Method, device and hybrid vehicle for controlling vehicle idle speed
By using vehicle control information, motor speed and engine torque control, and adjusting the motor state according to battery capacity in plug-in hybrid vehicles, the problem of low idling speed control accuracy is solved, and the overall vehicle comfort is improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA FAW CO LTD
- Filing Date
- 2023-06-08
- Publication Date
- 2026-06-23
AI Technical Summary
Existing vehicle idling speed control methods have low precision, resulting in poor overall vehicle comfort.
In plug-in hybrid vehicles, precise idle speed control is achieved by adjusting the motor speed and torque based on the battery capacity using vehicle control information, motor speed control, and engine torque control.
It improves the precision of vehicle idle speed control and enhances the overall vehicle comfort.
Smart Images
Figure CN116653912B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the automotive field, and more specifically, to a method, apparatus, and hybrid vehicle for vehicle idling control. Background Technology
[0002] Vehicle idling control refers to the process where, before the engine speed or vehicle speed reaches or exceeds a preset threshold, the engine does not output external driving power but instead operates by overcoming the frictional resistance of its internal components. The performance of vehicle idling control can reflect technical indicators such as the vehicle's technicality, stability, power, and economy. However, existing vehicle idling control methods suffer from low precision in the idling control process, resulting in poor idling control performance and overall vehicle comfort.
[0003] There is currently no effective solution to the problems of low accuracy and poor vehicle comfort in the vehicle idling speed control methods provided by the aforementioned technologies. Summary of the Invention
[0004] This invention provides a method, apparatus, and hybrid vehicle for vehicle idling control, to at least solve the technical problems of low accuracy and poor overall vehicle comfort in related technologies for vehicle idling control.
[0005] According to one aspect of the present invention, a method for vehicle idling speed control is provided, comprising:
[0006] Based on the vehicle control information of the target vehicle, it is determined that the target vehicle has entered an idle speed control state. The target vehicle is configured as a plug-in hybrid electric vehicle. The vehicle control information includes at least: accelerator pedal opening, brake pedal opening, and vehicle speed. In the idle speed control state, in response to the target vehicle's current battery capacity being higher than a first threshold, the target vehicle's motor speed is controlled according to a first control command. In response to the current battery capacity being lower than a second threshold, the target vehicle's motor speed and engine torque are controlled according to a second control command. The first control command is determined by the first target idle speed corresponding to the target vehicle in electric drive mode, and the second control command is determined by the second target idle speed and target idle torque corresponding to the target vehicle in hybrid drive mode.
[0007] Optionally, determining that the target vehicle enters the idle speed control state based on the vehicle control information of the target vehicle includes: controlling the target vehicle to enter the idle speed control state in response to the vehicle control information of the target vehicle satisfying a first condition, wherein the first condition includes: the accelerator pedal opening is less than a third threshold, the brake pedal opening is greater than a fourth threshold, and the vehicle speed is less than a fifth threshold.
[0008] Optionally, controlling the motor speed of the target vehicle according to the first control command includes: calculating a first target idle speed based on vehicle control information; generating a first control command using the first target idle speed, wherein the first control command includes a first motor control command and a first transmission control command; controlling the drive motor of the target vehicle to execute the first motor control command, so that the speed of the drive motor is adjusted to the first target idle speed; and controlling the transmission of the target vehicle to execute the first transmission control command, so that the clutch in the transmission performs a first slip operation.
[0009] Optionally, the vehicle control information also includes gear position and brake master cylinder pressure. Calculations based on the vehicle control information to obtain the first target idle speed include: in response to the vehicle control information meeting the second condition and the transmission control unit detecting the transmission issuing an input shaft speed-up request message, determining the first target idle speed as a first preset speed; in response to the vehicle control information not meeting the second condition or the transmission control unit detecting the transmission not issuing an input shaft speed-up request message, determining the first target idle speed as a second preset speed, wherein the transmission required speed is published in real time by the transmission control unit; wherein the second condition includes: brake pedal opening is a fourth threshold, brake master cylinder pressure is less than a sixth threshold, and the gear is shifted from park or neutral to drive or reverse and maintained in drive or reverse within a preset time range.
[0010] Optionally, controlling the motor speed and engine torque of the target vehicle according to the second control command includes: determining a second target idle speed based on the engine idle speed requirement, the transmission speed requirement, and a third preset speed, wherein the engine idle speed requirement is published in real time by the engine control unit, and the transmission speed requirement is published in real time by the transmission control unit; determining a target idle torque based on the current battery capacity and the current torque and speed of the target vehicle's drive motor; generating a second control command using the second target idle speed and target idle torque, wherein the second control command includes: a second motor control command, a second transmission control command, and an engine control command, and the second motor control command and engine control command are closed-loop control commands; controlling the target vehicle's drive motor to execute the second motor control command, so that the drive motor speed is adjusted to the second target idle speed through closed-loop control; controlling the target vehicle's transmission to execute the second transmission control command, so that the clutch in the transmission performs a second slip operation; and controlling the target vehicle's engine to execute the engine control command, so that the engine output torque is adjusted to the target idle torque through closed-loop control.
[0011] Optionally, determining the target idle torque based on the current battery capacity and the current torque and speed of the target vehicle's drive motor includes: determining the target charging power using the current battery capacity, wherein the target charging power is the input charging power required by the target vehicle's power battery under the current battery capacity; calculating the current output power of the drive motor based on the current torque and current speed; and calculating the target idle torque using a closed-loop control algorithm based on the target charging power and current output power.
[0012] Optionally, determining the target charging power using the current battery capacity includes: determining the target charging power to be zero in response to the current battery capacity being higher than the driving charging threshold of the target vehicle; determining the target charging power to be the accessory electric power corresponding to the target vehicle in response to the current battery capacity being higher than the starting threshold of the target vehicle and the current battery capacity being lower than the driving charging threshold; and determining the target charging power to be the sum of the accessory electric power and the preset forced charging power corresponding to the target vehicle in response to the current battery capacity being lower than the starting threshold.
[0013] Optionally, the target idle torque is calculated using a closed-loop control algorithm based on the target charging power and the current output power, including: calculating the deviation torque using the closed-loop control algorithm on the target charging power and the current output power; determining the feedforward torque of the drive motor based on the current battery capacity; and determining the target idle torque based on the feedforward torque and the deviation torque.
[0014] According to another aspect of the present invention, a vehicle idling speed control device is also provided, comprising:
[0015] A determination module is used to determine whether a target vehicle has entered an idle speed control state based on the vehicle control information of the target vehicle, wherein the target vehicle is configured as a plug-in hybrid electric vehicle, and the vehicle control information includes at least: accelerator pedal opening, brake pedal opening, and vehicle speed; a control module is used to control the motor speed of the target vehicle according to a first control command in the idle speed control state when the current battery capacity of the target vehicle is higher than a first threshold, and to control the motor speed and engine torque of the target vehicle according to a second control command when the current battery capacity is lower than a second threshold; wherein the first control command is determined by a first target idle speed corresponding to the target vehicle in electric drive state, and the second control command is determined by a second target idle speed and target idle torque corresponding to the target vehicle in hybrid drive state.
[0016] Optionally, the aforementioned determining module is further configured to: determine that the target vehicle has entered the idle speed control state based on the vehicle control information of the target vehicle, including: in response to the vehicle control information of the target vehicle satisfying a first condition, controlling the target vehicle to enter the idle speed control state, wherein the first condition includes: the accelerator pedal opening is less than a third threshold, the brake pedal opening is greater than a fourth threshold, and the vehicle speed is less than a fifth threshold.
[0017] Optionally, the control module is further configured to: control the motor speed of the target vehicle according to the first control command, including: calculating based on vehicle control information to obtain a first target idle speed; generating a first control command using the first target idle speed, wherein the first control command includes: a first motor control command and a first transmission control command; controlling the drive motor of the target vehicle to execute the first motor control command, so that the speed of the drive motor is adjusted to the first target idle speed; and controlling the transmission of the target vehicle to execute the first transmission control command, so that the clutch in the transmission performs a first slip operation.
[0018] Optionally, the control module is further configured to: The vehicle control information also includes gear position and brake master cylinder pressure; Calculation based on the vehicle control information to obtain the first target idle speed includes: In response to the vehicle control information meeting the second condition and the transmission control unit detecting the transmission issuing an input shaft speed-up request message, determining the first target idle speed as a first preset speed; In response to the vehicle control information not meeting the second condition or the transmission control unit detecting the transmission not issuing an input shaft speed-up request message, determining the first target idle speed as a second preset speed, wherein the required transmission speed is published in real time by the transmission control unit; wherein the second condition includes: brake pedal opening is a fourth threshold, brake master cylinder pressure is less than a sixth threshold, and the gear is switched from park or neutral to drive or reverse and maintained in drive or reverse within a preset time range.
[0019] Optionally, the control module is further configured to: control the motor speed and engine torque of the target vehicle according to the second control command, including: determining a second target idle speed based on the engine idle speed requirement, the transmission speed requirement, and a third preset speed, wherein the engine idle speed requirement is published in real time by the engine control unit, and the transmission speed requirement is published in real time by the transmission control unit; determining a target idle torque based on the current battery capacity and the current torque and current speed of the target vehicle's drive motor; generating a second control command using the second target idle speed and target idle torque, wherein the second control command includes: a second motor control command, a second transmission control command, and an engine control command, the second motor control command and the engine control command being closed-loop control commands; controlling the target vehicle's drive motor to execute the second motor control command, so that the drive motor speed is adjusted to the second target idle speed through closed-loop control; controlling the target vehicle's transmission to execute the second transmission control command, so that the clutch in the transmission performs a second slip operation; and controlling the target vehicle's engine to execute the engine control command, so that the engine output torque is adjusted to the target idle torque through closed-loop control.
[0020] Optionally, the control module is further configured to: determine the target idle torque based on the current battery capacity and the current torque and current speed of the drive motor of the target vehicle, including: determining the target charging power using the current battery capacity, wherein the target charging power is the input charging power required by the power battery of the target vehicle under the current battery capacity; calculating the current output power of the drive motor based on the current torque and current speed; and calculating the target idle torque using a closed-loop control algorithm based on the target charging power and the current output power.
[0021] Optionally, the control module is further configured to: determine the target charging power using the current battery capacity, including: in response to the current battery capacity being higher than the driving charging threshold of the target vehicle, determining the target charging power to be zero; in response to the current battery capacity being higher than the starting threshold of the target vehicle and the current battery capacity being lower than the driving charging threshold, determining the target charging power to be the accessory electric power corresponding to the target vehicle; and in response to the current battery capacity being lower than the starting threshold, determining the target charging power to be the sum of the accessory electric power and the preset forced charging power corresponding to the target vehicle.
[0022] Optionally, the control module is further configured to: calculate the target idle torque based on the target charging power and the current output power using a closed-loop control algorithm, including: calculating the target charging power and the current output power using a closed-loop control algorithm to obtain the deviation torque; determining the feedforward torque of the drive motor based on the current battery capacity; and determining the target idle torque based on the feedforward torque and the deviation torque.
[0023] According to another aspect of the present invention, a hybrid vehicle is also provided, including an on-board memory and an on-board processor, wherein the on-board memory stores a computer program and the on-board processor is configured to run the computer program to perform the vehicle idling speed control method described in any of the preceding embodiments.
[0024] In this embodiment of the invention, the target vehicle is first determined to be in an idle control state based on its vehicle control information. The target vehicle is configured as a plug-in hybrid electric vehicle. The vehicle control information includes at least the accelerator pedal opening, brake pedal opening, and vehicle speed. Further, in the idle control state, in response to the target vehicle's current battery capacity being higher than a first threshold, the target vehicle's motor speed is controlled according to a first control command. In response to the current battery capacity being lower than a second threshold, the target vehicle's motor speed and engine torque are controlled according to a second control command. The first control command is determined by the first target idle speed corresponding to the target vehicle in electric drive mode, and the second control command is determined by the second target idle speed and target idle torque corresponding to the target vehicle in hybrid drive mode.
[0025] It is easy to understand that the method provided by the present invention, under the condition that the target vehicle enters the idle speed control state, controls the target vehicle's motor to execute different speeds and different torques according to the target vehicle's current battery capacity and preset thresholds (including the first threshold and the second threshold) to adapt to different idle speed states (including electric drive state and hybrid drive state), thereby achieving the purpose of precise control of the target vehicle's idle speed state. This achieves the technical effect of improving the accuracy of vehicle idle speed control and enhancing the overall vehicle comfort, and solves the technical problems of low accuracy and poor overall vehicle comfort in the vehicle idle speed control methods provided by related technologies. Attached Figure Description
[0026] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:
[0027] Figure 1 This is a structural block diagram of a vehicle terminal for an optional vehicle idling speed control method according to an embodiment of the present invention;
[0028] Figure 2 This is a flowchart of a vehicle idling speed control method according to an embodiment of the present invention;
[0029] Figure 3 This is a schematic diagram of a vehicle with optional vehicle idle speed control according to an embodiment of the present invention;
[0030] Figure 4 This is a flowchart of an optional vehicle idling speed control process according to an embodiment of the present invention;
[0031] Figure 5 This is a structural block diagram of an optional vehicle idle speed control device according to an embodiment of the present invention. Detailed Implementation
[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.
[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0034] According to an embodiment of the present invention, a method embodiment for vehicle idling speed control is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.
[0035] Figure 1 This is a structural block diagram of an optional vehicle terminal for a vehicle idling speed control method according to an embodiment of the present invention, such as... Figure 1 As shown, a vehicle terminal (or a mobile device that communicates with a vehicle) may include one or more processors 102 (processor 102 may include, but is not limited to, a microprocessor (MCU) or a field-programmable gate array (FPGA) processing device), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display device 110, an input / output device 108 (i.e., I / O device), a Universal Serial Bus (USB) port (which may be included as one of the ports of a computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure), and / or a camera (not shown in the figure). Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the vehicle terminal 1 described above. For example, the vehicle terminal 10 may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.
[0036] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits may be embodied, in whole or in part, as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the vehicle terminal 10 (or mobile device).
[0037] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the vehicle idling speed control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned vehicle idling speed control method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
[0038] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the vehicle terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.
[0039] Under the above operating environment, the embodiments of the present invention provide as follows: Figure 2 The vehicle idle speed control method shown is as follows: Figure 2 This is a flowchart of a vehicle idling speed control method according to an embodiment of the present invention, such as... Figure 2 As shown above, Figure 2 The embodiments shown may include at least the following implementation steps, that is, the technical solutions implemented by steps S21 to S22.
[0040] Step S21: Based on the vehicle control information of the target vehicle, determine that the target vehicle has entered the idle speed control state. The target vehicle is configured as a plug-in hybrid electric vehicle. The vehicle control information includes at least: accelerator pedal opening, brake pedal opening and vehicle speed.
[0041] In one optional solution provided by step S21 above, the vehicle control information can be collected by multiple sensors of the vehicle (including but not limited to: accelerator pedal displacement sensor, brake pedal displacement sensor) or read directly from the vehicle's instrument panel.
[0042] The technical solution provided by this invention also reveals that, based on the position of the motor in the power system, plug-in hybrid electric vehicles (PHEVs) can be classified into several configurations: P0, P1, P2, P3, and P4. The target vehicle in this invention can be a P2 configuration plug-in hybrid electric vehicle. The following is a detailed explanation... Figure 3 The configuration of the aforementioned target vehicles will be further explained.
[0043] Figure 3 This is a schematic diagram of a vehicle with optional vehicle idle speed control according to an embodiment of the present invention, such as... Figure 3 As shown, the configuration of a P2-configuration plug-in hybrid vehicle may include: an engine 301 and its control unit 302, a clutch 303, a motor 304, and a transmission 305. In addition, it may also include a vehicle controller, a motor control unit, a drive motor, a transmission control unit (TCU), a power battery, a power battery control unit, an accelerator pedal displacement sensor, a brake master cylinder pressure sensor, a hard-wired unit, and a CAN communication unit.
[0044] As an optional implementation method, the target vehicle is determined to be in an idle speed control state based on the vehicle control information of the target vehicle. Specifically, the vehicle control information of the target vehicle includes the accelerator pedal opening, the brake pedal opening, and the vehicle speed. When the accelerator pedal opening is less than 2%, the brake pedal is depressed, and the vehicle speed is less than or equal to 10 km / h, the target vehicle can be determined to be in an idle speed control state.
[0045] Step S22: In the idle speed control state, in response to the current battery capacity of the target vehicle being higher than a first threshold, the motor speed of the target vehicle is controlled according to a first control command; and in response to the current battery capacity being lower than a second threshold, the motor speed and engine torque of the target vehicle are controlled according to a second control command; wherein, the first control command is determined by the first target idle speed corresponding to the target vehicle in the electric drive state, and the second control command is determined by the second target idle speed and target idle torque corresponding to the target vehicle in the hybrid drive state.
[0046] In one optional solution provided by step S22 above, the first threshold and the second threshold can be battery capacity thresholds preset by technicians based on the performance of the target vehicle's power battery. It should also be noted that in the technical solution provided by the present invention, the first threshold and the second threshold can be set to the same value (e.g., both 35%), or they can be set to different values (e.g., the first threshold is 35% and the second threshold is 33%).
[0047] As an optional implementation, assuming that both the first and second thresholds are 35%, when the current battery capacity of the target vehicle is 50%, the target vehicle can be controlled to enter a pure electric idling state. Specifically, the engine of the target vehicle is turned off, and the speed of the motor is controlled to the first target idling speed (e.g., 600 rpm). When the current battery capacity of the target vehicle is 30%, the target vehicle can be controlled to enter a hybrid idling state. Specifically, the speed of the motor is controlled to the second target idling speed (e.g., 800 rpm), and the torque of the engine is controlled to the target idling torque (e.g., 150 N·m).
[0048] In this embodiment of the invention, the target vehicle is first determined to be in an idle control state based on its vehicle control information. The target vehicle is configured as a plug-in hybrid electric vehicle. The vehicle control information includes at least the accelerator pedal opening, brake pedal opening, and vehicle speed. Further, in the idle control state, in response to the target vehicle's current battery capacity being higher than a first threshold, the target vehicle's motor speed is controlled according to a first control command. In response to the current battery capacity being lower than a second threshold, the target vehicle's motor speed and engine torque are controlled according to a second control command. The first control command is determined by the first target idle speed corresponding to the target vehicle in electric drive mode, and the second control command is determined by the second target idle speed and target idle torque corresponding to the target vehicle in hybrid drive mode.
[0049] It is easy to understand that the method provided by the present invention, under the condition that the target vehicle enters the idle speed control state, controls the target vehicle's motor to execute different speeds and different torques according to the target vehicle's current battery capacity and preset thresholds (including the first threshold and the second threshold) to adapt to different idle speed states (including electric drive state and hybrid drive state), thereby achieving the purpose of precise control of the target vehicle's idle speed state. This achieves the technical effect of improving the accuracy of vehicle idle speed control and enhancing the overall vehicle comfort, and solves the technical problems of low accuracy and poor overall vehicle comfort in the vehicle idle speed control methods provided by related technologies.
[0050] The methods described in the embodiments of the present invention will be further described below.
[0051] In an optional embodiment, in step S21, determining that the target vehicle has entered an idle speed control state based on the vehicle control information of the target vehicle includes:
[0052] Step S211: In response to the vehicle control information of the target vehicle satisfying the first condition, the target vehicle is controlled to enter the idle speed control state, wherein the first condition includes: the accelerator pedal opening is less than the third threshold, the brake pedal opening is greater than the fourth threshold, and the vehicle speed is less than the fifth threshold.
[0053] As an optional implementation method, the first condition can be: the accelerator pedal opening is less than 2%, the brake pedal opening is 1, and the vehicle speed is less than 10 km / h. The vehicle control information collected can be: the accelerator pedal opening is 1%, the brake pedal opening is 1, and the vehicle speed is 5 km / h. At this time, it can be determined that the target vehicle has entered the idle speed control state.
[0054] In an optional embodiment, step S22, controlling the motor speed of the target vehicle according to the first control command, includes:
[0055] Step S2211: Calculate the first target idle speed based on the vehicle control information;
[0056] Step S2212: Generate a first control command using the first target idle speed, wherein the first control command includes: a first motor control command and a first transmission control command;
[0057] Step S2213: Control the drive motor of the target vehicle to execute the first motor control command, so that the speed of the drive motor is adjusted to the first target idle speed.
[0058] Step S2214: Control the transmission of the target vehicle to execute the first transmission control command, so that the clutch in the transmission performs the first slip operation.
[0059] In one optional solution provided by steps S2211 to S2214 above, the first motor control command can be an instruction to adjust the motor speed to a first target idle speed when the vehicle is in electric drive mode, and the first transmission control command can be an instruction to control the clutch in the transmission to perform a target operation (i.e., the first slip operation) when the vehicle is in electric drive mode. It should also be noted that both the first motor control command and the first transmission control command can be generated by the vehicle controller of the target vehicle and sent to the target vehicle components (motor control unit, transmission control unit).
[0060] In an optional embodiment, in step S2211, the vehicle control information further includes gear position and brake master cylinder pressure. Based on the vehicle control information, a first target idle speed is calculated, including:
[0061] Step S22111: In response to the vehicle control information meeting the second condition and the transmission control unit detecting that the transmission sends an input shaft speed-up request message, the first target idle speed is determined to be the larger value between the transmission required speed and the first preset speed.
[0062] Step S22112: In response to the vehicle control information not meeting the second condition or the transmission control unit of the transmission not issuing an input shaft speed-up request message, the first target idle speed is determined to be the second preset speed, wherein the transmission demand speed is issued by the transmission control unit in real time; wherein the second condition includes: the brake pedal opening is the fourth threshold, the brake master cylinder pressure is less than the sixth threshold, and the gear is switched from parking gear or neutral to forward gear or reverse gear and maintained in forward gear or reverse gear within a preset time range.
[0063] In one of the optional solutions provided by steps S22111 to S22112 above, the input shaft speed increase request message can be used to determine that there is a speed increase requirement for the transmission input shaft. It should also be noted that the vehicle controller and transmission control unit of the target vehicle can predetermine the speed flag of the transmission input shaft. When the requested speed of the transmission is detected to be greater than the speed corresponding to the speed flag, it can be determined that there is a speed increase requirement for the transmission input shaft.
[0064] In the technical solution provided by this invention, the required speed of the transmission can be 600 rpm, the first preset speed can be 800 rpm, the second preset speed can be 200 rpm, the fourth threshold can be 1, the sixth threshold can be 6 bar, and the preset time range can be within 2 seconds. As an optional implementation, the transmission control unit sends an input shaft lift-in request message, collects the brake pedal opening as 1, the brake master cylinder pressure as 4 bar, and the vehicle gear is switched from park or neutral to drive or reverse and maintained in drive or reverse for 2 seconds. At this time, it can be determined that the idle speed control state of the target vehicle is a pure electric idle high speed state, and the first target idle speed is 800 rpm.
[0065] As another optional implementation, if the transmission control unit does not issue an input shaft lift-in request message, the collected brake pedal opening is 1, the brake master cylinder pressure is 22 bar, and the vehicle gear is switched from park or neutral to drive or reverse and maintained in drive or reverse for 2 seconds, then the target vehicle's idle speed control state can be determined to be a pure electric low-speed idle state, with the first target idle speed being 200 rpm.
[0066] In the above optional embodiments, the technical effect that can be achieved is: based on vehicle control information and whether the transmission control unit issues an input shaft lift-in request message, the first target idle speed of the target vehicle's motor is determined and the target state (including pure electric idle high speed state and pure electric idle low speed state) is controlled to enter the pure electric idle state. This achieves accurate division of the target vehicle's pure electric idle state and precise control of the target vehicle to enter the target state of pure electric idle state. That is, the accuracy of vehicle idle speed control is improved, thereby improving the overall vehicle comfort of the target vehicle.
[0067] In an optional embodiment, step S22, controlling the motor speed and engine torque of the target vehicle according to the second control command, includes:
[0068] Step S2221: Determine the second target idle speed based on the engine idle speed demand, the transmission speed demand, and the third preset speed. The engine idle speed demand is published in real time by the engine control unit, and the transmission speed demand is published in real time by the transmission control unit.
[0069] Step S2222: Determine the target idle torque based on the current battery capacity and the current torque and speed of the target vehicle's drive motor;
[0070] Step S2223: Generate a second control command using the second target idle speed and target idle torque. The second control command includes: a second motor control command, a second transmission control command, and an engine control command. The second motor control command and the engine control command are closed-loop control commands.
[0071] Step S2224: Control the drive motor of the target vehicle to execute the second motor control command, so that the speed of the drive motor is adjusted to the second target idle speed through closed-loop control;
[0072] Step S2225: Control the transmission of the target vehicle to execute the second transmission control command, so that the clutch in the transmission performs the second slip operation;
[0073] Step S2226: Control the engine of the target vehicle to execute engine control commands so that the engine output torque is adjusted to the target idle torque through closed-loop control.
[0074] In one optional scheme provided by steps S2221 to S2226 above, the second target idle speed can be the maximum value among the engine idle speed requirement, the transmission speed requirement, and the third preset speed. The closed-loop control command can be a control command based on a PID (Proportion-Integral-Differential) control algorithm. It should be noted that control commands based on PID control algorithms have higher accuracy, meaning they can accurately control corresponding components (such as motors and transmissions). The second motor control command can be a command to adjust the motor speed to the second target idle speed in hybrid drive mode. The second transmission control command can be a command to control the clutch in the transmission to perform a target operation (i.e., the second slip operation) in hybrid drive mode. The engine control command can be a command to adjust the engine output torque to the target idle torque through closed-loop control in hybrid drive mode.
[0075] In an optional embodiment, in step S2222, determining the target idle torque based on the current battery capacity and the current torque and current speed of the target vehicle's drive motor includes:
[0076] Step S22221: Determine the target charging power using the current battery capacity, where the target charging power is the input charging power required by the target vehicle's power battery under the current battery capacity.
[0077] Step S22222: Calculate the current torque and current speed to obtain the current output power of the drive motor;
[0078] Step S22223: Based on the target charging power and the current output power, the target idle torque is calculated using a closed-loop control algorithm.
[0079] In one optional scheme provided by steps S22221 to S22223 above, the target charging power (denoted as...) The target vehicle's battery capacity (State of Charge, SOC) and charging power can be determined from the battery capacity-charging power table. It should also be noted that when the target vehicle is in hybrid drive mode, a closed-loop control algorithm can be used to adjust the actual charging power of the drive motor to make the actual charging power approach the target charging power. As an optional implementation, the target vehicle's battery capacity-charging power table can be as shown in Table 1 below:
[0080] Table 1
[0081]
[0082] In the technical solution provided by this invention, the current torque of the drive motor is denoted as... The current speed is denoted as The current output power is calculated based on the current torque and current speed. It can be shown in the following formula (1):
[0083] Formula (1)
[0084] In an optional embodiment, in step S22221, determining the target charging power using the current battery capacity includes:
[0085] Step S222211: In response to the current battery capacity being higher than the target vehicle's driving charging threshold, the target charging power is determined to be zero.
[0086] Step S222212: In response to the current battery capacity being higher than the starting threshold of the target vehicle and the current battery capacity being lower than the driving charging threshold, the target charging power is determined to be the accessory electric power corresponding to the target vehicle.
[0087] In step S222213, in response to the current battery capacity being lower than the start-up threshold, the target charging power is determined to be the sum of the accessory power and the preset forced charging power corresponding to the target vehicle.
[0088] As an optional implementation, the charging threshold of the target vehicle is 33%. When the target vehicle is determined to enter the idle control state, and the current battery capacity of the power battery meets the condition of 33% < SOC < 35%, the idle control state of the target vehicle is determined to be the first hybrid idle control state. At this time, it is confirmed that the current battery capacity is high. In order to keep the power battery in SOC balance, the target charging power is determined to be 0.
[0089] As another optional implementation, the target vehicle's driving charging threshold is 33% and the starting threshold is 30%. Under the condition that the target vehicle enters the idle speed control state, when the current battery capacity of the power battery meets the condition of 30% < SOC < 33%, the idle speed control state of the target vehicle is determined to be the second hybrid idle speed control state. In order to keep the power battery in SOC balance, the target charging power is determined to be the accessory electric power, and the current battery capacity is kept unchanged.
[0090] As another optional implementation method, the target vehicle's driving charging threshold is 33% and the starting threshold is 30%. Under the condition that the target vehicle enters the idle speed control state, when the current battery capacity of the power battery meets 28% < SOC < 30%, the target vehicle's idle speed control state is determined to be the third hybrid idle speed control state. In order to keep the power battery in SOC balance, the target charging power is determined to be the sum of the accessory electric power and the forced charging power.
[0091] In the above optional embodiments, the technical effect that can be achieved is: under the condition that the target vehicle enters the idling control state, based on the current battery capacity, start-up threshold, and driving charging threshold of the power battery, the hybrid idling state of the target vehicle can be accurately divided, and the target state of the target vehicle entering the hybrid idling state (one of the first hybrid idling control state, the second hybrid idling control state, and the third hybrid idling control state) can be accurately controlled. That is, the accuracy of vehicle idling control is improved, thereby improving the overall vehicle comfort of the target vehicle.
[0092] In an optional embodiment, in step S22221, the target idle torque is calculated using a closed-loop control algorithm based on the target charging power and the current output power, including:
[0093] Step S222231: Calculate the target charging power and current output power using a closed-loop control algorithm to obtain the deviation torque;
[0094] Step S222232: Determine the feedforward torque of the drive motor based on the current battery capacity;
[0095] Step S222233: Determine the target idle torque based on the feedforward torque and the deviation torque.
[0096] The technical solution provided by this invention utilizes the proportional parameter of a closed-loop control algorithm. and integral parameters Based on the target charging power and current output power The deviation torque was calculated. It can be shown in the following formula (2):
[0097] Formula (2)
[0098] In the technical solution provided by the present invention, as an optional implementation, the feedforward torque of the drive motor can be obtained by querying the battery capacity-feedforward torque table of the target vehicle. It should be noted that the battery capacity-feedforward torque table can be pre-stored in the storage device of the target vehicle by the technician. Specifically, the vehicle controller can read the battery capacity-feedforward torque table from the storage device of the target vehicle according to the current battery capacity transmitted by the power battery to determine the feedforward torque of the drive motor.
[0099] In the technical solution provided by this invention, as another optional implementation, the feedforward torque of the drive motor (denoted as...) It can be based on the torque loss sent by the transmission control unit. Actual charging power (Calculated based on the current torque and current speed of the drive motor), Current speed of the drive motor The result is shown in the following formula (3):
[0100] Formula (3)
[0101] Furthermore, based on the feedforward torque and deviation torque Determine the target idle torque It can be shown in the following formula (4):
[0102] Formula (4)
[0103] Furthermore, based on the second motor control command, the speed of the drive motor is adjusted to the second target idle speed through closed-loop control; based on the second transmission control command, the clutch in the transmission performs a second slip operation; and based on the engine control command, the output torque of the engine is adjusted to the target idle torque through closed-loop control.
[0104] The following combination Figure 4 The method provided by the present invention will be further described.
[0105] Figure 4 This is a flowchart of an optional vehicle idling speed control process according to an embodiment of the present invention, such as... Figure 4 As shown, the vehicle control information of the target vehicle is first obtained. Based on the vehicle control information, it is determined whether the target vehicle has entered the idle speed control state. When it is determined that the target vehicle has entered the idle speed control state, the target idle speed control mode of the target vehicle is determined according to the current battery capacity of the power battery and the preset charge threshold. Specifically, when the current battery capacity of the power battery is greater than the preset charge threshold (35%), the target vehicle is controlled to enter the pure electric idle speed control mode; when the current battery capacity of the power battery is less than the preset charge threshold (35%), the target vehicle is controlled to enter the hybrid idle speed control mode.
[0106] The technical effects achieved by the technical solution provided by the present invention are as follows: the idle speed control state of the target vehicle is finely divided, and the method for controlling the target vehicle to enter each idle speed control state is determined, thereby improving the accuracy of vehicle idle speed control. Furthermore, based on the method provided by the present invention, when the target vehicle is in an idle speed control state, the overall vehicle SOC can be kept balanced to ensure that the target vehicle is in a stable idle speed control state, thereby improving the overall vehicle comfort.
[0107] In this embodiment, a vehicle idle speed control device is also provided, which is used to implement the above embodiments and preferred embodiments, and will not be repeated as already described. As used below, a "module" is a combination of software and / or hardware that can perform a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.
[0108] Figure 5 This is a structural block diagram of an optional vehicle idle speed control device according to an embodiment of the present invention, such as... Figure 5 As shown, the device includes:
[0109] The determination module 501 is used to determine that the target vehicle has entered the idle speed control state based on the vehicle control information of the target vehicle. The target vehicle is configured as a plug-in hybrid electric vehicle. The vehicle control information includes at least: accelerator pedal opening, brake pedal opening and vehicle speed.
[0110] The control module 502 is used to control the motor speed of the target vehicle according to a first control command when the current battery capacity of the target vehicle is higher than a first threshold in the idle speed control state, and to control the motor speed and engine torque of the target vehicle according to a second control command when the current battery capacity is lower than a second threshold; wherein, the first control command is determined by a first target idle speed corresponding to the target vehicle in the electric drive state, and the second control command is determined by a second target idle speed and target idle torque corresponding to the target vehicle in the hybrid drive state.
[0111] Optionally, the determining module 501 is further configured to: determine that the target vehicle has entered the idle speed control state based on the vehicle control information of the target vehicle, including: controlling the target vehicle to enter the idle speed control state in response to the vehicle control information of the target vehicle satisfying a first condition, wherein the first condition includes: the accelerator pedal opening is less than a third threshold, the brake pedal opening is greater than a fourth threshold, and the vehicle speed is less than a fifth threshold.
[0112] Optionally, the control module 502 is further configured to: control the motor speed of the target vehicle according to the first control command, including: calculating based on vehicle control information to obtain a first target idle speed; generating a first control command using the first target idle speed, wherein the first control command includes: a first motor control command and a first transmission control command; controlling the drive motor of the target vehicle to execute the first motor control command, so that the speed of the drive motor is adjusted to the first target idle speed; and controlling the transmission of the target vehicle to execute the first transmission control command, so that the clutch in the transmission performs a first slip operation.
[0113] Optionally, the control module 502 is further configured to: The vehicle control information also includes gear position and brake master cylinder pressure; and to calculate the first target idle speed based on the vehicle control information, including: in response to the vehicle control information meeting the second condition and the transmission control unit detecting that the transmission has issued an input shaft speed-up request message, determining the first target idle speed as a first preset speed; in response to the vehicle control information not meeting the second condition or the transmission control unit detecting that the transmission has not issued an input shaft speed-up request message, determining the first target idle speed as a second preset speed, wherein the required transmission speed is published in real time by the transmission control unit; wherein the second condition includes: brake pedal opening is a fourth threshold, brake master cylinder pressure is less than a sixth threshold, and the gear is switched from park or neutral to drive or reverse and maintained in drive or reverse within a preset time range.
[0114] Optionally, the control module 502 is further configured to: control the motor speed and engine torque of the target vehicle according to the second control command, including: determining a second target idle speed based on the engine idle speed requirement, the transmission speed requirement, and a third preset speed, wherein the engine idle speed requirement is published in real time by the engine control unit, and the transmission speed requirement is published in real time by the transmission control unit; determining a target idle torque based on the current battery capacity and the current torque and current speed of the target vehicle's drive motor; generating a second control command using the second target idle speed and target idle torque, wherein the second control command includes: a second motor control command, a second transmission control command, and an engine control command, the second motor control command and the engine control command being closed-loop control commands; controlling the target vehicle's drive motor to execute the second motor control command, so that the speed of the drive motor is adjusted to the second target idle speed through closed-loop control; controlling the target vehicle's transmission to execute the second transmission control command, so that the clutch in the transmission performs a second slip operation; and controlling the target vehicle's engine to execute the engine control command, so that the engine's output torque is adjusted to the target idle torque through closed-loop control.
[0115] Optionally, the control module 502 is further configured to: determine the target idle torque based on the current battery capacity and the current torque and current speed of the drive motor of the target vehicle, including: determining the target charging power using the current battery capacity, wherein the target charging power is the input charging power required by the power battery of the target vehicle under the current battery capacity; calculating the current output power of the drive motor based on the current torque and current speed; and calculating the target idle torque using a closed-loop control algorithm based on the target charging power and the current output power.
[0116] Optionally, the control module 502 is further configured to: determine the target charging power using the current battery capacity, including: in response to the current battery capacity being higher than the driving charging threshold of the target vehicle, determining the target charging power to be zero; in response to the current battery capacity being higher than the starting threshold of the target vehicle and the current battery capacity being lower than the driving charging threshold, determining the target charging power to be the accessory power corresponding to the target vehicle; and in response to the current battery capacity being lower than the starting threshold, determining the target charging power to be the sum of the accessory power and the preset forced charging power corresponding to the target vehicle.
[0117] Optionally, the control module 502 is further configured to: calculate the target idle torque based on the target charging power and the current output power using a closed-loop control algorithm, including: calculating the target charging power and the current output power using a closed-loop control algorithm to obtain the deviation torque; determining the feedforward torque of the drive motor based on the current battery capacity; and determining the target idle torque based on the feedforward torque and the deviation torque.
[0118] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.
[0119] According to another aspect of the present invention, a hybrid vehicle is also provided, including an on-board memory and an on-board processor, wherein the on-board memory stores a computer program and the on-board processor is configured to run the computer program to perform the vehicle idling speed control method described in any of the preceding embodiments.
[0120] Optionally, in this embodiment, the aforementioned on-board storage can be configured to store a computer program for performing the following steps:
[0121] Step S1: Based on the vehicle control information of the target vehicle, determine that the target vehicle has entered the idle speed control state. The target vehicle is configured as a plug-in hybrid electric vehicle. The vehicle control information includes at least: accelerator pedal opening, brake pedal opening and vehicle speed.
[0122] Step S2: In the idle speed control state, in response to the current battery capacity of the target vehicle being higher than a first threshold, the motor speed of the target vehicle is controlled according to the first control command; and in response to the current battery capacity being lower than a second threshold, the motor speed and engine torque of the target vehicle are controlled according to the second control command. The first control command is determined by the first target idle speed corresponding to the target vehicle in the electric drive state, and the second control command is determined by the second target idle speed and target idle torque corresponding to the target vehicle in the hybrid drive state.
[0123] Optionally, in this embodiment, the aforementioned vehicle-mounted storage device may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.
[0124] Optionally, in this embodiment, the on-board processor can be configured to perform the following steps via a computer program:
[0125] Step S1: Based on the vehicle control information of the target vehicle, determine that the target vehicle has entered the idle speed control state. The target vehicle is configured as a plug-in hybrid electric vehicle. The vehicle control information includes at least: accelerator pedal opening, brake pedal opening and vehicle speed.
[0126] Step S2: In the idle speed control state, in response to the current battery capacity of the target vehicle being higher than a first threshold, the motor speed of the target vehicle is controlled according to the first control command; and in response to the current battery capacity being lower than a second threshold, the motor speed and engine torque of the target vehicle are controlled according to the second control command. The first control command is determined by the first target idle speed corresponding to the target vehicle in the electric drive state, and the second control command is determined by the second target idle speed and target idle torque corresponding to the target vehicle in the hybrid drive state.
[0127] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and their optional implementations, which will not be repeated here.
[0128] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0129] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.
[0130] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.
[0131] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0132] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.
[0133] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.
[0134] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.
Claims
1. A method of vehicle idle speed control, characterized by, include: Based on the vehicle control information of the target vehicle, it is determined that the target vehicle has entered an idle speed control state, wherein the target vehicle is configured as a plug-in hybrid electric vehicle, and the vehicle control information includes at least: accelerator pedal opening, brake pedal opening, and vehicle speed. In the idle speed control state, in response to the current battery capacity of the target vehicle being higher than a first threshold, the motor speed of the target vehicle is controlled according to a first control command; and in response to the current battery capacity being lower than a second threshold, the motor speed and engine torque of the target vehicle are controlled according to a second control command. Wherein, the first control command is determined by the first target idle speed corresponding to the target vehicle in electric drive mode, and the second control command is determined by the second target idle speed and target idle torque corresponding to the target vehicle in hybrid drive mode; Controlling the motor speed of the target vehicle according to the first control command includes: calculating the first target idle speed based on the vehicle control information; generating the first control command using the first target idle speed, wherein the first control command includes: a first motor control command and a first transmission control command; controlling the drive motor of the target vehicle to execute the first motor control command, so that the speed of the drive motor is adjusted to the first target idle speed; controlling the transmission of the target vehicle to execute the first transmission control command, so that the clutch in the transmission performs a first slip operation; The vehicle control information also includes gear position and brake master cylinder pressure. Calculation based on the vehicle control information to obtain the first target idle speed includes: in response to the vehicle control information meeting the second condition and detecting that the transmission control unit of the transmission issues an input shaft speed-up request message, determining the first target idle speed to be the larger value between the transmission required speed and the first preset speed. In response to the vehicle control information not meeting the second condition or the transmission control unit of the transmission not issuing an input shaft speed-up request message, the first target idle speed is determined to be the second preset speed, wherein the required speed of the transmission is issued in real time by the transmission control unit; wherein the second condition includes: the brake pedal opening is a fourth threshold, the brake master cylinder pressure is less than a sixth threshold, and the gear is switched from park or neutral to drive or reverse and maintained in drive or reverse within a preset time range.
2. The method of claim 1, wherein, Determining that the target vehicle has entered an idle speed control state based on the vehicle control information of the target vehicle includes: In response to the vehicle control information of the target vehicle satisfying a first condition, the target vehicle is controlled to enter the idle speed control state, wherein the first condition includes: the accelerator pedal opening is less than a third threshold, the brake pedal opening is greater than a fourth threshold, and the vehicle speed is less than a fifth threshold.
3. The method of claim 1, wherein, Controlling the motor speed and engine torque of the target vehicle according to the second control command includes: The second target idle speed is determined based on the engine idle speed requirement, the transmission speed requirement, and the third preset speed, wherein the engine idle speed requirement is published in real time by the engine control unit, and the transmission speed requirement is published in real time by the transmission control unit. The target idle torque is determined based on the current battery capacity and the current torque and speed of the drive motor of the target vehicle; The second control command is generated using the second target idle speed and the target idle torque, wherein the second control command includes: a second motor control command, a second transmission control command, and an engine control command, and the second motor control command and the engine control command are closed-loop control commands; The drive motor of the target vehicle is controlled to execute the second motor control command, so that the speed of the drive motor is adjusted to the second target idle speed through closed-loop control; The transmission of the target vehicle is controlled to execute the second transmission control command, causing the clutch in the transmission to perform a second slip operation; The engine of the target vehicle is controlled to execute the engine control command, so that the output torque of the engine is adjusted to the target idle torque through closed-loop control.
4. The method of claim 3, wherein, Based on the current battery capacity and the current torque and speed of the drive motor of the target vehicle, the target idle torque is determined as follows: The target charging power is determined using the current battery capacity, wherein the target charging power is the input charging power required by the power battery of the target vehicle under the current battery capacity; The current output power of the drive motor is obtained by calculating the current torque and the current speed. Based on the target charging power and the current output power, the target idle torque is calculated using a closed-loop control algorithm.
5. The method of claim 4, wherein, Determining the target charging power using the current battery capacity includes: In response to the current battery capacity being higher than the target vehicle's driving charging threshold, the target charging power is determined to be zero; In response to the current battery capacity being higher than the starting threshold of the target vehicle and the current battery capacity being lower than the driving charging threshold, the target charging power is determined to be the accessory electric power corresponding to the target vehicle; In response to the current battery capacity being lower than the starting threshold, the target charging power is determined to be the sum of the accessory power and the preset forced charging power corresponding to the target vehicle.
6. The method of claim 4, wherein, Based on the target charging power and the current output power, the target idle torque calculated using a closed-loop control algorithm includes: The target charging power and the current output power are calculated using a closed-loop control algorithm to obtain the deviation torque; The feedforward torque of the drive motor is determined based on the current battery capacity; The target idle torque is determined based on the feedforward torque and the deviation torque.
7. An apparatus for vehicle idle speed control, characterized by include: The determination module is used to determine, based on the vehicle control information of the target vehicle, that the target vehicle has entered an idle speed control state, wherein the target vehicle is configured as a plug-in hybrid electric vehicle, and the vehicle control information includes at least: accelerator pedal opening, brake pedal opening, and vehicle speed. The control module is configured to, in the idle speed control state, control the motor speed of the target vehicle according to a first control command in response to the current battery capacity of the target vehicle being higher than a first threshold, and control the motor speed and engine torque of the target vehicle according to a second control command in response to the current battery capacity being lower than a second threshold. Wherein, the first control command is determined by the first target idle speed corresponding to the target vehicle in electric drive mode, and the second control command is determined by the second target idle speed and target idle torque corresponding to the target vehicle in hybrid drive mode; Controlling the motor speed of the target vehicle according to the first control command includes: calculating the first target idle speed based on the vehicle control information; generating the first control command using the first target idle speed, wherein the first control command includes: a first motor control command and a first transmission control command; controlling the drive motor of the target vehicle to execute the first motor control command, so that the speed of the drive motor is adjusted to the first target idle speed; controlling the transmission of the target vehicle to execute the first transmission control command, so that the clutch in the transmission performs a first slip operation; The vehicle control information also includes gear position and brake master cylinder pressure. Calculations based on the vehicle control information to obtain the first target idle speed include: in response to the vehicle control information meeting a second condition and detecting that the transmission control unit of the transmission issues an input shaft acceleration request message, determining the first target idle speed to be the larger of the transmission demand speed and a first preset speed; in response to the vehicle control information not meeting the second condition or detecting that the transmission control unit of the transmission does not issue an input shaft acceleration request message, determining the first target idle speed to be a second preset speed, wherein the transmission demand speed is published in real time by the transmission control unit; wherein the second condition includes: the brake pedal opening is a fourth threshold, the brake master cylinder pressure is less than a sixth threshold, and the gear is switched from park or neutral to drive or reverse and remains in drive or reverse within a preset time range.
8. A hybrid vehicle, characterized in that, The vehicle includes an on-board memory and an on-board processor, characterized in that the on-board memory stores a computer program, and the on-board processor is configured to run the computer program to perform the vehicle idling control method according to any one of claims 1 to 6.