A starting control method and device of a hybrid vehicle, a vehicle, and a storage medium

Abstract

The application relates to the technical field of vehicles and discloses a starting control method and device for a hybrid vehicle, a vehicle and a storage medium. After it is determined that the vehicle starts in a hybrid mode, the starting control method obtains the load of the vehicle and the external slope, sequentially determines a first starting gear position, a first gear interval, a first torque step, a duty cycle of an electromagnetic valve and a virtual throttle signal value based on the load and the slope, and determines a target rotating speed of an engine and a target torque of a motor based on the load, the slope and the virtual throttle signal value. Then, the engine is rotated at the target rotating speed, and the clutch of the first starting gear position is combined to a sliding wear point. The electromagnetic valve works at the duty cycle to make the clutch of the first starting gear position continue to be combined, and the torque of the motor is increased by the first torque step per unit time. In this way, the first starting gear position can be adapted to the load of the vehicle and the slope where the vehicle is located, the starting gear selection is reliable, and the gear position selected is neither too large nor too small.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a starting control method and device of a hybrid vehicle, a vehicle and a storage medium. BACKGROUND

[0002] The total mass of the hybrid heavy truck and the range of road slope change are large, the required torque in the starting process changes greatly, in addition, the hybrid heavy truck has multiple modes and gears; the environment in which the hybrid heavy truck is located is relatively complex, and it is crucial to select appropriate modes, gears and control processes.

[0003] In the prior art, the starting control of the hybrid vehicle generally obtains information such as vehicle speed, throttle opening, engine speed and road slope; based on the above information, the control process is researched, the starting is completed by controlling the target torque, such as adding a slope compensation torque based on the idle torque to complete the starting; the vehicle is started smoothly by tracking the driver's demand speed and adopting different modes, and the vehicle is also started smoothly by compensating the speed difference between the engine output shaft and the transmission input shaft. However, due to the large change of the total mass of the hybrid vehicle and the road slope, the power and torque required for the vehicle to start under different working conditions differ greatly; when the vehicle is heavy, the selection of the starting gear is crucial in the starting process on the slope, if the gear is too large, it is easy to cause insufficient driving torque and starting failure, and if the starting gear is too small, there is a risk of slope gear shifting failure in the starting process, and the output shaft speed changes greatly in the uphill and downhill processes, and the speed adjustment target changes greatly. SUMMARY

[0004] The purpose of the present application is to provide a starting control method and device of a hybrid vehicle, a vehicle and a storage medium, to solve the problem of inaccurate starting gear selection of the existing hybrid vehicle.

[0005] In one aspect, the present application provides a starting control method of a hybrid vehicle, the starting control method of the hybrid vehicle comprising:

[0006] determining that the vehicle starts in a hybrid mode;

[0007] obtaining the load of the vehicle and the slope of the road where the vehicle is located;

[0008] determining a first starting gear and a first gear interval based on the load and the slope, the first starting gear being located in the first gear interval;

[0009] determining a first torque step of the motor based on the load and the slope;

[0010] determining the duty cycle of the solenoid valve of the clutch of the first starting gear based on the load and the slope;

[0011] obtaining an accelerator pedal opening degree of the vehicle, and determining a virtual accelerator signal value based on the accelerator pedal opening degree;

[0012] determining a target engine speed and a target motor torque based on the load, the slope and the virtual accelerator signal value;

[0013] the engine rotates at the target engine speed;

[0014] starting the vehicle in the first start gear, including: causing the clutch of the first start gear to engage to a slip point; causing the solenoid valve to operate at the duty ratio to cause the clutch of the first start gear to continue to engage to a full engagement point, and simultaneously causing the torque of the motor to increase by the first torque step per unit time.

[0015] As a preferred technical solution of the starting control method of the hybrid vehicle, the starting control method of the hybrid vehicle further includes the following steps performed synchronously with the step of starting the vehicle in the first start gear:

[0016] obtaining a real-time engine speed;

[0017] determining whether a difference between the real-time engine speed and the target engine speed is less than a preset difference value;

[0018] if yes, the engine has no risk of stalling;

[0019] obtaining an actual vehicle speed of the vehicle;

[0020] determining whether the actual vehicle speed is less than a first preset vehicle speed;

[0021] if no, the vehicle starts successfully.

[0022] As a preferred technical solution of the starting control method of the hybrid vehicle, when determining whether the actual vehicle speed of the vehicle is less than the first preset vehicle speed, if yes, it is determined whether there is a first backup gear lower than the first start gear in the first gear interval;

[0023] if yes, the first backup gear is taken as a new first start gear, and the step of starting the vehicle in the first start gear is re-executed.

[0024] As a preferred technical solution of the starting control method of the hybrid vehicle, when determining whether the difference between the real-time engine speed and the target engine speed is less than the preset difference value;

[0025] if no, the engine has a risk of stalling, and the number of times that the engine has the risk of stalling is accumulated;

[0026] quickly disengaging the clutch of the first start gear;

[0027] determine whether the number of times that the engine is at risk of being stalled exceeds a set number of times;

[0028] If the number of times that the engine is at risk of being stalled does not exceed the set number of times, the duty cycle of the solenoid valve of the clutch of the first starting gear is reduced by a set value based on the existing duty cycle, the virtual accelerator signal value is increased by a set multiple based on the existing virtual accelerator signal value, and the first torque step is increased by a set value based on the existing first torque step.

[0029] The step of determining the target speed of the engine and the target torque of the motor based on the load, the slope, and the virtual accelerator signal value is re-executed.

[0030] As a preferred technical solution of the starting control method of the hybrid vehicle, if the number of times that the engine is at risk of being stalled exceeds the set number of times, the method ends.

[0031] As a preferred technical solution of the starting control method of the hybrid vehicle, the method for determining that the vehicle starts in the hybrid mode is:

[0032] obtaining a driving intention of a driver, an SOC parameter of a battery, and a demand torque of starting of the vehicle; the driving intention of the driver includes an economic mode starting and a power mode starting;

[0033] when the driving intention of the driver is the power mode, or the SOC parameter of the battery is less than a set electric quantity, or the demand torque of starting of the vehicle is greater than a set torque, it is determined that the vehicle starts in the hybrid mode;

[0034] when the driving intention of the driver is the economic mode, the SOC parameter of the battery is not less than the set electric quantity, and the demand torque of starting of the vehicle is not greater than the set torque, it is determined that the vehicle starts in the pure electric mode.

[0035] As a preferred technical solution of the starting control method of the hybrid vehicle, when the vehicle starts in the pure electric mode, the starting control method of the hybrid vehicle further includes:

[0036] obtaining a load of the vehicle and a slope of a road where the vehicle is located;

[0037] determining a second starting gear and a second gear interval based on the load and the slope, the second starting gear being located in the second gear interval;

[0038] determining a second torque step of the motor based on the load and the slope;

[0039] controlling the vehicle to start in the second starting gear, and increasing the torque of the motor by the second torque step per unit time;

[0040] obtaining an actual vehicle speed of the vehicle after a set time;

[0041] determining whether the actual vehicle speed is not less than a second preset vehicle speed, and if yes, the vehicle starts successfully.

[0042] As a preferred technical solution of the starting control method of the hybrid vehicle, when determining whether the actual vehicle speed is not less than the second preset vehicle speed, if no, it is determined whether there is a second standby gear lower than the second starting gear in the second gear interval;

[0043] If there is, the second standby gear is taken as a new second starting gear, and the step of controlling the vehicle to start at the second starting gear is re-executed.

[0044] As a preferred technical solution of the starting control method of the hybrid vehicle, when determining whether there is a standby gear lower than the second starting gear in the second gear interval, if no, the vehicle starts in a hybrid mode.

[0045] On the other hand, the application also provides a starting control device of a hybrid vehicle, comprising:

[0046] A first determination module is configured to determine that the vehicle starts in a hybrid mode.

[0047] A slope acquisition module is configured to acquire a load of the vehicle and a slope of a road where the vehicle is located.

[0048] A second determination module is configured to determine a first starting gear and a first gear interval based on the load and the slope, wherein the first starting gear is located in the first gear interval.

[0049] A first torque step determination module is configured to determine a first torque step of a motor based on the load and the slope.

[0050] A duty cycle determination module is configured to determine a duty cycle of a solenoid valve of a clutch of the first starting gear based on the load and the slope.

[0051] A virtual accelerator signal value determination module is configured to acquire an accelerator pedal opening degree of the vehicle, and determine a virtual accelerator signal value based on the accelerator pedal opening degree.

[0052] A target speed and target torque determination module is configured to determine a target speed of an engine and a target torque of the motor based on the load, the slope and the virtual accelerator signal value.

[0053] A first execution module is configured to make the engine rotate at the target speed.

[0054] The first starting control module is used for starting the vehicle in the first starting gear, comprising: combining the clutch of the first starting gear to the sliding wear point; operating the electromagnetic valve at the duty ratio to make the clutch of the first starting gear continue to combine to the full combination point, and at the same time, increasing the torque of the motor per unit time by the first torque step.

[0055] In another aspect, the application also provides a vehicle, comprising an engine, a motor, a battery, a battery controller and a gearbox, the engine and the motor are drivingly connected, the motor and the gearbox are drivingly connected, and the clutch device is arranged between the engine and the motor, the battery is connected to the motor, and the battery controller is used for detecting the power of the battery; the vehicle further comprises:

[0056] a driving controller;

[0057] a pressure sensor, used for collecting the load of the vehicle and sending the collected load to the driving controller;

[0058] a gyroscope, used for collecting the slope where the vehicle is located and sending the collected slope to the driving controller;

[0059] a memory, used for storing one or more programs;

[0060] When the one or more programs are executed by the driving controller, the driving controller controls the vehicle to implement the starting control method of the hybrid vehicle in any of the above-mentioned schemes.

[0061] In another aspect, the application provides a storage medium, which stores a computer program, and when the program is executed by the driving controller, the vehicle implements the starting control method of the hybrid vehicle as described in any of the above-mentioned schemes.

[0062] The application has the following beneficial effects:

[0063] The application provides a starting control method and device of a hybrid vehicle, a vehicle and a storage medium. BRIEF DESCRIPTION OF DRAWINGS

[0064] Figure 1 The flow of the starting control method of the hybrid vehicle in the embodiment of the application Figure 1 ;

[0065] Figure 2 The flow of the starting control method of the hybrid vehicle in the embodiment of the application Figure 2 ;

[0066] Figure 3 The flow of the starting control method of the hybrid vehicle in the embodiment of the application Figure 3 ;

[0067] Figure 4 The structure schematic diagram of the starting control device of the hybrid vehicle in the embodiment of the application

[0068] Figure 5 The structure schematic diagram of the vehicle in the embodiment of the application

[0069] In the drawings:

[0070] 110, the first determining module; 120, the slope acquisition module; 130, the second determining module; 140, the first torque step determining module; 150, the duty cycle determining module; 160, the virtual throttle signal value determining module; 170, the target speed and target torque determining module; 180, the first executing module; 190, the first starting control module

[0071] 10, the engine; 11, the motor; 12, the battery; 13, the battery controller; 14, the gearbox; 15, the driving controller; 16, the pressure sensor; 17, the gyroscope; 18, the memory; 19, the clutch device DETAILED DESCRIPTION

[0072] The technical solutions of the present application will be described clearly and completely in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0073] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and moreover, the "upper", "above" and "on" of the first feature to the second feature include the vertical direction of the first feature above and obliquely above the second feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The "under", "below" and "under" of the first feature to the second feature include the vertical direction of the first feature below and obliquely below the second feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0074] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0075] The embodiments of the present application will be described in detail below, and the examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0076] The terms involved in the present embodiment are explained as follows:

[0077] Total mass: the sum of the mass of the vehicle when unloaded and the mass of the loaded cargo.

[0078] Slope: the slope of the road on which the vehicle travels, divided into uphill and downhill; during the forward movement of the vehicle, the demand power of the vehicle increases when uphill, and the demand power of the vehicle decreases when downhill.

[0079] Hybrid heavy truck: the mechanical power system of traditional car is tank-engine-transmission-primary reducer to wheels, the hybrid car transmission system has the traditional mechanical power system, and increases the battery-motor-transmission-primary reducer-wheels electric path power system.

[0080] Clutch solenoid valve: the separation and combination of the driving disc and the driven disc of the clutch are realized by controlling the inlet and exhaust of the cylinder, which is equivalent to the on-off of the cylinder.

[0081] Clutch control: mainly refers to the speed and target position of the separation and combination of the clutch, which is realized by the inlet and exhaust solenoid valve of the clutch.

[0082] Engine control mode: the control mode of the engine with demand torque or demand speed as the target, such as engine speed control mode when the engine takes speed as the control target; engine torque control mode when the engine takes torque as the target.

[0083] Motor control mode: the control mode of the motor with demand torque or demand speed as the target, such as motor speed control mode when the motor takes speed as the control target; motor torque control mode when the motor takes torque as the target.

[0084] Vehicle control mode: divided into pure electric control mode, engine control mode and hybrid power control mode, among which the vehicle driven by the motor alone is called pure electric control mode, the vehicle driven by the engine alone is called engine control mode, and the vehicle driven by both is called hybrid power control mode.

[0085] Example one

[0086] Because the total mass of the hybrid vehicle and the slope of the road it travels vary greatly, the power and torque required for the vehicle to start under different conditions vary greatly; when the vehicle is heavy, the selection of the starting gear during starting up and down the slope is crucial, if the gear is too large, it is easy to cause insufficient driving torque and starting failure, if the starting gear is too small, it is easy to cause gear shifting during starting, the output shaft speed changes greatly during up and down slope, the speed regulation target changes greatly, and there is a risk of slope gear shifting failure

[0087] To solve the above problems, the embodiment provides a starting control method of a hybrid vehicle, which can be executed by a starting control device of the hybrid vehicle, and can be realized by software and / or hardware and integrated in the vehicle.

[0088] Specifically, as shown in the figure, the method comprises the following steps: Figure 1

[0089] ​S1000: Determine that the vehicle starts in the hybrid mode.

[0090] In this embodiment, the hybrid vehicle specifically adopts P2 configuration, the motor is located between the engine and the gearbox, and a clutch device is arranged between the engine and the motor, the torque distribution of the engine and the motor is realized through the combination and disconnection of the clutch device, the pure electric mode starting and the hybrid mode starting can be realized. When the vehicle starts in the hybrid mode, the motor and the engine will provide torque.

[0091] S1100: Obtain the load of the vehicle and the slope of the road where the vehicle is located.

[0092] The load of the vehicle can be detected by a pressure sensor, and the slope of the road where the vehicle is located can be detected by a gyroscope.

[0093] S1200: Determine the first starting gear and the first gear interval based on the load and the slope, and the first starting gear is located in the first gear interval.

[0094] The first relationship diagram of the load, the slope and the first starting gear, and the second relationship diagram of the load, the slope and the first gear interval can be pre-stored in the driving controller, the corresponding first starting gear can be queried from the first relationship diagram and the corresponding first gear interval can be queried from the second relationship diagram by collecting the load and the slope. The first relationship diagram and the second relationship diagram can be obtained through a large number of experiments in advance.

[0095] The first gear interval includes at least two gears. Taking the first gear interval including three gears as an example, the three gears are low gear, middle gear and high gear, wherein the first starting gear can be one of the low gear, the middle gear and the high gear, which is related to the load and the slope of the vehicle.

[0096] S1300: Determine the first torque step of the motor based on the load and the slope.

[0097] The third relationship diagram of the load, the slope and the first torque step of the motor can be pre-stored in the driving controller, and the corresponding first torque step of the motor can be queried from the third relationship diagram by collecting the load and the slope. The third relationship diagram can be obtained through a large number of experiments in advance.

[0098] S1400: Determine the duty cycle of the solenoid valve of the clutch of the first starting gear based on the load and the slope.

[0099] The solenoid valve of the clutch of the first starting gear is used to control the combination or separation of the clutch of the first starting gear. The fourth relationship diagram of the load, the slope and the duty cycle can be pre-stored in the driving controller, and the corresponding duty cycle can be queried from the fourth relationship diagram by collecting the load and the slope. The fourth relationship diagram can be obtained through a large number of experiments in advance.

[0100] S1500: Obtain the accelerator pedal opening of the vehicle, and determine a virtual accelerator signal value based on the accelerator pedal opening.

[0101] The virtual accelerator signal value is used to indicate the driving intention of the driver. A fifth relationship diagram of the accelerator pedal opening and the virtual accelerator signal value can be pre-stored in the driving controller, and the corresponding virtual accelerator signal value can be queried from the fifth relationship diagram according to the collected accelerator pedal opening. The accelerator pedal opening can be obtained by a position sensor arranged on the accelerator pedal, and the fifth relationship diagram can be obtained through a large number of experiments in advance.

[0102] S1600: Determine the target speed of the engine and the target torque of the motor based on the load, the slope and the virtual accelerator signal value.

[0103] The target speed of the engine is the speed of the engine before the clutch of the first starting gear is engaged, but the target speed of the engine will decrease due to the load during the engagement of the clutch of the first starting gear. The target torque of the motor is the output torque of the motor after the clutch of the first starting gear is engaged. A sixth relationship diagram of the load, the slope, the virtual accelerator signal value and the target speed of the engine, and a seventh relationship diagram of the load, the slope, the virtual accelerator signal value and the target torque of the motor can be pre-stored in the driving controller, and the corresponding target speed of the engine can be queried from the sixth relationship diagram according to the collected load, slope and virtual accelerator signal value. The corresponding target torque of the motor can be queried from the seventh relationship diagram according to the collected load, slope and virtual accelerator signal value. The sixth relationship diagram and the seventh relationship diagram can be obtained through a large number of experiments in advance.

[0104] S1700: The engine rotates at the target speed.

[0105] S1800: The vehicle starts with the first starting gear.

[0106] The step of making the vehicle start with the first starting gear includes the following steps:

[0107] The clutch of the first starting gear is engaged to the slip point.

[0108] The solenoid is operated at a duty ratio to make the clutch of the first starting gear continue to engage to the full engagement point, and at the same time, the torque of the motor is increased by the first torque step per unit time.

[0109] During the process of engaging the clutch of the first starting gear to the slip point, the driving disc and the driven disc of the clutch have not yet contacted, and the clutch of the first starting gear can be engaged at the fastest speed to reduce the gear selection time.

[0110] The starting control method of the hybrid vehicle provided by the embodiment is used for determining the starting of the vehicle in the hybrid mode, obtaining the load of the vehicle and the slope of the road where the vehicle is located, sequentially determining the first starting gear, the first gear interval, the first torque step of the motor, the duty cycle of the electromagnetic valve of the clutch of the first starting gear and the virtual throttle signal value based on the load and the slope, and determining the target speed of the engine and the target torque of the motor based on the load, the slope and the virtual throttle signal value, and then rotating the engine at the target speed to make the clutch of the first starting gear combine to the sliding friction point; and making the electromagnetic valve work at the duty cycle to make the clutch of the first starting gear continue to combine to the fully combined point, and simultaneously making the torque of the motor increase by the first torque step per unit time. In this way, the first starting gear for starting is adapted to the load of the vehicle and the slope of the road where the vehicle is located, the starting gear selection is reliable, and the problems in the prior art, such as the selected gear being too large, the driving torque being insufficient, the starting failing, the selected starting gear being too small, the gear being shifted during starting, the output shaft speed changing greatly during uphill and downhill processes, the speed regulation target changing greatly, and the risk of slope gear shifting failing, can be effectively solved.

[0111] Optionally, referring to Figure 2 , the starting control method of the hybrid vehicle further comprises the following steps.

[0112] S1900: obtaining the real-time speed of the engine.

[0113] The real-time speed of the engine can be obtained by a speed sensor.

[0114] S2000: determining whether the difference between the real-time speed and the target speed is less than a preset difference value.

[0115] The preset difference value can be set according to actual needs.

[0116] If yes, S2100 is performed; if no, S2700 is performed.

[0117] S2100: the engine has no risk of being stalled.

[0118] When the difference between the real-time speed and the target speed is less than the preset difference value, it is indicated that the speed reduction of the engine is normal, which is within the influence range of the load on the engine speed during the normal starting of the vehicle, and means that the engine has no risk of being stalled.

[0119] S2200: obtaining the actual speed of the vehicle.

[0120] The actual speed of the vehicle can be detected by a speed sensor.

[0121] S2300: Determine whether the actual vehicle speed is less than the first preset vehicle speed.

[0122] The first preset vehicle speed can be set according to actual needs.

[0123] If not, execute S2400; if yes, execute S2500.

[0124] S2400: The vehicle starts successfully.

[0125] When the actual vehicle speed is not less than the first preset vehicle speed, it indicates that the vehicle speed has been raised to a range in which the vehicle can travel normally, indicating that the vehicle has started successfully at this time. When the actual vehicle speed is less than the first preset vehicle speed, it indicates that the vehicle speed is too low, indicating that the vehicle has not started successfully at this time, which may be due to the first starting gear being too high, and the starting gear needs to be lowered.

[0126] S2500: Determine whether there is a first backup gear lower than the first starting gear in the first gear interval.

[0127] If yes, execute S2600; if no, end.

[0128] When there is a first backup gear lower than the first starting gear in the first gear interval, it indicates that the vehicle can continue to start with a lower gear at this time. If not, it indicates that the vehicle cannot start normally at this time, which may be due to excessive load and / or excessive slope.

[0129] S2600: Take the first backup gear as a new first starting gear, and re-execute S1800.

[0130] S2700: The engine is at risk of stalling, and the number of times the engine is at risk of stalling is accumulated.

[0131] S2800: The clutch of the first starting gear is quickly separated.

[0132] The quick separation of the clutch can be controlled by a quick separation solenoid.

[0133] S2900: Determine whether the number of times the engine is at risk of stalling exceeds a set number of times.

[0134] If not, execute S3000; if yes, end.

[0135] It can be understood that the vehicle cannot start with a lower gear indefinitely, which poses a certain safety hazard, and therefore the number of times the engine is at risk of stalling can be used for restraint. Illustratively, the set number of times can be set to 2. In other embodiments, it can also be set according to needs.

[0136] S3000: Reduce the duty cycle of the solenoid valve of the clutch of the first launch gear by a set value based on the existing value, increase the virtual throttle signal value by a set multiple based on the existing value, and increase the first torque step by a set value based on the existing value, and re-execute S1600.

[0137] As shown in Figure 3 , the method for determining that the vehicle starts in the hybrid mode in S1000 is:

[0138] S100: Obtain the driving intention of the driver, the SOC parameter of the battery, and the demand torque of the vehicle start.

[0139] When the driving intention of the driver is the power mode, or the SOC parameter of the battery is less than the set electric quantity, or the demand torque of the vehicle start is greater than the set torque, execute S1000.

[0140] When the driving intention of the driver is the economy mode, the SOC parameter of the battery is not less than the set electric quantity, and the demand torque of the vehicle start is not greater than the set torque, execute S200.

[0141] Wherein, the driving intention of the driver includes economy mode start and power mode start. The vehicle is provided with a switching button for economy mode start and power mode start, and the driving intention of the driver can be obtained through the position of the switching button. The economy mode start corresponds to the pure electric mode, and the power mode start corresponds to the hybrid mode. The SOC parameter of the battery can be obtained by interacting with the battery controller of the vehicle, and the demand torque of the vehicle start can be queried through the load of the vehicle, the slope and the map of the demand torque. The map can be obtained through a large number of experiments in advance. The set electric quantity and the set torque can be set as needed.

[0142] S200: Determine that the vehicle starts in the pure electric mode.

[0143] Optionally, please continue to refer to Figure 3 , the start control method of the hybrid vehicle further comprises the following steps after S200:

[0144] S201: Obtain the load of the vehicle and the slope of the road where the vehicle is located.

[0145] S202: Determine the second launch gear and the second gear interval based on the load and the slope.

[0146] Wherein, the second launch gear is located in the second gear interval.

[0147] The eighth relationship diagram of the load, the slope and the second starting gear and the ninth relationship diagram of the load, the slope and the second gear interval can be pre-stored in the driving controller, the corresponding second starting gear can be queried from the eighth relationship diagram and the corresponding second gear interval can be queried from the ninth relationship diagram according to the collected load and slope. Both the eighth relationship diagram and the ninth relationship diagram can be obtained through a large number of experiments in advance.

[0148] S203: determining the second torque step of the motor based on the load and the slope.

[0149] The tenth relationship diagram of the load, the slope and the second torque step of the motor can be pre-stored in the driving controller, and the corresponding second torque step of the motor can be queried from the tenth relationship diagram according to the collected load and slope. The tenth relationship diagram can be obtained through a large number of experiments in advance.

[0150] S204: controlling the vehicle to start with the second starting gear and increasing the torque of the motor by the second torque step per unit time.

[0151] S205: acquiring the actual speed of the vehicle after a set time.

[0152] S206: judging whether the actual speed is not less than the second preset speed.

[0153] The second preset speed can be set according to actual needs.

[0154] If yes, S207 is executed; if no, S208 is executed.

[0155] S207: the vehicle starts successfully.

[0156] S208: judging whether there is a second standby gear lower than the second starting gear in the second gear interval.

[0157] If yes, S209 is executed; if no, S1000 is executed.

[0158] S209: taking the second standby gear as a new second starting gear and re-executing S204.

[0159] Through steps S200 to S209, the vehicle can start with the second starting gear matching the load and the slope in the pure power mode, and the reliability of the starting gear selection can be ensured. If the vehicle cannot start normally, it can start by downshifting in the second gear interval range if the conditions allow, and if the conditions do not allow, it can start by the hybrid power mode.

[0160] Embodiment two

[0161] The embodiment provides a starting control device of a hybrid vehicle for executing the starting control method of the hybrid vehicle in the first embodiment. Specifically, as shown in the figure, the starting control device of the hybrid vehicle comprises a first determination module 110, a slope acquisition module 120, a second determination module 130, a first torque step determination module 140, a duty cycle determination module 150, a virtual accelerator signal value determination module 160, a target speed and target torque determination module 170, a first execution module 180 and a first starting control module 190. Figure 4

[0162] The first determination module 110 is used for determining that the vehicle starts in a hybrid mode; the slope acquisition module 120 is used for acquiring the load of the vehicle and the slope of the road where the vehicle is located; the second determination module 130 is used for determining a first starting gear and a first gear interval based on the load and the slope; the first torque step determination module 140 is used for determining a first torque step of the motor based on the load and the slope; the duty cycle determination module 150 is used for determining the duty cycle of the electromagnetic valve of the clutch of the first starting gear based on the load and the slope; the virtual accelerator signal value determination module 160 is used for acquiring the accelerator pedal opening degree of the vehicle and determining a virtual accelerator signal value based on the accelerator pedal opening degree; the target speed and target torque determination module 170 is used for determining the target speed of the engine and the target torque of the motor based on the load, the slope and the virtual accelerator signal value; the first execution module 180 is used for rotating the engine at the target speed; and the first starting control module 190 is used for making the vehicle start at the first starting gear, comprising: making the clutch of the first starting gear combine to a sliding wear point; making the electromagnetic valve work at the duty cycle to make the clutch of the first starting gear continue to combine to a fully combined point, and at the same time making the torque of the motor increase by the first torque step per unit time.

[0163] ​Embodiment 2 of the present invention provides a starting control device for a hybrid vehicle. A first determining module 110 determines that the vehicle is starting in hybrid mode; a slope acquisition module 120 acquires the vehicle's load and the slope of the road where the vehicle is located; a second determining module 130 determines a first starting gear and a first gear range based on the load and the slope; a first torque step determining module 140 determines the first torque step of the motor based on the load and the slope; a duty cycle determining module 150 determines the duty cycle of the solenoid valve of the clutch in the first starting gear based on the load and the slope; and a virtual throttle signal value is used to determine… Module 160 acquires the accelerator pedal opening of the vehicle and determines a virtual throttle signal value based on the accelerator pedal opening; the target speed and target torque determination module 170 determines the target speed of the engine and the target torque of the motor based on the load, the slope and the virtual throttle signal value; the first execution module 180 causes the engine to rotate at the target speed; the first start control module 190 causes the vehicle to start in the first start gear, which can make the first start gear used for starting adapt to the load of the vehicle and the slope of the vehicle, ensuring reliable gear selection for starting and avoiding the selection of too high or too low gear.

[0164] Example 3

[0165] This embodiment provides a vehicle, such as Figure 5 As shown, the vehicle includes an engine 10, a motor 11, a battery 12, a battery controller 13, a gearbox 14, a driving controller 15, a pressure sensor 16, a gyroscope 17, and a memory 18. The engine 10, motor 11, battery 12, battery controller 13, gearbox 14, driving controller 15, pressure sensor 16, gyroscope 17, and memory 18 can be connected via a bus. The engine 10 and motor 11 are drive-connected, and the motor 11 and gearbox 14 are drive-connected. A clutch device 19 is provided between the engine 10 and motor 11. The battery 12 is connected to the motor 11, and the battery controller 13 is used to detect the battery's charge level. The pressure sensor 16 is used to collect the vehicle's load and send the collected load data to the driving controller 15; the gyroscope 17 is used to collect the vehicle's gradient and send the gradient data to the driving controller 15.

[0166] Optionally, the vehicle also includes a speed sensor and a rotation speed sensor. The speed sensor detects the actual vehicle speed and sends the detected speed to the driving controller 15. The rotation speed sensor detects the engine speed and sends the detected speed to the driving controller 15.

[0167] The memory 18 can be used to store software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the starting control method of the hybrid vehicle in the embodiments of the present application. The driving controller 15 executes the software programs, instructions and modules stored in the memory 18, thereby performing various functional applications and data processing of the vehicle, i.e. implementing the starting control method of the hybrid vehicle in the above embodiments.

[0168] The memory 18 mainly includes a program storage area and a data storage area. The program storage area can store an operating system and at least one application program required by a function. The data storage area can store data created according to the use of the terminal. In addition, the memory 18 can include a high-speed random access memory and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device or other non-volatile solid-state memory device. In some examples, the memory 18 can further include a memory remotely arranged with respect to the driving controller 15, and these remote memories can be connected to the vehicle through a network. Examples of the network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0169] The vehicle provided in the third embodiment of the present application and the starting control method of the hybrid vehicle provided in the above embodiments belong to the same inventive concept, and the technical details not described in detail in the present embodiment can be referred to the above embodiments, and the present embodiment has the same beneficial effects as the starting control method of the hybrid vehicle.

[0170] Embodiment Four

[0171] The fourth embodiment of the present application also provides a storage medium having a computer program stored thereon, and the program is executed by the driving controller to implement the starting control method of the hybrid vehicle as described in the above embodiments of the present application.

[0172] Of course, the storage medium provided in the embodiments of the present application includes computer executable instructions, which are not limited to the operations in the starting control method of the hybrid vehicle as described above, but can also perform related operations in the starting control method of the hybrid vehicle provided in the embodiments of the present application, and have corresponding functions and beneficial effects.

[0173] From the above description of the embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software and necessary universal hardware, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, and the computer software product can be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a FLASH memory, a hard disk, or an optical disc, etc., and includes a number of instructions to make a computer device (which can be a robot, a personal computer, a server, or a network device, etc.) execute the starting control method of the hybrid vehicle described in various embodiments of the present application.

[0174] Obviously, the above embodiments of the present application are merely examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Based on the above description, those skilled in the art can make other different forms of changes or modifications. Here, it is not necessary and impossible to enumerate all the embodiments. Any modification, equivalent replacement, and improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A starting control method for a hybrid vehicle, characterized in that, include: Determine that the vehicle starts in hybrid mode; Obtain the vehicle's load and the gradient of the road where the vehicle is located; The first starting gear and the first gear range are determined based on the load and the slope, and the first starting gear is located within the first gear range; The first torque step of the motor is determined based on the load and the slope. The duty cycle of the solenoid valve of the clutch in the first starting gear is determined based on the load and the slope. The accelerator pedal opening of the vehicle is obtained, and a virtual throttle signal value is determined based on the accelerator pedal opening. The target engine speed and target motor torque are determined based on the load, the gradient, and the virtual throttle signal value. The engine rotates at the target speed; Starting the vehicle in the first starting gear includes: engaging the clutch of the first starting gear to the slip point; The solenoid valve is operated at the duty cycle to allow the clutch of the first starting gear to continue engaging towards the full engagement point, and at the same time, the torque of the motor is increased by the first torque step per unit time.

2. The hybrid vehicle start-up control method according to claim 1, characterized in that, The hybrid vehicle start-up control method also includes steps performed synchronously with the step of starting the vehicle in the first starting gear: Obtain the engine's real-time speed; Determine whether the difference between the real-time rotational speed and the target rotational speed is less than a preset difference; If it is less than that, there is no risk of the engine stalling; Obtain the vehicle's actual speed; Determine whether the actual vehicle speed is less than the first preset vehicle speed; If the value is not less than the specified value, the vehicle will start successfully.

3. The hybrid vehicle start-up control method according to claim 2, characterized in that, When determining whether the actual speed of the vehicle is less than the first preset speed, if it is less, then determine whether there is a first standby gear lower than the first starting gear in the first gear range. If it exists, the first spare gear is used as the new first starting gear, and the steps to start the vehicle in the first starting gear are executed again.

4. The hybrid vehicle start-up control method according to claim 3, characterized in that, When determining whether the difference between the real-time rotational speed and the target rotational speed is less than a preset difference; If it is not less than, the engine is at risk of stalling, and the number of times the engine is at risk of stalling is accumulated. Quickly disengage the clutch in the first starting gear; Does the number of times the engine is deemed at risk of stalling exceed a set limit? If not exceeded, the duty cycle of the solenoid valve of the clutch in the first starting gear is reduced by a set value based on the existing value, the virtual throttle signal value is increased by a set multiple based on the existing value, and the first torque step is increased by a set value based on the existing value. The steps of determining the target engine speed and the target motor torque based on the load, the slope, and the virtual throttle signal value are re-executed.

5. The hybrid vehicle start-up control method according to claim 4, characterized in that, If the number of times the engine is at risk of stalling exceeds a set limit, the process ends.

6. The hybrid vehicle start-up control method according to claim 1, characterized in that, The method for determining whether a vehicle starts in hybrid mode is as follows: The system acquires the driver's driving intentions, the battery's SOC parameters, and the torque required for vehicle start-up; the driver's driving intentions include starting in economy mode and starting in power mode. When the driver's driving intention is in power mode, or the battery's SOC parameter is less than the set charge level, or the vehicle's starting torque requirement is greater than the set torque, the vehicle is determined to start in hybrid mode. When the driver's driving intention is in economy mode, the battery's SOC parameter is not less than the set charge level, and the vehicle's starting torque requirement is not greater than the set torque, the vehicle is determined to start in pure electric mode.

7. The hybrid vehicle start-up control method according to claim 6, characterized in that, When a vehicle starts in pure electric mode, the start-up control method for hybrid vehicles also includes: Obtain the vehicle's load and the gradient of the road it is on; The second starting gear and the second gear range are determined based on the load and the slope, and the second starting gear is located within the second gear range; The second torque step of the motor is determined based on the load and the slope. The vehicle is controlled to start in the second starting gear, and the torque of the motor is increased by a second torque step per unit time. Get the vehicle's actual speed after a set time; Determine whether the actual vehicle speed is not less than the second preset vehicle speed. If so, the vehicle starts successfully.

8. The hybrid vehicle start-up control method according to claim 7, characterized in that, When determining whether the actual vehicle speed is not less than the second preset vehicle speed, if not, then determine whether there is a second spare gear lower than the second starting gear in the second gear range; If it exists, the second spare gear is used as the new second starting gear, and the steps to control the vehicle to start in the second starting gear are re-executed.

9. The starting control method for a hybrid vehicle according to claim 8, characterized in that, When determining whether there is a backup gear lower than the second starting gear within the second gear range, if there is no such gear, the vehicle starts in hybrid mode.

10. A starting control device for a hybrid vehicle, characterized in that, include: The first determining module is used to determine whether the vehicle starts in hybrid mode; The slope acquisition module is used to obtain the vehicle's load and the slope of the road where the vehicle is located. The second determining module is used to determine a first starting gear and a first gear range based on the load and the slope, wherein the first starting gear is located within the first gear range; The first torque step size determination module is used to determine the first torque step size of the motor based on the load and the slope. A duty cycle determination module is used to determine the duty cycle of the solenoid valve of the clutch in the first starting gear based on the load and the slope. The virtual throttle signal value determination module is used to acquire the accelerator pedal opening of the vehicle and determine the virtual throttle signal value based on the accelerator pedal opening. The target speed and target torque determination module is used to determine the target speed of the engine and the target torque of the motor based on the load, the gradient and the virtual throttle signal value; A first execution module is configured to cause the engine to rotate at the target speed. The first starting control module is used to start the vehicle in the first starting gear, including: engaging the clutch of the first starting gear to the slip point. The solenoid valve is operated at the duty cycle to allow the clutch of the first starting gear to continue engaging towards the full engagement point, and at the same time, the torque of the motor is increased by the first torque step per unit time.

11. A vehicle comprising an engine, a motor, a battery, a battery controller, and a transmission, wherein the engine and the motor are drivenly connected, the motor and the transmission are drivenly connected, and a clutch device is provided between the engine and the motor; the battery is connected to the motor, and the battery controller is used to detect the charge level of the battery; characterized in that, The vehicle also includes: Vehicle controller; A pressure sensor is used to collect the vehicle's load and send the collected load data to the vehicle controller; A gyroscope is used to collect the slope of the vehicle and send the collected slope to the vehicle controller; Memory, used to store one or more programs; When the one or more programs are executed by the vehicle controller, the vehicle controller controls the vehicle to implement the hybrid vehicle start-up control method as described in any one of claims 1-9.

12. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by the vehicle controller, the vehicle implements the start-up control method for a hybrid vehicle as described in any one of claims 1-9.

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