Hybrid vehicle control method, device, storage medium and hybrid vehicle

Abstract

The present disclosure relates to a hybrid vehicle control method, device, storage medium and hybrid vehicle, so as to solve the problem of large torque output fluctuation of the hybrid vehicle when there is intervention torque. It includes: determining the target intervention torque from the received intervention torque; calculating the fire circuit demand torque and the gas circuit demand torque according to the target intervention torque; determining whether the fire circuit intervention is activated according to the difference between the fire circuit demand torque and the whole vehicle demand torque, and determining whether the gas circuit intervention is activated according to the difference between the gas circuit demand torque and the whole vehicle demand torque; determining the response intervention torque according to the fire circuit and gas circuit demand torque, the fire circuit intervention and the gas circuit intervention activation state, the current motor torque and the vehicle driving mode; determining the required intervention torque of the engine and / or the drive motor according to the response intervention torque, and controlling the engine and / or the drive motor to operate with the required intervention torque as the target torque. In order to reduce the torque output fluctuation of the whole vehicle when there is intervention torque.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle engineering technology, and in particular, to a hybrid vehicle control method, device, storage medium and hybrid vehicle. Background Art

[0002] A hybrid vehicle (HEV) is a vehicle equipped with a drive motor and an engine. During the driving process of the vehicle, it may be subject to the intervention torque of other control systems. If the engine is relied upon to respond to the intervention torque, the torque control accuracy is low due to the inherent structure of the engine, so the response torque output is not accurate, and the engine needs to control the speed change to respond to the torque change, and the response time is long (slow response speed), which may lead to low vehicle driving stability.

[0003] In the related technology, in order to improve the response speed and output torque accuracy, the response torque of the drive motor and the engine is initially distributed according to the intervention torque of the Electronic Stability Program (ESP) to meet the engine torque request and ensure that the engine operates at the optimal operating point; and on the basis of the initial distribution, it is determined whether the initially distributed motor response torque exceeds the maximum output torque of the drive motor. If it exceeds the maximum output torque of the drive motor, the engine is controlled to coordinate with the drive motor to respond to the arbitrated torque. Summary of the invention

[0004] The purpose of the present disclosure is to provide a hybrid vehicle control method, device, storage medium and hybrid vehicle to solve the problem of large fluctuation in the torque output of the hybrid vehicle when there is intervention torque in the related art.

[0005] In order to achieve the above objective, a first aspect of an embodiment of the present disclosure provides a hybrid vehicle control method, comprising:

[0006] determining a target intervention torque from the received intervention torque;

[0007] Calculating the fire circuit required torque and the gas circuit required torque according to the target intervention torque;

[0008] determining whether the fire circuit intervention is activated according to the difference between the fire circuit required torque and the vehicle required torque, and determining whether the gas circuit intervention is activated according to the difference between the gas circuit required torque and the vehicle required torque;

[0009] determining a response intervention torque of the hybrid vehicle according to the fire circuit required torque, the gas circuit required torque, the activation state of the fire circuit intervention, the activation state of the gas circuit intervention, the current motor torque of the drive motor, and the driving mode of the hybrid vehicle;

[0010] The required intervention torque of the engine and / or the drive motor of the hybrid vehicle is determined according to the response intervention torque, and the engine and / or the drive motor are controlled to operate with the required intervention torque as the target torque.

[0011] Optionally, determining the response intervention torque of the hybrid vehicle according to the fire circuit required torque, the gas circuit required torque, the activation state of the fire circuit intervention, the activation state of the gas circuit intervention, and the driving mode of the hybrid vehicle includes:

[0012] When the fire-road intervention is in an activated state, determining the response intervention torque of the hybrid vehicle to be the fire-road demand torque;

[0013] When the gas circuit intervention is in an activated state and the driving mode of the hybrid vehicle is a hybrid mode, a response intervention torque of the hybrid vehicle is determined to be the gas circuit required torque.

[0014] Optionally, determining the required intervention torque of the engine and / or the drive motor of the hybrid vehicle according to the response intervention torque includes:

[0015] In a case where the response intervention torque is the fire circuit required torque, determining the required intervention motor torque of the drive motor according to the fire circuit required torque;

[0016] The controlling the operation of the engine and / or the drive motor by taking the required intervention torque as the target torque includes: controlling the operation of the drive motor by taking the required intervention motor torque as the target motor torque.

[0017] Optionally, determining the required intervention motor torque of the drive motor according to the required torque of the fire circuit includes:

[0018] Determining a current torque range of the drive motor according to a power system state of the hybrid vehicle;

[0019] In the case where it is determined that the fire circuit required torque exceeds the current torque range of the drive motor, determining the extreme value of the torque range closest to the fire circuit required torque as the required intervention motor torque of the drive motor;

[0020] When it is determined that the fire circuit required torque is within the current torque range of the drive motor, the fire circuit required torque is determined to be the required intervention motor torque of the drive motor.

[0021] Optionally, the method further comprises:

[0022] In the case where it is determined that the extreme value of the torque range closest to the fire circuit demand torque is the demand intervention motor torque of the drive motor, determining the demand engine intervention torque according to the demand torque of the fire circuit demand torque exceeding the extreme value of the torque range closest to the fire circuit demand torque;

[0023] The step of determining the required intervention torque of the engine and / or the drive motor of the hybrid vehicle according to the response intervention torque includes:

[0024] When the hybrid vehicle is in a hybrid mode, determining the fire circuit required intervention torque of the engine according to the required engine intervention torque and the current engine torque of the engine; or,

[0025] When the hybrid vehicle is in a pure electric mode, starting the engine of the hybrid vehicle in a fire circuit control mode, and determining the required engine intervention torque as the fire circuit required intervention torque of the engine;

[0026] The controlling the engine and / or the driving motor to operate with the required intervention torque as the target torque includes:

[0027] The engine is controlled to operate with the fire circuit required intervention torque as the target fire circuit torque of the engine, and the drive motor is controlled to operate with the required intervention motor torque as the target motor torque.

[0028] Optionally, determining the required intervention torque of the engine and / or the drive motor of the hybrid vehicle according to the response intervention torque includes:

[0029] In a case where the response intervention torque is the gas circuit demand torque, determining that the engine control mode of the engine is a gas circuit control mode;

[0030] Determining the gas circuit demand intervention torque under the gas circuit control mode according to the gas circuit demand torque, the vehicle demand torque and the current engine torque of the engine;

[0031] The controlling the engine and / or the driving motor to operate with the required intervention torque as the target torque includes:

[0032] The engine is controlled to operate by taking the gas circuit demand intervention torque as the target gas circuit torque of the engine, and the drive motor is controlled to operate by maintaining the current motor torque of the drive motor.

[0033] Optionally, determining the target intervention torque from the received intervention torque comprises:

[0034] Prioritizing various sources of the intervention torque in advance;

[0035] When there are at least two sources of the intervention torque received, determining the intervention torque sent by the source with the highest priority as the target intervention torque;

[0036] When there is only one source of the received intervention torque, the intervention torque sent by the source is determined as the target intervention torque.

[0037] According to a second aspect of the embodiments of the present disclosure, a hybrid vehicle control device is provided, comprising:

[0038] A first determination module, configured to determine a target intervention torque from the received intervention torque;

[0039] A calculation module, used for calculating the fire circuit demand torque and the gas circuit demand torque according to the target intervention torque;

[0040] A second determination module, configured to determine whether the fire circuit intervention is activated according to the difference between the fire circuit required torque and the vehicle required torque, and to determine whether the gas circuit intervention is activated according to the difference between the gas circuit required torque and the vehicle required torque;

[0041] a third determination module, configured to determine a response intervention torque of the hybrid vehicle according to the fire circuit required torque, the gas circuit required torque, the activation state of the fire circuit intervention, the activation state of the gas circuit intervention, the current motor torque of the drive motor, and the driving mode of the hybrid vehicle;

[0042] A control module is used to determine a required intervention torque of the engine and / or the drive motor of the hybrid vehicle according to the response intervention torque, and control the operation of the engine and / or the drive motor with the required intervention torque as a target torque.

[0043] Optionally, the third determination module is used to determine the response intervention torque of the hybrid vehicle as the fire-road required torque when the fire-road intervention is in an activated state;

[0044] When the gas circuit intervention is in an activated state and the driving mode of the hybrid vehicle is a hybrid mode, a response intervention torque of the hybrid vehicle is determined to be the gas circuit required torque.

[0045] Optionally, the third determination module is used to determine the required intervention motor torque of the drive motor according to the fire circuit required torque when the response intervention torque is the fire circuit required torque;

[0046] The control module is used to control the operation of the drive motor with the required intervention motor torque as the target motor torque.

[0047] Optionally, the third determination module is used to determine the current torque range of the drive motor according to the power system state of the hybrid vehicle;

[0048] In the case where it is determined that the fire circuit required torque exceeds the current torque range of the drive motor, determining the extreme value of the torque range closest to the fire circuit required torque as the required intervention motor torque of the drive motor;

[0049] When it is determined that the fire circuit required torque is within the current torque range of the drive motor, the fire circuit required torque is determined to be the required intervention motor torque of the drive motor.

[0050] Optionally, the third determination module is further configured to determine the required engine intervention torque according to the required torque of the fire circuit demand torque exceeding the extreme value of the torque range closest to the demand torque of the fire circuit, when it is determined that the extreme value of the torque range closest to the demand torque of the drive motor is the demand intervention motor torque of the drive motor;

[0051] The control module is used to determine the fire circuit required intervention torque of the engine according to the required engine intervention torque and the current engine torque of the engine when the hybrid vehicle is in the hybrid mode; or

[0052] When the hybrid vehicle is in a pure electric mode, the engine of the hybrid vehicle is started in a fire circuit control mode, and the required engine intervention torque is determined to be the fire circuit required intervention torque of the engine; and,

[0053] The engine is controlled to operate with the fire circuit required intervention torque as the target fire circuit torque of the engine, and the drive motor is controlled to operate with the required intervention motor torque as the target motor torque.

[0054] Optionally, the control module is used to determine that the engine control mode of the engine is the gas circuit control mode when the response intervention torque is the gas circuit demand torque;

[0055] Determine the gas circuit demand intervention torque under the gas circuit control mode according to the gas circuit demand torque, the vehicle demand torque and the current engine torque of the engine; and,

[0056] The engine is controlled to operate by taking the gas circuit demand intervention torque as the target gas circuit torque of the engine, and the drive motor is controlled to operate by maintaining the current motor torque of the drive motor.

[0057] Optionally, the first determination module is used to pre-set the priority of each source of the intervention torque;

[0058] When there are at least two sources of the intervention torque received, determining the intervention torque sent by the source with the highest priority as the target intervention torque;

[0059] When there is only one source of the received intervention torque, the intervention torque sent by the source is determined as the target intervention torque.

[0060] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0061] According to a fourth aspect of an embodiment of the present disclosure, a hybrid vehicle is provided, comprising a controller, wherein the controller comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of any one of the methods described in the first aspect are implemented.

[0062] Through the above technical solution, at least the following technical effects can be achieved:

[0063] By determining the target intervention torque from the received intervention torque; calculating the fire circuit demand torque and the gas circuit demand torque according to the target intervention torque; determining whether the fire circuit intervention is activated according to the difference between the fire circuit demand torque and the whole vehicle demand torque, and determining whether the gas circuit intervention is activated according to the difference between the gas circuit demand torque and the whole vehicle demand torque; determining the response intervention torque according to the fire circuit and gas circuit demand torque, the activation state of the fire circuit intervention and the gas circuit intervention, the current motor torque and the vehicle driving mode; determining the required intervention torque of the engine and / or the drive motor according to the response intervention torque, and controlling the operation of the engine and / or the drive motor with the required intervention torque as the target torque. In this way, the activation of the fire circuit or the gas circuit intervention is determined based on the target intervention torque, the control mode of the current motor torque, such as determining the speed control or torque control of the drive motor, and the driving mode of the vehicle, such as the pure electric mode or the hybrid mode, and determining the response intervention torque of the engine and / or the drive motor, so that the intervention torque can be quickly responded to during the driving mode switching process and the driving motor control mode switching process, so as to avoid affecting the power performance of the whole vehicle and improve the driving safety of the vehicle.

[0064] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0066] Figure 1A flow chart of a hybrid vehicle control method provided for the implementation of the present disclosure.

[0067] Figure 2 A flow chart of another hybrid vehicle control method provided for the implementation of the present disclosure.

[0068] Figure 3 An implementation provided for the present disclosure Figure 2 Flowchart of step S151 in FIG.

[0069] Figure 4 Another implementation provided for the present disclosure Figure 2 Flowchart of step S151 in FIG.

[0070] Figure 5 Another implementation provided for the present disclosure Figure 1 Flowchart of step S15 in FIG.

[0071] Figure 6 A flow chart of another hybrid vehicle control method provided for the implementation of the present disclosure.

[0072] Figure 7 A block diagram of a hybrid vehicle control device provided for implementation of the present disclosure.

[0073] Figure 8 A schematic diagram of the structure of a computing and processing device provided in an embodiment of the present disclosure.

[0074] Fig. 9 A schematic diagram of a storage unit for portable or fixed program code implementation of the method according to the present invention provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0075] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0076] It should be noted that in the present disclosure, the terms "first", "second", etc. in the specification, claims and drawings are used to distinguish similar objects, and are not necessarily understood as describing a specific order or sequence. Similarly, the terms "S141", "S142", etc. are used to distinguish method steps, and are not necessarily understood as describing a specific execution order.

[0077] In the related art, the intervention torque is preferentially responded to by the drive motor. When the intervention torque exceeds the output torque range of the drive motor, the engine bears the intervention torque exceeding the maximum output torque. However, the inventors have found that if the vehicle has a power mode switch, when the engine or drive motor operating condition switches, for example, when the vehicle switches from pure electric mode to hybrid mode, the drive motor is in the process of switching between speed control and torque control, and cannot respond quickly to the intervention torque, which may cause fluctuations in the torque output of the engine and the drive motor. In severe cases, the torque output of the engine or the drive motor may be interrupted, resulting in low power performance of the entire vehicle and affecting the driving safety of the vehicle.

[0078] In view of this, an embodiment of the present disclosure provides a hybrid vehicle control method. Figure 1 A flow chart of a hybrid vehicle control method provided for the implementation of the present disclosure, such as Figure 1 As shown, the method includes the following steps.

[0079] In step S11 , a target intervention torque is determined from the received intervention torque.

[0080] The sources of intervention torque include transmission controller and vehicle stability electronic system controller, etc. In specific implementation, each source of intervention torque is prioritized, so that when there are at least two sources of intervention torque received, the intervention torque sent by the source with the highest priority is determined as the target intervention torque; when there is only one source of intervention torque received, the intervention torque sent by the source is determined as the target intervention torque.

[0081] In some specific embodiments, the priority of the transmission controller is set higher than that of the vehicle stability electronic system controller. When the sources of the received intervention torque include the transmission controller and the vehicle stability electronic system controller, the intervention torque sent by the transmission controller is used as the target intervention torque.

[0082] Furthermore, when the intervention torque is sourced from the vehicle stability electronic system controller, the intervention torque sent by the vehicle stability electronic system controller is used as the target intervention torque.

[0083] The intervention torque sent by the transmission controller includes a torque reduction target value, and the intervention torque of the vehicle body stability electronic system controller may include a torque reduction target value and / or a torque increase target value.

[0084] In specific implementation, if the vehicle controller receives intervention torques from the transmission controller and the body stability electronic system controller at the same time, the vehicle controller uses the intervention torque sent by the transmission controller as the target intervention torque, and invalidates and deletes the intervention torque sent by the body stability electronic system controller.

[0085] If the vehicle controller only receives the intervention torque from the body stability electronic system controller, the vehicle controller takes the intervention torque sent by the body stability electronic system controller as the target intervention torque. When the intervention torque sent by the body stability electronic system controller includes a torque increase target value and a torque reduction target value, the torque reduction target value is taken as the target intervention torque, and the torque increase target value is set to invalid and deleted.

[0086] In step S12, the fire circuit required torque and the gas circuit required torque are calculated according to the target intervention torque.

[0087] The fire circuit demand torque is the vehicle demand torque when fire circuit intervention is considered; the gas circuit demand torque is the vehicle demand torque when gas circuit intervention is considered. In a specific embodiment, the sources of the received intervention torque include a transmission controller and a vehicle stability electronic system controller. At this time, the fire circuit demand torque and the gas circuit demand torque are calculated by the following formula:

[0088] TqVehSlowIntv=min(min(max(TqVeh, TqESPSlowInc), TqESPSlowDec), TqTCUSlowDec)

[0089] TqVehFastIntv=min(min(max(TqVeh, TqESPFastInc), TqESPFastDec), TqTCUFastDec)

[0090] Among them, TqVeh is the required torque of the whole vehicle, TqESPSlowInc is the gas circuit torque increase target value sent by ESP, TqESPSlowDec is the gas circuit torque reduction target value sent by ESP, TqTCUSlowDec is the gas circuit torque reduction target value sent by TCU (Transmission Control Unit), TqVehSlowIntv is the gas circuit required torque, TqESPFastInc is the fire circuit torque increase target value sent by ESP, TqESPFastDec is the fire circuit torque reduction target value sent by ESP, TqTCUFastDec is the fire circuit torque reduction target value sent by TCU, and TqVehFastIntv is the fire circuit required torque.

[0091] In step S13 , it is determined whether the fire circuit intervention is activated according to the difference between the fire circuit required torque and the vehicle required torque, and it is determined whether the gas circuit intervention is activated according to the difference between the gas circuit required torque and the vehicle required torque.

[0092] Among them, fire circuit intervention is a method of achieving torque coordination by intervening in the ignition advance angle; gas circuit intervention is a method of adjusting the torque by adjusting the throttle size, thereby changing the intake volume in the cylinder and controlling the injection volume.

[0093] In some specific embodiments, when the difference between the fire circuit demand torque and the whole vehicle demand torque is not 0, the fire circuit intervention is determined to be activated; when the difference between the fire circuit demand torque and the whole vehicle demand torque is 0, the fire circuit intervention is determined to be inactivated. When the difference between the gas circuit demand torque and the whole vehicle demand torque is not 0, the gas circuit intervention is determined to be activated; when the difference between the gas circuit demand torque and the whole vehicle demand torque is 0, the gas circuit intervention is determined to be inactivated. Specifically, whether the fire circuit intervention and the gas circuit intervention are activated can be determined respectively by the following formulas:

[0094] TqEngDif1=TqVehSlowIntv–TqVeh

[0095] TqEngDif2=TqVehFastIntv-TqVeh

[0096] Among them, TqEngDif1 is the change in vehicle torque when considering gas circuit intervention, TqEngDif2 is the change in vehicle required torque when considering fire circuit intervention, and TqVeh is the required torque of the vehicle. When TqEngDif1 is not equal to 0, the gas circuit intervention flag position is 1, and the gas circuit intervention is activated; when TqEngDif1 is equal to 0, the gas circuit intervention flag position is 0, and the gas circuit intervention is not activated. When TqEngDif2 is not equal to 0, the fire circuit intervention flag position is 1, and the fire circuit intervention is activated; when TqEngDif2 is equal to 0, the fire circuit intervention flag position is otherwise 0, and the fire circuit intervention is not activated.

[0097] In step S14 , the response intervention torque of the hybrid vehicle is determined according to the required torque of the fire circuit, the required torque of the gas circuit, the activation state of the fire circuit intervention, the activation state of the gas circuit intervention, the current motor torque of the drive motor and the driving mode of the hybrid vehicle.

[0098] Specifically, when the current driving mode of the hybrid vehicle is the pure electric mode, in the state where the fire-circuit intervention is activated, the fire-circuit required torque is determined to be the response intervention torque of the hybrid vehicle, and the gas circuit intervention is determined to be inactivated, and the gas circuit required torque is not responded to, and when the fire-circuit intervention is activated, it is determined whether the fire-circuit required torque is within the torque range of the current drive motor, and when the fire-circuit required torque exceeds the torque range, it is determined that the driving mode of the hybrid vehicle is switched to the hybrid mode, the engine of the hybrid vehicle is controlled to start, and the difference between the fire-circuit required torque and the extreme value of the torque range is the required engine intervention torque of the engine. At the same time, it is determined that the engine is started in the coordinated control mode of the fire-circuit control.

[0099] When the current driving mode of the hybrid vehicle is the pure electric mode and the gas circuit intervention is activated, the gas circuit demand torque is determined to be the response intervention torque of the hybrid vehicle and the fire circuit intervention is determined to be inactive. The fire circuit demand torque is not responded to, the current motor torque is maintained, and the gas circuit demand torque is used as the engine demand engine intervention torque. At the same time, it is determined that the engine is started in the coordinated control mode of gas circuit control.

[0100] When the current driving mode of the hybrid vehicle is the hybrid mode, and the fire-circuit intervention is activated, the fire-circuit required torque is determined to be the response intervention torque of the hybrid vehicle, and the gas circuit intervention is determined to be inactivated, and the gas circuit required torque is not responded to. If the fire-circuit required torque exceeds the torque range, the driving mode of the hybrid vehicle is determined to remain in the hybrid mode, and the difference between the fire-circuit required torque and the extreme value of the torque range is the required engine intervention torque of the engine. At the same time, it is determined that the engine responds to the required engine intervention torque in the coordinated control mode of the fire-circuit control, that is, the ignition advance angle is adjusted.

[0101] When the current driving mode of the hybrid vehicle is the hybrid mode and the gas circuit intervention is activated, the gas circuit demand torque is determined to be the response intervention torque of the hybrid vehicle and the fire circuit intervention is determined to be inactive. The fire circuit demand torque is not responded to, the current motor torque is maintained, the gas circuit demand torque is used as the engine demand engine intervention torque, and the engine's coordinated control mode is determined to be gas circuit control, that is, the throttle size is adjusted.

[0102] Figure 2 A flow chart of another hybrid vehicle control method provided for the implementation of the present disclosure. In step S14, the response intervention torque of the hybrid vehicle is determined according to the fire circuit demand torque, the gas circuit demand torque, the activation state of the fire circuit intervention, the activation state of the gas circuit intervention, and the driving mode of the hybrid vehicle, including:

[0103] In step S141 , when the fire-road intervention is in an activated state, the response intervention torque of the hybrid vehicle is determined to be the fire-road required torque.

[0104] In step S142 , when the gas circuit intervention is in an activated state and the driving mode of the hybrid vehicle is a hybrid mode, it is determined that the response intervention torque of the hybrid vehicle is the gas circuit required torque.

[0105] When the driving mode of the hybrid vehicle is the pure electric mode, it is determined that the hybrid vehicle does not respond to the gas circuit demand torque, that is, the engine is kept in a stopped state and the current output torque of the drive motor is maintained.

[0106] In step S15 , the required intervention torque of the engine and / or the drive motor of the hybrid vehicle is determined according to the response intervention torque, and the engine and / or the drive motor are controlled to operate with the required intervention torque as the target torque.

[0107] When the response torque is the fire circuit required torque, the required intervention torque of the drive motor of the hybrid vehicle is first determined, and then when the driving capacity of the drive motor is insufficient, the required intervention torque of the engine of the hybrid vehicle is determined.

[0108] In the case where the response torque is the gas circuit demand torque, the required intervention torque of the hybrid vehicle's engine is determined, and the engine operation is controlled with the required intervention torque as the target torque, while the drive motor does not respond to the intervention torque and maintains the original motor torque operation. In the case where the response torque is the gas circuit demand torque, the determined engine demand intervention torque is equal to the engine torque demand TqEngReq plus the vehicle torque change TqEngDif1 during gas circuit intervention.

[0109] Based on the above embodiments, see Figure 2 As shown, in step S15, determining the required intervention torque of the engine and / or the drive motor of the hybrid vehicle according to the response intervention torque includes:

[0110] In step S151 , when the response intervention torque is the fire circuit required torque, the required intervention motor torque of the drive motor is determined according to the fire circuit required torque.

[0111] When the response intervention torque is the fire circuit demand torque, the fire circuit demand torque is used as the demand intervention motor torque of the drive motor. For example, when the fire circuit demand torque is 400 Nm, the demand intervention motor torque of the drive motor is determined to be 400 Nm.

[0112] In step S152 , the drive motor is controlled to operate with the required intervention motor torque as the target motor torque.

[0113] Based on the above embodiments, Figure 3 An implementation provided for the present disclosure Figure 2 In step S151, the step of determining the required intervention motor torque of the drive motor according to the required torque of the fire circuit includes:

[0114] In step S1511, the current torque range of the drive motor is determined according to the power system state of the hybrid vehicle.

[0115] In step S1512, when it is determined that the required torque of the fire circuit exceeds the current torque range of the driving motor, the extreme value of the torque range closest to the required torque of the fire circuit is determined as the required intervention motor torque of the driving motor.

[0116] In step S1513 , when it is determined that the fire circuit required torque is within the current torque range of the driving motor, the fire circuit required torque is determined to be the required intervention motor torque of the driving motor.

[0117] Specifically, the current torque range of the drive motor is used to characterize the range between the maximum torque and the minimum torque that the drive motor can provide under the current power system state conditions; for example, the motor controller calculates the maximum torque and the minimum torque of the drive motor according to the current battery charge state, and the range between the maximum torque and the minimum torque is the current torque range of the drive motor. In the case where the intervention torque is a torque reduction intervention torque, that is, the motor response intervention torque is a negative value, it is determined whether the sum of the motor response intervention torque and the initial required motor torque is within the torque range. In the case of exceeding the torque range, the closest extreme value of the torque range is determined to be the required intervention motor torque of the drive motor.

[0118] For example, when the motor response intervention torque is -100 Nm and the initial required motor torque is 400 Nm, if the torque range is 30-280 Nm, the sum of the motor response intervention torque and the initial required motor torque is determined to be 300 Nm, and if the torque range is beyond 30-280 Nm, the extreme value of the torque range closest to 300 Nm, 280 Nm, is the required intervention motor torque of the drive motor. If the torque range is 30-380 Nm, the sum of the motor response intervention torque and the initial required motor torque, 300 Nm, is determined to be the required intervention motor torque of the drive motor.

[0119] Based on the above embodiments, Figure 4 Another implementation provided for the present disclosure Figure 2 In step S151, when the response intervention torque is the fire circuit demand torque, determining the required intervention motor torque of the drive motor according to the fire circuit demand torque includes:

[0120] In step S1514, when it is determined that the extreme value of the torque range closest to the fire circuit required torque is the required intervention motor torque of the drive motor, the required engine intervention torque is determined according to the required torque that exceeds the extreme value of the torque range closest to the fire circuit required torque.

[0121] In step S15, determining the required intervention torque of the engine and / or the drive motor of the hybrid vehicle according to the response intervention torque further includes:

[0122] In step S1515, when the hybrid vehicle is in the hybrid mode, the required engine intervention torque of the engine is determined according to the required engine intervention torque and the current engine torque of the engine; or,

[0123] In step S1516, when the hybrid vehicle is in the pure electric mode, the engine of the hybrid vehicle is started in the fire-circuit control mode, and the required engine intervention torque is determined to be the fire-circuit required intervention torque of the engine.

[0124] In step S15, controlling the engine and / or the drive motor to operate with the required intervention torque as the target torque includes:

[0125] In step S1517 , the engine operation is controlled with the fire circuit required intervention torque as the target fire circuit torque of the engine, and the drive motor operation is controlled with the required intervention motor torque as the target motor torque.

[0126] When the vehicle controller determines that the engine of the hybrid vehicle is started in the fire-circuit control mode, the hybrid state flag is set to 1 and the clutch is switched to the engaged state. The engine controller can respond to the action of the hybrid state flag position 1 and control the engine to start in the fire-circuit control mode.

[0127] It can be explained here that when the hybrid vehicle switches to pure electric mode, the vehicle controller sets the hybrid state flag to 0 and controls the clutch to switch to the disengaged state, and the engine controller can respond to the action of the hybrid state flag position 0 to control the engine to shut down.

[0128] Based on the above embodiments, Figure 5 Another implementation provided for the present disclosure Figure 1 In step S15, determining the required intervention torque of the engine and / or the drive motor of the hybrid vehicle according to the response intervention torque includes:

[0129] In step S1501, when the response intervention torque is the gas path demand torque, it is determined that the engine control mode of the engine is the gas path control mode.

[0130] In step S1502, the gas circuit demand intervention torque in the gas circuit control mode is determined according to the gas circuit demand torque, the vehicle demand torque and the current engine torque of the engine.

[0131] In step S1503, the engine operation is controlled by taking the gas circuit demand intervention torque as the target gas circuit torque of the engine, and the drive motor operation is controlled by maintaining the current motor torque of the drive motor.

[0132] In specific implementation, during the driving process of the hybrid vehicle, the vehicle's required torque is calculated, and the optimal operating point of the engine is considered to obtain the motor torque of the motor adjusting the engine load point in the hybrid mode. The engine required torque is obtained by subtracting the motor torque from the vehicle's required torque.

[0133] Taking into account the driving requirements of the vehicle and the impact of starting, idling, and normal driving conditions on the vehicle's required torque, the vehicle's required torque and engine torque are filtered to ensure the smoothness of the engine torque and the vehicle's required torque, thereby improving the smoothness of the engine output torque and the motor output torque.

[0134] Specifically, the vehicle demand torque and the engine torque are first-order filtered to obtain the filtered vehicle demand torque and the filtered engine torque, and the difference between the filtered vehicle demand torque and the filtered engine torque is used as the motor torque. That is, TqEmLmd = TqVehLmd - TqEngLmd, where TqEmLmd is the motor torque, TqVehLmd is the filtered vehicle demand torque, and TqEngLmd is the filtered engine torque.

[0135] When the hybrid vehicle is in hybrid mode, since the engine torque change is a gradual process, the engine cannot quickly respond to the torque change sent by the VCU to the ECM, and the motor responds to the torque change.

[0136] Specifically, the compensation torque TqEmBoost is determined by the difference between the current vehicle demand torque and the vehicle demand torque at the previous moment. The coordinated motor demand torque TqEmCood is equal to the filtered motor torque TqEmLmd plus the compensation torque TqEmBoost, that is, TqEmCood=TqEmLmd+TqEmBoost, and as the engine torque gradually changes, the compensation torque of the motor gradually decreases, and the compensation torque of the engine gradually increases until the optimal operating point of the engine is reached.

[0137] When the hybrid vehicle is in hybrid mode, the engine is in shutdown state and does not provide engine torque. The filtered motor torque demand is equal to the filtered vehicle torque demand. When the torque changes, the drive motor responds to the torque change. In this way, the torque mutation caused by starting and idling conditions can be reduced, the influence of slow engine response speed can be eliminated, the reasonable distribution of the vehicle torque demand can be ensured, and the vehicle power requirements can be met.

[0138] The above technical solution determines the target intervention torque from the received intervention torque; calculates the fire circuit demand torque and the gas circuit demand torque according to the target intervention torque; determines whether the fire circuit intervention is activated according to the difference between the fire circuit demand torque and the vehicle demand torque, and determines whether the gas circuit intervention is activated according to the difference between the gas circuit demand torque and the vehicle demand torque; determines the response intervention torque according to the fire circuit and gas circuit demand torque, the activation state of the fire circuit intervention and the gas circuit intervention, the current motor torque and the vehicle driving mode; determines the required intervention torque of the engine and / or the drive motor according to the response intervention torque, and controls the operation of the engine and / or the drive motor with the required intervention torque as the target torque. In this way, the activation of the fire circuit or the gas circuit intervention is determined based on the target intervention torque, the control mode of the current motor torque, such as determining the speed control or torque control of the drive motor, and the driving mode of the vehicle, such as the pure electric mode or the hybrid mode, and determines the response intervention torque of the engine and / or the drive motor, so that the intervention torque can be quickly responded to during the driving mode switching process and the driving motor control mode switching process to avoid affecting the power performance of the whole vehicle, thereby improving the driving safety of the vehicle.

[0139] Figure 6 A flow chart of another hybrid vehicle control method provided for the implementation of the present disclosure. Figure 6 As shown, the vehicle controller calculates the vehicle required torque based on the vehicle information, determines whether to activate the hybrid mode flag, and allocates the vehicle required torque based on the engine's optimal operating point and the hybrid mode flag. When the hybrid mode flag is at position 1, the clutch is engaged and the vehicle's driving mode is hybrid mode; when the hybrid mode flag is at position 0, the clutch is disengaged and the vehicle's driving mode is pure electric mode.

[0140] Furthermore, by filtering the vehicle demand torque and the engine torque and redistributing the filtered vehicle demand torque, the compensation torque of the motor to the engine torque can be determined, thereby reducing torque output fluctuations when the vehicle starts.

[0141] Further, the target intervention torque is determined according to the TCU intervention torque and the ESP intervention torque, and the motor response intervention torque and the engine response intervention torque are calculated. In the case of the transmission controller TCU intervention torque and / or the vehicle stability system controller ESP intervention torque, the TCU intervention torque is determined as the target intervention torque, and in the case of only the vehicle stability system controller ESP intervention torque, the ESP intervention torque is determined as the target intervention torque.

[0142] Based on the same inventive concept, the disclosed embodiment also provides a hybrid vehicle control device for executing the steps of the hybrid vehicle control method provided in the above embodiment. The device can implement the hybrid vehicle control method in the form of software, hardware, or a combination of both. Figure 7 A block diagram of a hybrid vehicle control device 100 provided for implementation of the present disclosure is shown in FIG. Figure 7 As shown, the device 100 includes: a first determination module 110 , a calculation module 120 , a second determination module 130 , a third determination module 140 and a control module 150 .

[0143] The first determination module 110 is used to determine the target intervention torque from the received intervention torque;

[0144] A calculation module 120, configured to calculate a fire circuit required torque and a gas circuit required torque according to the target intervention torque;

[0145] A second determination module 130, configured to determine whether the fire circuit intervention is activated according to the difference between the fire circuit required torque and the vehicle required torque, and to determine whether the gas circuit intervention is activated according to the difference between the gas circuit required torque and the vehicle required torque;

[0146] a third determination module 140, configured to determine a response intervention torque of the hybrid vehicle according to the fire circuit required torque, the gas circuit required torque, the activation state of the fire circuit intervention, the activation state of the gas circuit intervention, the current motor torque of the drive motor, and the driving mode of the hybrid vehicle;

[0147] The control module 150 is used to determine the required intervention torque of the engine and / or the drive motor of the hybrid vehicle according to the response intervention torque, and control the operation of the engine and / or the drive motor with the required intervention torque as the target torque.

[0148] The above device determines the activation of the fire circuit or gas circuit intervention based on the target intervention torque, the current motor torque control mode, such as determining the drive motor speed control or torque control, and the vehicle drive mode, such as pure electric mode or hybrid mode, and determines the response intervention torque of the engine and / or drive motor, and can quickly respond to the intervention torque during the drive mode switching process and the drive motor control mode switching process. In turn, the vehicle power performance and driving safety can be improved.

[0149] Optionally, the third determination module 140 is configured to determine that the response intervention torque of the hybrid vehicle is the fire circuit required torque when the fire circuit intervention is in an activated state and the torque difference between the fire circuit required torque and the current motor torque of the drive motor exceeds a preset threshold range;

[0150] When the gas circuit intervention is in an activated state, the torque difference between the fire circuit demand torque and the current motor torque of the drive motor is within the preset threshold range, and the driving mode of the hybrid vehicle is a hybrid mode, the response intervention torque of the hybrid vehicle is determined to be the gas circuit demand torque.

[0151] Optionally, the third determination module 140 is configured to determine the required intervention motor torque of the drive motor according to the fire circuit required torque when the response intervention torque is the fire circuit required torque;

[0152] The control module 150 is used to control the operation of the drive motor with the required intervention motor torque as the target motor torque.

[0153] Optionally, the third determination module 140 is used to determine the current torque range of the driving motor according to the power system state of the hybrid vehicle;

[0154] In the case where it is determined that the fire circuit required torque exceeds the current torque range of the drive motor, determining the extreme value of the torque range closest to the fire circuit required torque as the required intervention motor torque of the drive motor;

[0155] When it is determined that the fire circuit required torque is within the current torque range of the drive motor, the fire circuit required torque is determined to be the required intervention motor torque of the drive motor.

[0156] Optionally, the third determination module 140 is further configured to determine the required engine intervention torque according to the required torque of the fire circuit demand torque exceeding the extreme value of the torque range closest to the demand torque of the fire circuit, when it is determined that the extreme value of the torque range closest to the demand torque of the drive motor is the demand intervention motor torque of the drive motor;

[0157] The control module 150 is used to determine the fire circuit required intervention torque of the engine according to the required engine intervention torque and the current engine torque of the engine when the hybrid vehicle is in the hybrid mode; or

[0158] When the hybrid vehicle is in a pure electric mode, the engine of the hybrid vehicle is started in a fire circuit control mode, and the required engine intervention torque is determined to be the fire circuit required intervention torque of the engine; and,

[0159] The engine is controlled to operate with the fire circuit required intervention torque as the target fire circuit torque of the engine, and the drive motor is controlled to operate with the required intervention motor torque as the target motor torque.

[0160] Optionally, the control module 150 is configured to determine that the engine control mode of the engine is a gas circuit control mode when the response intervention torque is the gas circuit demand torque;

[0161] Determine the gas circuit demand intervention torque under the gas circuit control mode according to the gas circuit demand torque, the vehicle demand torque and the current engine torque of the engine; and,

[0162] The engine is controlled to operate by taking the gas circuit demand intervention torque as the target gas circuit torque of the engine, and the drive motor is controlled to operate by maintaining the current motor torque of the drive motor.

[0163] Optionally, the first determination module 110 is used to pre-set the priority of each source of the intervention torque;

[0164] When there are at least two sources of the intervention torque received, determining the intervention torque sent by the source with the highest priority as the target intervention torque;

[0165] When there is only one source of the received intervention torque, the intervention torque sent by the source is determined as the target intervention torque.

[0166] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0167] In addition, it is worth noting that for the convenience and simplicity of description, the embodiments described in the specification are all preferred embodiments, and the parts involved are not necessarily necessary for the present invention. For example, the first determination module 110 and the second determination module 130 can be independent devices or the same device in specific implementation, and the present disclosure does not limit this.

[0168] In specific implementation, the hybrid vehicle control device can be configured in the vehicle controller, or can be configured separately in the engine controller and the motor controller. For example, the control module that controls the operation of the engine with the required intervention torque as the target torque can be configured in the engine controller, and the control module that controls the operation of the drive motor with the required intervention torque as the target torque can be configured in the motor controller.

[0169] In order to implement the above embodiment, the present disclosure further proposes a controller, including:

[0170] a memory having a computer program stored therein; and

[0171] One or more processors, when the computer program is executed by the one or more processors, the computing processing device executes the aforementioned hybrid vehicle control method.

[0172] The disclosed embodiment also provides a hybrid vehicle, including: the above-mentioned controller.

[0173] In order to implement the above embodiments, the present disclosure further proposes a computer program, including computer-readable codes. When the computer-readable codes are executed on a computing and processing device, the computing and processing device is caused to execute the above hybrid vehicle control method.

[0174] In order to implement the above embodiments, the present disclosure further proposes a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of any of the above hybrid vehicle control methods are implemented.

[0175] Figure 8 A structural schematic diagram of a computing and processing device is provided for an embodiment of the present disclosure. The computer processing device can be configured as a controller, and the computing and processing device generally includes a processor 1110 and a computer program product or a computer-readable medium in the form of a memory 1130. The memory 1130 can be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. The memory 1130 has a storage space 1150 for a program code 1151 for executing any method step in the above method. For example, the storage space 1150 for the program code may include individual program codes 1151 respectively used to implement various steps in the above method. These program codes can be read from or written to one or more computer program products. These computer program products include program code carriers such as a hard disk, a compact disk (CD), a memory card or a floppy disk. Such a computer program product is generally such as Fig. 9 The portable or fixed storage unit shown. The storage unit may have Figure 8 The memory 1130 in the server of the computer system is similarly arranged as a storage segment, storage space, etc. The program code can be compressed, for example, in an appropriate form. Typically, the storage unit includes computer readable code 1151', that is, code that can be read by a processor such as 1110, which, when executed by the server, causes the server to perform the various steps in the method described above.

[0176] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0177] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0178] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A hybrid vehicle control method, characterized in that: include: determining a target intervention torque from the received intervention torque; Calculating the fire circuit required torque and the gas circuit required torque according to the target intervention torque; determining whether the fire circuit intervention is activated according to the difference between the fire circuit required torque and the vehicle required torque, and determining whether the gas circuit intervention is activated according to the difference between the gas circuit required torque and the vehicle required torque; determining a response intervention torque of the hybrid vehicle according to the fire circuit required torque, the gas circuit required torque, the activation state of the fire circuit intervention, the activation state of the gas circuit intervention, the current motor torque of the drive motor, and the driving mode of the hybrid vehicle; The required intervention torque of the engine and / or the drive motor of the hybrid vehicle is determined according to the response intervention torque, and the engine and / or the drive motor are controlled to operate with the required intervention torque as the target torque.

2. The method according to claim 1, characterized in that The determining the response intervention torque of the hybrid vehicle according to the fire circuit required torque, the gas circuit required torque, the activation state of the fire circuit intervention, the activation state of the gas circuit intervention, and the driving mode of the hybrid vehicle includes: When the fire-road intervention is in an activated state, determining the response intervention torque of the hybrid vehicle to be the fire-road demand torque; When the gas circuit intervention is in an activated state and the driving mode of the hybrid vehicle is a hybrid mode, a response intervention torque of the hybrid vehicle is determined to be the gas circuit required torque.

3. The method according to claim 2, characterized in that The step of determining the required intervention torque of the engine and / or the drive motor of the hybrid vehicle according to the response intervention torque includes: In a case where the response intervention torque is the fire circuit required torque, determining the required intervention motor torque of the drive motor according to the fire circuit required torque; The controlling the operation of the engine and / or the drive motor by taking the required intervention torque as the target torque includes: controlling the operation of the drive motor by taking the required intervention motor torque as the target motor torque.

4. The method according to claim 3, characterized in that When the response intervention torque is the fire circuit required torque, determining the required intervention motor torque of the drive motor according to the fire circuit required torque includes: Determining a current torque range of the drive motor according to a power system state of the hybrid vehicle; In the case where it is determined that the fire circuit required torque exceeds the current torque range of the drive motor, determining the extreme value of the torque range closest to the fire circuit required torque as the required intervention motor torque of the drive motor; When it is determined that the fire circuit required torque is within the current torque range of the drive motor, the fire circuit required torque is determined to be the required intervention motor torque of the drive motor.

5. The method according to claim 4, characterized in that The method further comprises: In the case where it is determined that the extreme value of the torque range closest to the fire circuit demand torque is the demand intervention motor torque of the drive motor, determining the demand engine intervention torque according to the demand torque of the fire circuit demand torque exceeding the extreme value of the torque range closest to the fire circuit demand torque; The step of determining the required intervention torque of the engine and / or the drive motor of the hybrid vehicle according to the response intervention torque includes: When the hybrid vehicle is in a hybrid mode, determining the fire circuit required intervention torque of the engine according to the required engine intervention torque and the current engine torque of the engine; or, When the hybrid vehicle is in a pure electric mode, starting the engine of the hybrid vehicle in a fire circuit control mode, and determining the required engine intervention torque as the fire circuit required intervention torque of the engine; The controlling the engine and / or the driving motor to operate with the required intervention torque as the target torque includes: The engine is controlled to operate with the fire circuit required intervention torque as the target fire circuit torque of the engine, and the drive motor is controlled to operate with the required intervention motor torque as the target motor torque.

6. The method according to claim 2, characterized in that The step of determining the required intervention torque of the engine and / or the drive motor of the hybrid vehicle according to the response intervention torque includes: In a case where the response intervention torque is the gas circuit demand torque, determining that the engine control mode of the engine is a gas circuit control mode; Determining the gas circuit demand intervention torque under the gas circuit control mode according to the gas circuit demand torque, the vehicle demand torque and the current engine torque of the engine; The controlling the engine and / or the driving motor to operate with the required intervention torque as the target torque includes: The engine is controlled to operate by taking the gas circuit demand intervention torque as the target gas circuit torque of the engine, and the drive motor is controlled to operate by maintaining the current motor torque of the drive motor.

7. The method according to any one of claims 1 to 6, characterized in that: The determining of the target intervention torque from the received intervention torque comprises: Prioritizing various sources of the intervention torque in advance; When there are at least two sources of the intervention torque received, determining the intervention torque sent by the source with the highest priority as the target intervention torque; When there is only one source of the received intervention torque, the intervention torque sent by the source is determined as the target intervention torque.

8. A hybrid vehicle control device, characterized in that: include: A first determination module, configured to determine a target intervention torque from the received intervention torque; A calculation module, used for calculating the fire circuit demand torque and the gas circuit demand torque according to the target intervention torque; A second determination module, configured to determine whether the fire circuit intervention is activated according to the difference between the fire circuit required torque and the vehicle required torque, and to determine whether the gas circuit intervention is activated according to the difference between the gas circuit required torque and the vehicle required torque; a third determination module, configured to determine a response intervention torque of the hybrid vehicle according to the fire circuit required torque, the gas circuit required torque, the activation state of the fire circuit intervention, the activation state of the gas circuit intervention, the current motor torque of the drive motor, and the driving mode of the hybrid vehicle; A control module is used to determine a required intervention torque of the engine and / or the drive motor of the hybrid vehicle according to the response intervention torque, and control the operation of the engine and / or the drive motor with the required intervention torque as a target torque.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.

10. A hybrid vehicle, comprising a controller, the controller comprising a memory and a processor, the memory storing a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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