Hybrid vehicle driving control method

Abstract

The present invention discloses a driving control method for a hybrid vehicle. After the hybrid vehicle is controlled to enter an autonomous driving formation, the theoretical driving trajectory of the vehicle and the real-time position of the vehicle in front are obtained; the vehicle's parking distance this time is obtained based on the real-time position of the vehicle, the real-time position of the vehicle in front, and the vehicle's theoretical driving trajectory; the average driving speed of the vehicle is obtained based on the driving distance of the vehicle within a preset time period before; the estimated parking duration of the vehicle this time is calculated based on the vehicle's parking distance this time and the average driving speed, and the estimated total energy consumption of the vehicle is obtained; it is determined whether the engine needs to be started to charge the on-vehicle battery based on the current power of the on-vehicle battery and the estimated total energy consumption, and it is determined whether the engine can be started based on the estimated parking duration of the vehicle this time; the vehicle remains in neutral, the engine is started to charge the on-vehicle battery, and the engine is shut down before this parking. It can avoid the phenomenon of potential safety hazards caused by the driver's fatigue driving and can reduce the energy consumption of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to a driving control method for hybrid vehicles. Background Art

[0002] Hybrid vehicles have better advantages in energy conservation and emission reduction compared to traditional fuel vehicles, and thus are increasingly favored. A hybrid vehicle is a vehicle with at least two power sources. In hybrid vehicles, for example, urban public vehicles such as sanitation vehicles and sweeper vehicles, as well as special vehicles such as concrete mixer trucks, pump trucks, and coal / iron ore transportation vehicles, can provide energy through pure engine, pure motor, or hybrid energy modes during the power take-off process.

[0003] Among them, for coal / iron ore transportation vehicles, during the process of entering the mining area for loading and shipping, due to the long waiting time in the waiting-for-loading link, the vehicle needs to move slowly at a low speed for several hours or even more than ten hours during the intermediate process from entering the mining area to the destination, which is extremely likely to cause driver fatigue driving and pose a safety hazard. Therefore, in view of this situation, an automatic control method is required to move the coal / iron ore transportation hybrid vehicle to avoid the phenomenon of safety hazards caused by driver fatigue driving. However, there is no automatic control method for the process of coal / iron ore transportation vehicles entering the mining area for loading and shipping in the prior art, resulting in extremely likely driver fatigue driving and high energy consumption of coal / iron ore transportation vehicles. Summary of the Invention

[0004] The purpose of the present invention is to provide a driving control method for hybrid vehicles to solve the problem that there is no automatic control method for the process of coal / iron ore transportation vehicles entering the mining area for loading and shipping in the prior art, resulting in extremely likely driver fatigue driving and high energy consumption of coal / iron ore transportation vehicles.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] A driving control method for hybrid vehicles, which includes:

[0007] The vehicle enters the automatic driving mode;

[0008] Obtain the current real-time position of the vehicle, and control the vehicle to enter the automatic driving formation according to the current real-time position of the vehicle;

[0009] Obtain the theoretical driving trajectory of the vehicle; obtain the real-time position of the vehicle in front;

[0010] Obtain the moving distance of the vehicle this time according to the real-time position of the vehicle after entering the automatic driving formation, the real-time position of the vehicle in front, and the theoretical driving trajectory of the vehicle; obtain the average driving speed of the vehicle according to the driving distance of the vehicle within a preset time period;

[0011] Calculate the estimated parking time of the vehicle for this time based on the parking distance of the vehicle for this time and the average driving speed; obtain the estimated total energy consumption of the vehicle based on the parking distance of the vehicle for this time and the average driving speed;

[0012] Judge whether it is necessary to start the engine to charge the in-vehicle battery based on the current power of the in-vehicle battery and the estimated total energy consumption;

[0013] If it is necessary to start the engine to charge the in-vehicle battery, judge whether the engine can be started based on the estimated waiting parking time of the vehicle for this time;

[0014] If the engine can be started, the vehicle remains in neutral, starts the engine to charge the in-vehicle battery, and controls the engine to stop before this parking;

[0015] If it is not necessary to start the engine to charge the in-vehicle battery, the vehicle remains in neutral and waits for this parking.

[0016] Preferably, the specific steps of obtaining the parking distance of the vehicle for this time based on the real-time position of the vehicle after entering the autonomous driving formation, the real-time position of the vehicle in front, and the theoretical driving trajectory of the vehicle include:

[0017] Calculate the distance between the real-time position of the vehicle and the real-time position of the vehicle in front based on the theoretical driving trajectory of the vehicle, which is the first distance;

[0018] Real-time position the distance between the real-time position of the vehicle and the real-time position of the vehicle in front through satellite, which is the second distance;

[0019] Compare the first distance and the second distance;

[0020] Take the smaller value of the first distance and the second distance as the parking distance of the vehicle for this time.

[0021] Preferably, the specific steps of obtaining the average speed of the vehicle based on the driving distance within a preset time before the vehicle include:

[0022] Calculate the initial average speed based on the driving distance within the preset time;

[0023] Judge whether the initial average speed is within the set speed range;

[0024] If the initial average speed is within the set speed range, take the initial average speed as the average driving speed;

[0025] If the initial average speed is not within the set speed range, obtain the average driving speed of the vehicle based on the driving distance within the preset time before the preset time before the vehicle.

[0026] Preferably, the specific steps for calculating the estimated parking time of the vehicle this time based on the parking distance of the vehicle this time and the average driving speed include:

[0027] Calculate the first parking time by dividing the parking distance of the vehicle this time by the average driving speed;

[0028] Determine whether the vehicle is in a loading state at the current position;

[0029] If the vehicle is in a loading state at the current position, calculate the remaining loading time based on the set total loading time and the current cumulative loading time;

[0030] Take the sum of the remaining loading time and the first parking time as the estimated parking time of the vehicle this time.

[0031] Preferably, the specific steps for obtaining the estimated total energy consumption of the vehicle based on the parking distance of the vehicle this time and the average driving speed include:

[0032] Retrieve the estimated total energy consumption from the MAP based on the parking distance of the vehicle this time and the average driving speed;

[0033] Wherein, the MAP is a three-dimensional map formed by the parking distance of the vehicle this time, the average driving speed, and the estimated total energy consumption.

[0034] Preferably, the specific steps for determining whether to start the engine to charge the vehicle-mounted battery based on the current power of the vehicle-mounted battery and the estimated total energy consumption include:

[0035] Determine whether (power difference - estimated total energy consumption) is less than or equal to the set value;

[0036] If (power difference - estimated total energy consumption) is less than or equal to the set value, it is necessary to start the engine to charge the vehicle-mounted battery;

[0037] Wherein, the power difference = the current power of the vehicle-mounted battery - the minimum set power value.

[0038] Preferably, the specific steps for determining whether the engine can be started based on the estimated waiting parking time of the vehicle this time include:

[0039] Determine whether the estimated waiting parking time of the vehicle this time is greater than the set minimum power generation time;

[0040] If the estimated waiting parking time of the vehicle this time is greater than the set minimum power generation time, the engine can be started;

[0041] If the estimated waiting parking time of the vehicle this time is less than or equal to the set minimum power generation time, the engine cannot be started.

[0042] Preferably, the hybrid vehicle driving control method further includes:

[0043] Real-time judgment is made on whether there is a vehicle failure in the autonomous driving formation;

[0044] If there is a vehicle failure, the failed vehicle is removed from the autonomous driving formation, the failed vehicle is moved away, and the real-time position of the leading vehicle is updated.

[0045] Preferably, during the period when the engine is started to charge the on-vehicle battery, the following steps are further included:

[0046] According to the theoretical driving trajectory of the vehicle, the vehicle's current parking distance, and the average driving speed, calculate the parking gear of the vehicle's current parking, the output torque of the motor, and the steering wheel angle.

[0047] Preferably, when the vehicle is electrically connected to the satellite and before the vehicle enters the autonomous driving mode, the following steps are further included:

[0048] Real-time position the vehicle through the satellite;

[0049] Judge whether the vehicle enters the area to be loaded according to the real-time position of the vehicle located by the satellite;

[0050] If the vehicle enters the area to be loaded, the vehicle displays a "can enter the autonomous driving formation" signal;

[0051] The driver presses the "enter the autonomous driving formation" confirmation switch according to the "can enter the autonomous driving formation" signal.

[0052] Advantages of the present invention:

[0053] The object of the present invention is to provide a driving control method for a hybrid vehicle. After the vehicle enters the autonomous driving mode, the driving control method for the hybrid vehicle can be used to control the vehicle to automatically park. Specifically, when the vehicle enters the area to be loaded, the vehicle is controlled to enter the autonomous driving mode; the current real-time position of the vehicle is obtained, and the vehicle is controlled to enter the autonomous driving formation according to the current real-time position of the vehicle; after the vehicle enters the autonomous driving formation, the vehicle controller obtains the theoretical driving trajectory of the vehicle, and the theoretical driving trajectory is the path planning of the vehicle from the current position to the destination; the real-time position of the vehicle in front is obtained; the parking distance of the vehicle this time is obtained according to the real-time position of the vehicle after entering the autonomous driving formation, the real-time position of the vehicle in front, and the theoretical driving trajectory of the vehicle. The parking distance is the distance for the vehicle to park from the current position to the next stop position; the average driving speed of the vehicle is obtained according to the driving distance of the vehicle within a preset time period before; the estimated parking time of the vehicle this time is calculated according to the parking distance of the vehicle this time and the average driving speed; the estimated total energy consumption of the vehicle is obtained according to the parking distance of the vehicle this time and the average driving speed; it is judged whether it is necessary to start the engine to charge the vehicle-mounted battery according to the current power of the vehicle-mounted battery and the estimated total energy consumption; if it is necessary to start the engine to charge the vehicle-mounted battery, it is judged whether the engine can be started according to the estimated parking time of the vehicle this time; if the engine can be started, the vehicle remains in neutral, the engine is started to charge the vehicle-mounted battery, and the engine is controlled to stop before this parking; if it is not necessary to start the engine to charge the vehicle-mounted battery, wait for this parking. Until the vehicle completes the loading work in the area to be loaded and drives away from the area to be loaded. It can effectively avoid the phenomenon that the driver causes potential safety hazards due to fatigue driving. During this period, the power of the vehicle-mounted battery can also be monitored in real time to ensure that the vehicle-mounted battery has enough power to drive the vehicle to complete the loading work, and the engine is used as the energy source of the vehicle as little as possible, so as to effectively reduce the energy consumption of the vehicle during the whole loading process. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 is the flow chart of the driving control method for a hybrid vehicle provided by a specific embodiment of the present invention Figure 1 ;

[0055] Figure 2 is the flow chart of the driving control method for a hybrid vehicle provided by a specific embodiment of the present invention Figure 2 . DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that only the parts related to the present invention are shown in the drawings for the convenience of description, rather than all the structures.

[0057] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0058] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "over", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "under", and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0059] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0060] The present invention provides a driving control method for a hybrid vehicle. This driving control method for a hybrid vehicle can effectively avoid the phenomenon of potential safety hazards caused by the driver's fatigue driving; it can also monitor the power of the on-vehicle battery in real time, ensure that the on-vehicle battery has sufficient power to drive the vehicle to complete the loading work, and minimize the use of the engine as the energy source of the vehicle as much as possible, thereby effectively reducing the energy consumption of the vehicle during the entire loading process.

[0061] Specifically, as Figure 1 and Figure 2 shown, the driving control method for a hybrid vehicle includes the following steps:

[0062] S100. Real-time locate the real-time position of the vehicle through satellite.

[0063] S200. Determine whether the vehicle enters the area to be loaded according to the real-time position of the vehicle located by the satellite. Among them, the area to be loaded is a preset area.

[0064] If the vehicle enters the area to be loaded, step S300 is executed.

[0065] S300. The vehicle displays a "can enter the autonomous driving formation" signal.

[0066] S400. The driver presses the "enter the autonomous driving formation" confirmation switch according to the "can enter the autonomous driving formation" signal.

[0067] Specifically, if the driver wants to control the vehicle to run and load in the area to be loaded through autonomous driving, the driver presses the "enter the autonomous driving formation" confirmation switch. If the driver does not want to control the vehicle to run and load in the area to be loaded through autonomous driving, the driver does not press the "enter the autonomous driving formation" confirmation switch and continues to manually control the vehicle to run and load in the area to be loaded.

[0068] S500. The vehicle enters the autonomous driving mode. When the driver presses the "enter the autonomous driving formation" confirmation switch, the vehicle enters the autonomous driving mode.

[0069] S600. Obtain the current real-time position of the vehicle, and control the vehicle to enter the autonomous driving formation according to the current real-time position of the vehicle. It can be understood that if the vehicle does not want to control the vehicle to run and load in the area to be loaded through autonomous driving, it does not enter the autonomous driving formation, and the driver can independently plan other driving paths.

[0070] S700. Obtain the theoretical driving trajectory of the vehicle; obtain the real-time position of the vehicle in front. Specifically, the vehicle controller obtains the theoretical driving trajectory of the vehicle, and the theoretical driving trajectory is the path planning of the vehicle from the current position to the destination. Among them, obtaining the theoretical driving trajectory of the vehicle and obtaining the real-time position of the vehicle in front can be carried out synchronously or sequentially.

[0071] S800. Obtain the vehicle's parking distance this time according to the real-time position of the vehicle after entering the autonomous driving formation, the real-time position of the vehicle in front, and the theoretical driving trajectory of the vehicle; obtain the average driving speed of the vehicle according to the driving distance of the vehicle within the set time period before.

[0072] Among them, the specific steps of obtaining the vehicle's parking distance this time according to the real-time position of the vehicle after entering the autonomous driving formation, the real-time position of the vehicle in front, and the theoretical driving trajectory of the vehicle include:

[0073] Calculate the distance between the real-time position of the vehicle and the real-time position of the vehicle in front according to the theoretical driving trajectory of the vehicle, which is the first distance; obtain the distance between the real-time position of the vehicle and the real-time position of the vehicle in front through satellite real-time positioning, which is the second distance; compare the first distance and the second distance; take the smaller value of the first distance and the second distance as the vehicle's parking distance this time.

[0074] Specifically, the specific steps for calculating the distance between the real-time position of a vehicle and the real-time position of the vehicle in front based on the theoretical driving trajectory of the vehicle include: obtaining the path planning of the real-time position of the current vehicle and the destination, which is the first path, and the length of the first path is the first length; obtaining the path planning of the real-time position of the vehicle in front of the current vehicle and the destination, which is the second path, and the length of the second path is the second length; the value obtained by subtracting the second length from the first length is the first distance.

[0075] Among them, the specific steps for obtaining the average speed of the vehicle based on the driving distance within a preset time period in front of the vehicle include:

[0076] Calculating an initial average speed based on the driving distance within the preset time period in front; determining whether the initial average speed is within the set speed range; if the initial average speed is within the set speed range, then using the initial average speed as the average driving speed; if the initial average speed is not within the set speed range, then obtaining the average driving speed of the vehicle based on the driving distance within the preset time period before the preset time period in front. It can be understood that if the average driving speed obtained based on the driving distance within the preset time period before the preset time period in front is still not within the set speed range, then obtaining the average driving speed of the vehicle based on the driving distance within the preset time period before the two preset time periods in front. If the average driving speed obtained based on the driving distance within the preset time period before the two preset time periods in front is still not within the set speed range, then taking a speed value within the set speed range as the average driving speed. Specifically, in this embodiment, preferably, the speed value taken within the set speed range is 40 km / h.

[0077] Specifically, if the initial average speed is greater than the set speed range, then obtaining the average driving speed of the vehicle based on the driving distance within the preset time period before the preset time period in front. If the initial average speed is less than the set speed range, also obtaining the average driving speed of the vehicle based on the driving distance within the preset time period before the preset time period in front.

[0078] Among them, the initial average speed = the driving distance within the preset time period in front / the preset time period in front. The preset time period before the preset time period in front = the driving distance within the preset time period before the preset time period in front / the preset time period in front.

[0079] Specifically, in this embodiment, the range of the average driving speed is 35 km / h to 45 km / h; the preset time period in front is 15 minutes.

[0080] Among them, obtaining the parking distance of the vehicle this time based on the real-time position of the vehicle after entering the autonomous driving formation, the real-time position of the vehicle in front, and the theoretical driving trajectory of the vehicle, and obtaining the average speed of the vehicle based on the driving distance within the preset time period in front of the vehicle can be executed synchronously or sequentially.

[0081] S900. Calculate the estimated parking time of the vehicle this time based on the parking distance and average driving speed of the vehicle this time; obtain the estimated total energy consumption of the vehicle based on the parking distance and average driving speed of the vehicle this time.

[0082] Among them, the specific steps for calculating the estimated parking time of the vehicle this time based on the parking distance and average driving speed of the vehicle this time include:

[0083] Calculate the first parking time by dividing the parking distance of the vehicle this time by the average driving speed. Specifically, the first parking time = the parking distance of the vehicle this time / average driving speed.

[0084] Determine whether the vehicle is in a loading state at the current position.

[0085] If the vehicle is in a loading state at the current position, calculate the remaining loading time based on the set total loading time and the current cumulative loading time. Specifically, the remaining loading time = the set total loading time - the current cumulative loading time. Among them, the loading state is the state where the vehicle is loading goods. Among them, the set total loading time is an empirical value obtained from a large number of previous tests.

[0086] Take the sum of the remaining loading time and the first parking time as the estimated parking time of the vehicle this time. Specifically, the estimated parking time of the vehicle this time = the remaining loading time + the first parking time.

[0087] It can be understood that if the vehicle is in a loading state, the estimated parking time of the vehicle this time = the remaining loading time + the first parking time; if the vehicle is not in a loading state, the remaining loading time is zero, and the estimated parking time of the vehicle this time = the first parking time.

[0088] Among them, the specific steps for obtaining the estimated total energy consumption of the vehicle based on the parking distance and average driving speed of the vehicle this time include:

[0089] Obtain the estimated total energy consumption from the MAP according to the parking distance and average driving speed of the vehicle this time.

[0090] Among them, the MAP is a three-dimensional map formed by the parking distance, average driving speed and estimated total energy consumption of the vehicle this time. This MAP is obtained from a large number of previous tests.

[0091] S1000. Determine whether it is necessary to start the engine to charge the on-vehicle battery based on the current battery level and the estimated total energy consumption of the vehicle.

[0092] Specifically, the specific steps for determining whether it is necessary to start the engine to charge the on-vehicle battery based on the current battery level and the estimated total energy consumption of the vehicle include:

[0093] Determine whether (battery level difference - estimated total energy consumption) is less than or equal to the set value.

[0094] If (battery power difference - estimated total energy consumption) is less than or equal to the set value, the engine needs to be started to charge the vehicle-mounted battery. Then step S1100 is executed.

[0095] If (battery power difference - estimated total energy consumption) is greater than the set value, the engine does not need to be started to charge the vehicle-mounted battery.

[0096] Among them, the battery power difference = the current power of the vehicle-mounted battery - the minimum set power value.

[0097] Among them, the minimum set power value is the minimum power to ensure the working performance of the vehicle-mounted battery obtained from a large number of previous tests. The set value is an empirical value obtained from a large number of previous tests.

[0098] S1100. Determine whether the engine can be started based on the estimated waiting time for the vehicle to be moved this time.

[0099] Specifically, the specific steps for determining whether the engine can be started based on the estimated waiting time for the vehicle to be moved this time include:

[0100] Determine whether the estimated waiting time for the vehicle to be moved this time is greater than the set minimum power generation time.

[0101] If the estimated waiting time for the vehicle to be moved this time is greater than the set minimum power generation time, the engine can be started. Then step S1200 is executed. With this setting, repeated starting and stopping of the engine are avoided.

[0102] If the estimated waiting time for the vehicle to be moved this time is less than or equal to the set minimum power generation time, the engine cannot be started. The vehicle remains in neutral and waits for this vehicle movement.

[0103] S1200. The vehicle remains in neutral, starts the engine to charge the vehicle-mounted battery, and controls the engine to stop before this vehicle movement. With this setting, repeated starting or stopping of the engine is avoided to improve the service life of the engine.

[0104] Among them, the calculation method of the estimated waiting time for the vehicle to be moved this time includes:

[0105] The path planning from the current real-time position of the vehicle to the destination is the first path, and the length of the first path is the first length; the path planning from the current real-time position of the vehicle in front of the current vehicle to the destination is the second path, and the length of the second path is the second length; the path planning from the real-time position of the second vehicle in front of the current vehicle to the destination is the third path, and the length of the third path is the third length; the path planning from the real-time position of the third vehicle in front of the current vehicle to the destination is the fourth path, and the length of the fourth path is the fourth length.

[0106] The first estimated driving duration is obtained by dividing the first length by the average driving speed; the second estimated driving duration is obtained by dividing the second length by the average driving speed; the third estimated driving duration is obtained by dividing the third length by the average driving speed; the fourth estimated driving duration is obtained by dividing the fourth length by the average driving speed.

[0107] The first duration difference is obtained by subtracting the second estimated driving duration from the first estimated driving duration; the second duration difference is obtained by subtracting the third estimated driving duration from the second estimated driving duration; the third duration difference is obtained by subtracting the fourth estimated driving duration from the third estimated driving duration.

[0108] Compare the first duration difference, the second duration difference, and the third duration difference.

[0109] The estimated waiting duration for vehicle parking this time is calculated based on the minimum value among the first duration difference, the second duration difference, and the third duration difference and the estimated parking duration of the vehicle this time.

[0110] Exemplarily, if the first duration difference is the minimum value among the first duration difference, the second duration difference, and the third duration difference, the formula for calculating the estimated waiting duration for vehicle parking this time based on the minimum value among the first duration difference, the second duration difference, and the third duration difference and the estimated parking duration of the vehicle this time is:

[0111] The estimated waiting duration for vehicle parking this time = the first duration difference - the estimated parking duration of the vehicle this time.

[0112] During the period of starting the engine to charge the on-vehicle battery, the following steps are further included:

[0113] Based on the theoretical driving trajectory of the vehicle, the parking distance of the vehicle this time, and the average driving speed, calculate the parking gear, the output torque of the motor, and the steering wheel angle of the vehicle for this parking. So as to control the vehicle to park at the next stop position by the calculated parking gear, the output torque of the motor, and the steering wheel angle of the vehicle for this parking when the charging is completed.

[0114] Among them, the specific calculation method for calculating the parking gear, the output torque of the motor, and the steering wheel angle of the vehicle for this parking based on the theoretical driving trajectory of the vehicle, the parking distance of the vehicle this time, and the average driving speed belongs to the prior art and will not be elaborated here.

[0115] Among them, in order to ensure the accuracy of automatic parking control, the driving control method of this hybrid vehicle further includes the following steps:

[0116] Real-time judge whether there is a vehicle failure in the automatic driving formation.

[0117] If a vehicle breaks down, the faulty vehicle is removed from the autonomous driving formation, the faulty vehicle is moved away, and the real-time position of the vehicle in front is updated.

[0118] Such settings are made to ensure the accuracy of the calculated vehicle relocation distance, the estimated vehicle relocation duration this time, and the average driving speed, and can also ensure the accuracy of determining whether to start the engine to charge the in-vehicle battery during this waiting period for vehicle relocation, thereby further improving the control accuracy of the driving control method for this hybrid vehicle.

[0119] Among them, when the driver presses the "Exit Autonomous Driving Formation" confirmation switch, the vehicle exits autonomous driving, and the driver controls the vehicle to leave the autonomous driving formation.

[0120] Among them, when the vehicle drives out of the area to be loaded in autonomous driving mode, the vehicle exits autonomous driving, and the driver controls the vehicle to drive.

[0121] In summary, through this driving control method for the hybrid vehicle, it is possible to effectively avoid the phenomenon of potential safety hazards caused by the driver's fatigue driving. During this period, the power of the in-vehicle battery can also be monitored in real time to ensure that the in-vehicle battery has enough power to drive the vehicle to complete the loading work, and as much as possible reduce the engine as the energy source of the vehicle, thereby effectively reducing the energy consumption of the vehicle during the entire loading process.

[0122] Obviously, the above-mentioned embodiments of the present invention are only examples for clearly explaining the present invention, and are not intended to limit the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments, and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A driving control method for a hybrid vehicle, characterized in that, Including: The vehicle enters the autonomous driving mode; Obtain the current real-time position of the vehicle, and control the vehicle to enter the autonomous driving formation according to the current real-time position of the vehicle; Obtain the theoretical driving trajectory of the vehicle, where the theoretical driving trajectory is the path planning of the vehicle from the current position to the destination; Obtain the real-time position of the vehicle in front; Obtain the vehicle's parking distance for this time according to the real-time position of the vehicle after entering the autonomous driving formation, the real-time position of the vehicle in front, and the theoretical driving trajectory of the vehicle; Obtain the average driving speed of the vehicle according to the driving distance within the previous set time of the vehicle; Calculate the estimated parking time of the vehicle for this time according to the vehicle's parking distance for this time and the average driving speed; Obtain the estimated total energy consumption of the vehicle according to the vehicle's parking distance for this time and the average driving speed; Judge whether it is necessary to start the engine to charge the on-vehicle battery according to the current power of the on-vehicle battery and the estimated total energy consumption; If it is necessary to start the engine to charge the on-vehicle battery, judge whether the engine can be started according to the estimated waiting parking time of the vehicle for this time; If the engine can be started, the vehicle remains in neutral, starts the engine to charge the on-vehicle battery, and shuts down the engine before this parking; If it is not necessary to start the engine to charge the on-vehicle battery, the vehicle remains in neutral and waits for this parking; The specific steps for obtaining the vehicle's parking distance for this time according to the real-time position of the vehicle after entering the autonomous driving formation, the real-time position of the vehicle in front, and the theoretical driving trajectory of the vehicle include: Calculate the distance between the real-time position of the vehicle and the real-time position of the vehicle in front according to the theoretical driving trajectory of the vehicle, which is the first distance; Real-time locate the distance between the real-time position of the vehicle and the real-time position of the vehicle in front through satellite, which is the second distance; Compare the first distance and the second distance; Take the smaller value of the first distance and the second distance as the vehicle's parking distance for this time.

2. The hybrid vehicle driving control method according to claim 1, wherein The specific steps for obtaining the average speed of the vehicle according to the driving distance within the previous set time of the vehicle include: Calculate the initial average speed according to the driving distance within the previous set time; Judge whether the initial average speed is within the set speed range; If the initial average speed is within the set speed range, take the initial average speed as the average driving speed; If the initial average speed is not within the set speed range, obtain the average driving speed of the vehicle according to the driving distance within the set time before the previous set time of the vehicle.

3. The hybrid vehicle driving control method according to claim 1, wherein, The specific steps for calculating the estimated parking time of the vehicle for this time according to the vehicle's parking distance for this time and the average driving speed include: Calculate the first parking time by dividing the vehicle's parking distance for this time by the average driving speed; Judge whether the vehicle is in the loading state at the current position; If the vehicle is in the loading state at the current position, calculate the remaining loading time according to the set total loading time and the current cumulative loading time; Take the sum of the remaining loading time and the first parking time as the estimated parking time of the vehicle for this time.

4. The hybrid vehicle driving control method according to claim 1, characterized in that The specific steps for obtaining the estimated total energy consumption of the vehicle according to the vehicle's parking distance for this time and the average driving speed include: Obtain the estimated total energy consumption from the MAP according to the vehicle's parking distance for this time and the average driving speed; Among them, the MAP is a three-dimensional map formed by the vehicle's current parking distance, average driving speed, and estimated total energy consumption.

5. The hybrid vehicle driving control method according to claim 1, characterized in that The specific steps for judging whether to start the engine to charge the vehicle-mounted battery based on the current power of the vehicle-mounted battery and the estimated total energy consumption include: Judging whether the difference between the power difference and the estimated total energy consumption is less than or equal to a set value; If the difference between the power difference and the estimated total energy consumption is less than or equal to the set value, it is necessary to start the engine to charge the vehicle-mounted battery; Among them, the power difference = the current power of the vehicle-mounted battery - the minimum set power value.

6. The hybrid vehicle driving control method according to claim 1, characterized in that The specific steps for judging whether the engine can be started based on the estimated waiting time for the vehicle to park this time include: Judging whether the estimated waiting time for the vehicle to park this time is greater than the set minimum power generation time; If the estimated waiting time for the vehicle to park this time is greater than the set minimum power generation time, the engine can be started; If the estimated waiting time for the vehicle to park this time is less than or equal to the set minimum power generation time, the engine cannot be started.

7. The hybrid vehicle driving control method according to any one of claims 1-6, characterized in that, The hybrid vehicle driving control method further includes: Real-time judging whether there is a vehicle failure in the autonomous driving formation; If there is a vehicle failure, the failed vehicle is removed from the autonomous driving formation, the failed vehicle is moved away, and the real-time position of the vehicle in front is updated.

8. The hybrid vehicle driving control method according to any one of claims 1-6, characterized in that During the period of starting the engine to charge the vehicle-mounted battery, the following steps are further included: According to the theoretical driving trajectory of the vehicle, the current parking distance of the vehicle, and the average driving speed, calculate the parking gear, the output torque of the motor, and the steering wheel angle of the vehicle's current parking.

9. The hybrid vehicle driving control method according to any one of claims 1-6, characterized in that, When the vehicle is electrically connected to the satellite and before the vehicle enters the autonomous driving mode, the following steps are further included: Real-time positioning the real-time position of the vehicle through the satellite; Judging whether the vehicle enters the area to be loaded according to the real-time position of the vehicle located by the satellite; If the vehicle enters the area to be loaded, the vehicle displays a "can enter the autonomous driving formation" signal; The driver presses the "enter the autonomous driving formation" confirmation switch according to the "can enter the autonomous driving formation" signal.

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