Cruise control method and device of hybrid vehicle, computer device and storage medium

Abstract

This application relates to a cruise control method, apparatus, computer equipment, and storage medium for a hybrid vehicle. The method includes: when the hybrid vehicle is in cruise mode, determining the battery adjustment power based on the target cruise speed and the current vehicle speed; determining the generator output torque and drive motor power based on the battery adjustment power and the current engine power; determining the vehicle's cruise torque based on the drive motor power and the generator output torque; and controlling the hybrid vehicle according to the vehicle's cruise torque. This method can improve the stability of the hybrid vehicle when cruising at a constant speed based on the target cruise speed.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a cruise control method, device, computer equipment, and storage medium for a hybrid vehicle. Background Technology

[0002] With the development of automotive technology, hybrid vehicles have emerged, which have the advantages of energy saving and environmental protection.

[0003] When a vehicle is in cruise mode, it travels at a constant speed. In related technologies, it is difficult to achieve coordinated control of multiple power sources such as the engine, generator, and drive motor for cruise control of hybrid vehicles. This results in the vehicle speed fluctuating significantly around the target cruise speed when the hybrid vehicle is in cruise mode. Summary of the Invention

[0004] Therefore, it is necessary to provide a cruise control method, device, computer equipment, and storage medium for hybrid vehicles to address the aforementioned technical problems, enabling hybrid vehicles to travel at a constant speed at the target cruise speed during cruise, thereby improving the driving stability of hybrid vehicles in cruise mode.

[0005] Firstly, this application provides a cruise control method for a hybrid vehicle. The method includes:

[0006] When the hybrid vehicle is in cruise mode, the battery adjustment power is determined based on the target cruise speed and the current vehicle speed; the engine output torque and drive motor power are determined based on the battery adjustment power and the current engine power; the vehicle cruise torque is determined based on the drive motor power and the generator output torque, and the hybrid vehicle is controlled according to the vehicle cruise torque.

[0007] In one embodiment, determining the battery adjustment power based on the cruise target vehicle speed and the current vehicle speed includes: determining the vehicle speed adjustment value for the current period based on the cruise target vehicle speed and the current vehicle speed; and determining the battery adjustment power based on the vehicle speed adjustment value for the current period and the vehicle speed adjustment values ​​for each historical period.

[0008] In one embodiment, determining the battery adjustment power based on the vehicle speed adjustment value of the current period and the vehicle speed adjustment values ​​of each historical period includes: determining a proportional adjustment value and a current integral adjustment value based on the vehicle speed adjustment value of the current period; determining a historical cumulative integral adjustment value based on the vehicle speed adjustment values ​​of each historical period; and determining the battery adjustment power based on the proportional adjustment value, the current integral adjustment value, and the historical cumulative integral adjustment value.

[0009] In one embodiment, determining the proportional adjustment value and the current integral adjustment value based on the vehicle speed adjustment value of the current period includes: determining the proportional adjustment value based on the proportional parameter and the vehicle speed adjustment value of the current period; and determining the current integral adjustment value based on the integral parameter and the vehicle speed adjustment value of the current period.

[0010] In one embodiment, determining the historical integral adjustment accumulation value based on the vehicle speed adjustment value of each historical period includes: determining the historical integral adjustment accumulation value based on the integral parameter and the vehicle speed adjustment value of each historical period.

[0011] In one embodiment, determining the generator output torque and drive motor power based on the battery adjustment power and the current engine power includes: determining the generator output torque and the corresponding generator shunt power based on the battery adjustment power and the current engine power; and determining the drive motor power based on the generator shunt power and the battery adjustment power.

[0012] In one embodiment, determining the generator output torque and the corresponding generator shunt power based on the battery adjustment power and the current engine power includes: determining the engine target power based on the battery adjustment power and the current engine power; determining the generator output torque corresponding to the engine target power; and determining the corresponding generator shunt power based on the generator output torque.

[0013] In one embodiment, determining the engine target power based on the battery adjustment power and the engine current power includes: determining the product between the battery power smoothing coefficient and the battery adjustment power; and determining the engine target power based on the product and the engine current power.

[0014] In one embodiment, determining the vehicle's cruising torque based on the drive motor power and the generator output torque includes: determining the drive motor torque based on the drive motor power; determining the gear ring torque based on the generator output torque; and determining the vehicle's cruising torque based on the drive motor torque and the gear ring torque.

[0015] In one embodiment, determining the drive motor torque based on the drive motor power includes: obtaining the output shaft speed of the hybrid vehicle; and determining the drive motor torque based on the output shaft speed and the drive motor power.

[0016] In one embodiment, determining the ring gear torque based on the generator output torque includes: obtaining the planetary gear set characteristic value of the hybrid vehicle; and determining the ring gear torque based on the planetary gear set characteristic value and the generator output torque.

[0017] In one embodiment, the cruise control method for a hybrid vehicle further includes: when the hybrid vehicle meets the cruise conditions, controlling the hybrid vehicle to switch to cruise mode; and using the vehicle speed when the cruise conditions are met as the cruise target speed.

[0018] Secondly, this application also provides a cruise control device for a hybrid vehicle. The device includes:

[0019] The first power determination module is used to determine the battery adjustment power based on the target cruising speed and the current vehicle speed when the hybrid vehicle is in cruise mode.

[0020] The second power determination module is used to determine the generator output torque and drive motor power based on the battery adjustment power and the current engine power;

[0021] The vehicle cruise torque determination module is used to determine the vehicle cruise torque based on the drive motor power and the generator output torque, and to control the hybrid vehicle according to the vehicle cruise torque.

[0022] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0023] When the hybrid vehicle is in cruise mode, the battery adjustment power is determined based on the target cruise speed and the current vehicle speed; the engine output torque and drive motor power are determined based on the battery adjustment power and the current engine power; the vehicle cruise torque is determined based on the drive motor power and the generator output torque, and the hybrid vehicle is controlled according to the vehicle cruise torque.

[0024] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0025] When the hybrid vehicle is in cruise mode, the battery adjustment power is determined based on the target cruise speed and the current vehicle speed; the engine output torque and drive motor power are determined based on the battery adjustment power and the current engine power; the vehicle cruise torque is determined based on the drive motor power and the generator output torque, and the hybrid vehicle is controlled according to the vehicle cruise torque.

[0026] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0027] When the hybrid vehicle is in cruise mode, the battery adjustment power is determined based on the target cruise speed and the current vehicle speed; the engine output torque and drive motor power are determined based on the battery adjustment power and the current engine power; the vehicle cruise torque is determined based on the drive motor power and the generator output torque, and the hybrid vehicle is controlled according to the vehicle cruise torque.

[0028] The aforementioned cruise control method, device, computer equipment, and storage medium for hybrid vehicles, when the hybrid vehicle is in cruise mode, determine the battery adjustment power based on the cruise target speed and the current vehicle speed, adjust the current engine power according to the battery adjustment power to obtain the corresponding generator output torque and drive motor power, determine the vehicle cruise torque through the drive motor power and generator output torque, and control the hybrid vehicle according to the vehicle cruise torque. This achieves the adjustment of the vehicle's cruise torque through the battery adjustment power, enabling the hybrid vehicle to travel at a constant speed at the cruise target speed during cruise mode, avoiding large fluctuations in the hybrid vehicle near the cruise target speed, and improving the stability of the hybrid vehicle traveling at a constant speed according to the cruise target speed. Attached Figure Description

[0029] Figure 1 This is a flowchart illustrating a cruise control method for a hybrid vehicle in one embodiment.

[0030] Figure 2 This is a schematic diagram of a series-parallel hybrid power system in one embodiment;

[0031] Figure 3 This is a flowchart illustrating the cruise control method for a hybrid vehicle in another embodiment;

[0032] Figure 4 This is a structural block diagram of the cruise control device for a hybrid vehicle in one embodiment;

[0033] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0035] In one embodiment, such as Figure 1 As shown, a cruise control method for a hybrid vehicle is provided. This embodiment illustrates the method applied to a terminal, which can be an intelligent in-vehicle device. It is understood that this method can also be applied to a server, or to a system including both a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0036] Step 102: When the hybrid vehicle is in cruise mode, determine the battery adjustment power based on the target cruise speed and the current vehicle speed.

[0037] Hybrid vehicles refer to hybrid vehicles, which are vehicles whose drive systems are composed of two or more drive systems that operate simultaneously. In this embodiment of the application, the hybrid vehicle can be powered by both an engine and a generator, and is a planetary hybrid vehicle.

[0038] Hybrid vehicles include series-parallel hybrid systems, such as... Figure 2 As shown, the series-parallel hybrid powertrain includes an engine, a generator MG1, a drive motor MG2, a planetary gear set PG, and an output shaft. The planetary gear set PG includes a sun gear, a ring gear, and a planet carrier; the sun gear is connected to the generator MG1; the planet carrier is connected to the engine, allowing it to perform power splitting; the ring gear connects to the drive motor MG2 and the output shaft, and the hybrid powertrain outputs power to the entire vehicle through the ring gear.

[0039] The engine is connected to the planetary carrier. When the engine rotates, the planetary carrier drives the sun gear and the ring gear to rotate, distributing part of the torque to the ring gear and the other part of the torque to the sun gear. The sun gear drives the generator MG1 to rotate. The ring gear drives the drive motor MG2 to rotate. The ring gear is also connected to the reduction gear and the differential. The wheels are driven through the drive motor MG2, the reduction gear and the differential.

[0040] The cruise target speed is the speed that the hybrid vehicle wants to reach during cruise control; the current speed is the current real-time speed of the hybrid vehicle; the purpose of cruise control for hybrid vehicles is to enable the hybrid vehicle to move at a constant speed during cruise control.

[0041] Battery adjustment power is the power required by the battery to adjust a hybrid vehicle from its current speed to its target cruising speed.

[0042] Specifically, when the hybrid vehicle is in cruise mode, the terminal obtains the target cruise speed and the current speed of the hybrid vehicle, determines the speed adjustment value for the current cycle based on the target cruise speed and the current speed, and determines the battery adjustment power based on the speed adjustment value for the current cycle.

[0043] In some implementations, the cruise control method for hybrid vehicles also includes: controlling the hybrid vehicle to switch to cruise mode when the cruise conditions are met; and using the vehicle speed when the cruise conditions are met as the cruise target speed.

[0044] The cruising conditions can be that the remaining battery charge is within a preset cruising charge range, the brakes are not depressed, the throttle opening is 0, and the vehicle speed is greater than a vehicle speed threshold. The cruising charge range includes a first threshold and a second threshold. In practical applications, the first threshold can be 30% of the total battery charge, the second threshold can be 85% of the total battery charge, and the vehicle speed threshold can be 50 km / h. It should be noted that the first threshold, the second threshold, and the vehicle speed threshold can all be set according to actual needs, and this application embodiment does not limit them.

[0045] Specifically, when the hybrid vehicle meets the cruise conditions, the cruise mode is activated, causing the hybrid vehicle to switch to cruise mode, and the speed of the hybrid vehicle when the cruise conditions are met is used as the cruise target speed.

[0046] In some embodiments, the cruise mode is exited when the hybrid vehicle switches from meeting cruise conditions to not meeting cruise conditions. In addition, the cruise mode can also be exited when at least one of the generator, drive motor, battery, or cruise switch of the hybrid vehicle fails; the cruise mode can also be exited when the cruise switch is set to the off state.

[0047] Step 104: Determine the generator output torque and drive motor power based on the battery adjustment power and the current engine power.

[0048] Here, the engine current power is the engine's real-time power in the current cycle. The generator output torque is the torque output by the generator, and the drive motor power is the output power of the drive motor.

[0049] Specifically, the terminal adjusts the current power of the engine based on the battery adjustment power to determine the target power of the engine. The terminal then determines the corresponding generator output torque based on the target power of the engine, thereby obtaining the generator shunt power corresponding to the generator output torque. Finally, the terminal determines the drive motor power based on the generator shunt power and the battery adjustment power.

[0050] Step 106: Determine the vehicle's cruising torque based on the drive motor power and generator output torque.

[0051] Among them, the vehicle's cruise torque is used to control the vehicle speed, so that the hybrid vehicle's speed reaches the target cruise speed.

[0052] In some embodiments, the terminal obtains the output shaft speed, determines the drive motor torque based on the output shaft speed and drive motor power, determines the gear ring torque based on the generator and planetary gear set parameters, and then determines the vehicle cruising torque based on the drive motor torque and gear ring torque.

[0053] In the aforementioned cruise control method for hybrid vehicles, the current engine power is adjusted based on the battery adjustment power to obtain the generator output torque corresponding to the engine target power, as well as the corresponding generator shunt power. Then, the drive motor power is determined by the generator shunt power and the battery adjustment power, and the vehicle's cruise torque is determined by the drive motor power and the generator output torque. This allows the vehicle's cruise torque to be adjusted through the battery adjustment power, enabling the hybrid vehicle to travel at a constant speed at the target cruise speed. Furthermore, the battery adjustment power is determined by combining the current cycle's speed adjustment value with the speed adjustment values ​​from various historical cycles, making the battery adjustment power more accurate. This improves the accuracy of the vehicle's cruise torque, preventing significant fluctuations in the hybrid vehicle's speed near the target cruise speed and enhancing the stability of the hybrid vehicle traveling at a constant speed according to the target cruise speed during cruise.

[0054] In some embodiments, determining the battery adjustment power based on the cruise target vehicle speed and the current vehicle speed includes: determining the vehicle speed adjustment value for the current period based on the cruise target vehicle speed and the current vehicle speed; and determining the battery adjustment power based on the vehicle speed adjustment value for the current period and the vehicle speed adjustment values ​​for each historical period.

[0055] When the hybrid vehicle is in cruise control, an adjustment cycle is initiated at preset intervals. The current cycle is the adjustment cycle the hybrid vehicle is currently in. Each historical cycle is the adjustment cycle experienced by the hybrid vehicle after entering cruise control. For example, if the hybrid vehicle enters cruise control at 12:00, assuming the preset duration is 1 second, meaning an adjustment cycle is initiated every 1 second, the current cycle is entered at 12:05, and there are 5 historical cycles before the current cycle. In practical applications, the preset duration can be 10 ms, meaning cruise control is performed every 10 ms. The preset duration can be set according to actual needs; the specific value of the preset duration in this embodiment is not limited.

[0056] The terminal determines the difference between the target cruising speed and the current speed to obtain the speed adjustment value for the current cycle. For example, as shown in formula (1).

[0057] Δ Vn =V dem -V curr (1)

[0058] Where, Δ Vn This is the vehicle speed adjustment value for the current cycle, V. den It is the target cruising speed, V curr This is the current vehicle speed.

[0059] The terminal uses a proportional-integral controller to process the vehicle speed adjustment value for the current cycle to obtain the adjustment value corresponding to the current cycle. It also uses an integral controller to process the vehicle speed adjustment values ​​for each historical cycle to obtain the adjustment value corresponding to each historical cycle. Based on the adjustment value corresponding to the current cycle and the adjustment values ​​corresponding to each historical cycle, the battery adjustment power is determined.

[0060] In some embodiments, determining the battery adjustment power based on the vehicle speed adjustment value of the current period and the vehicle speed adjustment values ​​of each historical period includes: determining a proportional adjustment value and a current credit adjustment value based on the vehicle speed adjustment value of the current period; determining a historical credit adjustment cumulative value based on the vehicle speed adjustment values ​​of each historical period; and determining the battery adjustment power based on the proportional adjustment value, the current credit adjustment value, and the historical credit adjustment cumulative value.

[0061] Specifically, determining the proportional adjustment value and the current integral adjustment value based on the vehicle speed adjustment value of the current period includes: determining the proportional adjustment value based on the proportional parameter and the vehicle speed adjustment value of the current period; and determining the current integral adjustment value based on the integral parameter and the vehicle speed adjustment value of the current period. Determining the historical integral adjustment cumulative value based on the vehicle speed adjustment values ​​of each historical period includes: determining the historical integral adjustment cumulative value based on the integral parameter and the vehicle speed adjustment values ​​of each historical period.

[0062] The integral parameter and the proportional parameter can be set according to actual needs.

[0063] Specifically, the terminal determines the product between the integral parameter and the vehicle speed adjustment value of the current period to obtain the current integral adjustment value, determines the product between the integral parameter and the vehicle speed adjustment value of each historical period to obtain the historical integral adjustment value for each historical period, and adds up the historical integral adjustment values ​​to obtain the historical integral adjustment cumulative value; the terminal determines the product between the proportional parameter and the vehicle speed adjustment value of the current period to obtain the proportional adjustment value, and adds up the current integral adjustment value, the historical integral adjustment cumulative value, and the proportional adjustment value to obtain the battery adjustment power.

[0064] For example, as shown in formula (2).

[0065]

[0066] Where, Δ Vn This is the vehicle speed adjustment value for the current cycle, Δ Vj K is the vehicle speed adjustment value for the j-th historical period. d It is a proportional parameter, K i It is the integration parameter, P adjThis refers to battery power adjustment. The unit of measurement for battery power adjustment is kW, while the unit of measurement for vehicle speed adjustment is km / h. The units of measurement for proportional and integral parameters are kW / km / h. The proportional and integral parameters can be set according to actual needs; for example, K... d It can be 1kw / km / h, K i It can be 0.3 kW / km / h.

[0067] In the above embodiments, the battery adjustment power is determined by combining the vehicle speed adjustment value of the current cycle and the vehicle speed adjustment value of the historical cycle, so that the battery adjustment power is more accurate.

[0068] In some embodiments, step 104 includes: determining the generator output torque and the corresponding generator shunt power based on the battery adjustment power and the current engine power; and determining the drive motor power based on the generator shunt power and the battery adjustment power.

[0069] Specifically, the generator output torque can be transmitted to the engine and generator via the planetary carrier, thereby generating generator shunt power. The terminal determines the engine target power based on the battery adjustment power and the engine's current power, and then determines the generator output torque corresponding to achieving the engine target power. The generator output torque is then transmitted to the engine and generator via the planetary carrier assembly, so that the engine outputs the engine target power and the generator outputs generator shunt power.

[0070] In some embodiments, determining the generator output torque and the corresponding generator shunt power based on the battery adjustment power and the current engine power includes: determining the engine target power based on the battery adjustment power and the current engine power; determining the generator output torque corresponding to the engine target power; and determining the corresponding generator shunt power based on the generator output torque.

[0071] Specifically, the terminal obtains the battery power smoothing coefficient, and determines the engine target power based on the battery power smoothing coefficient, battery adjustment power, and current engine power. The corresponding generator output torque T1 is determined based on the engine target power. When the generator output torque is T1, the engine output power is the engine target power, and the generator shunt power is obtained.

[0072] In some embodiments, determining the target engine power based on the battery adjustment power and the current engine power includes: determining the product between the battery power smoothing coefficient and the battery adjustment power; and determining the target engine power based on the product and the current engine power.

[0073] Specifically, the terminal determines the product between the battery power smoothing coefficient and the battery adjustment power, and then sums this product with the current engine power to obtain the engine target power. This allows the current engine power to be adjusted using the battery adjustment power to achieve the engine target power.

[0074] For example, as shown in formula (3).

[0075] P e =P curr +α×P adj (3)

[0076] Among them, P e It is the engine target power, P curr P is the current engine power, α is the battery power smoothing coefficient, and P is the current power of the engine. adj It's about adjusting the battery power.

[0077] The terminal determines the sum of the generator shunt power and the battery regulation power, and then determines the opposite number corresponding to the sum to obtain the drive motor power.

[0078] For example, as shown in formula (4).

[0079] P2 = -(P1 + P adj (4)

[0080] Where P2 is the power of the drive motor, P1 is the power of the generator shunt, and P... adj Battery power adjustment

[0081] In some embodiments, determining the vehicle cruising torque based on the drive motor power and the generator output torque includes: determining the drive motor torque based on the drive motor power; determining the gear ring torque based on the generator output torque; and determining the vehicle cruising torque based on the drive motor torque and the gear ring torque.

[0082] Specifically, determining the drive motor torque based on the drive motor power includes: obtaining the output shaft speed of the hybrid vehicle; and determining the drive motor torque based on the output shaft speed and the drive motor power. Determining the ring gear torque based on the generator output torque includes: obtaining the planetary gear set characteristic values ​​of the hybrid vehicle; and determining the ring gear torque based on the planetary gear set characteristic values ​​and the generator output torque. The planetary gear set characteristic value is the ratio of the number of teeth on the ring gear to the number of teeth on the sun gear.

[0083] The terminal determines the product between the conversion coefficient and the drive motor power, and then determines the product between this product and the output shaft speed to obtain the drive motor torque. The terminal also determines the product between the planetary gear set characteristic value and the generator output torque to obtain the gear ring torque. Based on the drive motor torque and the gear ring torque, the vehicle cruising torque is determined.

[0084] For example, as shown in formula (5).

[0085]

[0086] Where T is the vehicle's cruising torque, 9550 is the conversion coefficient, P2 is the drive motor power, n is the output shaft speed, k is the planetary gear set characteristic value, and T1 is the generator output torque.

[0087] In the above embodiments, the vehicle's cruising torque is determined by the output shaft speed, drive motor power, planetary gear set characteristic value, and generator output torque, so that the hybrid vehicle can reach the target cruising speed based on the vehicle's cruising speed.

[0088] The following example illustrates the cruise control method for hybrid vehicles.

[0089] When the hybrid vehicle is in cruise control, the target cruise speed V is obtained. dem The current speed is 80 km / h, V. curr The vehicle speed is 85 km / h, and the speed adjustment value for the current cycle is 80 - 85 = -5 km / h. The battery adjustment power is determined using the speed adjustment value for the current cycle and the speed adjustment values ​​for each historical cycle; assuming the historical integral adjustment accumulation value determined based on the speed adjustment values ​​for each historical cycle is -1.5, K d It can be 1kw / km / h, K i If it can be 0.3 kW / km / h, then the battery adjusts the power. The target engine power is determined based on the battery's adjusted power and the engine's current power. Assuming the current engine power is 80kW and the battery power smoothing coefficient α = 0.3, then the target engine power P... e = curr +×P adj =77.6kw, based on the engine's target power, the generator shunt power P1 = -30kw, and the generator output torque is T1 = -60, therefore the drive motor power P2 = -(P1 + adj = -38kW; The drive motor torque is determined based on the output shaft speed n = 5000 and the drive motor power. The gear ring torque is determined based on the planetary gear set characteristic value k = 2.1 and the generator output torque. The vehicle cruising torque is determined by the drive motor torque and the gear ring torque.

[0090] In some embodiments, such as Figure 3 As shown, the cruise control method for hybrid vehicles includes:

[0091] Step 301: When the hybrid vehicle is in cruise mode, determine the speed adjustment value for the current period based on the cruise target speed and the current speed.

[0092] Step 302: Determine the proportional adjustment value and the current credit adjustment value based on the vehicle speed adjustment value of the current cycle; determine the historical credit adjustment accumulation value based on the vehicle speed adjustment values ​​of each historical cycle; determine the battery adjustment power based on the proportional adjustment value, the current credit adjustment value, and the historical credit adjustment accumulation value.

[0093] Step 303: Determine the target power of the engine based on the battery adjustment power and the current engine power; determine the generator output torque corresponding to the target engine power, and determine the corresponding generator shunt power based on the generator output torque;

[0094] Step 304: Determine the drive motor power based on the generator shunt power and the battery adjustment power;

[0095] Step 305: Determine the drive motor torque based on the drive motor power; determine the gear ring torque based on the generator output torque; determine the vehicle cruising torque based on the drive motor torque and gear ring torque, and control the hybrid vehicle based on the vehicle cruising torque.

[0096] In the aforementioned cruise control method for hybrid vehicles, the current engine power is adjusted based on the battery adjustment power to obtain the generator output torque corresponding to the engine target power, as well as the corresponding generator shunt power. Then, the drive motor power is determined by the generator shunt power and the battery adjustment power, and the vehicle's cruise torque is determined by the drive motor power and the generator output torque. This allows the vehicle's cruise torque to be adjusted through the battery adjustment power, enabling the hybrid vehicle to travel at a constant speed at the target cruise speed. Furthermore, the battery adjustment power is determined by combining the current cycle's speed adjustment value with the speed adjustment values ​​from various historical cycles, making the battery adjustment power more accurate. This improves the accuracy of the vehicle's cruise torque, preventing significant fluctuations in the hybrid vehicle's speed near the target cruise speed and enhancing the stability of the hybrid vehicle traveling at a constant speed according to the target cruise speed during cruise.

[0097] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0098] Based on the same inventive concept, this application also provides a cruise control device for a hybrid vehicle to implement the cruise control method for the hybrid vehicle described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the cruise control device for hybrid vehicles provided below can be found in the limitations of the cruise control method for hybrid vehicles described above, and will not be repeated here.

[0099] In one embodiment, such as Figure 4 As shown, a cruise control device for a hybrid vehicle is provided, comprising: a first power determination module 401, a second power determination module 402, and a vehicle cruise torque determination module 403, wherein:

[0100] The first power determination module 401 is used to determine the battery adjustment power based on the target cruising speed and the current vehicle speed when the hybrid vehicle is in cruise mode.

[0101] The second power determination module 402 is used to determine the generator output torque and drive motor power based on the battery adjustment power and the current engine power;

[0102] The vehicle cruise torque determination module 403 is used to determine the vehicle cruise torque based on the drive motor power and the generator output torque, and to control the hybrid vehicle according to the vehicle cruise torque.

[0103] In some embodiments, the first power determination module 401 includes:

[0104] The vehicle speed adjustment value determination unit is used to determine the vehicle speed adjustment value for the current period based on the cruise target vehicle speed and the current vehicle speed.

[0105] The battery adjustment power determination unit is used to determine the battery adjustment power based on the vehicle speed adjustment value of the current cycle and the vehicle speed adjustment values ​​of each historical cycle.

[0106] In some embodiments, the battery adjustment power determination unit is specifically used to determine a proportional adjustment value and a current integral adjustment value based on the vehicle speed adjustment value of the current cycle; to determine a historical cumulative integral adjustment value based on the vehicle speed adjustment value of each historical cycle; and to determine the battery adjustment power based on the proportional adjustment value, the current integral adjustment value, and the historical cumulative integral adjustment value.

[0107] In some embodiments, the battery power adjustment determination unit is further configured to determine a proportional adjustment value based on a proportional parameter and a vehicle speed adjustment value for the current period; and to determine a current integral adjustment value based on an integral parameter and a vehicle speed adjustment value for the current period.

[0108] In some embodiments, the second power determination module 402 includes:

[0109] The generator output torque determination unit is used to determine the generator output torque and the corresponding generator shunt power based on the battery adjustment power and the current engine power.

[0110] The drive motor power determination unit is used to determine the drive motor power based on the generator shunt power and the battery adjustment power.

[0111] In some embodiments, the generator output torque determination unit is specifically used to determine the engine target power based on the battery adjustment power and the current engine power; determine the generator output torque corresponding to the engine target power; and determine the corresponding generator shunt power based on the generator output torque.

[0112] In some embodiments, the generator output torque determination unit is further configured to determine the product between the battery power smoothing coefficient and the battery adjustment power; and to determine the engine target power based on the product and the current engine power.

[0113] In some embodiments, the vehicle cruise torque determination module 403 includes:

[0114] A drive motor torque determination unit is used to determine the drive motor torque based on the drive motor power.

[0115] The gear ring torque determination unit is used to determine the gear ring torque based on the generator output torque.

[0116] The vehicle cruise torque determination unit is used to determine the vehicle cruise torque based on the drive motor torque and the gear ring torque.

[0117] In some embodiments, the drive motor torque determination unit is specifically used to obtain the output shaft speed of the hybrid vehicle; and to determine the drive motor torque based on the output shaft speed and the drive motor power.

[0118] In some embodiments, the gear ring torque determining unit is specifically used to determine the gear ring torque based on the generator output torque.

[0119] The various modules in the cruise control device of the aforementioned hybrid vehicle can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware within or independently of the processor in a computer device, or stored in software within the memory of the computer device, so that the processor can call and execute the corresponding operations of each module.

[0120] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a cruise control method for a hybrid vehicle. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0121] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0122] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0123] When the hybrid vehicle is in cruise mode, the battery adjustment power is determined based on the target cruise speed and the current vehicle speed; the engine output torque and drive motor power are determined based on the battery adjustment power and the current engine power; the vehicle cruise torque is determined based on the drive motor power and the generator output torque, and the hybrid vehicle is controlled according to the vehicle cruise torque.

[0124] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the vehicle speed adjustment value for the current period based on the cruise target vehicle speed and the current vehicle speed; and determining the battery adjustment power based on the vehicle speed adjustment value for the current period and the vehicle speed adjustment values ​​for each historical period.

[0125] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining a proportional adjustment value and a current integral adjustment value based on the vehicle speed adjustment value of the current period; determining a historical integral adjustment cumulative value based on the vehicle speed adjustment values ​​of each historical period; and determining the battery adjustment power based on the proportional adjustment value, the current integral adjustment value, and the historical integral adjustment cumulative value.

[0126] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining a proportional adjustment value based on a proportional parameter and a vehicle speed adjustment value for the current period; and determining a current integral adjustment value based on an integral parameter and a vehicle speed adjustment value for the current period.

[0127] In one embodiment, when the processor executes the computer program, it also performs the following steps: determining the historical integral adjustment accumulation value based on the integral parameters and the vehicle speed adjustment values ​​for each historical period.

[0128] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the generator output torque and drive motor power based on the battery adjustment power and the current engine power, including: determining the generator output torque and the corresponding generator shunt power based on the battery adjustment power and the current engine power; and determining the drive motor power based on the generator shunt power and the battery adjustment power.

[0129] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the target power of the engine based on the battery adjustment power and the current power of the engine; determining the generator output torque corresponding to the target power of the engine, and determining the corresponding generator shunt power based on the generator output torque.

[0130] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the engine target power based on the battery adjustment power and the engine current power, including: determining the product between the battery power smoothing coefficient and the battery adjustment power; and determining the engine target power based on the product and the engine current power.

[0131] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the drive motor torque based on the drive motor power; determining the gear ring torque based on the generator output torque; and determining the vehicle cruising torque based on the drive motor torque and the gear ring torque.

[0132] In one embodiment, when the processor executes the computer program, it also performs the following steps: obtaining the output shaft speed of the hybrid vehicle; and determining the drive motor torque based on the output shaft speed and the drive motor power.

[0133] In one embodiment, the processor, when executing the computer program, also performs the following steps: obtaining the planetary gear set characteristic values ​​of the hybrid vehicle; and determining the ring gear torque based on the planetary gear set characteristic values ​​and the generator output torque.

[0134] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0135] When the hybrid vehicle is in cruise mode, the battery adjustment power is determined based on the target cruise speed and the current vehicle speed; the engine output torque and drive motor power are determined based on the battery adjustment power and the current engine power; the vehicle cruise torque is determined based on the drive motor power and the generator output torque, and the hybrid vehicle is controlled according to the vehicle cruise torque.

[0136] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the vehicle speed adjustment value for the current period based on the cruise target vehicle speed and the current vehicle speed; and determining the battery adjustment power based on the vehicle speed adjustment value for the current period and the vehicle speed adjustment values ​​for each historical period.

[0137] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a proportional adjustment value and a current integral adjustment value based on the vehicle speed adjustment value of the current period; determining a historical integral adjustment accumulation value based on the vehicle speed adjustment values ​​of each historical period; and determining the battery adjustment power based on the proportional adjustment value, the current integral adjustment value, and the historical integral adjustment accumulation value.

[0138] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a proportional adjustment value based on the proportional parameter and the vehicle speed adjustment value of the current period; and determining a current integral adjustment value based on the integral parameter and the vehicle speed adjustment value of the current period.

[0139] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the historical integral adjustment accumulation value based on the integral parameters and the vehicle speed adjustment values ​​for each historical period.

[0140] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: determining the generator output torque and drive motor power based on the battery adjustment power and the current engine power, including: determining the generator output torque and the corresponding generator shunt power based on the battery adjustment power and the current engine power; and determining the drive motor power based on the generator shunt power and the battery adjustment power.

[0141] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the target power of the engine based on the battery adjustment power and the current power of the engine; determining the generator output torque corresponding to the target power of the engine, and determining the corresponding generator shunt power based on the generator output torque.

[0142] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the target engine power based on the battery adjustment power and the current engine power, including: determining the product between the battery power smoothing coefficient and the battery adjustment power; and determining the target engine power based on the product and the current engine power.

[0143] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the drive motor torque based on the drive motor power; determining the gear ring torque based on the generator output torque; and determining the vehicle cruising torque based on the drive motor torque and the gear ring torque.

[0144] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the output shaft speed of the hybrid vehicle; and determining the drive motor torque based on the output shaft speed and the drive motor power.

[0145] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the planetary gear set characteristic values ​​of the hybrid vehicle; and determining the ring gear torque based on the planetary gear set characteristic values ​​and the generator output torque.

[0146] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0147] When the hybrid vehicle is in cruise mode, the battery adjustment power is determined based on the target cruise speed and the current vehicle speed; the engine output torque and drive motor power are determined based on the battery adjustment power and the current engine power; the vehicle cruise torque is determined based on the drive motor power and the generator output torque, and the hybrid vehicle is controlled according to the vehicle cruise torque.

[0148] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the vehicle speed adjustment value for the current period based on the cruise target vehicle speed and the current vehicle speed; and determining the battery adjustment power based on the vehicle speed adjustment value for the current period and the vehicle speed adjustment values ​​for each historical period.

[0149] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a proportional adjustment value and a current integral adjustment value based on the vehicle speed adjustment value of the current period; determining a historical integral adjustment accumulation value based on the vehicle speed adjustment values ​​of each historical period; and determining the battery adjustment power based on the proportional adjustment value, the current integral adjustment value, and the historical integral adjustment accumulation value.

[0150] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a proportional adjustment value based on the proportional parameter and the vehicle speed adjustment value of the current period; and determining a current integral adjustment value based on the integral parameter and the vehicle speed adjustment value of the current period.

[0151] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the historical integral adjustment accumulation value based on the integral parameters and the vehicle speed adjustment values ​​for each historical period.

[0152] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: determining the generator output torque and drive motor power based on the battery adjustment power and the current engine power, including: determining the generator output torque and the corresponding generator shunt power based on the battery adjustment power and the current engine power; and determining the drive motor power based on the generator shunt power and the battery adjustment power.

[0153] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the target power of the engine based on the battery adjustment power and the current power of the engine; determining the generator output torque corresponding to the target power of the engine, and determining the corresponding generator shunt power based on the generator output torque.

[0154] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the target engine power based on the battery adjustment power and the current engine power, including: determining the product between the battery power smoothing coefficient and the battery adjustment power; and determining the target engine power based on the product and the current engine power.

[0155] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the drive motor torque based on the drive motor power; determining the gear ring torque based on the generator output torque; and determining the vehicle cruising torque based on the drive motor torque and the gear ring torque.

[0156] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the output shaft speed of the hybrid vehicle; and determining the drive motor torque based on the output shaft speed and the drive motor power.

[0157] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the planetary gear set characteristic values ​​of the hybrid vehicle; and determining the ring gear torque based on the planetary gear set characteristic values ​​and the generator output torque.

[0158] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0159] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0160] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A cruise control method for a hybrid vehicle, characterized in that, The method includes: When the hybrid vehicle meets the cruise conditions, the hybrid vehicle is controlled to switch to cruise mode. The cruise conditions are that the remaining battery charge is within the preset cruise charge range, the brake is not depressed, the throttle opening is 0, and the vehicle speed is greater than the vehicle speed threshold. When the hybrid vehicle is in cruise mode, the difference between the cruise target speed and the current speed is used as the speed adjustment value for the current period. The proportional-integral controller processes the speed adjustment value for the current period to obtain the adjustment value corresponding to the current period. The integral controller processes the speed adjustment values ​​for each historical period to obtain the adjustment value corresponding to each historical period. Based on the adjustment value corresponding to the current period and the adjustment values ​​corresponding to each historical period, the battery adjustment power is determined. The battery adjustment power is the adjustment power required by the battery to adjust the hybrid vehicle from the current speed to the cruise target speed. Based on the battery adjustment power and the current engine power, determine the generator output torque and drive motor power; The vehicle's cruising torque is determined based on the power of the drive motor and the output torque of the generator, and the hybrid vehicle is controlled according to the vehicle's cruising torque.

2. The method according to claim 1, characterized in that, The specific steps for determining the battery power adjustment include: The proportional adjustment value and the current integral adjustment value are determined based on the vehicle speed adjustment value of the current cycle; The historical integral adjustment accumulation value is determined based on the vehicle speed adjustment value for each historical period; The battery adjustment power is determined based on the proportional adjustment value, the current integral adjustment value, and the historical cumulative integral adjustment value.

3. The method according to claim 1, characterized in that, The process of determining the generator output torque and drive motor power based on the battery power adjustment and the current engine power includes: Based on the battery adjustment power and the current engine power, determine the generator output torque and the corresponding generator shunt power; The drive motor power is determined based on the generator shunt power and the battery adjustment power.

4. The method according to claim 3, characterized in that, The step of determining the generator output torque and the corresponding generator shunt power based on the battery adjustment power and the current engine power includes: The target engine power is determined based on the battery power adjustment and the current engine power. Determine the generator output torque corresponding to the engine target power, and determine the corresponding generator shunt power based on the generator output torque.

5. The method according to claim 1, characterized in that, The process of determining the vehicle's cruising torque based on the drive motor power and the generator output torque includes: The torque of the drive motor is determined based on the power of the drive motor. The gear ring torque is determined based on the generator output torque; The vehicle's cruising torque is determined based on the drive motor torque and the gear ring torque.

6. A cruise control device for a hybrid vehicle, characterized in that, The device includes: The first power determination module is used to control the hybrid vehicle to switch to cruise mode when the hybrid vehicle meets the cruise conditions. The cruise conditions are that the remaining battery charge ratio is within a preset cruise charge range, the brake is not depressed, the throttle opening is 0, and the vehicle speed is greater than a vehicle speed threshold. When the hybrid vehicle is in cruise mode, the difference between the cruise target speed and the current speed is used as the speed adjustment value for the current cycle. The proportional-integral controller processes the speed adjustment value for the current cycle to obtain the adjustment value corresponding to the current cycle. The integral controller processes the speed adjustment values ​​for each historical cycle to obtain the adjustment value corresponding to each historical cycle. Based on the adjustment value corresponding to the current cycle and the adjustment values ​​corresponding to each historical cycle, the battery adjustment power is determined. The battery adjustment power is the adjustment power required by the battery to adjust the hybrid vehicle from the current speed to the cruise target speed. The second power determination module is used to determine the generator output torque and drive motor power based on the battery adjustment power and the current engine power; The vehicle cruise torque determination module is used to determine the vehicle cruise torque based on the power of the drive motor and the output torque of the generator, and to control the hybrid vehicle according to the vehicle cruise torque.

7. The apparatus according to claim 6, characterized in that, The second power determination module includes: a generator output torque determination unit, used to determine the generator output torque and the corresponding generator shunt power based on the battery adjustment power and the current engine power; and a drive motor power determination unit, used to determine the drive motor power based on the generator shunt power and the battery adjustment power.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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