Vehicle limp driving control method, device, electronic device and storage medium

Abstract

The present application relates to the field of vehicle technology and provides a method, device, electronic device, and storage medium for controlling vehicle limp-running. The vehicle limp-running control method includes: obtaining vehicle driving status data and drive parameter data; determining the vehicle's required power for limp-running based on the driving status data and drive parameter data; and determining a limp-running control mode based on the vehicle's required power and drive parameter data, wherein the control mode includes an engine limp-running control mode or a crankshaft limp-running control mode. The vehicle is controlled to limp-run in the limp-running control mode. Embodiments of the present application address the issue of a vehicle's power failing to meet driving requirements when entering limp-running mode.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, electronic device, and storage medium for controlling limp driving of a vehicle. Background Art

[0002] The global automotive industry is rapidly transitioning to new energy vehicles. Hybrid vehicles (HEVs) are gaining increasing acceptance, alleviating the range anxiety associated with pure electric vehicles while also contributing to energy conservation and emissions reduction. However, with the increasing use of HEVs, consumers are placing higher demands on the safety performance of hybrid systems during driving. Existing technologies employ limp home mode to control the vehicle when a malfunction occurs, ensuring it can be driven to a safe area for repairs.

[0003] However, in the prior art, when a hybrid electric vehicle enters the limp home mode, certain power requirements are imposed on the vehicle, and the vehicle may not be able to meet the driving power requirements, resulting in difficulties in limp home driving. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a method, device, electronic device, and storage medium for controlling vehicle limp home mode to solve the problem in the prior art that a vehicle cannot limp home smoothly in limp home mode.

[0005] According to a first aspect of an embodiment of the present application, a method for controlling limp-state driving of a vehicle is provided, comprising:

[0006] Acquiring vehicle driving status data and driving parameter data;

[0007] determining the power required for limp home driving of the vehicle based on the driving state data and the driving parameter data;

[0008] determining a limp-running control mode according to the power required for the vehicle limp-running and the driving parameter data, the control mode including an engine limp-running control mode or a crankshaft limp-running control mode;

[0009] The vehicle is controlled to perform limp running in the limp running control mode.

[0010] A second aspect of the embodiments of the present application provides a device for controlling limp home driving of a vehicle, comprising:

[0011] An acquisition module, used to acquire the vehicle's driving state data and driving parameter data;

[0012] a determination module, configured to determine the power required for limp home driving of the vehicle based on the driving state data and the driving parameter data;

[0013] a selection module for determining a limp-running control mode according to the power required for the limp-running of the vehicle and the driving parameter data, wherein the control mode includes an engine limp-running control mode or a crankshaft limp-running control mode;

[0014] The execution module is used to control the vehicle to perform limp driving in the limp driving control mode.

[0015] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0016] According to a fourth aspect of an embodiment of the present application, a storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps of the above method are implemented.

[0017] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0018] The power required for limp home operation is determined by acquiring the target vehicle's driving state data and driving parameter data. Based on the required power and driving parameter data, either an engine limp home control mode or a crankshaft limp home control mode is selected for vehicle control. This allows the vehicle to use the vehicle's driving state data and driving parameter data to determine the required power for limp home operation in limp home operation, thereby determining the limp home control mode. The determined limp home control mode satisfies the required power, ensuring smooth limp home operation. This addresses the issue of insufficient vehicle power to meet the driver's power requirements in limp home operation, and further resolves the prior art issue of vehicles being unable to successfully limp home. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a flow chart of a method for controlling limp home driving of a vehicle provided in an embodiment of the present application;

[0021] Figure 2 1 is a flow chart of another method for controlling limp home driving of a vehicle provided in an embodiment of the present application;

[0022] Figure 3 1 is a schematic structural diagram of a vehicle limp home control device provided in an embodiment of the present application;

[0023] Figure 4 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0025] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the data used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than those illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects connected before and after are in an "or" relationship.

[0026] In addition, it should be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, the elements defined by the phrase "comprises..." do not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the elements.

[0027] A method and device for controlling limp home driving of a vehicle according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0028] Figure 1 It is a flow chart of a method for controlling vehicle limp driving provided in an embodiment of the present application.

[0029] like Figure 1 As shown, the limp home driving control method includes:

[0030] Step 101: Acquire vehicle driving state data and driving parameter data.

[0031] Specifically, the vehicle's driving status data may include vehicle speed, accelerator pedal opening, clutch operating status, etc.

[0032] The driving parameter data is the parameter data related to the driving of the vehicle, that is, the parameter data that affects the driving of the vehicle, which may include the target power working mode, the actual power working mode, the required torque of the whole vehicle, the slope, the limp mode, the prohibition of the front motor working flag signal, the engine parameter data, the generator parameter data, the battery parameter data, etc.

[0033] Specifically, the power working modes include electric vehicle (EV), series, parallel, and engine start / stop. The required torque of the whole vehicle is obtained by looking up the table of the opening of the accelerator pedal and the vehicle speed. Limp mode is a driving mode when the electronic control unit in the electronic control unit (ECU) of the vehicle fails. The prohibition of the front motor operation flag signal indicates that a fault has been detected in the front motor of the vehicle, and the fault level is large. In order to protect driving safety, a prohibition of the front motor operation flag signal is sent to stop the front motor of the vehicle. The engine parameter data includes the engine flywheel end torque, the actual engine speed and the maximum torque limit of the engine. The generator parameter data includes the actual generator speed and the maximum torque limit of the generator. The battery parameter data includes the remaining battery capacity (State of Charge, SOC) and the peak discharge power of the battery within a preset period of time.

[0034] The vehicle's driving status data and driving parameter data can be obtained through existing technologies and are not limited here.

[0035] By acquiring the vehicle's driving state data and driving parameter data, the vehicle's state can be judged, which is conducive to accurately judging whether limp driving is possible.

[0036] Step 102: Determine the power required for limp home driving of the vehicle based on the driving state data and the driving parameter data.

[0037] Specifically, the power required for the vehicle to run in limp mode is the power required for the vehicle to run in the limp mode.

[0038] The power required for limp home driving is determined by driving state data and driving parameter data, thereby ensuring the accuracy of the power required for limp home driving and facilitating determination of the power requirement for limp home driving, so as to better control the vehicle.

[0039] Step 103 : determining a limp home control mode according to the power required for limp home driving and the driving parameter data. The limp home control mode includes an engine limp home control mode or a crankshaft limp home control mode.

[0040] Specifically, the engine limp home control mode means that the vehicle uses the engine as the vehicle's power source when in limp home mode, and the crankshaft limp home control mode means that the vehicle uses the engine and generator acting on the crankshaft simultaneously as the vehicle's power source when in limp home mode.

[0041] The limp run control mode of the vehicle is determined based on the power required for limp run and driving parameter data, so that the determined limp run control mode can meet the power required for limp run and current driving conditions of the vehicle. That is, the vehicle can meet the power requirement for limp run when limp run is performed using the limp run control mode, thereby enabling the vehicle to adopt different limp run control modes to meet corresponding power requirements.

[0042] Step 104 : Control the vehicle to perform limp driving in the limp driving control mode.

[0043] This embodiment performs limp home driving control of the vehicle through the selected limp home driving control mode, so that the vehicle can meet the driving power even in the limp home mode, thereby ensuring smooth limp home driving of the vehicle.

[0044] According to the technical solution provided in the embodiments of the present application, by acquiring the vehicle's driving status data and driving parameter data, in order to meet the driving power demand, the limp home driving control mode is judged and selected based on the acquired vehicle's driving status data and driving parameter data, and the vehicle is controlled according to the selected limp home driving control mode. This enables the vehicle to select different limp home driving control modes to meet the driving power demand in limp home driving mode, thereby avoiding the technical problem of insufficient power in the limp home driving mode and the inability to perform limp home driving smoothly.

[0045] In some embodiments, the driving state data includes vehicle speed, accelerator pedal opening, and clutch operating state; the driving parameter data includes battery SOC value, target power operating mode, actual power operating mode, first indication information indicating whether limp home mode is activated, and second indication information indicating whether a flag indicating that the front motor is disabled is activated;

[0046] Before determining the power required for limp home driving of the vehicle based on the driving state data and the driving parameter data, the method further includes:

[0047] When the driving state data and the driving parameter data satisfy the following preset conditions, determining that the vehicle is in a limp driving state in the parallel mode;

[0048] The preset conditions include:

[0049] The vehicle speed is greater than a first preset speed threshold, the accelerator pedal opening is greater than zero, the clutch working state is engaged, the battery SOC value is greater than a preset SOC value, the target power working mode and the actual power working mode are both parallel modes, the first indication information indicates that the limp home mode is activated and the second indication information is used to indicate that the prohibition front motor operation flag is activated.

[0050] Specifically, the first preset speed threshold can be set according to needs. For example, as an example, the first preset speed threshold can be set to 60 km / h. It should be understood that there is no limitation to this in the present embodiment. A vehicle speed greater than the first preset speed threshold can be used as one of the conditions for entering limp home mode in parallel mode.

[0051] The preset SOC value indicates that the battery SOC value of the vehicle can meet the engine driving. For example, as an example, the preset SOC value can be set to 40%. It should be understood that there is no limitation on this in the present embodiment. When the battery SOC value is greater than the preset SOC value, it means that the vehicle can use the battery as a driving power source.

[0052] The parallel mode means that the vehicle can use the generator and the engine as the power source of the vehicle. The target power working mode and the actual power working mode are both parallel modes, which enables the vehicle to select the power source.

[0053] The first indication information indicates that the limp home mode is activated, indicating that the vehicle has entered the limp home mode; the second indication information indicates that the front motor operation prohibition flag is activated, indicating that the front motor of the vehicle is stopped.

[0054] It should be noted that the above data can be displayed on a display screen or on a dashboard, but this is not specifically limited here.

[0055] When all of the above conditions are met, the target vehicle can be determined to have entered the limp-drive state in parallel mode. At this point, the limp-drive state in parallel mode can be set to active via the HCU. Of course, if any of the above conditions are not met, the limp-drive state in parallel mode of the target vehicle is determined to be frozen, meaning limp-drive is not possible.

[0056] In the technical solution provided in the embodiment of the present application, whether the target vehicle is limp-driving in the parallel mode is determined based on the driving status data and the driving parameter data, thereby realizing the judgment of whether the target vehicle meets the conditions for limp-driving in the parallel mode through the driving status data and the driving parameter data, ensuring the accuracy of the determination result, ensuring the accuracy of the vehicle entering the limp-driving state in the parallel mode, and being able to effectively avoid the vehicle from losing control and causing other accidents when it is not suitable for limp-driving, thereby improving the safety of the vehicle in limp-driving.

[0057] In addition, in order to adapt to the limp home dynamic parameters of the entire vehicle, the present embodiment may set a limp home power limit factor, thereby determining the power required for limp home operation.

[0058] Specifically, in some embodiments, the driving state data includes slope and accelerator pedal opening, and the driving parameter data includes battery SOC value, actual engine speed, engine transmission speed ratio, and vehicle required torque;

[0059] Determining the power required for limp home driving of the vehicle according to the driving state data and the driving parameter data includes:

[0060] Step A1: Establishing a membership function for pre-set input variables and output variables, wherein the input variables include accelerator pedal opening, battery SOC value, and slope, and the output variables include a limp home power limit factor; creating a fuzzy control rule table based on the membership function, and defuzzifying the output variables using the fuzzy control rule table and a weighted average method to obtain the limp home power limit factor;

[0061] Specifically, this embodiment can use the accelerator pedal opening, battery SOC value and slope as input variables, where the accelerator pedal opening A has a value range of 0 to 100 (%); the slope S has a value range of 0 to 100 (%); and the battery SOC value B has a value range of 40 to 100 (%).

[0062] In addition, a limp home power limiting factor may be used as an output variable, wherein the value range of the limp home power limiting factor F is 0-1.

[0063] In establishing the membership functions of the input and output variables, this embodiment can determine the fuzzy subsets and basic domains of the input variables. By determining the fuzzy subsets and basic domains of the input variables, the membership functions are established. The fuzzy control rule tables corresponding to the input and output membership functions are determined based on desktop simulation, bench simulation testing, and actual vehicle calibration. Next, the output variables are defuzzified to obtain the power limit factor for limp home driving.

[0064] In addition, this embodiment can also determine the fuzzy control rules corresponding to the input and output membership functions based on expert experience and combined with fault handling measures management according to desktop simulation, bench simulation testing and actual vehicle calibration, and then use the weighted average method to defuzzify the power limit factor F of limp driving to obtain an accurate value.

[0065] Step A2: Determine the vehicle power requirement of the vehicle according to the actual engine speed, the engine transmission speed ratio and the vehicle torque requirement.

[0066] Specifically, the actual engine speed, the engine transmission speed ratio and the vehicle required torque are all related to the vehicle's required vehicle power. Therefore, the vehicle's required vehicle power can be determined based on the actual engine speed, the engine transmission speed ratio and the vehicle required torque.

[0067] The required torque of the vehicle can be

[0068] The vehicle's required power can be obtained by using the vehicle's required torque, the actual engine speed, and the engine speed transmission ratio. This can be specifically obtained using the following formula:

[0069]

[0070] Among them, P VehReqRaw Indicates the vehicle's required power, n EngAct Indicates the actual engine speed, r EngTrsm Indicates the engine transmission speed ratio, Tq VehReq Indicates the required torque of the vehicle.

[0071] Step A3: Determine the power required for limp home running of the vehicle according to the power limit factor and the required power of the entire vehicle.

[0072] Specifically, the power required for limp home driving can be calculated using the power limit factor and the vehicle's required power. This can be obtained using the following formula:

[0073] P VehReqLim =P VehReqRaw ×F LimpDrvPwrLim ;

[0074] Among them, P VehReqLimp Indicates the power required for the vehicle to limp along, F LimpDrvPwrLim Represents the power limiting factor, P VehReqRaw Indicates the vehicle's required power.

[0075] Furthermore, when the accelerator pedal opening is 0, the power required for the vehicle to limp home is 0 kW.

[0076] The following is an example of how to create a fuzzy control rule table.

[0077] For example, the accelerator pedal opening is divided into three subsets {S, M, B}, the basic domain is [0, 2], and the membership function adopts a triangular distribution. The accelerator pedal opening input membership function is shown in the following table:

[0078]

[0079] The slope is divided into four subsets {Z, S, M, B}, the basic domain is [0, 3], and the membership function adopts a triangular distribution. The slope input membership function is shown in the following table:

[0080]

[0081] The battery SOC value is divided into three subsets {L, M, H}, the basic domain is [0, 2], the membership function adopts a triangular distribution, and the battery SOC value B input membership function is shown in the following table:

[0082]

[0083] The power limit factors for limp driving are divided into five subsets {VS, S, M, B, VB}, with a basic domain of [0, 1]. The membership function adopts a triangular distribution. The output membership function of the power limit factors for limp driving is shown in the following table:

[0084]

[0085] Based on expert experience and combined with fault handling measures management, the fuzzy control rules corresponding to the input and output membership functions are determined based on desktop simulation, bench simulation test and real vehicle calibration, as shown in the following table

[0086]

[0087] According to the technical solution provided by this embodiment, based on fuzzy processing of driving demand and application of a fuzzy control rule table, a limp home power limit factor is obtained. Furthermore, the vehicle power requirement is calculated using the vehicle torque requirement, the actual engine speed, and the engine speed transmission ratio. Based on the limp home power limit factor and the calculation of the vehicle power requirement, the power required for limp home operation can be determined. This improves the accuracy of the power required for limp home operation and facilitates accurate selection of a limp home control mode for vehicle control.

[0088] In some embodiments, the driving parameter data includes the maximum torque limit of the engine, the actual speed of the engine, the actual speed of the generator, the maximum discharge torque limit of the generator, and the peak discharge power of the battery within a preset period;

[0089] Determining a limp-running control mode according to the power required for the vehicle to limp-run and the driving parameter data includes:

[0090] determining a maximum engine power value according to the maximum engine torque limit and the actual engine speed;

[0091] Determining a maximum power value of the generator based on the actual speed of the generator, the maximum discharge torque limit of the generator, and the peak discharge power of the battery within a preset time period;

[0092] The limp home control mode is determined according to the power required for the vehicle to limp home, the maximum power value of the engine, and the maximum power value of the generator.

[0093] Specifically, the maximum power value of the engine is calculated by the maximum torque limit of the engine and the actual engine speed, which can be obtained by the following formula:

[0094] P EngMaxLim =9550×n EngAct ×T qEngMaxLim ;

[0095] Among them, P EngMaxLim is the maximum power value of the engine, T qEngMaxLim is the maximum torque limit of the engine, n EngAct is the actual engine speed.

[0096] The maximum power value of the generator can be calculated based on the maximum discharge torque limit of the generator, the actual speed of the generator, and the peak discharge power of the battery within the preset period of time. The specific value can be obtained by the following formula:

[0097] P GcuMaxLim =min(9550×n GcuAct ×Tq GcuElecMaxLim , P PeakDchrg );

[0098] Among them, P GcuMaxLimm Indicates the maximum power value of the generator, n GcuAct Indicates the actual speed of the generator, Tq GcuElecMaxLim Indicates the maximum discharge torque limit of the generator, P PeakDchrg Indicates the peak discharge power of the battery within a preset period of time.

[0099] After determining the maximum power values of the engine and generator, the limp home control mode can be determined based on the power required for the vehicle's limp home operation, the engine's maximum power value, and the generator's maximum power value, thereby ensuring that the engine and the increased power provided by the engine can meet the power requirements of the limp home control mode. While ensuring that the vehicle can enter limp home operation safely in the event of a breakdown, the driver's power requirements for the vehicle are also met.

[0100] In some embodiments, the limp home control mode is determined based on the power required for limp home operation of the vehicle, the maximum power value of the engine, and the maximum power value of the generator, including at least one of the following:

[0101] determining that the limp-running control mode is an engine limp-running control mode when the power required for the vehicle to limp-run is not greater than the maximum power value of the engine;

[0102] When the power required for the vehicle to limp home is greater than the maximum power value of the engine and less than the sum of the maximum power value of the engine and the maximum power value of the generator, determining that the limp home control mode is the crankshaft limp home control mode;

[0103] When the power required for limp home operation of the vehicle is greater than the sum of the maximum power value of the engine and the maximum power value of the generator, the limp home control mode is determined to be the crankshaft limp home control mode, the power required for limp home operation of the vehicle is updated to the sum of the maximum power value of the engine and the maximum power value of the generator, and the vehicle drive power is set to a fault state.

[0104] Specifically, when the power required for limp home operation is no greater than the maximum power value of the engine, it means that the single engine as a power source can meet the power demand for limp home operation, and in this case, the limp home operation control mode can be determined to be engine limp home operation control; when the power required for limp home operation is greater than the maximum power value of the engine and less than the sum of the maximum power value of the engine and the maximum power value of the generator, it means that the single engine as a power source cannot meet the power demand for limp home operation, and in this case, the parallel mode limp home operation control mode needs to be set to crankshaft limp home operation control, so that the power demand for the set limp home operation control mode can be met.

[0105] In addition, if the power required for limp home operation is greater than the sum of the maximum power value of the engine and the maximum power value of the generator, it means that in this case, the simultaneous operation of the engine and the generator cannot meet the power required for limp home operation. In this case, the parallel mode limp home control mode is set to crankshaft limp home control, and the power required for limp home operation is set to the sum of the maximum power value of the engine and the maximum power value of the generator, and the vehicle drive power degradation fault flag is triggered.

[0106] In this way, by comparing the power required for limp home driving with the maximum power value of the engine and the maximum power value of the generator, the limp home driving control mode is determined, so that the power source of the vehicle can meet the power required by the determined limp home driving control mode, thereby achieving the selection of a more accurate limp home driving control mode for the vehicle's limp home driving control.

[0107] In some embodiments, controlling the vehicle to limp along in the limp-away control manner includes:

[0108] determining an engine target rapid torque and a generator target torque corresponding to the limp home control mode;

[0109] controlling an engine of the vehicle to operate at the engine target rapid torque, and controlling a generator to operate at the generator target torque;

[0110] If the limp home control mode is the engine limp home control mode, the generator target torque is zero, and the engine target rapid torque is calculated using the following formula:

[0111]

[0112] Among them, Tq EngFastReq Indicates the target rapid torque of the engine, P VehReqLim Indicates the power required for limp homeostasis, n EngAct Indicates the actual engine speed;

[0113] If the limp home control mode is the crankshaft limp home control mode, the engine target rapid torque is the engine maximum torque limit, and the generator target torque is calculated using the following formula:

[0114] Tq GcuReq =(Tq CrksftReq -Tq EngAct )×r Gcu ;

[0115]

[0116] Among them, Tq GcuReq Indicates the generator target torque, Tq CrksftReq Indicates the crankshaft target torque, Tq EngAct Represents the engine flywheel end torque, r Gcu Indicates the speed ratio between the engine and the generator, P VehReqLim Indicates the power required for limp home driving, P EngMaxLim Indicates the maximum power value of the engine, P GcuMaxLim Indicates the maximum power value of the generator.

[0117] It should be noted that the power P required when the vehicle is limp VehReqLimp When the power is 0kW, the HCU sets the engine target rapid torque and the generator target torque to 0Nm.

[0118] Specifically, by calculating the engine target rapid torque and generator target torque corresponding to different limp home control modes, when the engine operation is controlled according to the engine target rapid torque and the generator operation is controlled according to the generator target torque, the engine and generator can provide power that meets the limp home power demand, thereby meeting the power demand of the vehicle during limp home.

[0119] In some embodiments, after controlling the vehicle to perform limp driving in the limp driving control mode, the method further includes:

[0120] If the vehicle driving speed is less than or equal to a second preset speed threshold, the target power working mode is not the parallel mode, the first indication information indicates that the limp mode is frozen, the clutch working state is in the disengaged state, and the second indication information indicates that the front motor operation prohibition flag is frozen, the vehicle is controlled to end the limp driving state in the parallel mode and set the limp mode in the parallel mode to the frozen state.

[0121] Specifically, the second preset speed threshold can be set as needed, for example, 50 km / h. Whether the limp home mode exit condition in parallel mode is met is determined by determining whether the vehicle speed is less than or equal to the second preset speed threshold, whether the target power operating mode is not parallel mode, whether the first indication information indicates limp home mode is frozen, whether the clutch operating state is disengaged, and whether the second indication information indicates that the front motor operation prohibition flag is frozen. This implements the determination process for the conditions required for limp home mode in parallel mode.

[0122] Thus, in this embodiment, when the hybrid vehicle is in the parallel state, due to a serious fault in the front drive motor that leads to failure, in order to meet the driver's operation, identify the limp driving parameters of the whole vehicle and analyze the required driving power of the whole vehicle, the generator intervenes in the drive in a timely manner to ensure that the whole vehicle can continue to drive to a safe area in the fault state, avoiding the problem of limp driving failure caused by limp driving in the parallel mode when the current driving conditions do not meet the requirements, and ensuring the driving safety of the vehicle.

[0123] The following combination Figure 2 The embodiments of the present application are described in detail. Figure 2 As shown, the vehicle limp driving control method includes:

[0124] Driving status data and driving parameter data are collected, and by analyzing the driving status data and driving parameter data, it is determined whether the vehicle has reached the activation conditions for limp home driving in parallel mode; when the vehicle meets the activation conditions for limp home driving in parallel mode, a power limit factor for limp home driving is calculated based on the data, and the power limit factor for limp home driving and related data are used to calculate the required power of the entire vehicle for limp home driving; when the required power of the entire vehicle for limp home driving is not greater than the maximum power of the engine, the vehicle is controlled in an engine limp home driving mode; when the required power of the entire vehicle for limp home driving is not greater than the maximum power at the crankshaft end, the vehicle is controlled in an engine limp home driving mode, where the maximum power at the crankshaft end is expressed as the sum of the powers of the engine and the generator; and the limp home driving torque is distributed according to the selected control method until the limp home driving in parallel mode is exited.

[0125] All of the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described in detail here.

[0126] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0127] Figure 3 Schematic diagram of a vehicle limp home control device provided in an embodiment of the present application. Figure 4 As shown, the control device of the vehicle limp mode includes:

[0128] An acquisition module 301 is used to acquire vehicle driving state data and driving parameter data;

[0129] a determination module 302 for determining the power required for limp home driving of the vehicle based on the driving state data and the driving parameter data;

[0130] a selection module 303 for determining a limp home control mode according to the power required for limp home driving of the vehicle and the driving parameter data, wherein the limp home control mode includes an engine limp home control mode or a crankshaft limp home control mode;

[0131] The execution module 304 is configured to control the vehicle to perform limp driving in the limp driving control mode.

[0132] In some embodiments, the driving state data includes vehicle speed, accelerator pedal opening, and clutch operating state; the driving parameter data includes battery SOC value, target power operating mode, actual power operating mode, first indication information indicating whether limp home mode is activated, and second indication information indicating whether a flag indicating that the front motor is disabled is activated;

[0133] The determination module is further configured to determine that the vehicle is in a limp home driving state in the parallel mode when the driving state data and the driving parameter data satisfy the following preset conditions; wherein the preset conditions include: the vehicle driving speed is greater than a first preset speed threshold, the accelerator pedal opening is greater than zero, the clutch operating state is in an engaged state, the battery SOC value is greater than a preset SOC value, the target power operating mode and the actual power operating mode are both parallel modes, the first indication information indicates that the limp home mode is activated, and the second indication information is used to indicate that the prohibition front motor operation flag is activated.

[0134] In some embodiments, the driving state data includes slope and accelerator pedal opening, and the driving parameter data includes battery SOC value, actual engine speed, engine transmission speed ratio, and vehicle required torque;

[0135] The determination module is further configured to establish a membership function using preset input variables and output variables, wherein the input variables include an accelerator pedal opening, a battery SOC value, and a slope, and the output variables include a power limiting factor for limp home driving; create a fuzzy control rule table based on the membership function, and defuzzify the output variables using the fuzzy control rule table and a weighted average method to obtain the power limiting factor for limp home driving; determine the required vehicle power of the vehicle based on the actual engine speed, the engine transmission speed ratio, and the required vehicle torque; and determine the power required for limp home driving of the vehicle based on the power limiting factor and the required vehicle power.

[0136] In some embodiments, the driving parameter data includes the maximum torque limit of the engine, the actual speed of the engine, the actual speed of the generator, the maximum discharge torque limit of the generator, and the peak discharge power of the battery within a preset period;

[0137] The selection module is used to determine the maximum power value of the engine based on the maximum torque limit of the engine and the actual speed of the engine; determine the maximum power value of the generator based on the actual speed of the generator, the maximum discharge torque limit of the generator and the peak discharge power of the battery within a preset time period; and determine the limp home control mode based on the limp home vehicle power requirement, the maximum power value of the engine and the maximum power value of the generator.

[0138] In some embodiments, the selection module is further used to, when the power required for the vehicle to limp home is not greater than the maximum power value of the engine, determine that the limp home control mode is the engine limp home control mode; when the power required for the vehicle to limp home is greater than the maximum power value of the engine and less than the sum of the maximum power value of the engine and the maximum power value of the generator, determine that the limp home control mode is the crankshaft limp home control mode; when the power required for the vehicle to limp home is greater than the sum of the maximum power value of the engine and the maximum power value of the generator, determine that the limp home control mode is the crankshaft limp home control mode, update the power required for the vehicle to limp home to the sum of the maximum power value of the engine and the maximum power value of the generator, and set the vehicle drive power to a fault state.

[0139] In some embodiments, the execution module is configured to determine an engine target rapid torque and a generator target torque corresponding to the limp home control mode; control the engine of the vehicle to operate at the engine target rapid torque, and control the generator to operate at the generator target torque;

[0140] If the limp home control mode is the engine limp home control mode, the generator target torque is zero, and the engine target rapid torque is calculated using the following formula:

[0141]

[0142] Among them, Tq EngFastReq Indicates the target rapid torque of the engine, P VehReqLim Indicates the limp home power requirement, n EngAct Indicates the actual engine speed;

[0143] If the limp home control mode is the crankshaft limp home control mode, the engine target rapid torque is the engine maximum torque limit, and the generator target torque is calculated using the following formula:

[0144] Tq GcuReq =(Tq CrksftReq -Tq EngAct )×r Gcu ;

[0145]

[0146] Among them, Tq GcuReq Indicates the generator target torque, Tq CrksftReq Indicates the crankshaft target torque, Tq EngAct Represents the engine flywheel end torque, r Gcu Indicates the speed ratio between the engine and the generator, PVehReqLimp Indicates the required power of the vehicle in limp-home mode, P EngMaxLim Indicates the maximum power value of the engine, P GcuMaxLim Indicates the maximum power value of the generator, Tq acuReq is the generator target torque.

[0147] In some embodiments, the execution module is further used to control the vehicle to end the limp driving state data in the parallel mode and set the limp mode in the parallel mode to a frozen state if the vehicle driving speed is less than or equal to a second preset speed threshold, the target power working mode is not the parallel mode, the first indication information indicates that the limp mode is frozen, the clutch working state is in the unengaged state, and the second indication information indicates that the front motor operation prohibition flag is frozen.

[0148] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0149] Figure 4 Schematic diagram of the electronic device 4 provided in the embodiment of the present application. Figure 4 As shown, the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable by the processor 401. When the processor 401 executes the computer program 403, the steps of the above-described method embodiments are implemented. Alternatively, when the processor 401 executes the computer program 403, the functions of the modules / units in the above-described device embodiments are implemented.

[0150] The electronic device 4 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 4 may include but is not limited to a processor 401 and a memory 402. Those skilled in the art will appreciate that Figure 4 This is merely an example of the electronic device 4 and does not limit the electronic device 4 . The electronic device 4 may include more or fewer components than shown in the figure, or different components.

[0151] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0152] Memory 402 can be an internal storage unit of electronic device 4, such as a hard disk or memory of electronic device 4. Memory 402 can also be an external storage device of electronic device 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped on electronic device 4. Memory 402 can also include both an internal storage unit of electronic device 4 and an external storage device. Memory 402 is used to store computer programs and other programs and data required by the electronic device.

[0153] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments 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 above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0154] If the integrated module / unit is implemented in the form of 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 present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice.

[0155] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for controlling vehicle limp home mode, wherein the limp home mode is a mode of operation when an electronic control unit (ECU) in a vehicle fails, and wherein: include: Acquiring vehicle driving status data and driving parameter data; determining the power required for limp home driving of the vehicle based on the driving state data and the driving parameter data; determining a limp-running control mode according to the power required for the vehicle limp-running and the driving parameter data, wherein the limp-running control mode includes an engine limp-running control mode or a crankshaft limp-running control mode; controlling the vehicle to perform limp running in the limp running control mode; The driving state data includes vehicle speed, accelerator pedal opening, and clutch operating state; the driving parameter data includes battery SOC value, target power operating mode, actual power operating mode, first indication information for indicating whether limp home mode is activated, and second indication information for indicating whether a flag for disabling front motor operation is activated; Before determining the power required for limp home driving of the vehicle based on the driving state data and the driving parameter data, the method further includes: When the driving state data and the driving parameter data satisfy the following preset conditions, determining that the vehicle is in a limp driving state in the parallel mode; The preset conditions include: The vehicle speed is greater than a first preset speed threshold, the accelerator pedal opening is greater than zero, the clutch working state is engaged, the battery SOC value is greater than a preset SOC value, the target power working mode and the actual power working mode are both parallel modes, the first indication information indicates that the limp home mode is activated and the second indication information is used to indicate that the prohibition front motor operation flag is activated.

2. The vehicle limp home control method according to claim 1, characterized in that: The driving state data includes slope and accelerator pedal opening, and the driving parameter data includes battery SOC value, actual engine speed, engine transmission speed ratio, and vehicle required torque; The determining, based on the driving state data and the driving parameter data, the power required for the vehicle to limp along, includes: Establishing a membership function using pre-set input variables and output variables, wherein the input variables include accelerator pedal opening, battery SOC value, and slope, and the output variable includes a limp home power limit factor; Creating a fuzzy control rule table according to the membership function, and defuzzifying the output variable according to the fuzzy control rule table and a weighted average method to obtain the limp home power limit factor; Determining the vehicle power requirement of the vehicle according to the actual engine speed, the engine transmission speed ratio and the vehicle torque requirement; The power required for the vehicle to run in limp mode is determined according to the power limiting factor and the required power of the entire vehicle.

3. The method according to claim 1 or 2, characterized in that The driving parameter data includes the maximum torque limit of the engine, the actual speed of the engine, the actual speed of the generator, the maximum discharge torque limit of the generator, and the peak discharge power of the battery within a preset period; The determining of the limp home control mode according to the power required for the limp home vehicle and the driving parameter data includes: determining a maximum engine power value according to the maximum engine torque limit and the actual engine speed; Determining a maximum power value of the generator based on the actual speed of the generator, the maximum discharge torque limit of the generator, and the peak discharge power of the battery within a preset time period; The limp home control mode is determined according to the power required for the vehicle to limp home, the maximum power value of the engine, and the maximum power value of the generator.

4. The method according to claim 3, characterized in that The determining of the limp home control mode according to the power required for the limp home vehicle, the maximum power value of the engine, and the maximum power value of the generator includes at least one of the following: determining that the limp-running control mode is an engine limp-running control mode when the power required for the vehicle to limp-run is not greater than the maximum power value of the engine; When the power required for the vehicle to limp home is greater than the maximum power value of the engine and less than the sum of the maximum power value of the engine and the maximum power value of the generator, determining that the limp home control mode is the crankshaft limp home control mode; When the power required for limp home operation of the vehicle is greater than the sum of the maximum power value of the engine and the maximum power value of the generator, the limp home control mode is determined to be the crankshaft limp home control mode, the power required for limp home operation of the vehicle is updated to the sum of the maximum power value of the engine and the maximum power value of the generator, and the vehicle drive power is set to a fault state.

5. The method according to claim 1, wherein The controlling the vehicle to perform limp driving in the limp driving control mode includes: determining an engine target rapid torque and a generator target torque corresponding to the limp home control mode; controlling an engine of the vehicle to operate at the engine target rapid torque, and controlling a generator to operate at the generator target torque; If the limp home control mode is the engine limp home control mode, the generator target torque is zero, and the engine target rapid torque is calculated using the following formula: ； in, Indicates the target rapid torque of the engine, Indicates the power required for the vehicle to limp along. Indicates the actual engine speed; If the limp home control mode is the crankshaft limp home control mode, the engine target rapid torque is the engine maximum torque limit, and the generator target torque is calculated using the following formula: ； ； in, represents the generator target torque, represents the crankshaft target torque, Indicates the engine flywheel end torque, Indicates the speed ratio between the engine and the generator, Indicates the power required for the vehicle in limp-home mode. Indicates the maximum power value of the engine. Indicates the maximum power value of the generator. Indicates the generator target torque.

6. The method according to claim 1, wherein After controlling the vehicle to perform limp driving in the limp driving control mode, the method further includes: If the vehicle driving speed is less than or equal to a second preset speed threshold, the target power working mode is not the parallel mode, the first indication information indicates that the limp mode is frozen, the clutch working state is in the disengaged state, and the second indication information indicates that the prohibition front motor operation flag is frozen, the vehicle is controlled to end the limp driving state in the parallel mode, and the limp mode in the parallel mode is set to the frozen state.

7. A vehicle limp home mode control device, wherein the limp home mode is a mode of operation when an electronic control unit (ECU) in the vehicle fails, characterized in that: include: An acquisition module, used to acquire the vehicle's driving state data and driving parameter data; a determination module, configured to determine the power required for limp home driving of the vehicle based on the driving state data and the driving parameter data; a selection module for determining a limp-running control mode according to the power required for the limp-running of the vehicle and the driving parameter data, wherein the limp-running control mode includes an engine limp-running control mode or a crankshaft limp-running control mode; an execution module, configured to control the vehicle to perform limp driving in the limp driving control mode; The driving status data includes vehicle driving speed, accelerator pedal opening, and clutch working state; the driving parameter data includes battery SOC value, target power working mode, actual power working mode, first indication information for indicating whether limp home mode is activated, and second indication information for indicating whether the front motor operation prohibition flag is activated; the determination module is further used to: determine that the vehicle is in a limp home driving state in parallel mode when the driving status data and driving parameter data meet the following preset conditions; wherein the preset conditions include: the vehicle driving speed is greater than a first preset speed threshold, the accelerator pedal opening is greater than zero, the clutch working state is in an engaged state, the battery SOC value is greater than a preset SOC value, the target power working mode and the actual power working mode are both parallel modes, the first indication information indicates that the limp home mode is activated, and the second indication information is used to indicate that the front motor operation prohibition flag is activated.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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