Vehicle control methods, devices, equipment, storage media, and vehicles based on coasting.

Abstract

This disclosure provides a vehicle control method, apparatus, device, storage medium, and vehicle based on coasting. The method includes: determining the motor coasting recovery torque based on the vehicle's deceleration under coasting conditions; determining the engine torque matching the current charging mode of the power battery; determining the motor load adjustment torque based on the motor coasting recovery torque and the engine torque, according to the vehicle torque balance principle; determining the vehicle's loss torque; combining the motor load adjustment torque and the loss torque to determine the engine load adjustment torque; controlling the motor operation based on the motor load adjustment torque; and controlling the engine operation based on the engine load adjustment torque.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control technology, and in particular to a vehicle control method, apparatus, device, storage medium and vehicle based on coasting. Background Technology

[0002] As vehicles evolve, the performance requirements for coasting conditions become increasingly stringent. However, under coasting conditions, the control of the vehicle's power system is not accurate, which can easily lead to energy waste.

[0003] Therefore, how to avoid energy waste caused by inaccurate control of the vehicle's power system during coasting has become an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the purpose of this disclosure is to propose a vehicle control method, device, equipment, storage medium and vehicle based on coasting, so as to solve the problem of energy waste caused by inaccurate control of the vehicle power system under coasting conditions in the prior art.

[0005] To achieve the above objectives, the first aspect of this disclosure proposes a vehicle control method based on coasting, comprising:

[0006] The motor's coasting recovery torque is determined based on the vehicle's deceleration under coasting conditions;

[0007] The engine torque that matches the current charging mode is determined based on the current charging mode of the power battery.

[0008] Based on the motor coasting recovery torque and the engine torque, the motor load adjustment torque is determined according to the vehicle torque balance principle;

[0009] Determine the vehicle's loss torque, and combine the motor load adjustment torque and the loss torque to determine the engine load adjustment torque;

[0010] The motor operation is controlled by adjusting the torque according to the motor load, and the engine operation is controlled by adjusting the torque according to the engine load.

[0011] Based on the same inventive concept, a second aspect of this disclosure proposes a vehicle control device based on coasting, comprising:

[0012] The first torque determination module is configured to determine the motor coasting recovery torque based on the deceleration of the vehicle under coasting conditions.

[0013] The second torque determination module is configured to determine the engine torque that matches the current charging mode based on the current charging mode of the power battery.

[0014] The third torque determination module is configured to determine the motor load adjustment torque based on the motor coasting recovery torque and the engine torque, according to the vehicle torque balance principle.

[0015] The fourth torque determination module is configured to determine the vehicle's loss torque and combine the motor load adjustment torque and the loss torque to determine the engine load adjustment torque;

[0016] The operation control module is configured to control the motor operation by adjusting the torque according to the motor load, and to control the engine operation by adjusting the torque according to the engine load.

[0017] Based on the same inventive concept, a third aspect of this disclosure proposes an electronic device including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method described above when executing the computer program.

[0018] Based on the same inventive concept, a fourth aspect of this disclosure provides a non-transitory computer-readable storage medium that stores computer instructions for causing a computer to perform the methods described above.

[0019] Based on the same inventive concept, a fifth aspect of this disclosure proposes a vehicle comprising the coasting-based vehicle control device described in the second aspect, the electronic device described in the third aspect, or the storage medium described in the fourth aspect.

[0020] As can be seen from the above, the vehicle control method, device, equipment, storage medium, and vehicle based on coasting provided in this disclosure are as follows: The motor coasting recovery torque is determined based on the vehicle's deceleration under coasting conditions. The engine torque matching the current charging mode of the power battery is determined. Different charging modes correspond to different engine torques; matching the engine torque corresponding to the current charging mode can improve the accuracy of the engine torque and ensure that the energy consumption corresponding to the matched engine torque is within the optimal energy consumption range. Based on the motor coasting recovery torque and the engine torque, the motor load adjustment torque is determined according to the vehicle torque balance principle. Determining the motor load adjustment torque according to the vehicle torque balance principle makes the determined motor load adjustment torque more accurate and meets the requirements for controlling motor operation. The vehicle's loss torque is determined, and the motor load adjustment torque and the loss torque are combined to determine the engine load adjustment torque. The motor operation is controlled according to the motor load adjustment torque, and the engine operation is controlled according to the engine load adjustment torque. Since the determined motor load adjustment torque and engine load adjustment torque meet the requirements for controlling the motor and engine operation, energy waste caused by inaccurate control of engine and motor operation under coasting conditions can be avoided, improving range and extending the service life of the motor and engine. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this disclosure or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a vehicle control method based on coasting, according to an embodiment of the present disclosure.

[0023] Figure 2 This is a schematic diagram illustrating the relationship between engine speed and engine torque under different charging modes according to embodiments of this disclosure;

[0024] Figure 3 This is a schematic diagram of the structure of a coasting-based vehicle control device according to an embodiment of the present disclosure;

[0025] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0027] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0028] As mentioned above, how to avoid energy waste caused by inaccurate control of the vehicle's power system during coasting has become an important research problem.

[0029] Based on the above description, such as Figure 1 As shown, the vehicle control method based on coasting proposed in this embodiment includes:

[0030] Step 101: Determine the motor coasting recovery torque based on the vehicle's deceleration under coasting conditions.

[0031] In practice, the deceleration during vehicle coasting is a deceleration rate determined to meet user needs to avoid excessive deceleration that could negatively impact user experience. Based on this deceleration, the motor's coasting recovery torque is calculated using the coasting recovery torque formula.

[0032] Step 102: Determine the engine torque that matches the current charging mode of the power battery.

[0033] In practice, vehicle power batteries offer multiple charging modes, each corresponding to a different engine torque. Based on the relationship between charging modes and engine torque, the engine torque corresponding to the current charging mode is retrieved, resulting in the engine torque that matches the current charging mode. This improves the accuracy of the engine torque calculation and ensures that the energy consumption corresponding to the matched engine torque is within the optimal energy consumption range.

[0034] The engine torque obtained by matching the current charging mode is the torque range.

[0035] Step 103: Based on the motor coasting recovery torque and the engine torque, determine the motor load adjustment torque according to the vehicle torque balance principle.

[0036] In practical implementation, the principle of vehicle torque balance is the vehicle torque balance algorithm. The algorithm states that the total vehicle torque equals the sum of the motor torque and the engine torque. When the engine torque changes, the motor torque also changes by the opposite amount, thus achieving torque balance. For example, when the engine torque increases, the motor torque decreases. Substituting the total vehicle torque and engine torque into the vehicle torque balance algorithm yields the motor torque.

[0037] After calculating the motor torque using the vehicle torque balance algorithm, the motor load adjustment torque is then calculated using the motor torque balance algorithm. The motor torque balance algorithm states that the motor torque equals the sum of the motor coasting recovery torque and the motor load adjustment torque. Substituting the motor torque and the motor coasting recovery torque into the motor torque balance algorithm yields the motor load adjustment torque.

[0038] Step 104: Determine the vehicle's loss torque, and combine the motor load adjustment torque and the loss torque to determine the engine load adjustment torque.

[0039] In practice, the engine drives the electric motor to generate electricity. In addition, the vehicle experiences torque loss. Therefore, the engine load adjustment torque algorithm is as follows: the engine load adjustment torque equals the sum of the electric motor load adjustment torque and the torque loss. Substituting the electric motor load adjustment torque and the torque loss into the engine load adjustment torque algorithm yields the electric motor load adjustment torque.

[0040] Step 105: Adjust the torque according to the motor load to control the motor operation, and adjust the torque according to the engine load to control the engine operation.

[0041] In specific implementation, the motor load adjustment torque is sent to the motor, requesting the motor load adjustment torque from the motor, and the motor operation is controlled according to the motor load adjustment torque; the engine load adjustment torque is sent to the engine, requesting the engine load adjustment torque from the engine, and the engine operation is controlled according to the engine load adjustment torque.

[0042] In the above embodiments, the motor coasting recovery torque is determined based on the vehicle's deceleration under coasting conditions. The engine torque matching the current charging mode of the power battery is determined. Different charging modes correspond to different engine torques; matching the engine torque to the current charging mode improves the accuracy of the engine torque and ensures that the energy consumption corresponding to the matched engine torque is within the optimal energy consumption range. Based on the motor coasting recovery torque and the engine torque, the motor load adjustment torque is determined according to the vehicle torque balance principle. Determining the motor load adjustment torque according to the vehicle torque balance principle makes the determined motor load adjustment torque more accurate and meets the requirements for controlling motor operation. The vehicle's loss torque is determined, and the motor load adjustment torque and the loss torque are combined to determine the engine load adjustment torque. The motor operation is controlled according to the motor load adjustment torque, and the engine operation is controlled according to the engine load adjustment torque. Since the determined motor load adjustment torque and engine load adjustment torque meet the requirements for controlling the motor and engine operation, energy waste caused by inaccurate control of the engine and motor operation under coasting conditions can be avoided, improving range and extending the service life of the motor and engine.

[0043] In some embodiments, step 103 includes:

[0044] Step 1031: Determine the overall vehicle torque.

[0045] In practice, the vehicle's total torque is determined based on its performance. The total torque is determined by querying the relationship between vehicle performance and total torque. This relationship can be presented as a table or curve.

[0046] Step 1032: Calculate and process the vehicle torque and engine torque according to the vehicle torque balance algorithm to obtain the motor torque.

[0047] T 整车 =T 电机 +T 发动机

[0048] Among them, T 整车 T represents the total vehicle torque. 电机 T is the torque of the motor. 发动机 The torque of the engine is [value].

[0049] In practice, the vehicle torque balance algorithm is as follows: the vehicle torque equals the sum of the motor torque and the engine torque. This can be expressed as: T 整车 =T 电机 +T 发动机 .

[0050] The determined vehicle torque T 整车And the engine torque T determined according to the charging mode in the above steps 发动机 Substituting into the vehicle torque balance algorithm, we obtain the motor torque T. 电机 Therefore, the motor load adjustment torque can be further determined based on the motor torque, so that the motor can control the motor operation according to the motor load adjustment torque.

[0051] For example, if the determined vehicle torque is -1000 N·m, the engine torque matched with the current charging mode is -60 N·m, and the motor torque is calculated to be -940 N·m according to the vehicle torque balance algorithm.

[0052] Step 1033: Calculate the motor torque and the motor coasting recovery torque using the motor torque balance algorithm to obtain the motor load adjustment torque.

[0053] T 电机 =T 电机滑行回收 +T 电机负载调节

[0054] Among them, T 电机滑行回收 T is the motor's coasting recovery torque. 电机负载调节 Adjust the torque for the motor load.

[0055] In practice, the motor torque balance algorithm is as follows: the motor torque equals the sum of the motor coasting recovery torque and the motor load adjustment torque. This can be expressed as: T 电机 =T 电机滑行回收 +T 电机负载调节 .

[0056] The motor torque T calculated in the above steps 电机 and motor coasting recovery torque T 电机滑行回收 Substituting into the motor torque balance algorithm, the motor load adjustment torque T is obtained. 电机负载调节 The motor controls motor operation by adjusting torque according to motor load.

[0057] For example, the calculated motor torque is -600 N·m, the motor coasting recovery torque is -450 N·m, and the motor load adjustment torque is -150 N·m calculated according to the motor torque balance algorithm.

[0058] In the above scheme, the motor load adjustment torque is calculated using both vehicle torque balance and motor torque balance algorithms. This makes the determined motor load adjustment torque more accurate and meets the requirements for controlling motor operation. Consequently, motor operation can be controlled more efficiently, reducing energy waste, improving range, and extending motor lifespan.

[0059] In some embodiments, step 104 includes:

[0060] Step 1041: Calculate the motor load adjustment torque and the loss torque to obtain the engine load adjustment torque.

[0061] T 发动机负载调节 =T 电机负载调节 +T 损耗

[0062] Among them, T 发动机负载调节 Adjusting the torque for the engine load, T 损耗 The loss torque is mentioned.

[0063] In practice, the engine drives the electric motor to generate electricity. In addition, the vehicle experiences torque loss. Therefore, the engine load-adjustable torque algorithm is: the engine load-adjustable torque equals the sum of the electric motor load-adjustable torque and the torque loss. This can be expressed as: T 发动机负载调节 =T 电机负载调节 +T 损耗 .

[0064] The determined loss torque T 损耗 The motor load regulating torque T is calculated using the steps described above. 电机负载调节 Substituting the values ​​into the formula for the engine load regulating torque algorithm, we obtain the engine load regulating torque T. 发动机负载调节 The engine operation is controlled by adjusting the torque according to the engine load.

[0065] For example, the calculated motor load adjustment torque is -900 N·m, the determined loss torque is -50 N·m, and the engine load adjustment torque is calculated to be -950 N·m according to the engine load adjustment torque formula.

[0066] In the above scheme, the engine load adjustment torque is calculated using the motor load adjustment torque and the loss torque. Since the engine drives the motor to generate electricity, the engine load adjustment torque includes the motor load adjustment torque. In addition, the vehicle also experiences torque losses. The sum of the motor load adjustment torque and the loss torque is used as the engine load adjustment torque. This makes the obtained engine load adjustment torque more accurate and meets the requirements for controlling engine operation. This allows for more efficient engine control, reduces energy waste, improves driving range, and extends engine lifespan.

[0067] In some embodiments, step 102 includes:

[0068] Step 1021: Determine the engine torque corresponding to the engine speed in the current charging mode by querying the relationship between engine speed and engine torque under different charging modes.

[0069] In practice, the relationship between engine speed and engine torque under different charging modes is presented in a table or curve.

[0070] When querying the relationship between engine speed and engine torque under different charging modes, first determine the relationship between engine speed and engine torque corresponding to the current charging mode from among the different charging modes. Then, determine the corresponding engine torque based on the engine speed, thus obtaining the engine torque corresponding to the engine speed under the current charging mode. Here, the engine torque refers to a torque range.

[0071] The charging modes of a vehicle's power battery include at least one of the following: active discharge, passive discharge, maintenance, high efficiency, high efficiency, and strong charging. In this embodiment, the engine torque matching the current charging mode of the power battery is determined. During coasting, the charging modes corresponding to coasting are primarily high efficiency, high efficiency, and strong charging. The engine torque can be determined based on the current charging mode.

[0072] Active discharge is the process by which the controller of the drive motor actively discharges when the power to the drive motor controller is cut off and the discharge circuit is entered.

[0073] Passive discharge is the process in which the controller's supporting capacitor discharges according to the vehicle's power demand after the drive motor controller is powered off, without entering the discharge circuit.

[0074] "Maintaining" refers to the process where, when the battery charge is below a preset threshold, the vehicle uses both the electric motor and the engine to drive the vehicle. The engine drives the electric motor to charge the battery at a first charging efficiency, where the first charging efficiency is the charging efficiency that can maintain the battery charge.

[0075] Efficiency refers to the process where, when the battery charge is below a preset threshold, the vehicle uses both the electric motor and engine to drive it. The engine drives the electric motor to charge the battery at a second charging efficiency, which ensures that the battery is charged within the normal efficiency range.

[0076] High efficiency means that when the battery charge is below a preset threshold, the vehicle uses both the electric motor and the engine to drive the vehicle. The engine drives the electric motor to charge the battery at a third charging efficiency, which means that the battery can be charged within a relatively high efficiency range.

[0077] like Figure 2 The lower edge of the closed loop curve represents the relationship between engine speed and engine torque in the high-efficiency charging mode, while the upper edge represents the relationship between engine speed and engine torque in the high-efficiency charging mode. Engine torque is lower in the high-efficiency charging mode than in the high-efficiency charging mode. Therefore, the second charging efficiency in the high-efficiency charging mode is lower than the third charging efficiency in the high-efficiency charging mode.

[0078] Forced charging is a method of charging without detecting battery voltage, forcing a high current to charge the battery according to a preset program. Forced charging mode charges the battery at maximum efficiency within the range allowed by the motor's operation.

[0079] In the above scheme, different charging modes correspond to different engine torques. By matching the engine torque corresponding to the current charging mode according to the relationship between engine speed and engine torque under different charging modes, the accuracy of engine torque can be improved, ensuring that the energy consumption corresponding to the matched engine torque is within the optimal energy consumption range.

[0080] In some embodiments, step 101 includes:

[0081] Step 1011: Determine the motor coasting recovery torque based on the vehicle's deceleration, driving mode, and current speed under coasting conditions using the coasting recovery torque formula.

[0082] In practice, the vehicle's coasting resistance is calculated based on its deceleration and total vehicle mass under coasting conditions. Based on this resistance and the vehicle's parameters, the motor's coasting recovery torque is calculated using the coasting recovery torque formula. The vehicle parameters include at least one of the following: wheel radius, transmission ratio, final drive ratio, gearbox ratio, and transmission efficiency.

[0083] In the above scheme, the motor coasting recovery torque is calculated by using the coasting recovery torque formula based on the deceleration under coasting conditions and the vehicle parameters. This makes the obtained motor coasting recovery torque more accurate, thereby determining the motor load adjustment torque and realizing the control of motor operation under vehicle coasting conditions.

[0084] In some embodiments, after step 101, the method further includes:

[0085] Step 101A: Obtain at least one of the following: current charging mode, road gradient, vehicle yaw angle, and vehicle yaw rate.

[0086] In practice, the vehicle's driving parameters are acquired. These parameters include the current charging mode, road gradient, vehicle yaw angle, and vehicle yaw rate.

[0087] Step 101B: Correct the motor coasting recovery torque based on at least one of the current charging mode, the road gradient, the vehicle yaw angle, and the vehicle yaw rate.

[0088] In practice, there are several ways to correct the motor's coasting recovery torque. One method is to correct the motor's coasting recovery torque based on the current charging mode. Different charging modes correspond to different correction coefficients. The corresponding correction coefficient is determined based on the current charging mode. By multiplying the motor's coasting recovery torque by the correction coefficient, the corrected target motor coasting recovery torque is obtained, thus achieving the correction of the motor's coasting recovery torque.

[0089] In addition, the process of correcting the motor coasting recovery torque can also be as follows: First, determine the first coasting resistance based on the vehicle's current initial deceleration; then, calculate the first motor coasting recovery torque based on the first coasting resistance. Next, determine the vehicle's current gradient coasting deceleration based on the road gradient; then, determine the second coasting resistance based on the current gradient coasting deceleration; and finally, calculate the second motor coasting recovery torque based on the second coasting resistance. The minimum value between the first and second motor coasting recovery torques is then used as the corrected target motor coasting recovery torque, thus achieving the correction of the motor coasting recovery torque.

[0090] In the above scheme, by correcting the motor's coasting recovery torque, the accuracy of the motor's coasting recovery torque can be improved, and the error in the motor's coasting recovery torque caused by errors in the parameters obtained during the calculation process can be reduced.

[0091] In the above embodiments, the motor coasting recovery torque is determined based on the vehicle's deceleration under coasting conditions. The engine torque matching the current charging mode of the power battery is determined. Different charging modes correspond to different engine torques; matching the engine torque to the current charging mode improves the accuracy of the engine torque and ensures that the energy consumption corresponding to the matched engine torque is within the optimal energy consumption range. Based on the motor coasting recovery torque and the engine torque, the motor load adjustment torque is determined according to the vehicle torque balance principle. Determining the motor load adjustment torque according to the vehicle torque balance principle makes the determined motor load adjustment torque more accurate and meets the requirements for controlling motor operation. The vehicle's loss torque is determined, and the motor load adjustment torque and the loss torque are combined to determine the engine load adjustment torque. The motor operation is controlled according to the motor load adjustment torque, and the engine operation is controlled according to the engine load adjustment torque. Since the determined motor load adjustment torque and engine load adjustment torque meet the requirements for controlling the motor and engine operation, energy waste caused by inaccurate control of the engine and motor operation under coasting conditions can be avoided, improving range and extending the service life of the motor and engine.

[0092] It should be noted that the embodiments of this disclosure can also be further described in the following ways:

[0093] The vehicle is coasting while the engine is running.

[0094] Step 1: Determine the motor coasting recovery torque based on the deceleration.

[0095] To ensure a good user experience during coasting deceleration and avoid excessive deceleration that could negatively impact the user experience, a deceleration rate suitable for the user's needs is determined. Based on the deceleration rate, driving mode, and current vehicle speed, the motor's coasting recovery torque is calculated using a coasting recovery torque calculation formula.

[0096] After determining the motor coasting recovery torque, the motor coasting recovery torque is corrected. This correction can be made using a coefficient corresponding to the power battery charging mode; alternatively, it can be made based on at least one of the following: road gradient, vehicle yaw angle, and vehicle yaw rate.

[0097] Step 2: Determine the current charging mode of the power battery.

[0098] The charging modes include at least one of the following: active discharge, passive discharge, maintenance, efficiency, high efficiency, and strong charging.

[0099] Step 3: Determine the motor load adjustment torque based on the current charging mode.

[0100] like Figure 2 As shown, Figure 2 This diagram illustrates the relationship between engine speed and engine torque under different charging modes according to embodiments of this disclosure. The charging modes corresponding to coasting conditions are primarily high efficiency, high efficiency, and strong charging. By querying the relationship between engine speed and engine torque under different charging modes, the engine torque corresponding to the engine speed in the current charging mode can be determined. For example, querying... Figure 2 The relationship between engine speed and engine torque is shown in the curves. Within the closed loop region, the innermost closed loop curve represents the relationship between engine speed and engine torque in the efficient charging mode. The engine torque in the efficient charging mode can be determined based on the relationship corresponding to the lower edge of the curve. The upper edge of the closed loop curve represents the relationship between engine speed and engine torque in the high-efficiency charging mode. The engine torque in the high-efficiency charging mode can be determined based on the relationship corresponding to the upper edge of the curve.

[0101] The total vehicle torque is the sum of the motor torque and the engine torque. The motor torque can be calculated from the engine torque and the total vehicle torque, as follows:

[0102] T 整车 =T 电机 +T 发动机

[0103] Among them, T 整车 T represents the total vehicle torque.电机 T is the torque of the motor. 发动机 The torque of the engine is [value].

[0104] The motor torque is the sum of the motor's coasting recovery torque and the motor's load adjustment torque. The motor load adjustment torque can be calculated from the motor torque and the motor's coasting recovery torque, as follows:

[0105] T 电机 =T 电机滑行回收 +T 电机负载调节

[0106] Among them, T 电机滑行回收 T is the motor's coasting recovery torque. 电机负载调节 Adjust the torque for the motor load.

[0107] Step 4: Determine the engine load adjustment torque based on the motor load adjustment torque.

[0108] The engine drives the electric motor to generate electricity. In addition, there is torque loss in the vehicle. Therefore, the engine load-adjustable torque is the sum of the electric motor load-adjustable torque and the torque loss.

[0109] T 发动机负载调节 =T 电机负载调节 +T 损耗

[0110] Among them, T 发动机负载调节 Adjusting the torque for the engine load, T 损耗 The loss torque is mentioned.

[0111] Step 5: Interact with the motor and engine to achieve torque control.

[0112] The motor load adjustment torque is sent to the motor, requesting the motor load adjustment torque from the motor, and controlling the motor to run according to the motor load adjustment torque; the engine load adjustment torque is sent to the engine, requesting the engine load adjustment torque from the engine, and controlling the engine to run according to the engine load adjustment torque.

[0113] In the above embodiments, it can be ensured that the engine load is near the optimal fuel consumption curve when the vehicle is coasting during engine start-up, thereby reducing fuel consumption and emissions, saving fuel, improving range, optimizing the fuel waste caused by excessive power generation by the engine-driven motor during coasting, and improving the durability of the engine, motor, and clutch.

[0114] It should be noted that the method of this disclosure embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this disclosure embodiment, and the multiple devices will interact with each other to complete the method described.

[0115] It should be noted that the above description describes some embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0116] Based on the same inventive concept, corresponding to any of the above-described embodiments, this disclosure also provides a vehicle control device based on coasting.

[0117] refer to Figure 3 The coasting-based vehicle control device includes:

[0118] The first torque determination module 301 is configured to determine the motor coasting recovery torque based on the deceleration of the vehicle under coasting conditions.

[0119] The second torque determination module 302 is configured to determine the engine torque that matches the current charging mode based on the current charging mode of the power battery.

[0120] The third torque determination module 303 is configured to determine the motor load adjustment torque based on the motor coasting recovery torque and the engine torque, according to the vehicle torque balance principle.

[0121] The fourth torque determination module 304 is configured to determine the vehicle's loss torque and combine the motor load adjustment torque and the loss torque to determine the engine load adjustment torque;

[0122] The operation control module 305 is configured to control the operation of the motor by adjusting the torque according to the motor load, and to control the operation of the engine by adjusting the torque according to the engine load.

[0123] In some embodiments, the third torque determination module 303 includes:

[0124] The vehicle torque determination unit is configured to determine the vehicle torque;

[0125] The motor torque determination unit is configured to calculate and process the vehicle torque and the engine torque according to the vehicle torque balance algorithm to obtain the motor torque.

[0126] T 整车 =T 电机 +T 发动机

[0127] Among them, T 整车 T represents the total vehicle torque. 电机 T is the torque of the motor. 发动机 The engine torque;

[0128] The motor load adjustment torque determination unit is configured to perform calculations on the motor torque and the motor coasting recovery torque according to a motor torque balance algorithm to obtain the motor load adjustment torque.

[0129] T 电机 =T T机滑行回收 +T 电机负载调节

[0130] Among them, T 电机滑行回收 T is the motor's coasting recovery torque. 电机负载调节 Adjust the torque for the motor load.

[0131] In some embodiments, the fourth torque determination module 304 includes:

[0132] An engine load regulation torque determination unit is configured to calculate the engine load regulation torque by considering the motor load regulation torque and the loss torque.

[0133] T 发动机负载调节 =T 电机负载调节 +T 损耗

[0134] Among them, T 发动机负载调节 Adjusting the torque for the engine load, T 损耗 The loss torque is mentioned.

[0135] In some embodiments, the second torque determination module 302 includes:

[0136] The engine torque determination unit is configured to determine the engine torque corresponding to the engine speed in the current charging mode by querying the relationship between engine speed and engine torque under different charging modes.

[0137] In some embodiments, the first torque determination module 301 includes:

[0138] The motor coasting recovery torque determination unit is configured to determine the motor coasting recovery torque based on the vehicle's deceleration, driving mode, and current vehicle speed under coasting conditions, using a coasting recovery torque formula.

[0139] In some embodiments, the apparatus further includes:

[0140] The acquisition unit is configured to acquire at least one of the current charging mode, road gradient, vehicle yaw angle, and vehicle yaw rate.

[0141] The motor coasting recovery torque correction unit is configured to correct the motor coasting recovery torque based on at least one of the current charging mode, the road gradient, the vehicle yaw angle, and the vehicle yaw rate.

[0142] For ease of description, the above apparatus is described in terms of its functions, divided into various modules. Of course, in implementing this disclosure, the functions of each module can be implemented in one or more software and / or hardware.

[0143] The apparatus of the above embodiments is used to implement the corresponding coasting-based vehicle control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0144] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle control method based on coasting as described in any of the above embodiments.

[0145] Figure 4 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0146] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0147] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0148] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0149] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB (Universal Serial Bus), network cable, etc.) or wireless means (such as mobile network, WIFI (Wireless Fidelity), Bluetooth, etc.).

[0150] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0151] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0152] The electronic devices described above are used to implement the corresponding coasting-based vehicle control methods in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0153] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the coasting-based vehicle control method as described in any of the above embodiments.

[0154] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0155] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the coasting-based vehicle control method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0156] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a vehicle, including a coasting-based vehicle control device, or electronic device, or storage medium as described in the above embodiments, wherein the vehicle device implements the coasting-based vehicle control method described in any of the above embodiments.

[0157] The vehicles described in the above embodiments are used to implement the coasting-based vehicle control method described in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0158] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0159] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this disclosure, the provided drawings may or may not show well-known power / ground connections to integrated circuit (IC) chips and other components. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this disclosure, and this also takes into account the fact that the details of implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this disclosure will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuitry) have been set forth to describe exemplary embodiments of this disclosure, it will be apparent to those skilled in the art that the embodiments of this disclosure may be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0160] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0161] This disclosure is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A vehicle control method based on coasting, characterized in that, The method includes: The motor's coasting recovery torque is determined based on the vehicle's deceleration under coasting conditions; The engine torque that matches the current charging mode is determined based on the current charging mode of the power battery. Based on the motor coasting recovery torque and the engine torque, the motor load adjustment torque is determined according to the vehicle torque balance principle; Determine the vehicle's loss torque, and combine the motor load adjustment torque and the loss torque to determine the engine load adjustment torque; The motor operation is controlled by adjusting the torque according to the motor load, and the engine operation is controlled by adjusting the torque according to the engine load. The step of determining the motor load adjustment torque based on the motor's coasting recovery torque and the engine torque, according to the vehicle torque balance principle, includes: Determine the overall vehicle torque; The vehicle torque and engine torque are calculated using a vehicle torque balance algorithm to obtain the motor torque. in, The total vehicle torque is [value missing]. The torque of the motor is... The engine torque; The motor torque and the motor coasting recovery torque are calculated using a motor torque balance algorithm to obtain the motor load adjustment torque. in, The motor coasting recovery torque, Adjust the torque for the motor load; The step of combining the motor load adjustment torque and the loss torque to determine the engine load adjustment torque includes: The engine load adjustment torque is obtained by calculating the motor load adjustment torque and the loss torque. in, Adjust torque for engine load. The loss torque is mentioned.

2. The method according to claim 1, characterized in that, The step of determining the engine torque that matches the current charging mode of the power battery includes: The engine torque corresponding to the engine speed in the current charging mode is determined by querying the relationship between engine speed and engine torque under different charging modes.

3. The method according to claim 1, characterized in that, The step of determining the motor coasting recovery torque based on the vehicle's deceleration under coasting conditions includes: The motor coasting recovery torque is determined based on the vehicle's deceleration, driving mode, and current speed under coasting conditions using the coasting recovery torque formula.

4. The method according to claim 1, characterized in that, After determining the motor coasting recovery torque based on the vehicle's deceleration under coasting conditions, the method further includes: Obtain at least one of the following: current charging mode, road gradient, vehicle yaw angle, and vehicle yaw rate; The motor coasting recovery torque is adjusted based on at least one of the current charging mode, the road gradient, the vehicle yaw angle, and the vehicle yaw rate.

5. A vehicle control device based on coasting, characterized in that, include: The first torque determination module is configured to determine the motor coasting recovery torque based on the deceleration of the vehicle under coasting conditions. The second torque determination module is configured to determine the engine torque that matches the current charging mode based on the current charging mode of the power battery. The third torque determination module is configured to determine the motor load adjustment torque based on the motor coasting recovery torque and the engine torque, according to the vehicle torque balance principle. The fourth torque determination module is configured to determine the vehicle's loss torque and combine the motor load adjustment torque and the loss torque to determine the engine load adjustment torque; The operation control module is configured to control the motor operation by adjusting the torque according to the motor load, and to control the engine operation by adjusting the torque according to the engine load; The third torque determination module includes: The vehicle torque determination unit is configured to determine the vehicle torque; The motor torque determination unit is configured to calculate and process the vehicle torque and the engine torque according to the vehicle torque balance algorithm to obtain the motor torque. in, The total vehicle torque is [value missing]. The torque of the motor is... The engine torque; The motor load adjustment torque determination unit is configured to perform calculations on the motor torque and the motor coasting recovery torque according to a motor torque balance algorithm to obtain the motor load adjustment torque. in, The motor coasting recovery torque, Adjust the torque for the motor load; The fourth torque determination module includes: An engine load regulation torque determination unit is configured to calculate the engine load regulation torque by considering the motor load regulation torque and the loss torque. in, Adjust torque for engine load. The loss torque is mentioned.

6. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method as described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions for causing a computer to perform the method according to any one of claims 1 to 4.

8. A vehicle, characterized in that, This includes the coasting-based vehicle control device of claim 5, the electronic device of claim 6, or the storage medium of claim 7.

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