Hybrid vehicle drive motor control method, device, medium and hybrid vehicle

Abstract

The present disclosure relates to a hybrid vehicle drive motor control method, device, medium and hybrid vehicle to solve the problem of large torque output fluctuation of the drive motor of the hybrid vehicle. It comprises the following steps: determining a target intervention torque from the received intervention torque; determining a motor response intervention torque of the drive motor according to the target intervention torque and the current motor torque of the drive motor; in response to the received control instruction, determining an initial motor torque demand of the drive motor according to the control state of the hybrid vehicle and the whole vehicle demand torque; determining the motor torque demand according to the motor response intervention torque and the initial motor torque demand, and controlling the drive motor to operate with the motor torque demand as the target motor torque. The output fluctuation of the drive motor torque is reduced.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle engineering technology, and more specifically, to a hybrid vehicle drive motor control method, device, medium, and hybrid vehicle. Background Technology

[0002] Hybrid vehicles (HEVs) are vehicles equipped with both a drive motor and an engine. During vehicle operation, they may be subject to interference torque from other control systems. If the engine is relied upon to respond to this interference torque, its torque control precision is low due to inherent structural limitations, resulting in inaccurate torque output. Furthermore, the engine needs to control its speed to adjust the torque response, leading to a long response time (slow response speed) and potentially lower vehicle stability.

[0003] In related technologies, to improve response speed and output torque accuracy, the response torque of the drive motor and engine is initially allocated based on 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. Based on the initial allocation, it is determined whether the initially allocated 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 this disclosure is to provide a method, device, medium, and hybrid vehicle for controlling a hybrid vehicle drive motor, in order to solve the problem of large fluctuations in the torque output of the hybrid vehicle drive motor in the related art.

[0005] To achieve the above objectives, a first aspect of this disclosure provides a hybrid vehicle drive motor control method, comprising:

[0006] Determine the target intervention torque from the received intervention torque;

[0007] The motor response intervention torque of the drive motor is determined based on the target intervention torque and the current motor torque of the drive motor;

[0008] In response to the received control command, the initial motor torque requirement of the drive motor is determined based on the control state of the hybrid vehicle and the required torque of the entire vehicle.

[0009] The motor torque requirement of the drive motor is determined based on the motor response intervention torque and the initial motor torque requirement, and the drive motor is controlled to operate with the motor torque requirement as the target motor torque.

[0010] Optionally, the step of determining the initial motor torque requirement of the drive motor in response to the received control command, based on the control state of the hybrid vehicle and the overall vehicle torque requirement, includes:

[0011] In response to the motor control state switching command of the drive motor, the motor torque demand of the drive motor under the current motor control state and the vehicle demand torque is calculated. The control command includes the motor control state switching command, and the control state of the hybrid vehicle includes the motor control state of the drive motor.

[0012] The initial motor torque requirement of the drive motor is determined based on the current torque provided by the drive motor, the motor torque filter factor under the motor control state, and the motor torque requirement.

[0013] Optionally, the step of determining the initial motor torque requirement of the drive motor in response to the received control command, based on the control state of the hybrid vehicle and the overall vehicle torque requirement, includes:

[0014] In response to the drive mode switching command of the hybrid vehicle, the control command calculates the motor torque requirement of the drive motor in pure electric mode and the motor torque requirement of the drive motor in pure electric mode based on the vehicle's required torque. The control command includes the drive mode switching command.

[0015] The mode switching factor of the drive motor is calculated in real time based on the current driving mode of the hybrid vehicle.

[0016] During the drive mode switching process, the initial motor torque requirement of the drive motor is calculated based on the motor torque requirement of the drive motor in pure electric mode, the motor torque requirement of the drive motor in hybrid mode, and the mode switching factor calculated in real time.

[0017] Optionally, the step of calculating the mode switching factor of the drive motor in real time based on the current drive mode of the hybrid vehicle includes:

[0018] Determine the mode switching factor value in the current driving mode of the hybrid vehicle;

[0019] Using the mode switching factor value in this driving mode as the initial value and the preset switching step size as the step size, the mode switching factor of the drive motor is calculated iteratively until the mode switching factor reaches the extreme value of the mode switching factor corresponding to the target driving mode, and then the iterative calculation process of the mode switching factor is terminated.

[0020] In the case where the current driving mode is pure electric mode, the mode switching factor value in pure electric mode is used as the initial value. The preset switching step size is cyclically subtracted to calculate the mode switching factor of the drive motor. The cyclic calculation process of the mode switching factor is terminated when the mode switching factor reaches the extreme value of the mode switching factor corresponding to the hybrid mode.

[0021] When the current driving mode is hybrid mode, the mode switching factor of the drive motor is calculated by taking the current mode switching factor value in hybrid mode as the initial value and adding a preset switching step size in a loop until the mode switching factor reaches the extreme value of the mode switching factor corresponding to pure electric mode, and then the loop calculation process of the mode switching factor is terminated.

[0022] Optionally, determining the motor torque requirement of the drive motor based on the motor response intervention torque and the initial motor torque requirement includes:

[0023] Based on the powertrain status of the hybrid vehicle, determine the current torque range of the drive motor;

[0024] Determine whether the sum of the motor response intervention torque and the initial motor torque requirement is within the torque range;

[0025] In cases where the torque exceeds the specified range, the extreme value of the range and the closest torque range is determined to be the motor torque requirement of the drive motor.

[0026] Without exceeding the torque range, the sum of the demand intervention motor torque and the initial motor torque demand is determined as the motor torque demand of the drive motor.

[0027] Optionally, the step of determining the initial motor torque requirement of the drive motor in response to the received control command, based on the control state of the hybrid vehicle and the overall vehicle torque requirement, includes:

[0028] In response to a received engine start-stop switching command, the start-stop coordination torque of the engine is determined, the control command including the start-stop switching command; and,

[0029] The initial motor torque requirement of the drive motor is determined based on the start-stop coordination torque, the control state of the hybrid vehicle, and the total vehicle torque requirement.

[0030] The method of controlling the drive motor to operate with the motor torque demand as the target motor torque includes: based on the engine start-stop state represented by the start-stop switching command, taking the current motor torque of the drive motor as the initial value and the motor torque demand as the target motor torque, controlling the drive motor to operate with gradient filtering according to the motor filtering gradient and the motor filtering cycle.

[0031] Optionally, determining the target intervention torque from the received intervention torque includes:

[0032] Prioritize each source of the intervention torque in advance;

[0033] When there are at least two sources of the received intervention torque, the intervention torque sent by the source with the highest priority is determined as the target intervention torque;

[0034] When there is only one source of the intervention torque received, the intervention torque sent by that source is determined as the target intervention torque.

[0035] A second aspect of this disclosure provides a hybrid vehicle drive motor control device, comprising:

[0036] The first determining module is used to determine the target intervention torque from the received intervention torque;

[0037] The second determining module is used to determine the motor response intervention torque of the drive motor based on the target intervention torque and the current motor torque of the drive motor.

[0038] The third determining module is used to determine the initial motor torque requirement of the drive motor in response to the received control command, based on the control state of the hybrid vehicle and the required torque of the whole vehicle.

[0039] The control module is used to determine the motor torque requirement of the drive motor based on the motor response intervention torque and the initial motor torque requirement, and control the drive motor to operate with the motor torque requirement as the target motor torque.

[0040] Optionally, the third determining module is configured to respond to the received motor control state switching instruction of the drive motor, and calculate the motor torque demand of the drive motor under the current motor control state and the vehicle demand torque according to the current motor control state of the drive motor. The control instruction includes the motor control state switching instruction, and the control state of the hybrid vehicle includes the motor control state of the drive motor.

[0041] The initial motor torque requirement of the drive motor is determined based on the current torque provided by the drive motor, the motor torque filter factor under the motor control state, and the motor torque requirement.

[0042] Optionally, the third determining module is configured to, in response to the received drive mode switching command of the hybrid vehicle, calculate the motor torque demand of the drive motor in pure electric mode and the motor torque demand of the drive motor in pure electric mode based on the vehicle's required torque, wherein the control command includes the drive mode switching command; and

[0043] The mode switching factor of the drive motor is calculated in real time based on the current driving mode of the hybrid vehicle.

[0044] During the drive mode switching process, the initial motor torque requirement of the drive motor is calculated based on the motor torque requirement of the drive motor in pure electric mode, the motor torque requirement of the drive motor in hybrid mode, and the mode switching factor calculated in real time.

[0045] Optionally, the third determining module is used to determine the mode switching factor value in the current driving mode of the hybrid vehicle;

[0046] Using the mode switching factor value in this driving mode as the initial value and the preset switching step size as the step size, the mode switching factor of the drive motor is calculated iteratively until the mode switching factor reaches the extreme value of the mode switching factor corresponding to the target driving mode, and then the iterative calculation process of the mode switching factor is terminated.

[0047] In the case where the current driving mode is pure electric mode, the mode switching factor value in pure electric mode is used as the initial value. The preset switching step size is cyclically subtracted to calculate the mode switching factor of the drive motor. The cyclic calculation process of the mode switching factor is terminated when the mode switching factor reaches the extreme value of the mode switching factor corresponding to the hybrid mode.

[0048] When the current driving mode is hybrid mode, the mode switching factor of the drive motor is calculated by taking the current mode switching factor value in hybrid mode as the initial value and adding a preset switching step size in a loop until the mode switching factor reaches the extreme value of the mode switching factor corresponding to pure electric mode, and then the loop calculation process of the mode switching factor is terminated.

[0049] Optionally, the control module is configured to determine the current torque range of the drive motor based on the powertrain status of the hybrid vehicle;

[0050] Determine whether the sum of the motor response intervention torque and the initial motor torque requirement is within the torque range;

[0051] In cases where the torque exceeds the specified range, the extreme value of the range and the closest torque range is determined to be the motor torque requirement of the drive motor.

[0052] Without exceeding the torque range, the sum of the demand intervention motor torque and the initial motor torque demand is determined as the motor torque demand of the drive motor.

[0053] Optionally, the control module is used to control the gradient filtering operation of the drive motor based on the current motor torque of the drive motor as the initial value, the motor torque demand as the target motor torque, and the motor filtering gradient and the motor filtering cycle.

[0054] Optionally, the first determining module is used to pre-set the priority of each source of the intervention torque;

[0055] When there are at least two sources of the received intervention torque, the intervention torque sent by the source with the highest priority is determined as the target intervention torque;

[0056] When there is only one source of the intervention torque received, the intervention torque sent by that source is determined as the target intervention torque.

[0057] A third aspect of this disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0058] A fourth aspect of this disclosure provides a hybrid vehicle, including a controller. The controller includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the method described in any one of the first aspects.

[0059] The above technical solution can achieve at least the following technical effects:

[0060] The system determines the target intervention torque from the received intervention torque; the motor response intervention torque of the drive motor is determined based on the target intervention torque and the current motor torque of the drive motor; in response to the received control command, the initial motor torque requirement of the drive motor is determined based on the control state of the hybrid vehicle and the overall vehicle torque demand; the motor torque requirement of the drive motor is determined based on the motor response intervention torque and the initial motor torque requirement, and the drive motor is controlled to operate with the motor torque requirement as the target motor torque. In this way, the drive motor's response intervention torque is determined based on the target intervention torque, and the initial required torque of the drive motor is determined based on, for example, a control mode switching control command or a drive mode switching control command. The motor torque requirement is then determined by combining the response intervention torque and the initial required torque, allowing for rapid intervention torque response during mode switching, thereby reducing overall vehicle torque output fluctuations. This improves overall vehicle power performance and driving safety.

[0061] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0062] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0063] Figure 1 A flowchart of a hybrid vehicle drive motor control method provided for the implementation of this disclosure.

[0064] Figure 2 An implementation provided for this disclosure Figure 1 The flowchart for step S13.

[0065] Figure 3 Another implementation provided for this disclosure Figure 1 The flowchart for step S13.

[0066] Figure 4 An implementation provided for this disclosure Figure 3 The flowchart for step S132.

[0067] Figure 5 An implementation provided for this disclosure Figure 1 The flowchart for step S14.

[0068] Figure 6 A flowchart of another hybrid vehicle drive motor control method provided for implementation of this disclosure.

[0069] Figure 7 A block diagram of a hybrid vehicle drive motor control device provided for the implementation of this disclosure.

[0070] Figure 8 This is a schematic diagram of the structure of a computing processing device provided in an embodiment of this disclosure.

[0071] Figure 9 This is a schematic diagram of a storage unit for portable or fixed implementation of program code according to the method of the present disclosure, provided by an embodiment of the present disclosure. Detailed Implementation

[0072] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0073] It should be noted that, in this disclosure, the terms "first," "second," etc., in the specification, claims, and drawings are used to distinguish similar objects and should not be construed as describing a specific order or sequence. Similarly, the terms "S131," "S1301," etc., are used to distinguish method steps and should not be construed as describing a specific execution order.

[0074] In related technologies, the intervention torque is preferentially responded to by the drive motor. If the intervention torque exceeds the maximum output torque of the drive motor, the engine bears the intervention torque exceeding the maximum output torque. However, the inventors have discovered that if the vehicle experiences power mode switching or drive motor operating condition switching, such as during the switching between drive motor speed control and torque control, the inability to respond quickly to the intervention torque may cause fluctuations in the drive motor torque output. In severe cases, this may lead to an interruption of the drive motor torque output, resulting in lower overall vehicle power performance and affecting vehicle driving safety.

[0075] In view of this, embodiments of this disclosure provide a method for controlling the drive motor of a hybrid vehicle. Figure 1 A flowchart of a hybrid vehicle drive motor control method provided for this disclosure is shown below. Figure 1 As shown, the method includes the following steps.

[0076] In step S11, the target intervention torque is determined from the received intervention torque.

[0077] The sources of intervention torque include the transmission controller and the electronic stability control system controller. In practice, the various sources of intervention torque are prioritized. When at least two sources of intervention torque are received, the intervention torque from the source with the highest priority is determined as the target intervention torque; when only one source of intervention torque is received, the intervention torque from that source is determined as the target intervention torque.

[0078] In some specific embodiments, the transmission controller is set to have a higher priority than the electronic stability control system controller. When the sources of the received intervention torque include both the transmission controller and the electronic stability control system controller, the intervention torque sent by the transmission controller is taken as the target intervention torque.

[0079] Furthermore, when the source of the intervention torque is the electronic stability control system controller, the intervention torque sent by the electronic stability control system controller is taken as the target intervention torque.

[0080] The intervention torque sent by the transmission controller includes a torque reduction target value, and the intervention torque of the electronic stability control system controller may include a torque reduction target value and / or a torque increase target value.

[0081] In practice, if the vehicle controller receives intervention torques from both the transmission controller and the electronic stability control system controller, the vehicle controller will use the intervention torque sent by the transmission controller as the target intervention torque and invalidate and delete the intervention torque sent by the electronic stability control system controller.

[0082] If the vehicle controller only receives intervention torque from the electronic stability control system controller, the vehicle controller takes the intervention torque sent by the electronic stability control system controller as the target intervention torque. If the intervention torque sent by the electronic stability control system controller includes both a torque increase target value and a torque decrease target value, the torque decrease target value is used as the target intervention torque, and the torque increase target value is set to invalid and deleted.

[0083] In step S12, the motor response intervention torque of the drive motor is determined based on the target intervention torque and the vehicle's required torque.

[0084] When the target intervention torque is the intervention torque sent by the electronic stability control system controller, the ESP will send intervention torque increase target value and intervention torque decrease target value to the VCU (Vehicle control unit). The torque increase target value and torque decrease target value sent by the ESP can be compared with the vehicle demand torque to obtain the vehicle demand torque after considering the ESP intervention. Then, the vehicle demand torque after considering the ESP intervention is subtracted from the vehicle demand torque to obtain the ESP intervention torque value δ. The ESP intervention torque value δ is the motor response intervention torque of the drive motor.

[0085] For example: TqVehESP = (min(max(TqVeh, TqESPInc), TqESPDec))

[0086] δ=TqVehESP-TqVeh

[0087] Where TqVehESP is the vehicle's required torque after considering ESP intervention, TqVeh is the vehicle's required torque, TqESPInc is the target torque increase value sent by ESP, TqESPDec is the target torque decrease value sent by ESP, and δ is the difference between the vehicle's required torque TqVehESP after considering ESP intervention and the vehicle's required torque TqVeh.

[0088] The transmission controller's torque intervention in a hybrid vehicle is a torque reduction request, based on the torque reduction target value sent by the transmission controller. This target value is compared with the vehicle's required torque, and the smaller of the two is determined as the vehicle's required torque TqVehTCU after considering the TCU (Transmission Control Unit) intervention. The difference between TqVehTCU and the vehicle's required torque TqVeh is the TCU intervention torque value β. The TCU intervention torque value β is the motor response intervention torque of the drive motor.

[0089] In step S13, in response to the received control command, the initial motor torque requirement of the drive motor is determined based on the control state of the hybrid vehicle and the required torque of the entire vehicle.

[0090] Control commands can be commands for switching the motor control state of the drive motor, switching the drive mode of a hybrid vehicle, or switching the engine start-stop function. The drive motor control state switching command instructs the drive motor to switch between speed control mode and drive control mode. The hybrid vehicle drive mode switching command instructs the hybrid vehicle to switch between hybrid mode and pure electric mode. The engine start-stop switching command instructs the engine to switch between start-stop mode and normal mode.

[0091] Specifically, when the control command is a motor control state switching command for the drive motor, the initial motor torque requirement of the drive motor is calculated based on speed-controlled torque and torque-controlled torque.

[0092] In step S14, the motor torque requirement of the drive motor is determined based on the motor response intervention torque and the initial motor torque requirement, and the drive motor is controlled to run with the motor torque requirement as the target motor torque.

[0093] Specifically, when the target intervention torque is the intervention torque sent by the ESP, the sum of the ESP intervention torque value δ and the initial motor torque requirement is used as the motor torque requirement of the drive motor. This yields the motor torque requirement TqEmReqESP after coordinating the ESP intervention, i.e.:

[0094] TqEmReqESP=δ+TqEmReqMod

[0095] Where TqEmReqESP is the motor response intervention torque of the drive motor determined in response to the intervention torque sent by ESP, and TqEmReqMod is the initial motor torque requirement of the drive motor.

[0096] Similarly, when the target intervention torque is the intervention torque sent by the TCU, the sum of the TCU intervention torque value β and the initial motor torque requirement is used as the motor torque requirement of the drive motor, that is, the motor torque requirement TqEmReqTCU after TCU intervention and coordination is obtained.

[0097] The above technical solution determines the target intervention torque from the received intervention torque source; calculates the required torque for the power circuit based on the target intervention torque; determines whether the power circuit intervention is activated based on the difference between the required torque for the power circuit and the required torque for the entire vehicle; determines the motor response intervention torque of the drive motor based on the activation state of the power circuit intervention, the required torque for the power circuit, and the current motor torque of the drive motor; responds to the received control command, determines the initial motor torque requirement of the drive motor based on the control state of the hybrid vehicle and the required torque for the entire vehicle; determines the motor torque requirement of the drive motor based on the motor response intervention torque and the initial motor torque requirement, and controls the drive motor operation with the motor torque requirement as the target motor torque. In this way, the drive motor's response intervention torque is determined based on the target intervention torque, and the initial required torque of the drive motor is determined based on, for example, a motor control state switching command or a drive mode switching command. The motor torque requirement is then determined by combining the response intervention torque and the initial required torque, allowing for rapid intervention torque response during mode switching, thereby reducing fluctuations in the drive motor's torque output. This improves the overall vehicle power performance and driving safety.

[0098] Based on the above embodiments, Figure 2 An implementation provided for this disclosure Figure 1 The flowchart of step S13 is as follows. In step S13, determining the initial motor torque requirement of the drive motor based on the control state of the hybrid vehicle and the overall vehicle torque requirement in response to the received control command includes:

[0099] In step S1301, in response to the motor control state switching command of the drive motor, the motor torque requirement of the drive motor under the current motor control state and the vehicle's required torque is calculated.

[0100] In response to torque control switching commands, when the current motor control state of the drive motor is speed control mode, the speed control torque of the drive motor in speed control mode is calculated based on the vehicle's required torque. Similarly, in response to speed control switching commands, when the current motor control state of the drive motor is torque control mode, the torque control torque of the drive motor in torque control mode is calculated based on the vehicle's required torque. Specifically, the speed control torque in speed control mode is the motor torque requirement under speed control mode. The speed control torque is positively correlated with the current actual motor speed and the speed difference, where the speed difference is the difference between the motor's target idle speed and the motor's current actual speed. For example, the speed control torque TqN is obtained by looking up a two-dimensional table using the current motor speed and the speed difference. The speed difference is obtained by subtracting the actual motor speed from the target idle speed sent by the TCU. Furthermore, the higher the current actual motor speed, the larger the speed difference, and the larger the speed control torque. In torque control mode, the torque control torque is the motor torque requirement under torque control mode, and the torque control torque under torque control mode is equal to the vehicle's required torque.

[0101] The control commands include motor control state switching commands for the drive motor, and the control state of the hybrid vehicle includes the motor control state of the drive motor.

[0102] In step S1302, the initial motor torque requirement of the drive motor is determined based on the current torque provided by the drive motor, the motor torque filtering factor under the motor control state, and the motor torque requirement.

[0103] Specifically, during the switching process from speed control mode to torque control mode, the initial motor torque requirement TqEmReqEv is calculated based on the current torque provided by the drive motor, the motor torque filter factor in speed control mode, and the speed control torque, as shown in the following formula:

[0104] TqEmReqEv=(1-α)TqEmReqEvFb+α*TqN

[0105] Where TqN is the speed-controlled torque, TqEmReqEvFb is the motor torque of the previous sampling period (i.e., the current torque provided by the drive motor), and α is the motor torque filtering factor in speed control mode.

[0106] Specifically, the motor torque filter factor α in speed control mode is determined in the following way:

[0107] α=2*π*T*Fq1 / (1+2*π*T*Fq1)

[0108] Where T is the motor torque sampling period of the drive motor, and Fq1 is the speed control filter cutoff frequency.

[0109] The speed control filter cutoff frequency is a calibration value. Specifically, Fq1 is calibrated based on whether there is an engine start request and whether the K0 clutch has adaptive learning capability. When there is no engine start request and the K0 clutch has no adaptive learning capability, the calibrated Fq1 value is smaller; when there is an engine start request and / or the K0 clutch has adaptive learning capability, the calibrated Fq1 value is larger.

[0110] During the transition from torque control mode to speed control mode, the initial motor torque requirement TqEmReqEv is calculated based on the current torque provided by the drive motor, the motor torque filter factor in torque control mode, and the torque control torque, as shown in the following formula:

[0111] TqEmReqEv=(1-β)*TqEmReqEvFb+β*TqCtl

[0112] Where TqEmReqEvFb is the motor torque of the previous sampling period, i.e. the current motor torque of the driving motor; TqCtl is the torque control torque, and β is the motor torque filtering factor in torque control mode.

[0113] Specifically, the motor torque filter factor β in torque control mode is determined in the following way:

[0114] β=2*π*T*Fq2 / (1+2*π*T*Fq2)

[0115] Where T is the motor torque sampling period of the drive motor, and Fq2 is the torque control filter cutoff frequency. Fq2 is the calibration value, the magnitude of which depends on whether there is intervention torque calibration. When there is intervention torque, the calibration Fq value is larger; when there is no intervention torque, the calibration Fq value is smaller.

[0116] Based on the above embodiments, Figure 3 Another implementation provided for this disclosure Figure 1 The flowchart of step S13 is as follows. In step S13, in response to the received control command, determining the initial motor torque requirement of the drive motor based on the control state of the hybrid vehicle and the overall vehicle torque requirement includes:

[0117] In step S131, in response to the hybrid vehicle's drive mode switching command, the motor torque requirement of the drive motor in pure electric mode and the motor torque requirement of the drive motor in hybrid mode are calculated based on the vehicle's required torque.

[0118] The control commands include commands for switching the hybrid vehicle's drive mode. The control state of the hybrid vehicle includes its drive mode.

[0119] In step S132, the mode switching factor of the drive motor is calculated in real time according to the current drive mode of the hybrid vehicle.

[0120] In practical implementation, during the mode switching process, the mode switching factor of the drive motor is used to reasonably coordinate and allocate the motor torque demand of the drive motor. Based on the drive mode of the hybrid vehicle before or after the switch, the extreme value of the mode switching factor of the target drive mode is determined, and the mode switching factor during the switch to the target drive mode is calculated in real time.

[0121] When switching from pure electric mode to hybrid mode, the mode switching factor calculated in real time is used to gradually bring the initial motor torque demand calculated subsequently closer to the motor torque demand of the drive motor in hybrid mode; the extreme value of the mode switching factor calculated in the end makes the initial motor torque demand calculated subsequently equal to the motor torque demand of the drive motor in hybrid mode.

[0122] When switching from hybrid mode to pure electric mode, the mode switching factor calculated in real time is used to gradually bring the initial motor torque demand calculated subsequently closer to the motor torque demand of the drive motor in pure electric mode; the extreme value of the mode switching factor calculated in the end makes the initial motor torque demand calculated subsequently equal to the motor torque demand of the drive motor in pure electric mode.

[0123] In step S133, during the drive mode switching process, the initial motor torque requirement of the drive motor is calculated based on the motor torque requirement of the drive motor in pure electric mode, the motor torque requirement of the drive motor in hybrid mode, and the mode switching factor calculated in real time.

[0124] In some specific embodiments, the initial motor torque requirement of the drive motor is calculated according to the following formula:

[0125] TqEmReqMod=TqEmReqHy*(1-Fac)+TqEmReqEv*Fac

[0126] Where TqEmReqMod represents the initial motor torque requirement, i.e., the coordinated motor torque requirement; TqEmReqHy represents the motor torque requirement in hybrid mode; TqEmReqEv represents the motor torque requirement in pure electric mode; and Fac is the mode switching factor. During the switch from pure electric mode to hybrid mode, Fac gradually decreases; during the switch from hybrid mode to pure electric mode, Fac gradually increases.

[0127] Based on the above embodiments, Figure 4 An implementation provided for this disclosure Figure 3The flowchart for step S132 is as follows. In step S132, the step of calculating the mode switching factor of the drive motor in real time according to the current drive mode of the hybrid vehicle includes:

[0128] In step S1321, the mode switching factor in the current driving mode of the hybrid vehicle is determined.

[0129] In step S1322, the mode switching factor of the drive motor is calculated cyclically with the mode switching factor of the drive mode as the initial value and the preset switching step size as the step size, until the mode switching factor reaches the extreme value of the mode switching factor corresponding to the target drive mode, and the cyclic calculation process of the mode switching factor is terminated.

[0130] The target driving mode is the driving mode that the hybrid vehicle will switch to. For example, if the current driving mode of the hybrid vehicle is pure electric mode, the hybrid mode is the target driving mode when switching to hybrid mode.

[0131] Specifically, when the current driving mode is pure electric mode, the current mode switching factor in pure electric mode is used as the initial value, and a preset switching step size is subtracted to obtain the mode switching factor for the current calculation cycle. Within this calculation cycle, the initial motor torque requirement of the drive motor is calculated based on the motor torque requirement of the drive motor in pure electric mode, the motor torque requirement of the drive motor in hybrid mode, and the mode switching factor. In the next calculation cycle, the mode switching factor for the next calculation cycle is obtained by subtracting the preset switching step size from the current calculation cycle's mode switching factor. Within the next calculation cycle, the initial motor torque requirement of the drive motor is calculated again based on the motor torque requirement of the drive motor in pure electric mode, the motor torque requirement of the drive motor in hybrid mode, and the mode switching factor for the next calculation cycle. When the mode switching factor decreases to a minimum value, the cyclic calculation process of the mode switching factor is terminated. In subsequent calculation cycles, the initial motor torque requirement of the drive motor is calculated based on the motor torque requirement of the drive motor in pure electric mode, the motor torque requirement of the drive motor in hybrid mode, and the minimum value of the mode switching factor.

[0132] With the current driving mode being hybrid mode, the mode switching factor of the drive motor is calculated by taking the current mode switching factor in hybrid mode as the initial value and adding a preset switching step size in a loop until the mode switching factor reaches the extreme value of the mode switching factor corresponding to pure electric mode, at which point the loop calculation process of the mode switching factor is terminated.

[0133] Specifically, when a hybrid vehicle is currently in pure electric mode and switches to hybrid mode, the mode switching factor Fac = FacFb - b, with the extreme value of the mode switching factor for hybrid mode being zero. When a hybrid vehicle is currently in hybrid mode and switches to pure electric mode, the mode switching factor Fac = FacFb + b, with the extreme value of the mode switching factor for pure electric mode being 1. Here, FacFb is the initial value, and b is the preset switching step size. The maximum value of the mode switching factor Fac is 1, and the minimum value is 0. When switching to hybrid mode, the mode switching factor Fac decreases to 0, terminating the cyclic calculation process; when switching to pure electric mode, the mode switching factor Fac increases to 1, terminating the cyclic calculation process.

[0134] Based on the above embodiments, Figure 5 An implementation provided for this disclosure Figure 1 The flowchart for step S14 is shown below. In step S14, determining the motor torque requirement of the drive motor based on the motor response intervention torque and the initial motor torque requirement includes:

[0135] In step S141, the current torque range of the drive motor is determined based on the power system status of the hybrid vehicle.

[0136] Specifically, the current torque range of the drive motor is used to characterize the range of maximum and minimum torque that the drive motor can output under the current power system state conditions; for example, the maximum and minimum torque of the drive motor under the current battery charge state conditions, then the range between the maximum and minimum torque is the current torque range of the drive motor.

[0137] In step S142, it is determined whether the sum of the motor response intervention torque and the initial motor torque requirement is within the torque range.

[0138] Specifically, when the motor response intervention torque is the torque reduction intervention torque, that is, the motor response intervention torque is negative, it is determined whether the sum of the motor response intervention torque and the initial motor torque requirement is within the torque range.

[0139] In step S143, when the torque range is exceeded, the extreme value of the closest torque range is determined to be the motor torque requirement of the drive motor.

[0140] In step S144, without exceeding the torque range, the sum of the motor response intervention torque and the initial motor torque requirement is determined as the motor torque requirement of the drive motor.

[0141] For example, if the motor response intervention torque is -100 Nm and the initial motor torque requirement is 400 Nm, and the torque range is 30–280 Nm, then the sum of the motor response intervention torque and the initial motor torque requirement is determined to be 300 Nm. If the torque exceeds the range of 30–280 Nm, then the extreme value of the closest torque range to 300 Nm, 280 Nm, is determined to be the motor torque requirement of the drive motor. If the torque range is 30–380 Nm, then the sum of the motor response intervention torque and the initial motor torque requirement, 300 Nm, is determined to be the motor torque requirement of the drive motor.

[0142] Based on the above embodiments, in step S14, determining the initial motor torque requirement of the drive motor in response to the received control command, according to the control state of the hybrid vehicle and the overall vehicle torque requirement, includes:

[0143] In response to a received engine start-stop switching command, the start-stop coordination torque of the engine is determined, the control command including the start-stop switching command; and,

[0144] The initial motor torque requirement of the drive motor is determined based on the start-stop coordination torque, the control state of the hybrid vehicle, and the total vehicle torque requirement.

[0145] The method of controlling the drive motor to operate with the motor torque demand as the target motor torque includes: based on the engine start-stop state represented by the start-stop switching command, taking the current motor torque of the drive motor as the initial value and the motor torque demand as the target motor torque, controlling the drive motor to operate with gradient filtering according to the motor filtering gradient and the motor filtering cycle.

[0146] In practical implementation, when switching the drive mode of a hybrid vehicle, if the start-stop module sends a start-stop switching command that sets the start-stop function from 0 to 1, it indicates that the engine is in the process of starting or stopping. The engine's start-stop coordination torque is determined, and based on this coordination torque, the control state of the hybrid vehicle, and the overall vehicle torque requirement, the initial motor torque requirement of the drive motor is determined. Then, using the current motor torque of the drive motor as the initial value, gradient filtering is applied to the motor torque requirement when the engine starts, or vice versa. This motor torque requirement is determined based on the impact of engine start-up or shutdown on the drive motor torque and the impact of intervention torque on the drive motor torque.

[0147] When the start-stop request sent by the start-stop module changes from 1 to 0, it indicates that the engine shutdown process or startup process is completed. Determine the start-stop coordination torque of the engine, and based on the start-stop coordination torque, the control state of the hybrid vehicle, and the vehicle demand torque, determine the initial motor torque demand of the drive motor. Then, using the current motor torque of the drive motor as the initial value, perform gradient filtering to obtain the motor torque demand after the engine starts or stops.

[0148] Specifically, if TqEmReqFb < TqEm, then TqEmReqout = TqEmReqFb + Pos * Step;

[0149] If TqEmReqout > TqEm, then TqEmReq = TqEm, otherwise TqEmReq = TqEmReqout.

[0150] If TqEmReqFb > TqEm, then TqEmReqout = TqEmReqFb - Neg * Step.

[0151] If TqEmReqout < TqEm, then TqEmReq = TqEm, otherwise TqEmReq = TqEmReqout.

[0152] Where, TqEmReq is the motor torque demand; TqEmReqFb is the current motor torque; TqEmReqout is the filtered motor torque demand; TqEm is the target torque of the drive motor. When the start-stop request is 1, it is the sum of the drive motor torque and the intervention torque when the engine starts or stops. When the start-stop request is 0, it is only the motor torque under the intervention torque. Pos is the motor torque increase gradient; Neg is the motor torque decrease gradient; Step is the motor filtering period. For example, the motor filtering period is usually 0.01s. The motor filtering gradient includes the motor torque increase gradient and the motor torque decrease gradient.

[0153] In this way, during the engine startup or shutdown process, based on the intervention torque and the influence of the engine torque on the drive motor, the motor torque demand of the drive motor can be determined, thereby reducing the fluctuation of the drive motor torque output when there is an intervention torque during the engine startup or shutdown process.

[0154] Figure 6 For the flowchart of another control method for the drive motor of a hybrid vehicle provided by the present disclosure, refer to Figure 6 As shown, based on the state of the pure electric mode activation flag bit, the vehicle controller calculates the motor torque according to the vehicle demand torque, including calculating the motor torque corresponding to torque control and speed control in the pure electric mode, and then based on the mode switching factor, calculating the motor torque when switching between speed control and torque control, and calculating the motor torque in the hybrid mode.

[0155] Furthermore, the motor torque during drive mode switching is calculated, and the target intervention torque is determined based on the TCU intervention torque and ESP intervention torque. The motor response intervention torque is then calculated. When both the transmission controller (TCU) intervention torque and / or the vehicle stability system controller (ESP) intervention torque are available, the TCU intervention torque is determined as the target intervention torque. When only the vehicle stability system controller (ESP) intervention torque is available, the ESP intervention torque is determined as the target intervention torque, and the motor response intervention torque is calculated.

[0156] Furthermore, the motor torque during start-up / shutdown and normal mode transitions is calculated, and then the actual motor torque of the drive motor is calculated based on the motor torque obtained above.

[0157] Based on the same inventive concept, this disclosure also provides a hybrid vehicle drive motor control device for executing the steps of the hybrid vehicle drive motor control method provided in the above embodiments. The device can implement the hybrid vehicle drive motor control method in software, hardware, or a combination of both. Figure 7 A block diagram of a hybrid vehicle drive motor control device 100 provided for this disclosure is shown below. Figure 7 As shown, the device 100 includes: a first determining module 110, a second determining module 120, a third determining module 130, and a control module 140.

[0158] The first determining module 110 is used to determine the target intervention torque from the received intervention torque;

[0159] The second determining module 120 is used to determine the motor response intervention torque of the drive motor based on the target intervention torque and the current motor torque of the drive motor.

[0160] The third determining module 130 is used to determine the initial motor torque requirement of the drive motor in response to the received control command, based on the control state of the hybrid vehicle and the required torque of the whole vehicle.

[0161] The control module 140 is used to determine the motor torque requirement of the drive motor based on the motor response intervention torque and the initial motor torque requirement, and to control the operation of the drive motor with the motor torque requirement as the target motor torque.

[0162] The aforementioned device determines the drive motor's response torque based on the target intervention torque, and determines the drive motor's initial torque requirement based on, for example, a control mode switching command or a drive mode switching command. It then determines the motor's torque requirement by combining the response torque and the initial torque requirement, enabling rapid torque intervention during mode switching and reducing overall vehicle torque output fluctuations. This improves overall vehicle power performance and driving safety.

[0163] Optionally, the third determining module 130 is configured to respond to the received motor control state switching instruction of the drive motor, and calculate the speed control torque of the drive motor in the current motor control state and the required torque of the vehicle, based on the current motor control state of the drive motor and the required torque of the vehicle. The control instruction includes the motor control state switching instruction, and the control state of the hybrid vehicle includes the motor control state of the drive motor.

[0164] The initial motor torque requirement of the drive motor is determined based on the current torque provided by the drive motor, the motor torque filter factor under the motor control state, and the speed control torque.

[0165] Optionally, the third determining module 130 is configured to, in response to a received drive mode switching command from the hybrid vehicle, calculate the speed control torque and torque control torque of the drive motor in pure electric mode based on the vehicle's required torque, wherein the control command includes the drive mode switching command; and

[0166] The mode switching factor of the drive motor is calculated in real time based on the current driving mode of the hybrid vehicle.

[0167] During the drive mode switching process, the initial motor torque requirement of the drive motor is calculated based on the speed-controlled torque, the torque-controlled torque, and the mode switching factor calculated in real time.

[0168] Optionally, the third determining module 130 is used to determine the mode switching factor value in the current driving mode of the hybrid vehicle;

[0169] Using the mode switching factor value in this driving mode as the initial value and the preset switching step size as the step size, the mode switching factor of the drive motor is calculated iteratively until the mode switching factor reaches the extreme value of the mode switching factor corresponding to the target driving mode, and then the iterative calculation process of the mode switching factor is terminated.

[0170] In the case where the current driving mode is pure electric mode, the mode switching factor value in pure electric mode is used as the initial value. The preset switching step size is cyclically subtracted to calculate the mode switching factor of the drive motor. The cyclic calculation process of the mode switching factor is terminated when the mode switching factor reaches the extreme value of the mode switching factor corresponding to the hybrid mode.

[0171] When the current driving mode is hybrid mode, the mode switching factor of the drive motor is calculated by taking the current mode switching factor value in hybrid mode as the initial value and adding a preset switching step size in a loop until the mode switching factor reaches the extreme value of the mode switching factor corresponding to pure electric mode, and then the loop calculation process of the mode switching factor is terminated.

[0172] Optionally, the control module 140 is used to determine the current torque range of the drive motor based on the power system status of the hybrid vehicle;

[0173] Determine whether the sum of the motor response intervention torque and the initial motor torque requirement is within the torque range;

[0174] In cases where the torque exceeds the specified range, the extreme value of the range and the closest torque range is determined to be the motor torque requirement of the drive motor.

[0175] Without exceeding the torque range, the sum of the demand intervention motor torque and the initial motor torque demand is determined as the motor torque demand of the drive motor.

[0176] Optionally, the third determining module 130 is configured to determine the start-stop coordination torque of the engine in response to a received start-stop switching command from the engine, wherein the control command includes the start-stop switching command; and,

[0177] The initial motor torque requirement of the drive motor is determined based on the start-stop coordination torque, the control state of the hybrid vehicle, and the total vehicle torque requirement.

[0178] The control module 140 is used to control the gradient filtering operation of the drive motor based on the engine start-stop state represented by the start-stop switching command, with the current motor torque of the drive motor as the initial value and the motor torque demand as the target motor torque, according to the motor filtering gradient and the motor filtering cycle.

[0179] Optionally, the first determining module 110 is configured to, when the source of the intervention torque includes the transmission controller and the vehicle stability electronic system controller, use the intervention torque sent by the transmission controller as the target intervention torque;

[0180] When the source of the intervention torque is the electronic stability control system controller, the intervention torque sent by the electronic stability control system controller is taken as the target intervention torque.

[0181] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0182] Furthermore, it is worth noting that, for the sake of convenience and brevity, the embodiments described in the specification are all preferred embodiments, and the parts involved are not necessarily essential to the present invention. For example, the first determining module 110 and the third determining module 130 can be independent devices or the same device in specific implementations, and this disclosure does not limit them.

[0183] In practice, the aforementioned hybrid vehicle drive motor control device can be configured in the vehicle controller or in the motor controller.

[0184] To implement the above embodiments, this disclosure also proposes a controller, including:

[0185] Memory, in which computer programs are stored; and

[0186] One or more processors, when the computer-readable program is executed by the one or more processors, implement the aforementioned hybrid vehicle drive motor control method.

[0187] This disclosure also provides a hybrid vehicle, including the aforementioned controller.

[0188] To implement the above embodiments, this disclosure also proposes a computer program including computer-readable code, which, when run on a computing processing device, causes the computing processing device to execute the aforementioned hybrid vehicle drive motor control method.

[0189] To implement the above embodiments, this disclosure also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the hybrid vehicle drive motor control method described in any of the preceding claims.

[0190] Figure 8This disclosure provides a schematic diagram of a computing processing device. The computing processing device can be configured as a controller, typically including a processor 1110 and a computer program product or computer-readable medium in the form of a memory 1130. The memory 1130 can be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. The memory 1130 has a storage space 1150 for program code 1151 for performing any of the method steps described above. For example, the storage space 1150 for program code may include various program codes 1151 respectively for implementing the various steps in the methods described above. 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 hard disks, CDs, memory cards, or floppy disks. Such computer program products are typically... Figure 9 The portable or fixed storage unit shown. This storage unit may have the same... Figure 8 The memory 1130 in the server is arranged similarly to storage segments, storage spaces, etc. 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 run by the server, causes the server to perform the various steps in the methods described above.

[0191] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0192] 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, this disclosure will not describe the various possible combinations separately.

[0193] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for controlling the drive motor of a hybrid vehicle, characterized in that, include: Determine the target intervention torque from the received intervention torque; The motor response intervention torque of the drive motor is determined based on the target intervention torque and the current motor torque of the drive motor. and, In response to the received control command, the initial motor torque requirement of the drive motor is determined based on the control state of the hybrid vehicle and the required torque of the entire vehicle. The motor torque requirement of the drive motor is determined based on the motor response intervention torque and the initial motor torque requirement, and the drive motor is controlled to operate with the motor torque requirement as the target motor torque. The step of determining the initial motor torque requirement of the drive motor in response to a received control command, based on the control state of the hybrid vehicle and the required torque of the entire vehicle, includes: in response to a motor control state switching command of the drive motor, calculating the motor torque requirement of the drive motor under the current motor control state and the required torque of the entire vehicle, wherein the control command includes the motor control state switching command, and the control state of the hybrid vehicle includes the motor control state of the drive motor; and determining the initial motor torque requirement of the drive motor based on the current torque provided by the drive motor, the motor torque filtering factor under the current motor control state, and the required motor torque; or The step of determining the initial motor torque requirement of the drive motor in response to a received control command, based on the control state of the hybrid vehicle and the vehicle's required torque, includes: in response to a drive mode switching command of the hybrid vehicle, calculating the motor torque requirement of the drive motor in pure electric mode and the motor torque requirement of the drive motor in hybrid mode based on the vehicle's required torque, wherein the control command includes the drive mode switching command; and calculating the mode switching factor of the drive motor in real time based on the current drive mode of the hybrid vehicle; during the drive mode switching process, calculating the initial motor torque requirement of the drive motor based on the motor torque requirement of the drive motor in pure electric mode, the motor torque requirement of the drive motor in hybrid mode, and the real-time calculated mode switching factor; or The step of determining the initial motor torque requirement of the drive motor in response to a received control command, based on the control state of the hybrid vehicle and the required torque of the entire vehicle, includes: determining the start-stop coordination torque of the engine in response to a received start-stop switching command, wherein the control command includes the start-stop switching command; and determining the initial motor torque requirement of the drive motor based on the start-stop coordination torque, the control state of the hybrid vehicle, and the required torque of the entire vehicle. The method of controlling the drive motor to operate with the motor torque demand as the target motor torque includes: based on the engine start-stop state represented by the start-stop switching command, taking the current motor torque of the drive motor as the initial value and the motor torque demand as the target motor torque, controlling the drive motor to operate with gradient filtering according to the motor filtering gradient and the motor filtering cycle.

2. The method according to claim 1, characterized in that, The step of calculating the mode switching factor of the drive motor in real time based on the current drive mode of the hybrid vehicle includes: Determine the mode switching factor value in the current driving mode of the hybrid vehicle; Using the mode switching factor value in this driving mode as the initial value and the preset switching step size as the step size, the mode switching factor of the drive motor is calculated iteratively until the mode switching factor reaches the extreme value of the mode switching factor corresponding to the target driving mode, and then the iterative calculation process of the mode switching factor is terminated. In the case where the current driving mode is pure electric mode, the mode switching factor value in pure electric mode is used as the initial value. The preset switching step size is cyclically subtracted to calculate the mode switching factor of the drive motor. The cyclic calculation process of the mode switching factor is terminated when the mode switching factor reaches the extreme value of the mode switching factor corresponding to the hybrid mode. When the current driving mode is hybrid mode, the mode switching factor of the drive motor is calculated by taking the current mode switching factor value in hybrid mode as the initial value and adding a preset switching step size in a loop until the mode switching factor reaches the extreme value of the mode switching factor corresponding to pure electric mode, and then the loop calculation process of the mode switching factor is terminated.

3. The method according to claim 1, characterized in that, The step of determining the motor torque requirement of the drive motor based on the motor response intervention torque and the initial motor torque requirement includes: Based on the powertrain status of the hybrid vehicle, determine the current torque range of the drive motor; Determine whether the sum of the motor response intervention torque and the initial motor torque requirement is within the torque range; In cases where the torque exceeds the specified range, the extreme value of the range and the closest torque range is determined to be the motor torque requirement of the drive motor. Without exceeding the torque range, the sum of the required intervention motor torque and the initial motor torque requirement is determined as the motor torque requirement of the drive motor.

4. The method according to any one of claims 1-3, characterized in that, Determining the target intervention torque from the received intervention torque includes: Prioritize each source of the intervention torque in advance; When there are at least two sources of the received intervention torque, 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 the intervention torque received, the intervention torque sent by that source is determined as the target intervention torque.

5. A hybrid vehicle drive motor control device, characterized in that, include: The first determining module is used to determine the target intervention torque from the received intervention torque; The second determining module is used to determine the motor response intervention torque of the drive motor based on the target intervention torque and the current motor torque of the drive motor. The third determining module is used to determine the initial motor torque requirement of the drive motor in response to the received control command, based on the control state of the hybrid vehicle and the required torque of the whole vehicle. The control module is used to determine the motor torque requirement of the drive motor based on the motor response intervention torque and the initial motor torque requirement, and control the drive motor to operate with the motor torque requirement as the target motor torque. The third determining module is configured to, in response to a received motor control state switching command for the drive motor, calculate the speed control torque of the drive motor under the current motor control state and the vehicle's required torque, wherein the control command includes the motor control state switching command, and the control state of the hybrid vehicle includes the motor control state of the drive motor; and determine the initial motor torque requirement of the drive motor based on the current torque provided by the drive motor, the motor torque filter factor under the current motor control state, and the speed control torque; or The third determining module is configured to, in response to the received drive mode switching command from the hybrid vehicle, calculate the speed control torque and torque control torque of the drive motor in pure electric mode based on the vehicle's required torque, wherein the control command includes the drive mode switching command; and calculate the mode switching factor of the drive motor in real time based on the current drive mode of the hybrid vehicle; during the drive mode switching process, calculate the initial motor torque requirement of the drive motor based on the speed control torque, the torque control torque, and the real-time calculated mode switching factor; or The third determining module is used to determine the start-stop coordination torque of the engine in response to the received start-stop switching command of the engine, wherein the control command includes the start-stop switching command; and to determine the initial motor torque requirement of the drive motor based on the start-stop coordination torque, the control state of the hybrid vehicle and the required torque of the whole vehicle. The control module is used to control the drive motor to perform gradient filtering operation based on the engine start-stop state represented by the start-stop switching command, with the current motor torque of the drive motor as the initial value and the motor torque demand as the target motor torque, according to the motor filtering gradient and the motor filtering cycle.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method described in any one of claims 1-4.

7. A hybrid vehicle, comprising a controller, the controller including a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1-4.

Images