An energy management method, device, apparatus and storage medium

Abstract

The application provides an energy management method, device, equipment and storage medium, the method comprises the following steps: determining the total torque demand of the gearbox according to the vehicle speed corresponding to the current time in the vehicle driving route, estimating different engine torques meeting the total torque; determining the engine fuel consumption corresponding to each engine torque respectively under different gears by using a value function; calculating the static cost corresponding to each engine torque respectively under different gears according to the engine fuel consumption corresponding to each engine torque, the current coordination variable and the current state of the battery; and selecting the gear and allocating the energy in real time according to the static cost and a preset switching cost; the optimal calculation of the initial gear can be separated from the value function, a single optimization problem of the value function is formed, the calculation efficiency of the value function is improved, and the global optimization of the energy is realized.

Description

Technical Field

[0001] This application relates to the field of series hybrid vehicles, and more particularly to an energy management method, apparatus, device, and storage medium. Background Technology

[0002] Hybrid vehicles are vehicles that use two or more different energy storage devices, energy sources, or converters as driving energy to propel the vehicle, with at least one of them providing electrical power. Under the dual pressure of dwindling oil resources and environmental pollution caused by emissions from traditional fuel vehicles, hybrid vehicles are an important research direction for solving environmental pollution and energy problems.

[0003] In existing technologies for energy management of series hybrid vehicles, current research on optimal energy management methods typically integrates the search and constraint of gear selection into a Hamiltonian function (H-function), forming a multi-objective computational optimization problem. While this method can achieve optimal energy allocation and optimal gear selection, each H-function optimization calculation requires multiple objective optimization calculations, resulting in a large computational load, high resource consumption, low efficiency, and insufficient flexibility. Therefore, a new method is needed to improve the computational efficiency of the H-function and achieve optimal energy allocation and optimal gear selection. Summary of the Invention

[0004] This application provides an energy management method, apparatus, device, and storage medium that can separate the optimal calculation of the initial gear from the value function, forming a single optimization problem of the value function, improving the calculation efficiency of the value function, and achieving global energy optimization.

[0005] In a first aspect, this application provides an energy management method, comprising:

[0006] In response to the energy distribution trigger command, the total torque requirement of the transmission is determined based on the vehicle speed at the current moment in the vehicle's driving road spectrum. Based on the total torque requirement of the transmission, the total torque of the engine and generator in different gears is determined, and the different engine torques that meet the total torque are estimated.

[0007] The value function is used to determine the fuel consumption of each engine corresponding to different engine torques at different gears;

[0008] Based on the engine fuel consumption corresponding to each starting torque, the current costate variable, and the current battery state, calculate the static costs corresponding to using different engine torques in different gears.

[0009] If the gear corresponding to the minimum static cost is the same as the current gear, keep the current gear and distribute energy according to the engine torque corresponding to the minimum static cost;

[0010] If the gear corresponding to the minimum static cost is different from the current gear, determine whether the current static cost is greater than the total cost of the minimum static cost and the preset switching cost.

[0011] If the current static cost is greater than the total cost, switch to the gear corresponding to the minimum static cost and distribute energy according to the engine torque corresponding to the minimum static cost; otherwise, maintain the current gear and distribute energy according to the engine torque corresponding to the minimum static cost.

[0012] In one or more possible embodiments, when determining the current time in the vehicle travel path spectrum as the initial time, the method further includes:

[0013] The speed of the front end of the transmission is determined based on the vehicle speed and transmission parameters at the initial moment.

[0014] The speed of the drive motor is determined based on the speed of the front end of the gearbox, and the total efficiency of the drive motor corresponding to the speed is determined at different gears.

[0015] Select the gear corresponding to the highest overall efficiency as the initial gear;

[0016] Based on the initial gear and the vehicle speed corresponding to the initial moment, determine the total torque of the engine and generator in the initial gear, and estimate the different engine torques that meet the total torque.

[0017] The costate variables corresponding to each engine torque are determined based on the relationship between the different engine torques and the corresponding costate variables.

[0018] From the costate variables corresponding to the torque of each engine, select one costate variable as the initial costate variable according to the preset initial costate variable selection conditions.

[0019] In one or more possible embodiments, it also includes:

[0020] Energy distribution is determined according to the engine torque and generator torque corresponding to the initial costate variables.

[0021] In one or more possible embodiments, after energy distribution according to the engine torque corresponding to the minimum static cost, the method further includes:

[0022] Determine whether the current time is the last time in the road spectrum;

[0023] If yes, determine that the energy planning of the road spectrum is complete; otherwise, determine whether the current state of the battery is within the preset range.

[0024] If it is determined that the current state of the battery is within a preset range, an energy allocation trigger command is generated to reallocate energy.

[0025] If it is determined that the current state of the battery is not within the preset range, the current time will be used as the initial time in the road spectrum.

[0026] In one or more possible embodiments, the current costate variable is a costate variable other than the initial costate variable;

[0027] The current costate variable is determined in the following manner:

[0028] By using a pre-built static cost function to update the costate variables of the previous time step based on the costate variables of the previous time step and the current state of the battery, the current costate variables of the current time step are obtained.

[0029] In one or more possible embodiments, it also includes:

[0030] Based on the preset prediction step size for the time of generating energy allocation instructions, if the gear corresponding to the minimum static cost is the same as the current gear within the prediction step size, calculate the first specific time step for maintaining the current gear and determine that no gear switching will be performed within the first specific time step for maintaining the current gear.

[0031] If the total cost is less than the current static cost within the predicted step or after the gear search reaches the predicted step, calculate the second specific time step of the gear after the switch, and determine that no gear switching will be performed within the second specific time step of the gear after the switch.

[0032] In one or more possible embodiments, the total efficiency of the drive motor includes the power generation efficiency and the drive efficiency of the drive motor.

[0033] Secondly, this application also provides an energy management device, the device comprising:

[0034] The engine torque distribution module is used to respond to the energy distribution trigger command, determine the total torque demand of the transmission according to the vehicle speed at the current moment in the vehicle driving spectrum, determine the total torque of the engine and generator in different gears according to the total torque demand of the transmission, and estimate the different engine torques that meet the total torque.

[0035] An engine fuel consumption determination module is used to determine the fuel consumption of each engine corresponding to different engine torques in different gears using a value function.

[0036] The static cost determination module is used to calculate the static costs corresponding to different engine torques in different gears based on the engine fuel consumption corresponding to each starting torque, the current costate variable, and the current state of the battery.

[0037] The gear shifting module is used to determine whether the gear corresponding to the minimum static cost is the same as the current gear, maintain the current gear, and distribute energy according to the engine torque corresponding to the minimum static cost; if the gear corresponding to the minimum static cost is different from the current gear, determine whether the current static cost is greater than the total cost of the minimum static cost and the preset switching cost; if the current static cost is greater than the total cost, switch to the gear corresponding to the minimum static cost and distribute energy according to the engine torque corresponding to the minimum static cost; otherwise, maintain the current gear and distribute energy according to the engine torque corresponding to the minimum static cost.

[0038] Thirdly, this application provides an energy management device, the device comprising:

[0039] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform an energy management method as described in any of the first aspects.

[0040] Fourthly, this application provides a storage medium storing a computer program for causing a computer to perform the energy management method as described in any of the first aspects.

[0041] According to the energy management method, apparatus, device and storage medium provided in this application, the optimal calculation of the initial gear can be separated from the value function, forming a single optimization problem of the value function, thereby improving the calculation efficiency of the value function and realizing global energy optimization. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0043] Figure 1 This is a flowchart provided according to an embodiment;

[0044] Figure 2 This is a flowchart provided according to an embodiment;

[0045] Figure 3 This is a flowchart provided according to an embodiment;

[0046] Figure 4 This is a flowchart provided according to an embodiment;

[0047] Figure 5 This is a system framework diagram provided according to an embodiment;

[0048] Figure 6 This is an equivalent circuit diagram of a battery according to an embodiment;

[0049] Figure 7 This is a schematic diagram of an apparatus provided according to an embodiment;

[0050] Figure 8 This is a schematic diagram of a device according to an embodiment;

[0051] Figure 9 This is a schematic diagram of a storage medium provided according to an embodiment. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0053] In existing related technologies, research on optimal energy management systems generally incorporates the planning of initial power levels, real-time power level planning, and energy allocation optimization into the Hamiltonian H-function. This results in optimization of multiple objectives, leading to an overly complex solution process for the H-function, a very large computational load, and very low efficiency. To address the aforementioned problems, this application proposes an energy management method, device, equipment, and storage medium that can separate the optimal calculation of initial power levels from the value function, forming a single optimization problem of the value function, improving the computational efficiency of the value function, and achieving global energy optimization.

[0054] The following is a description of the technical terms used in this application:

[0055] Pontryagin's Minimum Principle (PMP) is a theoretically based strategy for minimizing equivalent costs. The principle is that, given a constraint on the control variable u, the objective function J is minimized, thereby solving for the optimal control variable.

[0056] In this embodiment, the J function, also known as the value function, is a cost function determined based on the research objective. Since this embodiment is based on the premise of battery state of charge (SOC) balance, the vehicle's energy consumption comes from the engine's fuel consumption, and the value function is the engine fuel consumption function. The research objective can be fuel economy or emissions compliance, etc., and is not specifically limited here. SOC balance means that the difference between the SOC at the start and end of vehicle operation is less than a preset value.

[0057] Hamiltonian (H) function: A function in the PMP algorithm, consisting of a value function, costate variables, and state constraints. It is a function of the control variable u. The number of costates is equal to the number of variables in the system model. In this embodiment, u represents the engine's output torque, and the state constraints of the H function are obtained based on the battery state, i.e., SOC.

[0058] Firstly, this application provides an energy management method, such as... Figure 1 As shown, it includes:

[0059] Step 101: In response to the energy distribution trigger command, determine the total torque requirement of the transmission based on the vehicle speed at the current moment in the vehicle driving spectrum, determine the total torque of the engine and generator in different gears based on the total torque requirement of the transmission, and estimate the different engine torques that meet the total torque.

[0060] In one or more possible embodiments, the aforementioned vehicle driving road spectrum is extracted under fixed operating conditions using a Markov chain method for typical operating condition road spectrum extraction. This includes the fixed speed at which the vehicle travels for a fixed time under fixed operating conditions. For example, if the road spectrum includes a total time of 10 seconds, then the road spectrum includes the speed corresponding to each second within those 10 seconds. Alternatively, if the road spectrum includes a total time of 100 seconds, then the road spectrum includes the speed corresponding to each 10 seconds. No specific limitation is made here. When determining the vehicle speed, the total torque of the transmission at the corresponding speed can be directly calculated based on existing vehicle dynamics formulas and the corresponding parameters of the vehicle's transmission. The energy management method of this application is applied to series hybrid vehicles. Therefore, after determining the total torque of the transmission, the total torque of the engine and generator can be determined according to the different gears of the selected vehicle, and the different engine torques that satisfy the total torque can be estimated.

[0061] Step 102: Use the value function to determine the fuel consumption of each engine corresponding to the different engine torques at different gears;

[0062] In one or more possible embodiments, the above-mentioned value function is a cost function determined based on the research objective. Since the present invention is based on the premise of SOC balance throughout the entire operation process, the final energy consumption only comes from the engine fuel consumption. Therefore, the value function is the engine fuel consumption function. Thus, the engine fuel consumption of different engine torques in different gears can be determined based on the above-mentioned value function, which is also the engine fuel consumption function.

[0063] Step 103: Based on the engine fuel consumption corresponding to each starting torque, the current costate variable, and the current state of the battery, calculate the static costs corresponding to using different engine torques in different gears.

[0064] In one or more possible embodiments, the static cost is composed of engine fuel consumption, current costate variables, and the current state of the battery. The H function is composed of the value function costate variable λ and state constraints, and is a function of the control variable engine torque u. Therefore, the static cost function is the H function, the state constraints are the battery state of charge, and the current state of the battery refers to the current state of charge of the battery. Wherein, H(u) = dJ + λ*ds, u is the engine torque, dJ represents the derivative of the engine fuel consumption function with respect to time, dS represents the derivative of the battery state of charge function with respect to time, and λ is the costate variable.

[0065] In one or more possible embodiments, the current state of the battery described above is calculated using the following formula:

[0066]

[0067] Among them, such as Figure 6 The figure shows the equivalent model of the battery. In the formula, V represents the open-circuit voltage of the battery, Pwrb represents the power of the battery, R is the internal resistance of the battery, tsimpletime is the preset time interval, and Q is the capacity of the battery.

[0068] Step 104: If the gear corresponding to the minimum static cost is the same as the current gear, keep the current gear and distribute energy according to the engine torque corresponding to the minimum static cost.

[0069] In one or more possible embodiments, after determining the minimum static cost, if the gear corresponding to the minimum static cost is the same as the current gear of the vehicle, it is not necessary to switch gears again. However, under a gear, there may be multiple preset engine torques and generator torques. Energy planning needs to be re-performed based on a set of engine torques and generator torques corresponding to the minimum static cost in order to achieve the purpose of energy optimization management.

[0070] Step 105: If the gear corresponding to the minimum static cost is different from the current gear, determine whether the current static cost is greater than the total cost of the minimum static cost and the preset switching cost.

[0071] In one or more possible embodiments, when it is determined that the gear corresponding to the calculated minimum static cost is different from the current gear of the vehicle, it is necessary to compare the minimum static cost plus a preset switching cost with the static cost in the current gear. The preset switching cost is the dynamic switching cost that the vehicle needs to bear when switching from the current gear to the gear corresponding to the minimum static cost. The preset switching cost can be a fixed value, or different preset switching costs can be set according to switching from the same gear to different gears. No specific limitation is made here. The total cost is determined by the following formula:

[0072] HGear =H(u)+J_dyn

[0073] Among them, H Gear The total cost is J_dyn, and the preset switching cost is J_dyn.

[0074] Step 106: If the current static cost is greater than the total cost, switch to the gear corresponding to the minimum static cost and distribute energy according to the engine torque corresponding to the minimum static cost; otherwise, maintain the current gear and distribute energy according to the engine torque corresponding to the minimum static cost.

[0075] In one or more possible embodiments, when it is determined that the above static cost is greater than the total cost of the minimum static cost plus the preset switching cost, the gear corresponding to the minimum total cost will be directly switched. After the gear switch is confirmed, energy will be distributed according to a set of engine torque and generator torque corresponding to the minimum static cost.

[0076] According to the energy management method provided in this application, the calculation of the initial gear is separated from the H function, ensuring the optimization of a single objective, improving the efficiency of value function calculation, and realizing global energy optimization.

[0077] In one or more possible embodiments, when determining the current time in the vehicle's travel path spectrum as the initial time, such as Figure 2 As shown, it also includes:

[0078] Step 201: Determine the front speed of the transmission based on the vehicle speed and transmission parameters at the initial moment;

[0079] Step 202: Determine the speed of the drive motor based on the front speed of the gearbox, and determine the total efficiency of the drive motor corresponding to the speed in different gears;

[0080] Step 203: Select the gear corresponding to the highest overall efficiency as the initial gear;

[0081] In one or more possible embodiments, the energy management method of this application is applied to a series hybrid vehicle. The engine, generator, and drive motor can be completely decoupled via a clutch, and the drive motor and gearbox are directly connected for power transmission. Therefore, under the same power demand, the higher the efficiency of the drive motor, the lower the energy demand and the more fuel-efficient it is. Based on the structural characteristics of the series hybrid vehicle, the initial gear is selected according to the working efficiency of the drive motor. The front-end speed of the gearbox is determined based on the parameters of the vehicle's gearbox and the initial speed of the vehicle in the road spectrum, and the speed of the drive motor at different gears is determined. Based on a pre-built model of the drive motor, the total efficiency of the drive motor at the same speed in different gears can be determined. The total efficiency of the drive motor is denoted by f. EffyThe total efficiency of a drive motor includes its power generation efficiency and driving efficiency, as shown in the following formula:

[0082] f Effy =rEffyDrv+rEffyFed

[0083] Where rEffyDrv is the driving efficiency of the drive motor, and rEffyFed is the power generation efficiency of the drive motor; and the gear corresponding to the total efficiency of the drive motor is selected as the initial gear.

[0084] Step 204: Based on the initial gear and the vehicle speed corresponding to the initial moment, determine the total torque of the engine and generator in the initial gear, and estimate the different engine torques that meet the total torque.

[0085] Step 205: Determine the costate variables corresponding to each engine torque based on the relationship between the different engine torques and the corresponding costate variables;

[0086] Step 206: Select a covariate as the initial covariate from the covariates corresponding to the torque of each engine according to the preset initial covariate selection conditions.

[0087] In one or more possible embodiments, the total torque of the engine and generator at the initial gear can be determined based on the initial gear and the vehicle speed at the initial moment, and different engine torques that satisfy the total torque can be estimated. According to the above-mentioned H function, different engine torques correspond to different static costs, and the relationship between different engine torques and costate variables can be determined, and different costate variables corresponding to different engine torques can be determined. The above-mentioned preset initial costate variable selection conditions can be selected by the bisection method or by selecting a costate variable that meets the conditions within a set range as the initial costate variable. Existing related technologies include a variety of methods for determining initial costate variables, which will not be listed one by one in this application.

[0088] In one or more possible embodiments, energy distribution is determined according to the engine torque and generator torque corresponding to the initial costate variable.

[0089] In one or more possible embodiments, after energy distribution according to the engine torque corresponding to the minimum static cost, such as Figure 3 As shown, it also includes:

[0090] Step 301: Determine whether the current time is the last time in the road spectrum;

[0091] Step 302: If yes, confirm that the energy planning of the road spectrum is complete;

[0092] Step 303, otherwise, determine whether the current state of the battery is within the preset range;

[0093] Step 304: If it is determined that the current state of the battery is within a preset range, an energy allocation trigger command is generated to reallocate energy.

[0094] Step 305: If it is determined that the current state of the battery is not within the preset range, the current time is taken as the initial time in the road spectrum.

[0095] In one or more possible embodiments, the preset range is set according to the SOC balance. For example, when the SOC balance condition is determined to be 0.8 and the battery capacity is 100, the preset range can fluctuate within the range of 80. For example, the preset range is 78 to 82. When the current state of the battery is between 78 and 82, it is determined that the current state of the battery is within the preset range. If the current state of the battery is not between 78 and 82, it is determined that the current state of the battery is not within the preset range.

[0096] In one or more possible embodiments, the current costate variable is a costate variable other than the initial costate variable;

[0097] The current costate variable is determined in the following manner:

[0098] By using a pre-built static cost function to update the costate variables of the previous time step based on the costate variables of the previous time step and the current state of the battery, the current costate variables of the current time step are obtained.

[0099] For ease of calculation, the correspondence between costate variables and battery state of charge can be obtained by transforming the pre-constructed static cost function. The costate variables at the initial time are then updated to obtain the costate variables at the next time. There are also many methods in the existing related technologies for determining the current costate variables. This application is not limited to the above methods, as long as the above costate variables can be updated and determined. Other feasible methods will not be elaborated here.

[0100] In one or more possible embodiments, it also includes:

[0101] Based on the preset prediction step size for the time of generating energy allocation instructions, if the gear corresponding to the minimum static cost is the same as the current gear within the prediction step size, calculate the first specific time step for maintaining the current gear and determine that no gear switching will be performed within the first specific time step for maintaining the current gear.

[0102] If the total cost is less than the current static cost within the predicted step or after the gear search reaches the predicted step, calculate the second specific time step of the gear after the switch, and determine that no gear switching will be performed within the second specific time step of the gear after the switch.

[0103] In one or more possible embodiments, the prediction step size can be set to a fixed value, such as 120 seconds. Within the prediction step size, the minimum static cost is calculated. If the gear corresponding to the minimum static cost is the same as the current gear, a first specific time step for maintaining the current gear is calculated. For example, if the first specific time step is 60 seconds, then it is determined that no gear shift will occur within 60 seconds. Similarly, within the prediction step size or after the gear search reaches the prediction step size, if the total cost is less than the current static cost, a second specific time step for the shifted gear is calculated, and it is determined that no gear shift will occur within the second specific time step for the shifted gear. This can avoid the problems of frequent gear shifting and the inability to select a gear for a long time.

[0104] According to an energy management method provided in this application, such as Figure 4 As shown, the specific steps include: Step 401, inputting the acquired road spectrum into the vehicle or a pre-built control model and physical model; Step 402, determining the H function as H(u) = dJ + λ*ds; Step 403, determining the gear corresponding to the highest drive motor efficiency as the initial gear based on the vehicle speed at the initial moment in the road spectrum; Step 404, determining the initial costate variable based on the initial gear, the corresponding vehicle speed, and the preset initial costate variable selection conditions; Step 405, determining the engine torque and generator torque corresponding to the initial costate variable. Torque is used for energy distribution; Step 406: In response to the energy distribution trigger command, the gear is planned and calculated in real time, and real-time torque distribution is performed; Step 407: Determine whether the road spectrum calculation is complete. If yes, proceed to step 408; otherwise, proceed to step 409; Step 408: Energy management ends; Step 409: Determine whether the current battery state is within the preset range. If yes, proceed to step 406; otherwise, proceed to step 410; Step 410: Use the current moment as the initial moment to calculate the remaining road spectrum; The system block diagram corresponding to the energy management method of this application is as follows: Figure 5 As shown.

[0105] This application proposes an energy management method, apparatus, device, and storage medium that can separate the optimal calculation of the initial gear from the value function, forming a single optimization problem of the value function, thereby improving the calculation efficiency of the value function and achieving global energy optimization.

[0106] Secondly, this application provides an energy management device, such as... Figure 7 As shown, it includes:

[0107] The engine torque distribution module 701 is used to respond to the energy distribution trigger command, determine the total torque demand of the transmission according to the vehicle speed at the current moment in the vehicle driving spectrum, determine the total torque of the engine and generator in different gears according to the total torque demand of the transmission, and estimate the different engine torques that meet the total torque.

[0108] The engine fuel consumption determination module 702 is used to determine the fuel consumption of each engine corresponding to different engine torques in different gears using a value function.

[0109] The static cost determination module 703 is used to calculate the static costs corresponding to different engine torques in different gears based on the engine fuel consumption corresponding to each starting torque, the current costate variable, and the current state of the battery.

[0110] The gear shifting module 704 is used to determine whether the gear corresponding to the minimum static cost is the same as the current gear, and to maintain the current gear and distribute energy according to the engine torque corresponding to the minimum static cost; if the gear corresponding to the minimum static cost is different from the current gear, it determines whether the current static cost is greater than the total cost of the minimum static cost and the preset switching cost; if the current static cost is greater than the total cost, it switches to the gear corresponding to the minimum static cost and distributes energy according to the engine torque corresponding to the minimum static cost; otherwise, it maintains the current gear and distributes energy according to the engine torque corresponding to the minimum static cost.

[0111] Thirdly, this application also provides an energy management device, including at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the above-described energy management method.

[0112] like Figure 8 As shown, the device includes a processor 801, a memory 802, a communication interface 803, and a bus 804. The processor 801, memory 802, and communication interface 803 are interconnected via the bus 804.

[0113] Processor 801 is configured to read instructions from memory 802 and execute them, so that at least one processor can perform the energy management method provided in the above embodiments.

[0114] The memory 802 is used to store various instructions and programs for the energy management method provided in the above embodiments.

[0115] The 804 bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0116] The processor 801 can be a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), or any combination of CPU, NP, and GPU. It can also be a hardware chip. The aforementioned hardware chip can be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The aforementioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0117] Thirdly, this application also provides a storage medium, such as Figure 9 As shown, the computer storage medium stores a computer program that is used to cause the computer to perform any of the methods described in the above embodiments.

[0118] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) 921 and / or cache memory 922, and may further include read-only memory (ROM) 923.

[0119] The memory may also include a program / utility 925 having a set (at least one) of program modules 924, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0120] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0121] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0122] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0123] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0124] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An energy management method, characterized in that, include: In response to the energy distribution trigger command, the total torque requirement of the transmission is determined based on the vehicle speed at the current moment in the vehicle's driving road spectrum. Based on the total torque requirement of the transmission, the total torque of the engine and generator in different gears is determined, and the different engine torques that meet the total torque are estimated. The value function is used to determine the fuel consumption of each engine corresponding to different engine torques at different gears; Based on the engine fuel consumption corresponding to each engine torque, the current costate variable, and the current battery state, calculate the static costs corresponding to using different engine torques in different gears. If the gear corresponding to the minimum static cost is the same as the current gear, keep the current gear and distribute energy according to the engine torque corresponding to the minimum static cost; If the gear corresponding to the minimum static cost is different from the current gear, determine whether the current static cost is greater than the total cost of the minimum static cost and the preset switching cost. If the current static cost is greater than the total cost, switch to the gear corresponding to the minimum static cost and distribute energy according to the engine torque corresponding to the minimum static cost; otherwise, maintain the current gear and distribute energy according to the engine torque corresponding to the minimum static cost. If the current time in the vehicle's travel path spectrum is determined to be the initial time, the method further includes: The speed of the front end of the transmission is determined based on the vehicle speed and transmission parameters at the initial moment. The speed of the drive motor is determined based on the speed of the front end of the gearbox, and the total efficiency of the drive motor corresponding to the speed of the drive motor in different gears is determined. Select the gear corresponding to the highest overall efficiency as the initial gear; Based on the initial gear and the vehicle speed corresponding to the initial moment, determine the total torque of the engine and generator in the initial gear, and estimate the different engine torques that meet the total torque. The costate variables corresponding to each engine torque are determined based on the relationship between the different engine torques and the corresponding costate variables. From the costate variables corresponding to the torque of each engine, select one costate variable as the initial costate variable according to the preset initial costate variable selection conditions.

2. The method according to claim 1, characterized in that, Also includes: Energy distribution is determined according to the engine torque and generator torque corresponding to the initial costate variables.

3. The method according to claim 1, characterized in that, After allocating energy according to the engine torque corresponding to the minimum static cost, it also includes: Determine whether the current time is the last time in the road spectrum; If yes, determine that the energy planning of the road spectrum is complete; otherwise, determine whether the current state of the battery is within the preset range. If it is determined that the current state of the battery is within a preset range, an energy allocation trigger command is generated to reallocate energy. If it is determined that the current state of the battery is not within the preset range, the current time will be used as the initial time in the road spectrum.

4. The method according to claim 1, characterized in that, The current costate variable is a costate variable other than the initial costate variable; The current costate variable is determined in the following manner: By using a pre-built static cost function to update the costate variables of the previous time step based on the costate variables of the previous time step and the current state of the battery, the current costate variables of the current time step are obtained.

5. The method according to claim 1, characterized in that, Also includes: Based on the preset prediction step size for the time of generating energy allocation instructions, if the gear corresponding to the minimum static cost is the same as the current gear within the prediction step size, calculate the first specific time step for maintaining the current gear and determine that no gear switching will be performed within the first specific time step for maintaining the current gear. If the total cost is less than the current static cost within the predicted step or after the gear search reaches the predicted step, calculate the second specific time step of the gear after the switch, and determine that no gear switching will be performed within the second specific time step of the gear after the switch.

6. The method according to claim 1, characterized in that, The overall efficiency of the drive motor includes the power generation efficiency and the driving efficiency of the drive motor.

7. An energy management device, characterized in that, The device includes: The engine torque distribution module is used to respond to the energy distribution trigger command, determine the total torque demand of the transmission according to the vehicle speed at the current moment in the vehicle driving spectrum, determine the total torque of the engine and generator in different gears according to the total torque demand of the transmission, and estimate the different engine torques that meet the total torque. An engine fuel consumption determination module is used to determine the fuel consumption of each engine corresponding to different engine torques in different gears using a value function. The static cost determination module is used to calculate the static costs corresponding to different engine torques in different gears based on the engine fuel consumption corresponding to each engine torque, the current costate variable, and the current state of the battery. The gear shifting module is used to determine whether the gear corresponding to the minimum static cost is the same as the current gear, maintain the current gear, and distribute energy according to the engine torque corresponding to the minimum static cost; if the gear corresponding to the minimum static cost is different from the current gear, determine whether the current static cost is greater than the total cost of the minimum static cost and the preset switching cost; if the current static cost is greater than the total cost, switch to the gear corresponding to the minimum static cost and distribute energy according to the engine torque corresponding to the minimum static cost; otherwise, maintain the current gear and distribute energy according to the engine torque corresponding to the minimum static cost. If the current time in the vehicle's travel path spectrum is determined to be the initial time, then the initial time costate variable of the initial time is determined in the following way: The speed of the front end of the transmission is determined based on the vehicle speed and transmission parameters at the initial moment. The speed of the drive motor is determined based on the speed of the front end of the gearbox, and the total efficiency of the drive motor corresponding to the speed of the drive motor in different gears is determined. Select the gear corresponding to the highest overall efficiency as the initial gear; Based on the initial gear and the vehicle speed corresponding to the initial moment, determine the total torque of the engine and generator in the initial gear, and estimate the different engine torques that meet the total torque. The costate variables corresponding to each engine torque are determined based on the relationship between the different engine torques and the corresponding costate variables. From the costate variables corresponding to the torque of each engine, select one costate variable as the initial costate variable according to the preset initial costate variable selection conditions.

8. An energy management device, characterized in that, The device includes: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the energy management method as described in any one of claims 1-6.

9. A storage medium, characterized in that, The storage medium stores a computer program that enables a computer to perform the energy management method as described in any one of claims 1-6.

Images