required torque of the first motor. If so, the current torque of the clutch is reduced to a preset torque to switch the current vehicle operating mode to the target vehicle operating mode, thereby ensuring smooth engagement and exit of the clutch, thereby improving vehicle stability.

[0114] In addition, an embodiment of the present invention further provides a storage medium, on which a mode switching control program is stored. When the mode switching control program is executed by a processor, the steps of the mode switching control method described above are implemented.

[0115] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0116] In addition, refer to Figure 6 The embodiment of the present invention further provides a mode switching control device, the mode switching control device comprising:

[0117] A determination module 10, for determining a target vehicle operation mode according to a current vehicle speed and a current torque of the hybrid vehicle;

[0118] The determination module 10 is further configured to determine a current vehicle operation mode according to current driving parameters of the hybrid vehicle;

[0119] The switching module 20 is used to switch the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy.

[0120] The present embodiment determines a target vehicle operating mode according to a current speed and a current torque of the hybrid vehicle; determines a current vehicle operating mode according to current driving parameters of the hybrid vehicle; and switches the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy; since the present embodiment determines a target vehicle operating mode through a current speed and a current torque of the hybrid vehicle, and determines the current vehicle operating mode according to current driving parameters of the hybrid vehicle, the target vehicle operating mode and the current vehicle operating mode are two different modes, and then the switching between the target vehicle operating mode and the current vehicle operating mode is controlled through a clutch control strategy, which can ensure smooth engagement and exit of the clutch, thereby improving the stability of the vehicle.

[0121] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0122] In addition, for technical details not fully described in this embodiment, reference can be made to the mode switching control method provided in any embodiment of the present invention, and will not be repeated here.

[0123] In one embodiment, the determination module 10 is also used for the target vehicle operating mode to include a series mode and a parallel mode; when the current vehicle speed of the hybrid vehicle is greater than or equal to a preset vehicle speed threshold and the current torque is greater than or equal to a preset torque threshold, the current vehicle speed and the current torque are identified according to a preset vehicle speed-torque-operation model to determine that the target vehicle operating mode is a parallel mode, wherein the current vehicle operating mode is a series mode; when the current vehicle speed of the hybrid vehicle is less than a preset vehicle speed threshold and the current torque is less than a preset torque threshold, the current vehicle speed and the current torque are identified according to a preset vehicle speed-torque-operation model to determine that the target vehicle operating mode is a series mode, wherein the current vehicle operating mode is a parallel mode.

[0124] In one embodiment, the switching module 20 is also used when the current vehicle operation mode is a series mode and the target vehicle operation mode is a parallel mode; the target clutch active end speed regulation range is determined according to the engine speed, the first motor speed and the current vehicle speed; the speed of the clutch input shaft is adjusted by the target clutch active end speed regulation range until the speed of the clutch input shaft is consistent with the speed of the clutch output shaft; after the adjustment is completed, the current torque of the clutch is obtained; the current torque is adjusted according to the required torque of the mechanical input shaft through the clutch control strategy to achieve switching of the current vehicle operation mode to the target vehicle operation mode.

[0125] In one embodiment, the switching module 20 is also used to obtain the engine required torque when the battery SOC is higher than a preset power threshold; calculate the first motor required torque according to the first motor-engine speed ratio, the required torque of the mechanical input shaft and the engine required torque, and the engine target torque is the engine required torque; when the battery SOC is lower than the preset power threshold, obtain the current battery SOC, the wheel-end required torque and the current vehicle speed; obtain the first motor required torque according to the current battery SOC, the wheel-end required torque and the current vehicle speed; and calculate the engine target torque according to the first motor required torque and the required torque of the mechanical input shaft.

[0126] In one embodiment, the switching module 20 is also used to obtain a target shaft speed based on the speed, shaft speed ratio and compensation parameters of the mechanical output shaft; obtain the current actual speed and moment of inertia of the mechanical input shaft; obtain a first torque and a second torque based on the current actual speed and the target shaft speed; obtain a third torque by calculating based on the moment of inertia of the mechanical input shaft and the rate of change of the target shaft speed; and obtain the required torque of the mechanical input shaft by calculating based on the first torque, the second torque and the third torque.

[0127] In one embodiment, the switching module 20 is also used to obtain the wheel-end demand torque and the engine actual torque; calculate the second motor demand torque according to the engine-wheel-end speed ratio, the second motor-wheel-end speed ratio, the wheel-end demand torque, the engine actual torque and the current torque of the clutch; compensate the wheel-end demand torque according to the second motor demand torque; during the compensation process, the current torque is adjusted according to the demand torque of the mechanical input shaft through the clutch control strategy to achieve switching of the current vehicle operating mode to the target vehicle operating mode.

[0128] In one embodiment, the switching module 20 is also used to obtain the current torque of the first motor and the current torque of the engine; reduce the current torque of the first motor by a target slope to obtain the required torque of the first motor; judge whether the required torque of the mechanical input shaft is met according to the required torque of the first motor; when the torque of the first motor does not meet the required torque of the mechanical input shaft, reduce the current torque of the engine to obtain the target torque of the engine; judge whether the required torque of the mechanical input shaft is met according to the required torque of the first motor and the target torque of the engine; when the required torque of the first motor and the target torque of the engine meet the required torque of the mechanical input shaft, reduce the current torque of the clutch to a preset torque to switch the current vehicle operation mode to the target vehicle operation mode.

[0129] Other embodiments of the mode switching control device or implementation methods of the present invention can refer to the above-mentioned method embodiments, which are not repeated here.

[0130] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0131] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0132] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, an integrated platform workstation, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0133] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A mode switching control method, characterized in that: The control method for mode switching comprises the following steps: determining a target vehicle operating mode based on a current vehicle speed and a current torque of the hybrid vehicle; determining a current vehicle operating mode according to current driving parameters of the hybrid vehicle; Switching the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy; The current vehicle operation mode is a series mode, and the target vehicle operation mode is a parallel mode; The switching of the current vehicle operating mode according to the target vehicle operating mode by using a clutch control strategy includes: Determine the speed range of the active end of the target clutch according to the engine speed, the first motor speed and the current vehicle speed; The rotation speed of the clutch input shaft is adjusted by the target clutch active end speed adjustment range until the rotation speed of the clutch input shaft is consistent with the rotation speed of the clutch output shaft; After the adjustment is completed, the current torque of the clutch is obtained; The current torque is adjusted according to the required torque of the mechanical input shaft by a clutch control strategy to switch the current vehicle operation mode to a target vehicle operation mode; Before the current torque is adjusted according to the required torque of the mechanical input shaft by the clutch control strategy to switch the current vehicle operation mode to the target vehicle operation mode, the method further includes: The target shaft speed is obtained according to the speed of the mechanical output shaft, the shaft speed ratio and the compensation parameter; Get the current actual speed and moment of inertia of the mechanical input shaft; Obtaining a first torque and a second torque according to the current actual speed and the target shaft speed; The third torque is obtained by calculating according to the moment of inertia of the mechanical input shaft and the rate of change of the target shaft speed; The required torque of the mechanical input shaft is obtained by calculation according to the first torque, the second torque and the third torque.

2. The mode switching control method according to claim 1, characterized in that: The target vehicle operation mode includes a series mode and a parallel mode; The step of determining the target vehicle operation mode according to the current vehicle speed and current torque of the hybrid vehicle includes: When the current vehicle speed of the hybrid vehicle is greater than or equal to a preset vehicle speed threshold and the current torque is greater than or equal to a preset torque threshold, identifying the current vehicle speed and the current torque according to a preset vehicle speed-torque-operation model to determine that the target vehicle operation mode is a parallel mode, wherein the current vehicle operation mode is a series mode; When the current vehicle speed of the hybrid vehicle is less than a preset vehicle speed threshold and the current torque is less than a preset torque threshold, the current vehicle speed and the current torque are identified according to a preset vehicle speed-torque-operation model to determine that the target vehicle operation mode is a series mode, wherein the current vehicle operation mode is a parallel mode.

3. The mode switching control method according to claim 1, characterized in that: Before determining the target clutch active end speed regulation range according to the engine speed, the first motor speed and the current vehicle speed, the method further includes: When the battery SOC is higher than a preset power threshold, the engine required torque is obtained; Calculating a first motor required torque according to the first motor-engine speed ratio, the required torque of the mechanical input shaft and the engine required torque, the engine target torque being the engine required torque; When the battery SOC is lower than a preset power threshold, the current battery SOC, wheel-end required torque and current vehicle speed are obtained; Obtaining a first motor required torque according to the current battery SOC, the wheel end required torque and the current vehicle speed; The engine target torque is calculated according to the required torque of the first motor and the required torque of the mechanical input shaft.

4. The mode switching control method according to claim 1, characterized in that: The current torque is adjusted according to the required torque of the mechanical input shaft by the clutch control strategy to switch the current vehicle operation mode to the target vehicle operation mode, including: Obtain wheel end required torque and engine actual torque; Calculating the second motor required torque according to the engine-wheel end speed ratio, the second motor-wheel end speed ratio, the wheel end required torque, the engine actual torque and the current torque of the clutch; Compensating the wheel end required torque according to the second motor required torque; During the compensation process, the current torque is adjusted according to the required torque of the mechanical input shaft through the clutch control strategy to achieve switching of the current vehicle operating mode to the target vehicle operating mode.

5. The mode switching control method according to claim 1, characterized in that: The current vehicle operation mode is a parallel mode, and the target vehicle operation mode is a series mode; The switching of the current vehicle operating mode according to the target vehicle operating mode by using a clutch control strategy includes: Acquire the current torque of the first motor and the current torque of the engine; Reducing the current torque of the first motor by a target slope to obtain a required torque of the first motor; Determining whether the required torque of the mechanical input shaft is met according to the required torque of the first motor; When the torque of the first motor does not meet the required torque of the mechanical input shaft, reducing the current torque of the engine to obtain the target torque of the engine; Determining whether the required torque of the mechanical input shaft is met based on the required torque of the first motor and the target torque of the engine; When the first motor required torque and the engine target torque meet the required torque of the mechanical input shaft, the current torque of the clutch is reduced to a preset torque to switch the current vehicle operating mode to the target vehicle operating mode.

6. A mode switching control device, characterized in that: The control device for mode switching comprises: a determination module, configured to determine a target vehicle operation mode according to a current vehicle speed and a current torque of the hybrid vehicle; The determination module is further configured to determine a current vehicle operation mode according to current driving parameters of the hybrid vehicle; A switching module, configured to switch the current vehicle operating mode according to the target vehicle operating mode through a clutch control strategy; The current vehicle operation mode is a series mode, and the target vehicle operation mode is a parallel mode; the switching module is further used to determine a target clutch active end speed regulation range according to the engine speed, the first motor speed and the current vehicle speed; the speed of the clutch input shaft is adjusted by the target clutch active end speed regulation range until the speed of the clutch input shaft is consistent with the speed of the clutch output shaft; after the adjustment is completed, the current torque of the clutch is obtained; the current torque is adjusted according to the required torque of the mechanical input shaft through the clutch control strategy, so as to switch the current vehicle operation mode to the target vehicle operation mode; The switching module is also used to obtain the target shaft speed according to the rotational speed, shaft speed ratio and compensation parameters of the mechanical output shaft; obtain the current actual rotational speed and moment of inertia of the mechanical input shaft; obtain the first torque and the second torque according to the current actual rotational speed and the target shaft speed; calculate according to the moment of inertia of the mechanical input shaft and the rate of change of the target shaft speed to obtain the third torque; calculate according to the first torque, the second torque and the third torque to obtain the required torque of the mechanical input shaft.

7. A mode switching control device, characterized in that: The mode switching control device includes: a memory, a processor, and a mode switching control program stored in the memory and executable on the processor, wherein the mode switching control program is configured with a mode switching control method according to any one of claims 1 to 5.

8. A storage medium, characterized in that: The storage medium stores a mode switching control program, and when the mode switching control program is executed by the processor, the mode switching control method according to any one of claims 1 to 5 is implemented.

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