Control method, control device, and electronic control unit for a vehicle

Abstract

The application provides a control method, a control device and an electronic control unit of a vehicle, and the method comprises the following steps: obtaining an actual engine speed change rate when the engine speed drops after the gear is disengaged; performing closed-loop control on the actual engine speed change rate according to a set engine speed change rate, so that the energy recovery and release structure collects the mechanical energy of the engine and converts the mechanical energy into a first predetermined energy; determining a difference between a gearbox required torque and an actual output torque of the engine as a torque to be compensated when the gear engagement is completed according to the gearbox required torque and the actual output torque of the engine; determining a target parameter according to the torque to be compensated, total energy currently stored in the energy recovery and release structure and a predetermined relationship; and controlling the energy recovery and release structure to work at the target parameter, so that the energy in the energy recovery and release structure is converted into mechanical energy and provided to the engine. The application solves the problem that the engine power is insufficient for a short time during the gear shifting process of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a vehicle control method, control device, computer-readable storage medium, and electronic control unit. Background Technology

[0002] The current vehicle gear shifting process mainly consists of four stages: torque clearing, disengaging, speed adjustment, gear engagement, and torque return. After the engine torque is cleared to zero, the transmission unit is disengaged, and the engine speed is allowed to drop freely. Once the engine speed drops to the target gear speed, the engine speed is requested to close the loop. After gear engagement, insufficient intake pressure causes the actual fuel injection quantity to be limited by smoke volume, resulting in a short-term problem of insufficient engine power. Summary of the Invention

[0003] The main objective of this application is to provide a vehicle control method, control device, computer-readable storage medium, and electronic control unit to at least solve the problem of insufficient engine power in vehicles during gear shifting for a short period of time in the prior art.

[0004] To achieve the above objectives, according to one aspect of this application, a vehicle control method is provided. The vehicle includes an engine and an energy recovery and release structure connected to the flywheel of the engine. The method includes: acquiring the actual speed change rate of the engine after disengaging from gear and the engine speed decreasing; performing closed-loop control on the actual speed change rate according to a set speed change rate, so that the energy recovery and release structure collects the mechanical energy of the engine corresponding to the decrease in speed according to the controlled actual speed change rate, and converts the mechanical energy into a first predetermined energy; and determining the difference between the gearbox required torque and the actual output torque as the torque to be compensated based on the gearbox required torque and the actual output torque of the engine. Based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure are determined as the target parameters of the energy recovery and release structure. The predetermined relationship characterizes the relationship between the torque to be compensated in the engine, the total energy currently stored in the energy recovery and release structure, and the operating parameters. The energy recovery and release structure is controlled to operate with the target parameters to convert a second predetermined energy in the energy recovery and release structure into mechanical energy and provide it to the engine. The second predetermined energy is the energy value corresponding to the torque to be compensated, and the second predetermined energy is less than or equal to the total energy currently stored in the energy recovery and release structure.

[0005] Optionally, based on a set speed change rate, closed-loop control is performed on the actual speed change rate to enable the energy recovery and release structure to collect the mechanical energy of the engine corresponding to the decrease in speed according to the controlled actual speed change rate, and convert the mechanical energy into a first predetermined energy. This includes: calculating the difference between the actual speed change rate and the set speed change rate; and performing PID (Proportional Integral Derivative) closed-loop control on the actual speed change rate based on the difference, so that the controlled difference is within a predetermined range, enabling the energy recovery and release structure to collect the mechanical energy and convert the mechanical energy into the first predetermined energy.

[0006] Optionally, the energy recovery and release structure includes a motor and an energy storage device, wherein the motor is mechanically connected to the flywheel of the engine, and the motor is electrically connected to the energy storage device. Based on the difference, PID closed-loop control is performed on the actual speed change rate, such that the controlled difference is within a predetermined range, so that the energy recovery and release structure collects the mechanical energy and converts the mechanical energy into the first predetermined energy. This includes: performing PID closed-loop control on the actual speed change rate based on the difference, such that the controlled difference is within a predetermined range, so that the motor collects the mechanical energy, converts the mechanical energy into a first predetermined value of electrical energy, and stores it in the energy storage device.

[0007] Optionally, based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy in the predetermined relationship that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure are determined as the target parameters of the energy recovery and release structure. This includes: based on the torque to be compensated, the total electrical energy currently stored in the electrical energy storage device, and a first sub-predetermined relationship, determining the set current corresponding to the torque and electrical energy in the first sub-predetermined relationship that are the same as the torque to be compensated and the total electrical energy currently stored in the electrical energy storage device as the target set current of the motor. The predetermined relationship characterizes the relationship between the torque to be compensated by the engine, the total electrical energy currently stored in the electrical energy storage device, and the set current; controlling the energy recovery and release structure to operate with the target parameters to convert the second predetermined energy in the energy recovery and release structure into mechanical energy and provide it to the engine includes: controlling the motor to operate with the target set current to convert the electrical energy of the second predetermined value in the electrical energy storage device into mechanical energy and provide the converted mechanical energy to the engine.

[0008] Optionally, the energy recovery and release structure includes a pump set and a fluid pressure energy storage device. The pump set includes at least one of a pump and a motor. The pump set is mechanically connected to the flywheel of the engine and mechanically connected to the fluid pressure energy storage device. Based on the difference, PID closed-loop control is performed on the actual speed change rate to ensure that the controlled difference is within a predetermined range, so that the energy recovery and release structure collects the mechanical energy and converts the mechanical energy into the first predetermined energy. This includes: based on the difference, performing PID closed-loop control on the actual speed change rate to ensure that the controlled difference is within a predetermined range, so that the pump set collects the mechanical energy and converts the mechanical energy into a third predetermined value of fluid energy before storing it in the fluid pressure energy storage device.

[0009] Optionally, based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy in the predetermined relationship that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure are determined as the target parameters of the energy recovery and release structure. This includes: based on the torque to be compensated, the total fluid energy currently stored in the fluid pressure accumulator, and a second sub-predetermined relationship, determining the pump swing angle corresponding to the torque and fluid energy in the second sub-predetermined relationship that are the same as the torque to be compensated and the total fluid energy currently stored in the fluid pressure accumulator as the target pump swing angle of the pump group. The predetermined relationship characterizes the relationship between the torque to be compensated by the engine, the total fluid energy currently stored in the fluid pressure accumulator, and the pump swing angle. Controlling the energy recovery and release structure to operate with the target parameters to convert the second predetermined energy in the energy recovery and release structure into mechanical energy and provide it to the engine includes: controlling the pump group to operate with the target pump swing angle to convert the fluid energy of the fourth predetermined value in the fluid pressure accumulator into mechanical energy and provide the converted mechanical energy to the engine.

[0010] Optionally, after performing closed-loop control on the actual speed change rate according to the set speed change rate, and before determining the difference between the gearbox demand torque and the actual output torque as the torque to be compensated based on the gearbox demand torque and the engine actual output torque, the method further includes: adjusting the gearbox to the target gear value to adjust the vehicle speed to the target speed.

[0011] According to another aspect of this application, a vehicle control device is provided. The vehicle includes an engine and an energy recovery and release structure connected to the flywheel of the engine. The device includes: an acquisition unit for acquiring the actual speed change rate of the engine after disengaging from gear and when the engine speed decreases; a first control unit for performing closed-loop control on the actual speed change rate according to a set speed change rate, so that the energy recovery and release structure collects the mechanical energy of the engine corresponding to the decrease in speed according to the controlled actual speed change rate, and converts the mechanical energy into a first predetermined energy; and a first determination unit for determining, when gear engagement is completed, the difference between the gearbox required torque and the actual output torque as the torque to be compensated, based on the gearbox required torque and the actual output torque of the engine. The second determining unit is used to determine, based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure in the predetermined relationship are the target parameters of the energy recovery and release structure. The predetermined relationship characterizes the relationship between the torque to be compensated in the engine, the total energy currently stored in the energy recovery and release structure, and the operating parameters. The second controlling unit is used to control the energy recovery and release structure to operate with the target parameters to convert a second predetermined energy in the energy recovery and release structure into mechanical energy and provide it to the engine. The second predetermined energy is the energy value corresponding to the torque to be compensated, and the second predetermined energy is less than or equal to the total energy currently stored in the energy recovery and release structure.

[0012] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0013] According to another aspect of this application, an electronic control unit is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of the methods.

[0014] By applying the technical solution of this application, the mechanical energy of the engine speed drop after disengaging from gear is fully utilized. By collecting and storing this mechanical energy, and then releasing it to the engine after shifting gears, torque compensation for the engine after shifting gears is achieved. This solves the problem in the prior art where insufficient intake pressure after shifting gears leads to insufficient fuel injection quantity being limited by smoke and fuel quantity, resulting in insufficient engine power. It effectively avoids problems such as engine stalling due to insufficient engine power. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for performing a vehicle control method according to an embodiment of this application is shown;

[0017] Figure 2 A schematic flowchart of a vehicle control method according to an embodiment of this application is shown;

[0018] Figure 3 A schematic diagram of a vehicle partial structure including an engine, according to an embodiment of this application, is shown.

[0019] Figure 4 A schematic diagram of another vehicle section structure including an engine, provided according to an embodiment of this application, is shown;

[0020] Figure 5 A schematic flowchart of a PID closed-loop control of a motor according to an embodiment of this application is shown;

[0021] Figure 6 A schematic flowchart illustrating a process for determining a set current for a motor, according to an embodiment of this application, is shown.

[0022] Figure 7 A schematic diagram of another vehicle section structure including an engine, provided according to an embodiment of this application, is shown;

[0023] Figure 8 A schematic flowchart of a PID closed-loop control of a pump unit according to an embodiment of this application is shown.

[0024] Figure 9 A schematic flowchart illustrating a method for determining the pump swing angle of a pump unit according to an embodiment of this application is shown.

[0025] Figure 10A schematic diagram of a vehicle control flow according to an embodiment of this application is shown;

[0026] Figure 11 A structural block diagram of a vehicle control device according to an embodiment of this application is shown.

[0027] The above figures include the following reference numerals:

[0028] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device; 20. Engine; 21. Energy recovery and release structure; 22. Gearbox; 23. Clutch; 24. Electronic control unit; 211. Motor; 212. Energy storage device; 213. Pump assembly; 214. Fluid pressure accumulator. Detailed Implementation

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0031] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] As described in the background section, in the prior art, vehicles may experience insufficient engine power for a short period of time during gear shifting. To solve the above problem, embodiments of this application provide a vehicle control method, control device, computer-readable storage medium, and electronic control unit.

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0034] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a vehicle control method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0035] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the vehicle control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the method described. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of such networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0036] This embodiment provides a vehicle control method that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0037] Figure 2 This is a flowchart of a vehicle control method according to an embodiment of this application. The entity executing the vehicle control method of this application can be, for example,... Figure 3 The vehicle's electronic control unit 24 is shown. Figure 3 This is a partial structural schematic diagram of a vehicle according to an embodiment of this application, such as... Figure 3 As shown, the vehicle includes an engine 20, and the vehicle also includes an energy recovery and release structure 21, which is connected to the flywheel of the engine 20. Figure 2 As shown, the method includes the following steps:

[0038] Step S201: After disengaging the gear and the engine speed decreases, obtain the actual rate of change of engine speed;

[0039] Specifically, "disengaging the gear" refers to shifting the gearbox to neutral before turning off the engine. The actual engine speed change rate refers to the change in engine speed per unit time. This can be obtained by collecting engine speed data over a period of time and calculating the ratio of the change in speed over that period to the duration of that period. Engine speed can be collected by a speed sensor, specifically by a speed sensor installed on the engine blades.

[0040] Step S202: According to the set speed change rate, the actual speed change rate is controlled in a closed loop so that the energy recovery and release structure collects the mechanical energy of the engine corresponding to the decrease in speed according to the controlled actual speed change rate, and converts the mechanical energy into a first predetermined energy.

[0041] Specifically, the energy recovery and release structure collects the energy released by the engine flywheel as the engine speed decreases according to the controlled rate of change of the actual speed. The engine flywheel has a large moment of inertia; as the engine speed decreases, the flywheel's kinetic energy decreases, releasing energy. The energy recovery and release structure connected to the flywheel can collect this released energy. The first predetermined energy refers to the energy value of the predetermined energy converted from the collected mechanical energy by the energy recovery and release structure during this energy recovery process. This predetermined energy can be electrical energy or other types of energy, determined specifically by the conversion principle of the energy recovery and release structure. For example, if the energy recovery and release structure includes a motor, its conversion principle is to convert mechanical energy into electrical energy.

[0042] Step S203: After gear engagement is completed, the difference between the required torque of the transmission and the actual output torque of the engine is determined as the torque to be compensated based on the required torque of the transmission and the actual output torque of the engine.

[0043] Specifically, the required torque of the transmission refers to the engine torque corresponding to the target gear of the transmission. The target gear refers to the gear position of the transmission after shifting. The engine torque can be measured using the torque beam method, specifically by a torque sensor mounted on the engine's output shaft. The engine torque can also be measured using other methods, which are not specifically required in this application. The torque to be compensated is the smoke-limiting torque. During the actual shifting process, as the engine speed drops after disengaging, the turbocharger pressure continuously decreases. As the drop time increases, the pressure reduction duration also increases. This results in a relatively low turbocharger pressure after shifting, leading to insufficient engine intake pressure. Consequently, the actual fuel injection quantity is limited by the smoke-limiting fuel quantity, resulting in insufficient engine power for a period of time.

[0044] Step S204: Based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, determine the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure in the predetermined relationship as the target parameters of the energy recovery and release structure. The predetermined relationship characterizes the relationship between the torque to be compensated in the engine, the total energy currently stored in the energy recovery and release structure, and the operating parameters.

[0045] Specifically, the predetermined relationship can be obtained by pre-calibrating the engine's torque to be compensated, the total energy stored in the energy recovery and release structure, and the operating parameters of the energy recovery and release structure. If the first predetermined energy and the total energy currently stored in the energy recovery and release structure belong to the same energy recovery and release process, then the first predetermined energy is less than or equal to the total energy. If the first predetermined energy and the total energy currently stored in the energy recovery and release structure belong to different energy recovery and release processes, then the first predetermined energy can be greater than, less than, or equal to the total energy. The operating parameters are the parameter values ​​when the energy recovery and release structure releases energy, and the magnitude of the operating parameters is related to the amount of energy released by the energy recovery and release structure.

[0046] Specifically, the torque that is the same as the torque to be compensated in the predetermined relationship is determined, and the energy that is the same as the total energy currently stored in the energy recovery and release structure in the predetermined relationship is determined. The working parameters corresponding to the determined torque and energy in the predetermined relationship are the target parameters.

[0047] Step S205: Control the energy recovery and release structure to operate with the target parameters to convert the second predetermined energy in the energy recovery and release structure into mechanical energy and provide it to the engine. The second predetermined energy is the energy value corresponding to the torque to be compensated. The second predetermined energy is less than or equal to the total energy currently stored in the energy recovery and release structure.

[0048] Specifically, the second predetermined energy refers to the energy corresponding to the torque to be compensated. In other words, when the second predetermined energy is converted into the corresponding mechanical energy and provided to the engine, the torque of the engine can be compensated, and the compensated torque is equal to the torque to be compensated.

[0049] In this embodiment, the actual engine speed change rate is first obtained after disengaging the gear and the engine speed decreases. Then, closed-loop control is performed on the actual speed change rate based on a set speed change rate, allowing the energy recovery and release structure to collect the mechanical energy generated by the engine speed decrease after the control is applied, and convert this mechanical energy into a first predetermined energy. Next, after gear engagement is completed, the difference between the transmission's required torque and the engine's actual output torque is determined as the torque to be compensated. Then, the target parameters of the energy recovery and release structure are determined based on three parameters: the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship. Finally, the energy recovery and release structure is controlled to operate with these target parameters to convert the second predetermined energy in the energy recovery and release structure into mechanical energy, which is then provided to the engine. This application fully utilizes the mechanical energy generated by the engine speed drop after disengaging the gear. By collecting and storing this mechanical energy, and then releasing it to the engine after gear engagement, torque compensation for the engine after gear engagement is achieved. This solves the problem in the prior art where insufficient intake pressure after gear engagement leads to insufficient fuel injection quantity limited by smoke volume, resulting in insufficient engine power. It effectively avoids problems such as engine stalling due to insufficient engine power.

[0050] like Figure 3 As shown, the vehicle also includes a clutch 23 and a transmission 22. The driving portion of the clutch 23 is connected to the flywheel of the engine 20, and the driven portion of the clutch 23 is connected to the transmission 22. The power input from the engine 20 to the transmission 22 is cut off or transmitted by controlling the clutch 23.

[0051] The correspondence can be stored in tabular form or other forms. Specifically, based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure in the predetermined relationship are determined as the target parameters of the energy recovery and release structure. This includes: based on the torque to be compensated and the currently stored total energy, searching in the correspondence table for the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy, to obtain the target parameters. The correspondence table includes multiple arrays, each array including: the torque, the energy, and the operating parameters. Determining the target parameters by looking up the table further accelerates data processing speed and simplifies processing complexity.

[0052] In addition to the methods described above, in other embodiments, based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy in the predetermined relationship that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure are determined as the target parameters of the energy recovery and release structure. This includes: establishing a neural network model representing the correspondence, wherein the neural network model is trained using multiple sets of data through machine learning, and each set of data includes: the engine torque, the total energy stored in the energy recovery and release structure, and the operating parameters of the energy recovery and release structure; inputting the torque to be compensated and the currently stored total energy into the neural network model to obtain the target parameters.

[0053] It should be noted that energy compensation for the engine is only required when the torque to be compensated is greater than 0. That is, based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure in the predetermined relationship are determined as the target parameters of the energy recovery and release structure. This includes: when the torque to be compensated is greater than 0, based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, determining the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure in the predetermined relationship as the target parameters.

[0054] In one optional embodiment, closed-loop control is performed on the actual speed change rate according to a set speed change rate, so that the energy recovery and release structure collects the mechanical energy of the engine corresponding to the decrease in speed according to the controlled actual speed change rate, and converts the mechanical energy into a first predetermined energy. This includes: calculating the difference between the actual speed change rate and the set speed change rate; and performing PID closed-loop control on the actual speed change rate based on the difference, ensuring that the controlled difference is within a predetermined range, so that the energy recovery and release structure collects the mechanical energy and converts it into the first predetermined energy. In this embodiment, by using PID closed-loop control of the actual speed change rate, the controlled actual speed change rate is approximately equal to the set speed change rate, thereby ensuring that the engine speed decreases smoothly according to the set speed change rate. This further ensures that the flywheel can release energy smoothly, further achieving energy recovery while avoiding the engine noise and vibration instability caused by the free fall of engine speed, thus improving comfort. In addition, by controlling the actual rate of change of engine speed, the engine speed drop time can be shortened, which can shorten the shift time and the time for the engine turbocharger pressure to decrease. This can effectively prevent the turbocharger intake pressure from being too low, thereby further mitigating the impact of smoke limitation on engine power.

[0055] Specifically, the torque to be compensated is the limiting torque of the smoke limit. In the actual shifting process, after the engine speed drops after the gear is disengaged, the pressure of the turbocharger continues to decrease. As the drop time increases, the pressure reduction time also increases. Thus, after the gear is engaged, the turbocharger pressure becomes relatively low, resulting in insufficient engine intake pressure. Consequently, the actual fuel injection quantity is limited by the smoke limit fuel quantity, causing insufficient engine power for a period of time.

[0056] In practical applications, those skilled in the art can set the threshold of the predetermined range based on experience, or obtain it through multiple experiments; this application does not impose specific limitations in this regard. It should be noted that the set rate of change of engine speed is greater than the rate of change of engine speed when the engine speed is not controlled after shifting out of gear, that is, when the engine speed freely drops.

[0057] According to some other exemplary embodiments of this application, such as Figure 4 and Figure 5As shown, the energy recovery and release structure 21 includes a motor 211 and an energy storage device 212. The motor 211 is mechanically connected to the flywheel of the engine 20, and the motor 211 is electrically connected to the energy storage device 212. Specifically, the first end of the motor is electrically connected to the first end of the energy storage device, and the second end of the motor and the second end of the energy storage device are respectively grounded. Based on the difference, PID closed-loop control is performed on the actual speed change rate to ensure that the controlled difference is within a predetermined range, so that the energy recovery and release structure 21 collects the mechanical energy and converts the mechanical energy into the first predetermined energy. This includes: based on the difference, performing PID closed-loop control on the actual speed change rate to ensure that the controlled difference is within a predetermined range, so that the motor 211 collects the mechanical energy, converts the mechanical energy into the first predetermined value of electrical energy, and stores it in the energy storage device 212. In this embodiment, the actual speed change rate is controlled by a PID closed-loop system, ensuring that the controlled actual speed change rate is approximately equal to the set speed change rate. This guarantees that the engine speed decreases smoothly according to the set rate, further ensuring that the flywheel can release energy smoothly. While further achieving energy recovery, this avoids the engine noise and vibration instability caused by the free fall of engine speed, thus improving comfort. Furthermore, by controlling the actual speed change rate to shorten the engine speed fall time, shift time and turbocharger pressure reduction time can be shortened. This effectively prevents excessively low turbocharger intake pressure, further mitigating the impact of smoke limitations on engine power.

[0058] Specifically, in the energy recovery process, the motor acts as a generator, collecting the mechanical energy generated by the reduced speed of the controlled engine, converting this mechanical energy into a first predetermined value of electrical energy, and storing it in an energy storage device. The energy storage device can be any suitable structure for storing electrical energy in the prior art, such as a capacitor, inductor, etc. In the embodiments of this application, the energy storage device is a supercapacitor.

[0059] Furthermore, such as Figure 6As shown, based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy in the predetermined relationship that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure are determined as the target parameters of the energy recovery and release structure. This includes: based on the torque to be compensated, the total electrical energy currently stored in the energy storage device, and a first sub-predetermined relationship, determining the set current corresponding to the torque and electrical energy in the first sub-predetermined relationship that are the same as the torque to be compensated and the total electrical energy currently stored in the energy storage device as the target set current of the motor. By determining the target set current of the motor corresponding to the current torque to be compensated through the first sub-predetermined relationship, the motor operation can be controlled according to this target set current. This allows for more precise release of the energy corresponding to the torque to be compensated from the energy storage device to the engine, avoiding excessive energy release leading to energy waste, and insufficient energy release resulting in insufficient engine power compensation and insufficient engine kinetic energy.

[0060] To further achieve precise compensation for engine power, in this embodiment, the energy recovery and release structure is controlled to operate with the target parameters to convert the second predetermined energy in the energy recovery and release structure into mechanical energy and provide it to the engine. This includes controlling the motor to operate with the target set current to convert the electrical energy of the second predetermined value in the energy storage into mechanical energy, and providing the converted mechanical energy to the engine. During the energy release process, the motor, acting as a motor, converts the electrical energy of the second predetermined value in the energy storage into mechanical energy, further compensating for the torque limitation caused by engine smoke opacity. By controlling the motor to operate with the target set current, energy can be smoothly released according to the torque limitation caused by smoke opacity, further ensuring driving comfort and engine power.

[0061] In some other alternatives to this application, such as Figure 7 and Figure 8As shown, the energy recovery and release structure 21 includes a pump set 213 and a fluid pressure energy storage device 214. The pump set 213 includes at least one of a pump and a motor. The pump set 213 is mechanically connected to the flywheel of the engine 20. The pump set 213 is mechanically connected to the fluid pressure energy storage device 214. Based on the difference, the actual speed change rate is subjected to PID closed-loop control so that the controlled difference is within a predetermined range, so that the energy recovery and release structure 21 collects the mechanical energy and converts the mechanical energy into the first predetermined energy. This includes: based on the difference, performing PID closed-loop control on the actual speed change rate so that the controlled difference is within a predetermined range, so that the pump set 213 collects the mechanical energy and converts the mechanical energy into a third predetermined value of fluid energy and stores it in the fluid pressure energy storage device 214. In this embodiment, the actual speed change rate is controlled by a PID closed-loop system, ensuring that the controlled actual speed change rate is approximately equal to the set speed change rate. This guarantees that the engine speed decreases smoothly according to the set rate, further ensuring that the flywheel can release energy smoothly. While further achieving energy recovery, this avoids the engine noise and vibration instability caused by the free fall of engine speed, thus improving comfort. Furthermore, by controlling the actual speed change rate to shorten the engine speed fall time, shift time and turbocharger pressure reduction time can be shortened. This effectively prevents excessively low turbocharger intake pressure, further mitigating the impact of smoke limitations on engine power.

[0062] Specifically, the pump set can be a pump, a motor, or a combination of a pump and a motor. The fluid pressure energy storage device can be any suitable structure for storing fluid energy in the prior art, such as a hydraulic energy storage device, a pneumatic energy storage device, etc. In the embodiments of this application, the fluid pressure energy storage device is a hydraulic energy storage device, and the pump set is a secondary component of a pump motor.

[0063] Furthermore, such as Figure 9As shown, based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy in the predetermined relationship that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure are determined as the target parameters of the energy recovery and release structure. This includes: based on the torque to be compensated, the total fluid energy currently stored in the fluid pressure accumulator, and a second sub-predetermined relationship, determining the pump swing angle corresponding to the torque and fluid energy in the second sub-predetermined relationship that are the same as the torque to be compensated and the total fluid energy currently stored in the fluid pressure accumulator as the target pump swing angle of the pump group. By determining the target pump swing angle of the pump group corresponding to the current torque to be compensated through the second sub-predetermined relationship, the operation of the pump group can be controlled according to the target pump swing angle. This allows for more precise release of the energy corresponding to the torque to be compensated from the fluid pressure accumulator to the engine, avoiding excessive energy release leading to energy waste, and insufficient energy release resulting in insufficient engine power compensation and insufficient engine kinetic energy.

[0064] To further achieve precise compensation for engine power, in this embodiment, the energy recovery and release structure is controlled to operate at the target parameters to convert the second predetermined energy in the energy recovery and release structure into mechanical energy and provide it to the engine. This includes controlling the pump assembly to operate at the target pump swing angle to convert the fluid energy of the fourth predetermined value in the fluid pressure accumulator into mechanical energy, and providing the converted mechanical energy to the engine. During the energy release process, the pump assembly converts the fourth predetermined value of fluid energy in the fluid pressure accumulator into mechanical energy, further compensating for the torque limitation caused by engine smoke opacity. By controlling the pump assembly to operate at the target pump swing angle, energy can be smoothly released according to the smoke opacity-limited torque, further ensuring driving comfort and engine power.

[0065] In this embodiment of the application, after step S202: performing closed-loop control on the actual speed change rate according to the set speed change rate, and before step S203: determining the difference between the gearbox demand torque and the actual output torque as the torque to be compensated based on the gearbox demand torque and the engine actual output torque, the method further includes: adjusting the gearbox to the target gear value to adjust the vehicle speed to the target speed. This achieves speed adjustment and gear shifting for the vehicle.

[0066] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the vehicle control method of this application will be described in detail below with reference to specific embodiments.

[0067] This embodiment relates to a specific vehicle control method, such as... Figure 10As shown, the specific vehicle control method includes the following steps:

[0068] Step S1: Control the engine torque to zero by controlling the clutch to disconnect the power connection between the transmission and the engine;

[0069] Step S2: Obtain the actual rate of change of engine speed after disengaging the gear and when the engine speed decreases;

[0070] Step S3: Perform closed-loop control on the actual speed change rate according to the set speed change rate, so that the energy recovery and release structure collects the mechanical energy of the engine corresponding to the decrease in speed according to the controlled actual speed change rate, and converts the mechanical energy into the first predetermined energy.

[0071] Step S4: Control the gearbox to the target gear value to adjust the vehicle speed to the target speed;

[0072] Step S5: After shifting gears, determine the difference between the required torque of the transmission and the actual output torque of the engine as the torque to be compensated. Determine the target parameters based on three parameters: the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and the predetermined relationship.

[0073] Step S6: Control the energy recovery and release structure to operate at the target parameters to convert the second predetermined energy in the energy recovery and release structure into mechanical energy to be supplied to the engine.

[0074] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0075] This application also provides a vehicle control device. It should be noted that the vehicle control device of this application can be used to execute the vehicle control method provided in this application. This device is used to implement the embodiments and preferred embodiments described herein, and details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0076] The following describes the vehicle control device provided in the embodiments of this application.

[0077] Figure 11 This is a schematic diagram of a vehicle control device according to an embodiment of this application. The execution entity of the vehicle control device of this application can be as follows: Figure 3 The vehicle's electronic control unit 24 is shown. Figure 3 This is a partial structural schematic diagram of a vehicle according to an embodiment of this application, such as... Figure 3 As shown, the vehicle includes an engine 20, and the vehicle also includes an energy recovery and release structure 21, which is connected to the flywheel of the engine 20. Figure 11 As shown, the device includes:

[0078] The acquisition unit 10 is used to acquire the actual rate of change of engine speed when the engine speed decreases after the gear is disengaged.

[0079] Specifically, "disengaging the gear" refers to shifting the gearbox to neutral before turning off the engine. The actual engine speed change rate refers to the change in engine speed per unit time. This can be obtained by collecting engine speed data over a period of time and calculating the ratio of the change in speed over that period to the duration of that period. Engine speed can be collected by a speed sensor, specifically by a speed sensor installed on the engine blades.

[0080] The first control unit 11 is used to perform closed-loop control on the actual speed change rate according to the set speed change rate, so that the energy recovery and release structure collects the mechanical energy of the engine corresponding to the decrease in speed according to the controlled actual speed change rate, and converts the mechanical energy into a first predetermined energy.

[0081] Specifically, the energy recovery and release structure collects the energy released by the engine flywheel as the engine speed decreases according to the controlled rate of change of the actual speed. The engine flywheel has a large moment of inertia; as the engine speed decreases, the flywheel's kinetic energy decreases, releasing energy. The energy recovery and release structure connected to the flywheel can collect this released energy. The first predetermined energy refers to the energy value of the predetermined energy converted from the collected mechanical energy by the energy recovery and release structure during this energy recovery process. This predetermined energy can be electrical energy or other types of energy, determined specifically by the conversion principle of the energy recovery and release structure. For example, if the energy recovery and release structure includes a motor, its conversion principle is to convert mechanical energy into electrical energy.

[0082] The first determining unit 12 is used to determine, when the gear shift is completed, the difference between the required torque of the gearbox and the actual output torque of the engine as the torque to be compensated, based on the required torque of the gearbox and the actual output torque of the engine.

[0083] Specifically, the required torque of the transmission refers to the engine torque corresponding to the target gear of the transmission. The target gear refers to the gear position of the transmission after shifting. The engine torque can be measured using the torque beam method, specifically by a torque sensor mounted on the engine's output shaft. The engine torque can also be measured using other methods, which are not specifically required in this application. The torque to be compensated is the smoke-limiting torque. During the actual shifting process, as the engine speed drops after disengaging, the turbocharger pressure continuously decreases. As the drop time increases, the pressure reduction duration also increases. This results in a relatively low turbocharger pressure after shifting, leading to insufficient engine intake pressure. Consequently, the actual fuel injection quantity is limited by the smoke-limiting fuel quantity, resulting in insufficient engine power for a period of time.

[0084] The second determining unit 13 is used to determine, based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure in the predetermined relationship as the target parameters of the energy recovery and release structure. The predetermined relationship characterizes the relationship between the torque to be compensated in the engine, the total energy currently stored in the energy recovery and release structure, and the operating parameters.

[0085] Specifically, the predetermined relationship can be obtained by pre-calibrating the engine's torque to be compensated, the total energy stored in the energy recovery and release structure, and the operating parameters of the energy recovery and release structure. If the first predetermined energy and the total energy currently stored in the energy recovery and release structure belong to the same energy recovery and release process, then the first predetermined energy is less than or equal to the total energy. If the first predetermined energy and the total energy currently stored in the energy recovery and release structure belong to different energy recovery and release processes, then the first predetermined energy can be greater than, less than, or equal to the total energy. The operating parameters are the parameter values ​​when the energy recovery and release structure releases energy, and the magnitude of the operating parameters is related to the amount of energy released by the energy recovery and release structure.

[0086] Specifically, the torque that is the same as the torque to be compensated in the predetermined relationship is determined, and the energy that is the same as the total energy currently stored in the energy recovery and release structure in the predetermined relationship is determined. The working parameters corresponding to the determined torque and energy in the predetermined relationship are the target parameters.

[0087] The second control unit 14 is used to control the energy recovery and release structure to operate with the target parameters, so as to convert the second predetermined energy in the energy recovery and release structure into mechanical energy and provide it to the engine. The second predetermined energy is the energy value corresponding to the torque to be compensated. The second predetermined energy is less than or equal to the total energy currently stored in the energy recovery and release structure.

[0088] Specifically, the second predetermined energy refers to the energy corresponding to the torque to be compensated. In other words, when the second predetermined energy is converted into the corresponding mechanical energy and provided to the engine, the torque of the engine can be compensated, and the compensated torque is equal to the torque to be compensated.

[0089] In the aforementioned embodiment, the acquisition unit acquires the actual engine speed change rate when the engine speed decreases after disengaging from gear; the first control unit performs closed-loop control on the actual speed change rate according to the set speed change rate, enabling the energy recovery and release structure to collect the mechanical energy generated by the engine speed decrease after control and convert this mechanical energy into a first predetermined energy; the first determination unit determines the difference between the transmission's required torque and the engine's actual output torque as the torque to be compensated when the gear is engaged; the second determination unit determines the target parameters of the energy recovery and release structure based on three parameters: the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship; the second control unit controls the energy recovery and release structure to operate with these target parameters, converting the second predetermined energy in the energy recovery and release structure into mechanical energy and providing this mechanical energy to the engine. This application makes full use of the mechanical energy of the engine speed drop after disengaging from gear. By collecting and storing this mechanical energy, and then releasing it to the engine after shifting gears, torque compensation for the engine after shifting gears is achieved. This solves the problem in the prior art where insufficient intake pressure after shifting gears leads to insufficient fuel injection quantity being limited by smoke and fuel quantity, resulting in insufficient engine power. It effectively avoids problems such as engine stalling due to insufficient engine power.

[0090] like Figure 3 As shown, the vehicle also includes a clutch 23 and a transmission 22. The driving portion of the clutch 23 is connected to the flywheel of the engine 20, and the driven portion of the clutch 23 is connected to the transmission 22. The power input from the engine 20 to the transmission 22 is cut off or transmitted by controlling the clutch 23.

[0091] The correspondence can be stored in tabular form or other forms. Specifically, the second determining unit includes a lookup module, used to look up the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy currently stored in the correspondence table, to obtain the target parameters. The correspondence table includes multiple arrays, each array including: the torque, the energy, and the operating parameters. Determining the target parameters by looking up the table further accelerates data processing and simplifies processing complexity.

[0092] In addition to the aforementioned method, in other embodiments, the second determining unit includes: a building module, used to build a neural network model representing the correspondence, wherein the neural network model is trained using multiple sets of data through machine learning, and each set of data includes: the engine's torque, the total energy stored in the energy recovery and release structure, and the operating parameters of the energy recovery and release structure; and an input module, used to input the torque to be compensated and the currently stored total energy into the neural network model to obtain the target parameters.

[0093] It should be noted that energy compensation for the engine is only required when the torque to be compensated is greater than 0. That is, the second determining unit includes a third determining module, which is used to determine the operating parameter corresponding to the torque and the energy that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure in the predetermined relationship when the torque to be compensated is greater than 0, based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship.

[0094] In one optional embodiment, the first control unit includes: a calculation module for calculating the difference between the actual speed change rate and the set speed change rate; and a first control module for performing PID closed-loop control on the actual speed change rate based on the difference, so that the controlled difference is within a predetermined range, enabling the energy recovery and release structure to collect the mechanical energy and convert it into the first predetermined energy. In this embodiment, by using PID closed-loop control of the actual speed change rate, the controlled actual speed change rate is made approximately equal to the set speed change rate, thereby ensuring that the engine speed decreases smoothly according to the set speed change rate. This further ensures that the flywheel can release energy smoothly, further achieving energy recovery while avoiding the engine noise and vibration instability caused by the free fall of engine speed, thus improving comfort. Furthermore, by controlling the actual speed change rate to shorten the engine speed fall time, the shift time and the time for the engine turbocharger pressure to decrease can be shortened, effectively preventing excessively low turbocharger intake pressure and further mitigating the impact of smoke restrictions on engine power.

[0095] Specifically, the torque to be compensated is the limiting torque of the smoke limit. In the actual shifting process, after the engine speed drops after the gear is disengaged, the pressure of the turbocharger continues to decrease. As the drop time increases, the pressure reduction time also increases. Thus, after the gear is engaged, the turbocharger pressure becomes relatively low, resulting in insufficient engine intake pressure. Consequently, the actual fuel injection quantity is limited by the smoke limit fuel quantity, causing insufficient engine power for a period of time.

[0096] In practical applications, those skilled in the art can set the threshold of the predetermined range based on experience, or obtain it through multiple experiments; this application does not impose specific limitations in this regard. It should be noted that the set rate of change of engine speed is greater than the rate of change of engine speed when the engine speed is not controlled after shifting out of gear, that is, when the engine speed freely drops.

[0097] According to some other exemplary embodiments of this application, such as Figure 4 and Figure 5As shown, the energy recovery and release structure 21 includes a motor 211 and an energy storage device 212. The motor 211 is mechanically connected to the flywheel of the engine 20, and electrically connected to the energy storage device 212. Specifically, the first end of the motor is electrically connected to the first end of the energy storage device, and the second end of the motor and the second end of the energy storage device are respectively grounded. The first control module includes a first control submodule, used to perform PID closed-loop control on the actual speed change rate based on the difference, so that the controlled difference is within a predetermined range. This allows the motor 211 to collect the mechanical energy, convert it into a first predetermined value of electrical energy, and store it in the energy storage device 212. In this embodiment, by using PID closed-loop control of the actual speed change rate, the controlled actual speed change rate is approximately equal to the set speed change rate, thereby ensuring that the engine speed can decrease smoothly according to the set speed change rate. This further ensures that the flywheel can release energy smoothly. While further realizing energy recovery, it avoids the problems of engine noise and vibration instability caused by the free fall of engine speed, thus improving comfort. In addition, by controlling the actual rate of change of engine speed, the engine speed drop time can be shortened, which can shorten the shift time and the time for the engine turbocharger pressure to decrease. This can effectively prevent the turbocharger intake pressure from being too low, thereby further mitigating the impact of smoke limitation on engine power.

[0098] Specifically, in the energy recovery process, the motor acts as a generator, collecting the mechanical energy generated by the reduced speed of the controlled engine, converting this mechanical energy into a first predetermined value of electrical energy, and storing it in an energy storage device. The energy storage device can be any suitable structure for storing electrical energy in the prior art, such as a capacitor, inductor, etc. In the embodiments of this application, the energy storage device is a supercapacitor.

[0099] Furthermore, the second determining unit includes: a first determining module, configured to determine, based on the torque to be compensated, the total electrical energy currently stored in the energy storage device, and a first sub-predetermined relationship, a set current corresponding to the torque and electrical energy that are the same as the torque to be compensated and the total electrical energy currently stored in the energy storage device, as the target set current of the motor. By determining the target set current of the motor corresponding to the current torque to be compensated through the first sub-predetermined relationship, the motor operation can be controlled according to this target set current. This allows for more precise release of the energy corresponding to the torque to be compensated from the energy storage device to the engine, avoiding excessive energy release leading to energy waste, and insufficient energy release resulting in inadequate engine power compensation and insufficient engine kinetic energy.

[0100] To further achieve precise compensation for engine power, in this embodiment, the second control unit includes a second control module, used to control the motor to operate at the target set current, converting electrical energy of a second predetermined value in the energy storage into mechanical energy, and providing the converted mechanical energy to the engine. During energy release, the motor, acting as a motor, converts the second predetermined value of electrical energy in the energy storage into mechanical energy, further compensating for the torque limitation caused by engine smoke opacity. By controlling the motor to operate at the target set current, energy can be smoothly released according to the smoke opacity-limited torque, further ensuring driving comfort and engine power.

[0101] In some other alternatives to this application, such as Figure 7 and Figure 8 As shown, the energy recovery and release structure 21 includes a pump set 213 and a fluid pressure energy storage device 214. The pump set 213 includes at least one of a pump and a motor. The pump set 213 is mechanically connected to the flywheel of the engine 20, and the pump set 213 is mechanically connected to the fluid pressure energy storage device 214. The first control module includes a second control submodule, used to perform PID closed-loop control on the actual speed change rate according to the difference, so that the controlled difference is within a predetermined range, so that the pump set 213 collects the mechanical energy, converts the mechanical energy into a third predetermined value of fluid energy, and stores it in the fluid pressure energy storage device 214. In this embodiment, by using PID closed-loop control of the actual speed change rate, the controlled actual speed change rate is basically equal to the set speed change rate, thereby ensuring that the engine speed can decrease smoothly according to the set speed change rate, further ensuring that the flywheel can release energy smoothly. While further realizing energy recovery, it avoids the problems of engine noise and vibration instability caused by the free fall of engine speed, which can improve comfort. In addition, by controlling the actual rate of change of engine speed, the engine speed drop time can be shortened, which can shorten the shift time and the time for the engine turbocharger pressure to decrease. This can effectively prevent the turbocharger intake pressure from being too low, thereby further mitigating the impact of smoke limitation on engine power.

[0102] Specifically, the pump set can be a pump, a motor, or a combination of a pump and a motor. The fluid pressure energy storage device can be any suitable structure for storing fluid energy in the prior art, such as a hydraulic energy storage device, a pneumatic energy storage device, etc. In the embodiments of this application, the fluid pressure energy storage device is a hydraulic energy storage device, and the pump set is a secondary component of a pump motor.

[0103] Further, the second determining unit includes a second determining module, configured to determine, based on the torque to be compensated, the total fluid energy currently stored in the fluid pressure accumulator, and a second sub-predetermined relationship, the pump swing angle corresponding to the torque and fluid energy that are the same as the torque to be compensated and the total fluid energy currently stored in the fluid pressure accumulator in the second sub-predetermined relationship, as the target pump swing angle of the pump group. By determining the target pump swing angle of the pump group corresponding to the current torque to be compensated through the second sub-predetermined relationship, the operation of the pump group can be controlled according to this target pump swing angle. This allows for more precise release of the energy corresponding to the torque to be compensated from the fluid pressure accumulator to the engine, avoiding excessive energy release leading to energy waste, and insufficient energy release resulting in inadequate engine power compensation and insufficient engine kinetic energy.

[0104] To further achieve precise compensation for engine power, in this embodiment, the second control unit includes a third control module for controlling the pump assembly to operate at the target pump angle, converting the fluid energy in the fluid pressure accumulator by a fourth predetermined value into mechanical energy, and providing the converted mechanical energy to the engine. During energy release, the pump assembly converts the fluid energy in the fluid pressure accumulator by the fourth predetermined value into mechanical energy, further compensating for the torque limitation caused by engine smoke opacity. By controlling the pump assembly to operate at the target pump angle, energy can be released smoothly according to the smoke opacity-limited torque, further ensuring driving comfort and engine power.

[0105] In this embodiment, the device further includes an adjustment unit, configured to, after performing closed-loop control on the actual speed change rate according to a set speed change rate, and before determining the difference between the gearbox's required torque and the actual output torque as the torque to be compensated based on the gearbox's required torque and the engine's actual output torque, adjust the gearbox's gear to a target gear value to adjust the vehicle's speed to a target speed. This achieves speed adjustment and gear shifting for the vehicle.

[0106] The vehicle control device includes a processor and a memory. The acquisition unit, the first control unit, the first determination unit, the second determination unit, and the second control unit are all stored as program units in the memory. The processor executes the program units stored in the memory to implement the corresponding functions. All modules are located in the same processor; or, the modules are located in different processors in any combination.

[0107] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can at least address the problem of insufficient engine power during short periods of gear shifting in existing technologies.

[0108] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0109] This invention provides a computer-readable storage medium including a stored program, wherein the program, when executed, controls the device containing the computer-readable storage medium to perform a vehicle control method.

[0110] This invention provides a processor for running a program, wherein the program executes a vehicle control method during runtime.

[0111] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0112] Step S201: After disengaging the gear and the engine speed decreases, obtain the actual rate of change of engine speed;

[0113] Step S202: According to the set speed change rate, the actual speed change rate is controlled in a closed loop so that the energy recovery and release structure collects the mechanical energy of the engine corresponding to the decrease in speed according to the controlled actual speed change rate, and converts the mechanical energy into a first predetermined energy.

[0114] Step S203: After gear engagement is completed, the difference between the gearbox torque requirement and the actual output torque of the engine is determined as the torque to be compensated based on the gearbox torque requirement and the actual output torque of the engine.

[0115] Step S204: Based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, determine the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure in the predetermined relationship as the target parameters of the energy recovery and release structure. The predetermined relationship characterizes the relationship between the torque to be compensated in the engine, the total energy currently stored in the energy recovery and release structure, and the operating parameters.

[0116] Step S205: Control the energy recovery and release structure to operate with the target parameters to convert the second predetermined energy in the energy recovery and release structure into mechanical energy and provide it to the engine. The second predetermined energy is the energy value corresponding to the torque to be compensated, and the second predetermined energy is less than or equal to the total energy currently stored in the energy recovery and release structure.

[0117] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0118] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0119] Step S201: After disengaging the gear and the engine speed decreases, obtain the actual rate of change of engine speed;

[0120] Step S202: According to the set speed change rate, the actual speed change rate is controlled in a closed loop so that the energy recovery and release structure collects the mechanical energy of the engine corresponding to the decrease in speed according to the controlled actual speed change rate, and converts the mechanical energy into a first predetermined energy.

[0121] Step S203: After gear engagement is completed, the difference between the gearbox torque requirement and the actual output torque of the engine is determined as the torque to be compensated based on the gearbox torque requirement and the actual output torque of the engine.

[0122] Step S204: Based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, determine the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure in the predetermined relationship as the target parameters of the energy recovery and release structure. The predetermined relationship characterizes the relationship between the torque to be compensated in the engine, the total energy currently stored in the energy recovery and release structure, and the operating parameters.

[0123] Step S205: Control the energy recovery and release structure to operate with the target parameters to convert the second predetermined energy in the energy recovery and release structure into mechanical energy and provide it to the engine. The second predetermined energy is the energy value corresponding to the torque to be compensated, and the second predetermined energy is less than or equal to the total energy currently stored in the energy recovery and release structure.

[0124] According to another aspect of this application, an electronic control unit is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of the methods.

[0125] The electronic control unit is used to execute a control method for any vehicle. This method makes full use of the mechanical energy of the engine speed drop after disengaging from gear. By collecting and storing this mechanical energy, and then releasing it to the engine after shifting gears, torque compensation for the engine after shifting gears is achieved. This solves the problem in the prior art where insufficient intake pressure after shifting gears leads to insufficient fuel injection quantity, which is limited by smoke and fuel quantity, resulting in insufficient engine power. It effectively avoids problems such as engine stalling due to insufficient engine power.

[0126] It will be apparent to those skilled in the art that the modules or steps of the present invention can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using device-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular hardware and software combination.

[0127] 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.

[0128] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will 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... Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0129] 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.

[0130] 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.

[0131] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0132] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0133] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0134] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0135] As can be seen from the above description, the embodiments described in this application achieve the following technical effects:

[0136] In the vehicle control method of this application, firstly, after disengaging the gear and when the engine speed decreases, the actual speed change rate of the engine is obtained; then, closed-loop control is performed on the actual speed change rate according to the set speed change rate, so that the energy recovery and release structure collects the mechanical energy generated by the engine speed decrease after control and converts the mechanical energy into a first predetermined energy; then, after the gear engagement is completed, the difference between the required torque of the transmission and the actual output torque of the engine is determined as the torque to be compensated; then, the target parameters of the energy recovery and release structure are determined according to three parameters: the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and the predetermined relationship; finally, the energy recovery and release structure is controlled to operate with the target parameters to convert the second predetermined energy in the energy recovery and release structure into mechanical energy and provide the mechanical energy to the engine. This application makes full use of the mechanical energy of the engine speed drop after disengaging from gear. By collecting and storing this mechanical energy, and then releasing it to the engine after shifting gears, torque compensation for the engine after shifting gears is achieved. This solves the problem in the prior art where insufficient intake pressure after shifting gears leads to insufficient fuel injection quantity being limited by smoke and fuel quantity, resulting in insufficient engine power. It effectively avoids problems such as engine stalling due to insufficient engine power.

[0137] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling a vehicle, the vehicle including an engine, characterized in that, The vehicle further includes an energy recovery and release structure connected to the flywheel of the engine, and the method includes: After disengaging from gear and with the engine speed decreasing, the actual rate of change of engine speed is obtained; According to the set speed change rate, the actual speed change rate is controlled in a closed loop so that the energy recovery and release structure collects the mechanical energy of the engine corresponding to the decrease in speed according to the controlled actual speed change rate, and converts the mechanical energy into a first predetermined energy. Once gear engagement is complete, the difference between the gearbox's required torque and the engine's actual output torque is determined as the torque to be compensated. Based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure in the predetermined relationship are determined as the target parameters of the energy recovery and release structure. The predetermined relationship characterizes the relationship between the torque to be compensated in the engine, the total energy currently stored in the energy recovery and release structure, and the operating parameters. The energy recovery and release structure is controlled to operate with the target parameters to convert a second predetermined energy in the energy recovery and release structure into mechanical energy and provide it to the engine. The second predetermined energy is the energy value corresponding to the torque to be compensated, and the second predetermined energy is less than or equal to the total energy currently stored in the energy recovery and release structure.

2. The method according to claim 1, characterized in that, Based on a set rate of change in rotational speed, closed-loop control is performed on the actual rate of change in rotational speed to ensure that the energy recovery and release structure collects the mechanical energy of the engine corresponding to the decrease in rotational speed according to the controlled rate of change in actual rotational speed, and converts the mechanical energy into a first predetermined energy, including: Calculate the difference between the actual speed change rate and the set speed change rate; Based on the difference, the actual rotational speed change rate is subjected to PID closed-loop control so that the controlled difference is within a predetermined range, so that the energy recovery and release structure collects the mechanical energy and converts the mechanical energy into the first predetermined energy.

3. The method according to claim 2, characterized in that, The energy recovery and release structure includes a motor and an energy storage device, wherein the motor is mechanically connected to the flywheel of the engine, and the motor is electrically connected to the energy storage device. Based on the difference, PID closed-loop control is applied to the actual rotational speed change rate to ensure that the controlled difference is within a predetermined range, so that the energy recovery and release structure collects the mechanical energy and converts the mechanical energy into the first predetermined energy, including: Based on the difference, PID closed-loop control is performed on the actual speed change rate so that the controlled difference is within a predetermined range, so that the motor collects the mechanical energy and converts the mechanical energy into electrical energy of a first predetermined value and stores it in the electrical energy storage device.

4. The method according to claim 3, characterized in that, Based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy in the predetermined relationship that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure are determined as the target parameters of the energy recovery and release structure. This includes: based on the torque to be compensated, the total electrical energy currently stored in the electrical energy storage device, and a first sub-predetermined relationship, determining the set current corresponding to the torque and electrical energy in the first sub-predetermined relationship that are the same as the torque to be compensated and the total electrical energy currently stored in the electrical energy storage device as the target set current of the motor. The predetermined relationship characterizes the relationship between the torque to be compensated by the engine, the total electrical energy currently stored in the electrical energy storage device, and the set current. Controlling the energy recovery and release structure to operate at the target parameters to convert a second predetermined energy in the energy recovery and release structure into mechanical energy and supply it to the engine includes: controlling the motor to operate at the target set current to convert electrical energy of a second predetermined value in the energy storage into mechanical energy, and supplying the converted mechanical energy to the engine.

5. The method according to claim 2, characterized in that, The energy recovery and release structure includes a pump assembly and a fluid pressure accumulator. The pump assembly includes at least one of a pump and a motor. The pump assembly is mechanically connected to the flywheel of the engine and to the fluid pressure accumulator. Based on the difference, PID closed-loop control is applied to the actual rotational speed change rate to ensure that the controlled difference is within a predetermined range, so that the energy recovery and release structure collects the mechanical energy and converts the mechanical energy into the first predetermined energy, including: Based on the difference, the actual speed change rate is subjected to PID closed-loop control so that the controlled difference is within a predetermined range, so that the pump group collects the mechanical energy and converts the mechanical energy into a third predetermined value of fluid energy and stores it in the fluid pressure energy storage device.

6. The method according to claim 5, characterized in that, Based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy in the predetermined relationship that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure are determined as the target parameters of the energy recovery and release structure. This includes: based on the torque to be compensated, the total fluid energy currently stored in the fluid pressure accumulator, and a second sub-predetermined relationship, determining the pump swing angle corresponding to the torque and fluid energy in the second sub-predetermined relationship that are the same as the torque to be compensated and the total fluid energy currently stored in the fluid pressure accumulator as the target pump swing angle of the pump group. The predetermined relationship characterizes the relationship between the torque to be compensated by the engine, the total fluid energy currently stored in the fluid pressure accumulator, and the pump swing angle. Controlling the energy recovery and release structure to operate at the target parameters to convert a second predetermined energy in the energy recovery and release structure into mechanical energy and supply it to the engine includes: controlling the pump group to operate at the target pump swing angle to convert fluid energy of a fourth predetermined value in the fluid pressure storage device into mechanical energy, and supplying the converted mechanical energy to the engine.

7. The method according to any one of claims 1 to 6, characterized in that, After performing closed-loop control on the actual speed change rate based on the set speed change rate, and before determining the difference between the gearbox demand torque and the actual output torque as the torque to be compensated based on the gearbox demand torque and the engine's actual output torque, the method further includes: Adjust the gearbox to the target gear value to adjust the vehicle speed to the target speed.

8. A control device for a vehicle, the vehicle including an engine, characterized in that, The vehicle also includes an energy recovery and release structure connected to the flywheel of the engine, the device comprising: The acquisition unit is used to acquire the actual rate of change of engine speed when the engine is disengaged and the engine speed decreases. The first control unit is configured to perform closed-loop control on the actual speed change rate according to a set speed change rate, so that the energy recovery and release structure collects the mechanical energy of the engine corresponding to the decrease in speed according to the controlled actual speed change rate, and converts the mechanical energy into a first predetermined energy. The first determining unit is used to determine, when the gear shift is completed, the difference between the gearbox demand torque and the actual output torque of the engine as the torque to be compensated. The second determining unit is used to determine, based on the torque to be compensated, the total energy currently stored in the energy recovery and release structure, and a predetermined relationship, the operating parameters corresponding to the torque and energy that are the same as the torque to be compensated and the total energy currently stored in the energy recovery and release structure in the predetermined relationship as the target parameters of the energy recovery and release structure. The predetermined relationship characterizes the relationship between the torque to be compensated by the engine, the total energy currently stored in the energy recovery and release structure, and the operating parameters. The second control unit is used to control the energy recovery and release structure to operate with the target parameters, so as to convert the second predetermined energy in the energy recovery and release structure into mechanical energy and provide it to the engine. The second predetermined energy is the energy value corresponding to the torque to be compensated, and the second predetermined energy is less than or equal to the total energy currently stored in the energy recovery and release structure.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method of any one of claims 1 to 7.

10. An electronic control unit, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of claims 1 to 7.

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