Control method, device and vehicle for a hybrid vehicle

Abstract

The present disclosure relates to a control method, device and vehicle of a hybrid vehicle, and relates to the field of vehicle control, and the method comprises: obtaining first vehicle information and second vehicle information, the first vehicle information comprising driving information and environmental information of the vehicle at the current time collected by a vehicle-mounted navigation system, and the second vehicle information comprising driving information and environmental information of the vehicle at the current time collected by a vehicle-mounted sensor and a positioning system; determining first energy consumption information according to the first vehicle information, and determining second energy consumption information according to the second vehicle information; determining target vehicle information in the first vehicle information and the second vehicle information according to the first energy consumption information, the second energy consumption information and actual energy consumption information at the current time, and determining engine torque and motor torque; controlling the engine to output the engine torque; and controlling the motor to output the motor torque.The present disclosure can predict vehicle information from two dimensions, expand the application range of vehicle control, and improve the accuracy of vehicle control.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control, and more specifically, to a control method, apparatus, and vehicle for a hybrid vehicle. Background Technology

[0002] With the rapid development of society and the continuous increase in car ownership, vehicle control performance has received increasing attention. Typically, a vehicle can predict its own information in the next moment and allocate the required torque accordingly, achieving real-time optimal control and thus improving fuel economy. However, existing prediction methods cannot accurately predict vehicle information in the next moment, resulting in low accuracy and limited applicability. Summary of the Invention

[0003] The purpose of this disclosure is to provide a control method, apparatus, and vehicle for hybrid vehicles to improve the accuracy of predicting vehicle information.

[0004] According to a first aspect of the present disclosure, a control method for a hybrid vehicle is provided, the hybrid vehicle including an engine, a motor, and wheels, at least one of the engine and the motor being used to drive the wheels, the method comprising:

[0005] Acquire first vehicle information and second vehicle information. The first vehicle information includes the vehicle's driving information and environmental information collected by the vehicle navigation system at the current time. The second vehicle information includes the vehicle's driving information and environmental information collected by the vehicle sensors and positioning system at the current time.

[0006] First energy consumption information is determined based on the first vehicle information, and second energy consumption information is determined based on the second vehicle information;

[0007] Based on the first energy consumption information, the second energy consumption information, and the actual energy consumption information at the current moment, the target vehicle information is determined from the first vehicle information and the second vehicle information. The first energy consumption information is used to indicate the energy consumption of the vehicle when it drives according to the first vehicle information, and the second energy consumption information is used to indicate the energy consumption of the vehicle when it drives according to the second vehicle information.

[0008] Based on the target vehicle information, determine the engine torque and motor torque;

[0009] Control the engine to output the engine torque;

[0010] Control the motor to output the motor torque.

[0011] Optionally, determining the first energy consumption information based on the first vehicle information and determining the second energy consumption information based on the second vehicle information includes:

[0012] In the information database, the first current information with the highest matching degree with the first vehicle information is determined, and the second current information with the highest matching degree with the second vehicle information is determined. The information database pre-stores multiple vehicle information sequences, each of which includes multiple vehicle information arranged in chronological order, and each of which includes driving information and environmental information.

[0013] The next vehicle information of the first current information is used as the first prediction information, and the first vehicle information is updated to the first prediction information;

[0014] The next vehicle information in the second current information is used as the second prediction information, and the second vehicle information is updated to the second prediction information;

[0015] Using the vehicle driving model, the first energy consumption information is determined based on the first vehicle information, and using the vehicle driving model, the second energy consumption information is determined based on the second vehicle information.

[0016] Optionally, determining the target vehicle information from the first vehicle information and the second vehicle information based on the first energy consumption information, the second energy consumption information, and the actual energy consumption information at the current moment includes:

[0017] If the difference between the first energy consumption information and the actual energy consumption information is less than the difference between the second energy consumption information and the actual energy consumption information, the first vehicle information is taken as the target vehicle information.

[0018] If the difference between the first energy consumption information and the actual energy consumption information is greater than or equal to the difference between the second energy consumption information and the actual energy consumption information, the second vehicle information is taken as the target vehicle information.

[0019] Optionally, determining the engine torque and motor torque based on the target vehicle information includes:

[0020] Based on the target vehicle information, the actual accelerator pedal depth, and the actual brake pedal depth of the vehicle, determine the required torque for the entire vehicle;

[0021] If the vehicle speed contained in the target vehicle information is less than or equal to the engine start speed, the motor torque used for driving is determined based on the vehicle's required torque, the transmission ratio between the motor and the wheels, and the transmission efficiency, and the engine torque is determined to be zero.

[0022] If the vehicle speed contained in the target vehicle information is greater than the engine start speed, and the total vehicle torque requirement is greater than the engine economic output torque, the engine economic torque is used as the engine torque, and the motor torque used for driving is determined based on the difference between the total vehicle torque requirement and the engine economic output torque, the transmission ratio between the engine and the wheels, and the transmission efficiency; wherein, the engine economic output torque is determined based on the engine economic torque, the transmission ratio between the engine and the wheels, and the transmission efficiency.

[0023] Optionally, the engine is also used to drive the electric motor to generate electricity; determining the engine torque and electric motor torque based on the target vehicle information further includes:

[0024] If the vehicle speed contained in the target vehicle information is greater than the engine start speed, and the total vehicle torque requirement is less than or equal to the engine economic output torque, the engine economic torque is taken as the engine torque, and the motor torque used for power generation is determined based on the difference between the engine economic output torque and the total vehicle torque requirement, the transmission ratio between the engine and the motor, and the transmission efficiency.

[0025] Optionally, determining the required torque of the vehicle based on the target vehicle information, the actual accelerator pedal depth, and the actual brake pedal depth includes:

[0026] Based on the target vehicle information, determine the virtual total vehicle torque requirement of the vehicle;

[0027] Based on the virtual vehicle torque requirement, determine the virtual accelerator pedal depth and the virtual brake pedal depth;

[0028] The sum of the actual accelerator pedal depth and the virtual accelerator pedal depth is taken as the target accelerator pedal depth, and the sum of the actual brake pedal depth and the virtual brake pedal depth is taken as the target brake pedal depth.

[0029] The required torque for the entire vehicle is determined based on the target accelerator pedal depth and the target brake pedal depth.

[0030] Optionally, the wheel includes a front wheel and a rear wheel, and the motor includes a front motor and a rear motor, wherein the front motor is used to drive the front wheel and the rear motor is used to drive the rear wheel;

[0031] If the vehicle speed contained in the target vehicle information is greater than the engine start speed, and the required torque of the entire vehicle is greater than the economic output torque of the engine, the economic torque of the engine is taken as the engine torque. After determining the torque of the motor used for driving based on the difference between the required torque of the entire vehicle and the economic output torque of the engine, the transmission ratio between the engine and the wheels, and the transmission efficiency, the method further includes:

[0032] Based on the vehicle speed, the torque of the motor used for driving, and a preset torque distribution relationship, a torque distribution coefficient is determined, which is used to indicate the distribution ratio of the front motor torque and the rear motor torque.

[0033] The front motor torque and the rear motor torque are determined based on the motor torque used for driving and the torque distribution coefficient;

[0034] The front motor is controlled to output the front motor torque, and the rear motor is controlled to output the rear motor torque.

[0035] Optionally, the torque distribution relationship is determined according to the following method:

[0036] For each of the multiple combinations of vehicle speed setpoint and motor torque setpoint, a specified number of torque distribution coefficient setpoints are preset;

[0037] For each of the multiple combinations, the front motor speed corresponding to the vehicle speed setting is determined based on the vehicle speed setting value, the tire radius of the front wheel, and the front motor speed ratio, and the rear motor speed corresponding to the vehicle speed setting value is determined based on the vehicle speed setting value, the tire radius of the rear wheel, and the rear motor speed ratio.

[0038] For each of the multiple combinations and for each of the torque distribution coefficient settings in the combinations, a corresponding sample front motor torque is determined based on the motor torque setting, the front motor speed ratio, the front motor transmission efficiency, and the torque distribution coefficient setting; and a corresponding sample rear motor torque is determined based on the motor torque setting, the rear motor speed ratio, the rear motor transmission efficiency, and each of the torque distribution coefficient settings.

[0039] The power loss of the front motor is determined based on the front motor speed and the sample front motor torque, and the power loss of the rear motor is determined based on the rear motor speed and the sample rear motor torque.

[0040] The torque distribution coefficient setting value corresponding to the minimum sum of the power loss of the front motor and the power loss of the rear motor is used as the target value of the torque distribution coefficient for the corresponding combination.

[0041] The torque distribution relationship is generated based on the target value of the torque distribution coefficient corresponding to each of the combinations.

[0042] Optionally, the driving information includes at least one of the current vehicle speed and the current wheel speed, and the environmental information includes at least one of the road gradient, traffic flow, ambient temperature outside the vehicle, and air density.

[0043] According to a second aspect of the present disclosure, a control device for a hybrid vehicle is provided, the hybrid vehicle including an engine, a motor, and wheels, at least one of the engine and the motor being used to drive the wheels, the device comprising:

[0044] The acquisition module is used to acquire first vehicle information and second vehicle information. The first vehicle information includes the vehicle's driving information and environmental information collected by the vehicle navigation system at the current time. The second vehicle information includes the vehicle's driving information and environmental information collected by the vehicle sensors and positioning system at the current time.

[0045] The first determining module is used to determine first energy consumption information based on the first vehicle information and to determine second energy consumption information based on the second vehicle information.

[0046] The second determining module is used to determine target vehicle information from the first vehicle information and the second vehicle information based on the first energy consumption information, the second energy consumption information and the actual energy consumption information at the current time. The first energy consumption information is used to indicate the energy consumption of the vehicle when it drives according to the first vehicle information, and the second energy consumption information is used to indicate the energy consumption of the vehicle when it drives according to the second vehicle information.

[0047] The third determining module is used to determine the engine torque and motor torque based on the target vehicle information;

[0048] The first control module is used to control the engine to output the engine torque;

[0049] The second control module is used to control the motor to output the motor torque.

[0050] Optionally, the first determining module includes:

[0051] The first determining submodule is used to determine, in the information database, the first current information with the highest matching degree with the first vehicle information, and the second current information with the highest matching degree with the second vehicle information. The information database pre-stores multiple vehicle information sequences, each vehicle information sequence including multiple vehicle information arranged in chronological order, and each vehicle information including driving information and environmental information.

[0052] The first update submodule is used to take the next vehicle information of the first current information as the first prediction information, and update the first vehicle information to the first prediction information;

[0053] The second update submodule is used to take the next vehicle information of the second current information as the second prediction information, and update the second vehicle information to the second prediction information;

[0054] The second determining submodule is used to determine the first energy consumption information based on the first vehicle information using the whole vehicle driving model, and to determine the second energy consumption information based on the second vehicle information using the whole vehicle driving model.

[0055] Optionally, the second determining module is used to:

[0056] If the difference between the first energy consumption information and the actual energy consumption information is less than the difference between the second energy consumption information and the actual energy consumption information, the first vehicle information is taken as the target vehicle information.

[0057] If the difference between the first energy consumption information and the actual energy consumption information is greater than or equal to the difference between the second energy consumption information and the actual energy consumption information, the second vehicle information is taken as the target vehicle information.

[0058] Optionally, the third determining module is used to:

[0059] Based on the target vehicle information, the actual accelerator pedal depth, and the actual brake pedal depth of the vehicle, determine the required torque for the entire vehicle;

[0060] If the vehicle speed contained in the target vehicle information is less than or equal to the engine start speed, the motor torque used for driving is determined based on the vehicle's required torque, the transmission ratio between the motor and the wheels, and the transmission efficiency, and the engine torque is determined to be zero.

[0061] If the vehicle speed contained in the target vehicle information is greater than the engine start speed, and the total vehicle torque requirement is greater than the engine economic output torque, the engine economic torque is used as the engine torque, and the motor torque used for driving is determined based on the difference between the total vehicle torque requirement and the engine economic output torque, the transmission ratio between the engine and the wheels, and the transmission efficiency; wherein, the engine economic output torque is determined based on the engine economic torque, the transmission ratio between the engine and the wheels, and the transmission efficiency.

[0062] Optionally, the engine is further configured to drive the electric motor to generate electricity; the third determining module is configured to:

[0063] If the vehicle speed contained in the target vehicle information is greater than the engine start speed, and the total vehicle torque requirement is less than or equal to the engine economic output torque, the engine economic torque is taken as the engine torque, and the motor torque used for power generation is determined based on the difference between the engine economic output torque and the total vehicle torque requirement, the transmission ratio between the engine and the motor, and the transmission efficiency.

[0064] Optionally, the third determining module is used to:

[0065] Based on the target vehicle information, determine the virtual total vehicle torque requirement of the vehicle;

[0066] Based on the virtual vehicle torque requirement, determine the virtual accelerator pedal depth and the virtual brake pedal depth;

[0067] The sum of the actual accelerator pedal depth and the virtual accelerator pedal depth is taken as the target accelerator pedal depth, and the sum of the actual brake pedal depth and the virtual brake pedal depth is taken as the target brake pedal depth.

[0068] The required torque for the entire vehicle is determined based on the target accelerator pedal depth and the target brake pedal depth.

[0069] Optionally, the wheel includes a front wheel and a rear wheel, the motor includes a front motor and a rear motor, the front motor drives the front wheel, and the rear motor drives the rear wheel; the device further includes:

[0070] The fourth determining module is used to determine a torque distribution coefficient based on the vehicle speed, the torque of the motor used for driving, and a preset torque distribution relationship. The torque distribution coefficient is used to indicate the distribution ratio of the front motor torque and the rear motor torque.

[0071] The fifth determining module is used to determine the front motor torque and the rear motor torque based on the motor torque used for driving and the torque distribution coefficient;

[0072] The third control module is used to control the front motor to output the front motor torque and to control the rear motor to output the rear motor torque.

[0073] Optionally, the torque distribution relationship is determined according to the following method:

[0074] For each of the multiple combinations of vehicle speed setpoint and motor torque setpoint, a specified number of torque distribution coefficient setpoints are preset;

[0075] For each of the multiple combinations, the front motor speed corresponding to the vehicle speed setting is determined based on the vehicle speed setting value, the tire radius of the front wheel, and the front motor speed ratio, and the rear motor speed corresponding to the vehicle speed setting value is determined based on the vehicle speed setting value, the tire radius of the rear wheel, and the rear motor speed ratio.

[0076] For each of the multiple combinations and for each of the torque distribution coefficient settings in the combinations, a corresponding sample front motor torque is determined based on the motor torque setting, the front motor speed ratio, the front motor transmission efficiency, and the torque distribution coefficient setting; and a corresponding sample rear motor torque is determined based on the motor torque setting, the rear motor speed ratio, the rear motor transmission efficiency, and each of the torque distribution coefficient settings.

[0077] The power loss of the front motor is determined based on the front motor speed and the sample front motor torque, and the power loss of the rear motor is determined based on the rear motor speed and the sample rear motor torque.

[0078] The torque distribution coefficient setting value corresponding to the minimum sum of the power loss of the front motor and the power loss of the rear motor is used as the target value of the torque distribution coefficient for the corresponding combination.

[0079] The torque distribution relationship is generated based on the target value of the torque distribution coefficient corresponding to each of the combinations.

[0080] Optionally, the driving information includes at least one of the current vehicle speed and the current wheel speed, and the environmental information includes at least one of the road gradient, traffic flow, ambient temperature outside the vehicle, and air density.

[0081] According to a third aspect of the present disclosure, a vehicle is provided for performing the control method of a hybrid vehicle as described in any of the first aspects of the present disclosure.

[0082] Through the above technical solution, this disclosure first obtains first vehicle information and second vehicle information. The first vehicle information includes the vehicle's driving information and environmental information at the current moment collected by the vehicle navigation system, and the second vehicle information includes the vehicle's driving information and environmental information at the current moment collected by the vehicle sensors and positioning system. Then, first energy consumption information is determined based on the first vehicle information, and second energy consumption information is determined based on the second vehicle information. Further, based on the first energy consumption information, the second energy consumption information, and the actual energy consumption information at the current moment, target vehicle information, engine torque, and motor torque are determined from the first and second vehicle information. The first energy consumption information indicates the energy consumption when the vehicle is driving according to the first vehicle information, and the second energy consumption information indicates the energy consumption when the vehicle is driving according to the second vehicle information. Finally, the engine is controlled to output engine torque, and the motor is controlled to output motor torque. This disclosure can predict vehicle information from two dimensions, expanding the applicability of vehicle control and improving the accuracy of vehicle control.

[0083] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0084] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0085] Figure 1 This is a flowchart illustrating a control method for a hybrid vehicle according to an exemplary embodiment;

[0086] Figure 2 This is a flowchart illustrating another control method for a hybrid vehicle according to an exemplary embodiment;

[0087] Figure 3 This is a flowchart illustrating another control method for a hybrid vehicle according to an exemplary embodiment;

[0088] Figure 4 This is a flowchart illustrating another control method for a hybrid vehicle according to an exemplary embodiment;

[0089] Figure 5 This is a flowchart illustrating another control method for a hybrid vehicle according to an exemplary embodiment;

[0090] Figure 6 This is a flowchart illustrating another control method for a hybrid vehicle according to an exemplary embodiment;

[0091] Figure 7This is a flowchart illustrating another control method for a hybrid vehicle according to an exemplary embodiment;

[0092] Figure 8 This is a block diagram illustrating a control device for a hybrid vehicle according to an exemplary embodiment;

[0093] Figure 9 This is a block diagram illustrating a control device for another hybrid vehicle according to an exemplary embodiment;

[0094] Figure 10 This is a block diagram illustrating a control device for another hybrid vehicle according to an exemplary embodiment. Detailed Implementation

[0095] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0096] Figure 1 This is a flowchart illustrating a control method for a hybrid vehicle according to an exemplary embodiment, such as... Figure 1 As shown, the method may include:

[0097] Step 101: Obtain first vehicle information and second vehicle information. The first vehicle information includes the vehicle's driving information and environmental information collected by the vehicle navigation system at the current moment. The second vehicle information includes the vehicle's driving information and environmental information collected by the vehicle sensors and positioning system at the current moment.

[0098] For example, this disclosure can be applied to hybrid vehicles, which include an engine, an electric motor, and wheels, wherein at least one of the engine and the electric motor drives the wheels. During vehicle operation, first vehicle information and second vehicle information can be acquired in real time through two different methods. The first vehicle information may include the vehicle's current driving information and environmental information collected by an onboard navigation system, which may be an onboard high-precision map system. The second vehicle information may include the vehicle's current driving information and environmental information collected by sensors and a positioning system installed on the vehicle. Sensors may include temperature sensors, humidity sensors, vehicle speed sensors, angle sensors, etc., and the positioning system may be, for example, GPS (Global Positioning System). Driving information may include vehicle speed, wheel speed, etc., and environmental information may include road gradient, traffic flow, outside ambient temperature, air density, etc., which are not specifically limited in this disclosure.

[0099] Step 102: Determine the first energy consumption information based on the first vehicle information, and determine the second energy consumption information based on the second vehicle information.

[0100] Step 103: Based on the first energy consumption information, the second energy consumption information, and the actual energy consumption information at the current moment, determine the target vehicle information from the first vehicle information and the second vehicle information. The first energy consumption information is used to indicate the energy consumption of the vehicle when driving according to the first vehicle information, and the second energy consumption information is used to indicate the energy consumption of the vehicle when driving according to the second vehicle information.

[0101] For example, after obtaining the first vehicle information and the second vehicle information, based on a pre-trained vehicle driving model, the first energy consumption information corresponding to the first vehicle information and the second energy consumption information corresponding to the second vehicle information are obtained. The first energy consumption information indicates the energy consumption of the vehicle when driving according to the first vehicle information, and the second energy consumption information indicates the energy consumption of the vehicle when driving according to the second vehicle information. Then, the difference between the first energy consumption information and the actual energy consumption information, and the difference between the second energy consumption information and the actual energy consumption information, can be determined separately. The actual energy consumption information can be understood as the energy consumption currently generated by the vehicle, including the engine's fuel consumption and the electric motor's electricity consumption. If the difference between the first energy consumption information and the actual energy consumption information is less than the difference between the second energy consumption information and the actual energy consumption information, then the first vehicle information, which is closer to the actual energy consumption information, can be used as the target vehicle information. If the difference between the first energy consumption information and the actual energy consumption information is greater than or equal to the difference between the second energy consumption information and the actual energy consumption information, then the second vehicle information, which is closer to the actual energy consumption information, can be used as the target vehicle information.

[0102] Step 104: Determine the engine torque and motor torque based on the target vehicle information.

[0103] Step 105: Control the engine output torque.

[0104] Step 106: Control the motor to output motor torque.

[0105] For example, after obtaining target vehicle information that more closely approximates actual energy consumption information, the engine torque and motor torque can be obtained based on the target vehicle information. In one implementation, multiple allocation ratios for engine torque and motor torque can be pre-set. After determining the overall vehicle torque demand corresponding to the target vehicle information, the engine torque and motor torque can be obtained based on the overall vehicle torque demand and the allocation ratios. For instance, two torque ranges and corresponding allocation ratios for each torque range can be pre-set. When the overall vehicle torque demand is within the first torque range, the overall vehicle torque demand can be allocated to the engine and motor according to the first allocation ratio, thereby obtaining the corresponding engine torque and motor torque. When the overall vehicle torque demand is within the second torque range, the overall vehicle torque demand can be allocated to the engine and motor according to the second allocation ratio, thereby obtaining the corresponding engine torque and motor torque. This disclosure does not specifically limit this approach. In another implementation, a torque allocation model can be pre-trained. The torque allocation model is used to process the input target vehicle information to obtain the engine torque and motor torque corresponding to the target vehicle information. The target vehicle information can be input into the torque allocation model, and the corresponding engine torque and motor torque can be output. This disclosure does not specifically limit this approach. Finally, the engine can be controlled to output engine torque, and the electric motor can be controlled to output electric motor torque to drive the vehicle.

[0106] In summary, this disclosure first obtains first vehicle information and second vehicle information. The first vehicle information includes the vehicle's driving information and environmental information collected by the in-vehicle navigation system at the current moment, while the second vehicle information includes the vehicle's driving information and environmental information collected by the in-vehicle sensors and positioning system at the current moment. Then, first energy consumption information is determined based on the first vehicle information, and second energy consumption information is determined based on the second vehicle information. Further, based on the first energy consumption information, the second energy consumption information, and the actual energy consumption information at the current moment, target vehicle information, engine torque, and motor torque are determined from the first and second vehicle information. The first energy consumption information indicates the energy consumption when the vehicle is driving according to the first vehicle information, and the second energy consumption information indicates the energy consumption when the vehicle is driving according to the second vehicle information. Finally, the engine is controlled to output engine torque, and the motor is controlled to output motor torque. This disclosure can predict vehicle information from two dimensions, expanding the applicability of vehicle control and improving the accuracy of vehicle control.

[0107] Figure 2 This is a flowchart illustrating another control method for a hybrid vehicle according to an exemplary embodiment, such as... Figure 2As shown, step 102 can be achieved through the following steps:

[0108] Step 1021: In the information database, determine the first current information with the highest matching degree with the first vehicle information, and determine the second current information with the highest matching degree with the second vehicle information. The information database pre-stores multiple vehicle information sequences, each vehicle information sequence including multiple vehicle information arranged in chronological order, and each vehicle information including driving information and environmental information.

[0109] Step 1022: Take the next vehicle information of the first current information as the first prediction information, and update the first vehicle information to the first prediction information.

[0110] Step 1023: Take the next vehicle information of the second current information as the second prediction information, and update the second vehicle information to the second prediction information.

[0111] Step 1024: Using the whole vehicle driving model, determine the first energy consumption information based on the first vehicle information, and using the whole vehicle driving model, determine the second energy consumption information based on the second vehicle information.

[0112] For example, after obtaining the first vehicle information and the second vehicle information, according to preset matching rules, the first current information with the highest matching degree with the first vehicle information and the second current information with the highest matching degree with the second vehicle information can be determined from a preset information database. It should be noted that the information database can pre-store multiple vehicle information sequences, which are collected from multiple other vehicles. Taking 100 vehicle information sequences stored in the information database as an example, these 100 vehicle information sequences can be vehicle information sequences collected from 100 different vehicles. Each vehicle information sequence can include multiple vehicle information items arranged in chronological order, and each vehicle information item can include driving information and environmental information. For example, vehicle information from other vehicles can be collected according to a preset collection period, and the collected vehicle information can be arranged in chronological order to obtain the corresponding vehicle information sequence, where the collection period can be 1 second. The first and second current information items are selected from the multiple vehicle information items in the information database.

[0113] The preset matching rule could be to pre-assign a weight to each type of information in the vehicle information, calculate the difference between each type of information in the first vehicle information and the corresponding information for each vehicle in the information database, and then sum the weighted differences to obtain the degree of difference between the first vehicle information and each vehicle in the information database. The degree of difference is inversely proportional to the degree of matching; that is, the greater the degree of difference, the smaller the degree of matching, and vice versa. Similarly, the difference between each type of information in the second vehicle information and the corresponding information for each vehicle in the information database can be calculated, and the weighted differences can be summed to obtain the degree of difference between the second vehicle information and each vehicle in the information database. Taking two vehicle information entries in the information database, vehicle information A and vehicle information B, each including vehicle speed and road gradient, with a weight of 0.8 for vehicle speed and 0.2 for road gradient, and assuming vehicle information A has a speed of 45 km / h and a road gradient of 30 degrees, vehicle information B has a speed of 40 km / h and a road gradient of 25 degrees, and the first vehicle information has a speed of 50 km / h and a road gradient of 20 degrees, as an example... The difference between vehicle information A and the first vehicle information is (50-45)*0.8+(30-20)*0.2=6, and the difference between vehicle information B and the first vehicle information is (50-40)*0.8+(25-20)*0.2=9. The difference between vehicle information A and the first vehicle information is less than the difference between vehicle information B and the first vehicle information, that is, the matching degree between vehicle information A and the first vehicle information is greater than the matching degree between vehicle information B and the first vehicle information. Therefore, vehicle information A can be used as the first current information.

[0114] Furthermore, the next vehicle information in the vehicle information sequence containing the first current information can be used as the first predicted information, and the first vehicle information can be updated to the first predicted information. Similarly, the next vehicle information in the vehicle information sequence containing the second current information can be used as the second predicted information, and the second vehicle information can be updated to the second predicted information. Taking an example where the vehicle information sequence containing the first current information includes four vehicle information items a, b, c, and d arranged in chronological order, with b being the first current information, and the vehicle information sequence containing the second current information includes four vehicle information items e, f, g, and h arranged in chronological order, with g being the second current information, c can be used as the first predicted information, and h as the second predicted information. Then, the updated first vehicle information can be input into a pre-trained vehicle driving model to obtain the first energy consumption information output by the vehicle driving model. Similarly, the updated second vehicle information can be input into a pre-trained vehicle driving model to obtain the second energy consumption information output by the vehicle driving model.

[0115] Figure 3This is a flowchart illustrating another control method for a hybrid vehicle according to an exemplary embodiment, such as... Figure 3 As shown, step 103 can be achieved through the following steps:

[0116] Step 1031: If the difference between the first energy consumption information and the actual energy consumption information is less than the difference between the second energy consumption information and the actual energy consumption information, the first vehicle information is taken as the target vehicle information.

[0117] Step 1032: If the difference between the first energy consumption information and the actual energy consumption information is greater than or equal to the difference between the second energy consumption information and the actual energy consumption information, the second vehicle information is taken as the target vehicle information.

[0118] For example, since the first energy consumption information indicates the energy consumption of a vehicle when driving according to the first vehicle information, and the second energy consumption information indicates the energy consumption of a vehicle when driving according to the second vehicle information, the first and second energy consumption information can be compared with the actual energy consumption information respectively to obtain the target energy consumption information that is closest to the actual energy consumption information. The vehicle information corresponding to the target energy consumption information is then used as the target vehicle information. Specifically, if the difference between the first energy consumption information and the actual energy consumption information is less than the difference between the second energy consumption information and the actual energy consumption information, then the first energy consumption information is the target energy consumption information that is closer to the actual energy consumption information, and therefore the first vehicle information can be used as the target vehicle information. If the difference between the first energy consumption information and the actual energy consumption information is greater than or equal to the difference between the second energy consumption information and the actual energy consumption information, then the second energy consumption information is the target energy consumption information that is closer to the actual energy consumption information, and therefore the second vehicle information can be used as the target vehicle information.

[0119] Figure 4 This is a flowchart illustrating another control method for a hybrid vehicle according to an exemplary embodiment, such as... Figure 4 As shown, step 104 can be achieved through the following steps:

[0120] Step 1041: Determine the required torque for the entire vehicle based on the target vehicle information, the actual accelerator pedal depth, and the actual brake pedal depth.

[0121] Step 1042: If the vehicle speed contained in the target vehicle information is less than or equal to the engine start speed, determine the motor torque used for driving based on the vehicle's required torque, the transmission ratio between the motor and the wheels, and the transmission efficiency, and determine that the engine torque is zero.

[0122] Step 1043: If the vehicle speed contained in the target vehicle information is greater than the engine start speed, and the total vehicle torque requirement is greater than the engine economic output torque, the engine economic torque is taken as the engine torque, and the motor torque used for driving is determined based on the difference between the total vehicle torque requirement and the engine economic output torque, the transmission ratio between the engine and the wheels, and the transmission efficiency. The engine economic output torque is determined based on the engine economic torque, the transmission ratio between the engine and the wheels, and the transmission efficiency.

[0123] For example, after determining the target vehicle information, the virtual total vehicle torque requirement can be determined based on the target vehicle information. The actual total vehicle torque requirement is then determined based on the actual accelerator and brake pedal depths. The total vehicle torque requirement at the next moment can be obtained from the virtual and actual total vehicle torque requirements. If the vehicle speed in the target vehicle information is less than or equal to the engine start speed, it means that no engine power is currently required. The motor torque used for driving can be determined based on the total vehicle torque requirement, the transmission ratio between the motor and the wheels, and the transmission efficiency. The engine torque is set to zero, allowing the motor to drive the vehicle. If the vehicle speed in the target vehicle information is greater than the engine start speed, and the total vehicle torque requirement is greater than the engine's economic output torque, it means that both the engine and the motor need to provide power simultaneously so that the engine operates at its economic torque. In this case, the engine's economic torque can be used as the engine torque. The motor torque used for driving is determined based on the difference between the total vehicle torque requirement and the engine's economic output torque, the transmission ratio between the engine and the wheels, and the transmission efficiency. The engine's economic output torque is determined based on the engine's economic torque, the transmission ratio between the engine and the wheels, and the transmission efficiency.

[0124] Figure 5 This is a flowchart illustrating another control method for a hybrid vehicle according to an exemplary embodiment, such as... Figure 5 As shown, the engine is also used to drive the electric motor to generate electricity. Step 104 also includes:

[0125] Step 1044: If the vehicle speed contained in the target vehicle information is greater than the engine start speed, and the total vehicle torque requirement is less than or equal to the engine economic output torque, the engine economic torque is taken as the engine torque, and the motor torque used for power generation is determined based on the difference between the engine economic output torque and the total vehicle torque requirement, the transmission ratio between the engine and the motor, and the transmission efficiency.

[0126] For example, if the target vehicle information includes a vehicle speed greater than the engine start-up speed, and the vehicle's required torque is less than or equal to the engine's economic output torque, it means the engine can currently provide power to the vehicle. In this case, the engine's economic torque can be used as the engine torque. Simultaneously, the engine's remaining torque can be used to drive a generator to generate electricity, thereby charging the battery. Specifically, the motor torque used for power generation can be determined based on the difference between the engine's economic output torque and the vehicle's required torque, the transmission ratio between the engine and the motor, and the transmission efficiency. Here, the engine's remaining torque can be understood as the difference between the engine's economic output torque and the vehicle's required torque.

[0127] In one application scenario, one possible implementation of step 1041 is as follows:

[0128] Based on the target vehicle information, determine the virtual total torque requirement of the vehicle.

[0129] Based on the virtual vehicle torque requirement, determine the virtual accelerator pedal depth and the virtual brake pedal depth.

[0130] The sum of the actual accelerator pedal depth and the virtual accelerator pedal depth is taken as the target accelerator pedal depth, and the sum of the actual brake pedal depth and the virtual brake pedal depth is taken as the target brake pedal depth.

[0131] The required torque for the entire vehicle is determined based on the target accelerator pedal depth and the target brake pedal depth.

[0132] For example, after determining the target vehicle information, the virtual vehicle torque requirement corresponding to the target vehicle information can be determined through a first preset relationship. When the driver is neither pressing the accelerator nor the brake pedal, the virtual vehicle torque requirement is the vehicle torque requirement. When the driver presses either the accelerator or the brake pedal, the vehicle torque requirement can be determined based on the virtual vehicle torque requirement and the actual vehicle torque requirement corresponding to the actual accelerator and brake pedal depths. Specifically, the virtual accelerator and brake pedal depths corresponding to the virtual vehicle torque requirement can be determined first through a second preset relationship. Then, the sum of the collected actual and virtual accelerator pedal depths is taken as the target accelerator pedal depth, and the sum of the collected actual and virtual brake pedal depths is taken as the target brake pedal depth. Finally, the vehicle torque requirement corresponding to the target accelerator and brake pedal depths can be obtained through the second preset relationship.

[0133] It should be noted that the first preset relationship can be a first preset table, in which the virtual vehicle torque demand corresponding to the target vehicle information can be found. The first preset relationship can also be a first preset function, in which the virtual vehicle torque demand corresponding to the target vehicle information can be obtained. The first preset relationship can also be a first preset model, in which the target vehicle information can be input and the corresponding virtual vehicle torque demand outputs. Similarly, the second preset relationship can be a second preset table, in which the virtual accelerator pedal depth and virtual brake pedal depth corresponding to the virtual vehicle torque demand can be found. The second preset relationship can also be a second preset function, in which the virtual accelerator pedal depth and virtual brake pedal depth corresponding to the virtual vehicle torque demand can be obtained. The second preset relationship can also be a second preset model, in which the virtual vehicle torque demand can be input and the corresponding virtual accelerator pedal depth and virtual brake pedal depth outputs. This disclosure does not impose specific limitations on this.

[0134] Figure 6 This is a flowchart illustrating another control method for a hybrid vehicle according to an exemplary embodiment, such as... Figure 6 As shown, the wheel includes a front wheel and a rear wheel, and the motor includes a front motor and a rear motor. The front motor drives the front wheel, and the rear motor drives the rear wheel. The method may also include:

[0135] Step 107: Determine the torque distribution coefficient based on the vehicle speed, the torque of the motor used for driving, and the preset torque distribution relationship. The torque distribution coefficient is used to indicate the distribution ratio of the front motor torque and the rear motor torque.

[0136] Step 108: Determine the front motor torque and the rear motor torque based on the motor torque used for driving and the torque distribution coefficient.

[0137] Step 109: Control the front motor to output the front motor torque, and control the rear motor to output the rear motor torque.

[0138] For example, the wheels include front and rear wheels, and the motors include a front motor and a rear motor. The front motor drives the front wheels, and the rear motor drives the rear wheels. After determining the motor torque, a torque distribution coefficient can be obtained based on the vehicle speed, the torque of the motor used for driving, and a preset torque distribution relationship. This torque distribution coefficient indicates the ratio of torque distribution between the front and rear motors. Correspondingly, after obtaining the torque of the motor used for driving, the torque of the front motor and the torque of the rear motor can be obtained based on the torque of the motor used for driving and the torque distribution coefficient. Taking a vehicle torque requirement of 50 Nm and a torque distribution coefficient of 7:3 (front motor torque: rear motor torque = 35 Nm) as an example, the torque of the front motor can be determined to be 35 Nm, and the torque of the rear motor to be 15 Nm. After obtaining the torques of the front and rear motors, the front motor can be controlled to output its torque, and the rear motor can be controlled to output its torque, thereby driving the vehicle.

[0139] Figure 7 This is a flowchart illustrating another control method for a hybrid vehicle according to an exemplary embodiment, such as... Figure 7 As shown, the method may further include:

[0140] Step 110: For each of the multiple combinations of vehicle speed setting value and motor torque setting value, a specified number of torque distribution coefficient setting values ​​are preset.

[0141] Step 111: For each of the multiple combinations, determine the front motor speed corresponding to the vehicle speed setting value based on the vehicle speed setting value, the tire radius of the front wheel, and the speed ratio of the front motor, and determine the rear motor speed corresponding to the vehicle speed setting value based on the vehicle speed setting value, the tire radius of the rear wheel, and the speed ratio of the rear motor.

[0142] Step 112: For each of the multiple combinations and for each torque distribution coefficient setting value in the combination, determine the corresponding sample front motor torque based on the motor torque setting value, the front motor speed ratio, the front motor transmission efficiency, and the torque distribution coefficient setting value; and determine the corresponding sample rear motor torque based on the motor torque setting value, the rear motor speed ratio, the rear motor transmission efficiency, and each torque distribution coefficient setting value.

[0143] Step 113: Determine the power loss of the front motor based on the front motor speed and the sample front motor torque, and determine the power loss of the rear motor based on the rear motor speed and the sample rear motor torque.

[0144] Step 114: The torque distribution coefficient setting value corresponding to the minimum sum of the power loss of the front motor and the power loss of the rear motor is used as the target value of the torque distribution coefficient for the corresponding combination.

[0145] Step 115: Generate torque distribution relationships based on the target value of the torque distribution coefficient corresponding to each combination.

[0146] For example, the torque distribution relationship can be determined in advance through experiments. Specifically, for each of the multiple combinations of vehicle speed setpoint and motor torque setpoint, a specified number of torque distribution coefficient settings can be preset. These torque distribution coefficient settings can be understood as the preset ratio of the front motor torque to the rear motor torque, or vice versa. Taking a specified number of 6 as an example, 0, 0.2, 0.4, 0.6, 0.8, and 1 can be preset as torque distribution coefficient settings.

[0147] Then, for each of the multiple combinations, the front motor speed corresponding to the vehicle speed setting can be determined by Formula 1 based on the vehicle speed setting, the tire radius of the front wheel, and the speed ratio of the front motor, and the rear motor speed corresponding to the vehicle speed setting can be determined by Formula 2 based on the vehicle speed setting, the tire radius of the rear wheel, and the speed ratio of the rear motor.

[0148] N f =0.377*v*i gf / r (Formula 1)

[0149] N r =0.377*v*i gr / (Formula 2)

[0150] Where, N f The front motor speed is given by i, where v is the vehicle speed setpoint, and i is the speed of the front motor. gf The speed ratio of the front motor is given by r, where r is the tire radius and N is the torque. r i represents the speed of the rear motor. gr This refers to the speed ratio of the rear motor.

[0151] Then, for each of the multiple combinations and for each torque distribution coefficient setting value in the combination, the corresponding sample front motor torque can be determined by formula 3 based on the motor torque setting value, the front motor speed ratio, the front motor transmission efficiency, and the torque distribution coefficient setting value. Furthermore, the corresponding sample rear motor torque can be determined by formula 4 based on the motor torque setting value, the rear motor speed ratio, the rear motor transmission efficiency, and each torque distribution coefficient setting value.

[0152] T mf =T*i / (i gf *η f ) (Formula 3)

[0153] T mr =(1-T) mf ) / (i gr *η r ) (Formula 4)

[0154] Where T is the required torque for the entire vehicle, and i is the torque distribution coefficient setting value.mf Let η be the motor torque before the sample. f The transmission efficiency of the front motor, T mr The motor torque after the sample is η. r The transmission efficiency of the rear motor.

[0155] Furthermore, based on the front motor speed and sample front motor torque, the power loss of the front motor can be determined through a preset front motor power relationship. Similarly, based on the rear motor speed and sample rear motor torque, the power loss of the rear motor can be determined through a preset rear motor power relationship. Then, the sum of the power loss of the front motor and the rear motor corresponding to each allocation coefficient can be determined. The torque allocation coefficient setting value corresponding to the minimum sum of the power loss of the front and rear motors is used as the target value of the torque allocation coefficient for the corresponding combination, thereby obtaining the allocation coefficient with optimal efficiency. With torque distribution coefficient settings including X and Y, where X corresponds to a front motor power loss of 20W, X corresponds to a rear motor power loss of 5W, Y corresponds to a front motor power loss of 15W, and Y corresponds to a rear motor power loss of 15W, the sum of the power losses of the front and rear motors corresponding to X is 20W + 5W = 25W, and the sum of the power losses of the front and rear motors corresponding to Y is 15W + 15W = 30W. Since 25W < 30W, X can be used as the target value for the torque distribution coefficient. Finally, torque distribution relationships can be generated based on the target value of the torque distribution coefficient for each combination.

[0156] In another application scenario, driving information includes at least one of the current vehicle speed and the current wheel speed, and environmental information includes at least one of the road gradient, traffic flow, ambient temperature outside the vehicle, and air density.

[0157] For example, driving information may include the current vehicle speed, or the current wheel speed; or it may include both the current vehicle speed and the current wheel speed. Environmental information may include any one of road slope, traffic flow, ambient temperature, and air density; or it may include any two of these; or it may include any three; or it may include road slope, traffic flow, ambient temperature, and air density.

[0158] In summary, this disclosure first obtains first vehicle information and second vehicle information. The first vehicle information includes the vehicle's driving information and environmental information collected by the in-vehicle navigation system at the current moment, while the second vehicle information includes the vehicle's driving information and environmental information collected by the in-vehicle sensors and positioning system at the current moment. Then, first energy consumption information is determined based on the first vehicle information, and second energy consumption information is determined based on the second vehicle information. Further, based on the first energy consumption information, the second energy consumption information, and the actual energy consumption information at the current moment, target vehicle information, engine torque, and motor torque are determined from the first and second vehicle information. The first energy consumption information indicates the energy consumption when the vehicle is driving according to the first vehicle information, and the second energy consumption information indicates the energy consumption when the vehicle is driving according to the second vehicle information. Finally, the engine is controlled to output engine torque, and the motor is controlled to output motor torque. This disclosure can predict vehicle information from two dimensions, expanding the applicability of vehicle control and improving the accuracy of vehicle control.

[0159] Figure 8 This is a block diagram illustrating a control device for a hybrid vehicle according to an exemplary embodiment, such as... Figure 8 As shown, the hybrid vehicle includes an engine, an electric motor, and wheels, with at least one of the engine and electric motor used to drive the wheels. The device 200 includes:

[0160] The acquisition module 201 is used to acquire first vehicle information and second vehicle information. The first vehicle information includes the vehicle's driving information and environmental information at the current time collected by the vehicle navigation system, and the second vehicle information includes the vehicle's driving information and environmental information at the current time collected by the vehicle sensors and positioning system.

[0161] The first determining module 202 is used to determine first energy consumption information based on first vehicle information and to determine second energy consumption information based on second vehicle information.

[0162] The second determining module 203 is used to determine the target vehicle information from the first vehicle information and the second vehicle information based on the first energy consumption information, the second energy consumption information and the actual energy consumption information at the current time. The first energy consumption information is used to indicate the energy consumption of the vehicle when driving according to the first vehicle information, and the second energy consumption information is used to indicate the energy consumption of the vehicle when driving according to the second vehicle information.

[0163] The third determining module 204 is used to determine the engine torque and motor torque based on the target vehicle information.

[0164] The first control module 205 is used to control the engine output torque.

[0165] The second control module 206 is used to control the output torque of the motor.

[0166] Figure 9 This is a block diagram illustrating a control device for a hybrid vehicle according to an exemplary embodiment, such as... Figure 9 As shown, the first determining module 202 includes:

[0167] The first determining submodule 2021 is used to determine the first current information with the highest matching degree with the first vehicle information in the information database, and to determine the second current information with the highest matching degree with the second vehicle information. The information database pre-stores multiple vehicle information sequences, each vehicle information sequence including multiple vehicle information arranged in chronological order, and each vehicle information including driving information and environmental information.

[0168] The first update submodule 2022 is used to take the next vehicle information of the first current information as the first prediction information and update the first vehicle information to the first prediction information.

[0169] The second update submodule 2023 is used to take the next vehicle information of the second current information as the second prediction information and update the second vehicle information to the second prediction information.

[0170] The second determining submodule 2024 is used to determine the first energy consumption information based on the first vehicle information using the whole vehicle driving model, and to determine the second energy consumption information based on the second vehicle information using the whole vehicle driving model.

[0171] In another application scenario, the second determining module 203 is used for:

[0172] If the difference between the first energy consumption information and the actual energy consumption information is less than the difference between the second energy consumption information and the actual energy consumption information, the first vehicle information will be used as the target vehicle information.

[0173] If the difference between the first energy consumption information and the actual energy consumption information is greater than or equal to the difference between the second energy consumption information and the actual energy consumption information, the second vehicle information will be used as the target vehicle information.

[0174] In another application scenario, the third determining module 204 is used for:

[0175] The required torque for the entire vehicle is determined based on the target vehicle information, the actual accelerator pedal depth, and the actual brake pedal depth.

[0176] If the vehicle speed contained in the target vehicle information is less than or equal to the engine start speed, the motor torque used for driving is determined based on the vehicle's required torque, the transmission ratio between the motor and the wheels, and the transmission efficiency, and the engine torque is determined to be zero.

[0177] If the target vehicle information indicates a speed greater than the engine start-up speed, and the required torque for the entire vehicle is greater than the engine's economic output torque, the economic torque is used as the engine torque. The torque of the electric motor used for drive is then determined based on the difference between the required torque for the entire vehicle and the economic output torque, the transmission ratio between the engine and the wheels, and the transmission efficiency. The economic output torque is determined based on the economic torque, the transmission ratio between the engine and the wheels, and the transmission efficiency.

[0178] In another application scenario, the engine is also used to drive an electric motor to generate electricity. The third determining module 204 is used for:

[0179] If the target vehicle information contains a vehicle speed greater than the engine start speed, and the total vehicle torque requirement is less than or equal to the engine's economic output torque, the engine's economic torque is used as the engine torque. The motor torque used for power generation is determined based on the difference between the engine's economic output torque and the total vehicle torque requirement, the transmission ratio between the engine and the motor, and the transmission efficiency.

[0180] In another application scenario, the third determining module 204 is used for:

[0181] Based on the target vehicle information, determine the virtual total torque requirement of the vehicle.

[0182] Based on the virtual vehicle torque requirement, determine the virtual accelerator pedal depth and the virtual brake pedal depth.

[0183] The sum of the actual accelerator pedal depth and the virtual accelerator pedal depth is taken as the target accelerator pedal depth, and the sum of the actual brake pedal depth and the virtual brake pedal depth is taken as the target brake pedal depth.

[0184] The required torque for the entire vehicle is determined based on the target accelerator pedal depth and the target brake pedal depth.

[0185] Figure 10 This is a block diagram illustrating a control device for a hybrid vehicle according to an exemplary embodiment, such as... Figure 10 As shown, the wheel includes a front wheel and a rear wheel, and the motor includes a front motor and a rear motor. The front motor drives the front wheel, and the rear motor drives the rear wheel. The device 200 also includes:

[0186] The fourth determining module 207 is used to determine the torque distribution coefficient based on the vehicle speed, the torque of the motor used for driving, and the preset torque distribution relationship. The torque distribution coefficient is used to indicate the distribution ratio of the front motor torque and the rear motor torque.

[0187] The fifth determining module 208 is used to determine the front motor torque and the rear motor torque based on the motor torque used for driving and the torque distribution coefficient.

[0188] The third control module 209 is used to control the output of the front motor torque by the front motor and to control the output of the rear motor torque by the rear motor.

[0189] In another application scenario, the torque distribution relationship is determined as follows:

[0190] For each of the multiple combinations of vehicle speed setting value and motor torque setting value, a specified number of torque distribution coefficient setting values ​​are preset.

[0191] For each of the multiple combinations, the front motor speed corresponding to the vehicle speed setting is determined based on the vehicle speed setting value, the tire radius of the front wheel, and the speed ratio of the front motor. Similarly, the rear motor speed corresponding to the vehicle speed setting value is determined based on the vehicle speed setting value, the tire radius of the rear wheel, and the speed ratio of the rear motor.

[0192] For each of the multiple combinations and for each torque distribution coefficient setting value in the combination, the corresponding sample front motor torque is determined based on the motor torque setting value, the front motor speed ratio, the front motor transmission efficiency, and the torque distribution coefficient setting value. The corresponding sample rear motor torque is determined based on the motor torque setting value, the rear motor speed ratio, the rear motor transmission efficiency, and each torque distribution coefficient setting value.

[0193] The power loss of the front motor is determined based on the front motor speed and the sample front motor torque, and the power loss of the rear motor is determined based on the rear motor speed and the sample rear motor torque.

[0194] The torque distribution coefficient setting value corresponding to the minimum sum of the power loss of the front motor and the power loss of the rear motor is used as the target value of the torque distribution coefficient for the corresponding combination.

[0195] The torque distribution relationship is generated based on the target value of the torque distribution coefficient corresponding to each combination.

[0196] In another application scenario, driving information includes at least one of the current vehicle speed and the current wheel speed, and environmental information includes at least one of the road gradient, traffic flow, ambient temperature outside the vehicle, and air density.

[0197] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0198] In summary, this disclosure first obtains first vehicle information and second vehicle information. The first vehicle information includes the vehicle's driving information and environmental information collected by the in-vehicle navigation system at the current moment, while the second vehicle information includes the vehicle's driving information and environmental information collected by the in-vehicle sensors and positioning system at the current moment. Then, first energy consumption information is determined based on the first vehicle information, and second energy consumption information is determined based on the second vehicle information. Further, based on the first energy consumption information, the second energy consumption information, and the actual energy consumption information at the current moment, target vehicle information, engine torque, and motor torque are determined from the first and second vehicle information. The first energy consumption information indicates the energy consumption when the vehicle is driving according to the first vehicle information, and the second energy consumption information indicates the energy consumption when the vehicle is driving according to the second vehicle information. Finally, the engine is controlled to output engine torque, and the motor is controlled to output motor torque. This disclosure can predict vehicle information from two dimensions, expanding the applicability of vehicle control and improving the accuracy of vehicle control.

[0199] This disclosure also provides a vehicle for use in the control method of the aforementioned hybrid vehicle.

[0200] Regarding the vehicle in the above embodiments, the specific manner in which it performs each step has been described in detail in the embodiments related to the method, and will not be elaborated here.

[0201] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0202] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0203] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A control method of a hybrid vehicle including an engine, a motor, and a wheel, at least one of the engine and the motor being used to drive the wheel, characterized by, The method includes: Acquire first vehicle information and second vehicle information. The first vehicle information includes the vehicle's driving information and environmental information collected by the vehicle navigation system at the current time. The second vehicle information includes the vehicle's driving information and environmental information collected by the vehicle sensors and positioning system at the current time. First energy consumption information is determined based on the first vehicle information, and second energy consumption information is determined based on the second vehicle information; Based on the first energy consumption information, the second energy consumption information, and the actual energy consumption information at the current moment, the target vehicle information is determined from the first vehicle information and the second vehicle information. The first energy consumption information is used to indicate the energy consumption of the vehicle when it drives according to the first vehicle information, and the second energy consumption information is used to indicate the energy consumption of the vehicle when it drives according to the second vehicle information. Based on the target vehicle information, determine the engine torque and motor torque; Control the engine to output the engine torque; Control the motor to output the motor torque; Specifically, based on the first energy consumption information, the second energy consumption information, and the actual energy consumption information at the current moment, the target vehicle information is determined from the first vehicle information and the second vehicle information, including: If the difference between the first energy consumption information and the actual energy consumption information is less than the difference between the second energy consumption information and the actual energy consumption information, the first vehicle information is taken as the target vehicle information. If the difference between the first energy consumption information and the actual energy consumption information is greater than or equal to the difference between the second energy consumption information and the actual energy consumption information, the second vehicle information is taken as the target vehicle information.

2. The method of claim 1, wherein, The step of determining the first energy consumption information based on the first vehicle information and determining the second energy consumption information based on the second vehicle information includes: In the information database, the first current information with the highest matching degree with the first vehicle information is determined, and the second current information with the highest matching degree with the second vehicle information is determined. The information database pre-stores multiple vehicle information sequences, each of which includes multiple vehicle information arranged in chronological order, and each of which includes driving information and environmental information. The next vehicle information of the first current information is used as the first prediction information, and the first vehicle information is updated to the first prediction information; The next vehicle information in the second current information is used as the second prediction information, and the second vehicle information is updated to the second prediction information; Using the vehicle driving model, the first energy consumption information is determined based on the first vehicle information, and using the vehicle driving model, the second energy consumption information is determined based on the second vehicle information.

3. The method of claim 1, wherein, The step of determining the engine torque and motor torque based on the target vehicle information includes: Based on the target vehicle information, the actual accelerator pedal depth, and the actual brake pedal depth of the vehicle, determine the required torque for the entire vehicle; If the vehicle speed contained in the target vehicle information is less than or equal to the engine start speed, the motor torque used for driving is determined based on the vehicle's required torque, the transmission ratio between the motor and the wheels, and the transmission efficiency, and the engine torque is determined to be zero. If the vehicle speed contained in the target vehicle information is greater than the engine start speed, and the total vehicle torque requirement is greater than the engine economic output torque, the engine economic torque is used as the engine torque, and the motor torque used for driving is determined based on the difference between the total vehicle torque requirement and the engine economic output torque, the transmission ratio between the engine and the wheels, and the transmission efficiency; wherein, the engine economic output torque is determined based on the engine economic torque, the transmission ratio between the engine and the wheels, and the transmission efficiency.

4. The method of claim 3, wherein, The engine is also used to drive the motor to generate electricity; determining the engine torque and motor torque based on the target vehicle information further includes: If the vehicle speed contained in the target vehicle information is greater than the engine start speed, and the total vehicle torque requirement is less than or equal to the engine economic output torque, the engine economic torque is taken as the engine torque, and the motor torque used for power generation is determined based on the difference between the engine economic output torque and the total vehicle torque requirement, the transmission ratio between the engine and the motor, and the transmission efficiency.

5. The method of claim 3, wherein, The step of determining the required torque for the entire vehicle based on the target vehicle information, the actual accelerator pedal depth, and the actual brake pedal depth includes: Based on the target vehicle information, determine the virtual total vehicle torque requirement of the vehicle; Based on the virtual vehicle torque requirement, determine the virtual accelerator pedal depth and the virtual brake pedal depth; The sum of the actual accelerator pedal depth and the virtual accelerator pedal depth is taken as the target accelerator pedal depth, and the sum of the actual brake pedal depth and the virtual brake pedal depth is taken as the target brake pedal depth. The required torque for the entire vehicle is determined based on the target accelerator pedal depth and the target brake pedal depth.

6. The method of claim 3, wherein, The wheel includes a front wheel and a rear wheel, and the motor includes a front motor and a rear motor. The front motor is used to drive the front wheel, and the rear motor is used to drive the rear wheel. If the vehicle speed contained in the target vehicle information is greater than the engine start speed, and the required torque of the entire vehicle is greater than the economic output torque of the engine, the economic torque of the engine is taken as the engine torque. After determining the torque of the motor used for driving based on the difference between the required torque of the entire vehicle and the economic output torque of the engine, the transmission ratio between the engine and the wheels, and the transmission efficiency, the method further includes: Based on the vehicle speed, the torque of the motor used for driving, and a preset torque distribution relationship, a torque distribution coefficient is determined, which is used to indicate the distribution ratio of the front motor torque and the rear motor torque. The front motor torque and the rear motor torque are determined based on the motor torque used for driving and the torque distribution coefficient; The front motor is controlled to output the front motor torque, and the rear motor is controlled to output the rear motor torque.

7. The method of claim 6, wherein, The torque distribution relationship is determined according to the following method: For each of the multiple combinations of vehicle speed setpoint and motor torque setpoint, a specified number of torque distribution coefficient setpoints are preset; For each of the multiple combinations, the front motor speed corresponding to the vehicle speed setting is determined based on the vehicle speed setting value, the tire radius of the front wheel, and the front motor speed ratio, and the rear motor speed corresponding to the vehicle speed setting value is determined based on the vehicle speed setting value, the tire radius of the rear wheel, and the rear motor speed ratio. For each of the multiple combinations and for each of the torque distribution coefficient settings in the combinations, a corresponding sample front motor torque is determined based on the motor torque setting, the front motor speed ratio, the front motor transmission efficiency, and the torque distribution coefficient setting; and a corresponding sample rear motor torque is determined based on the motor torque setting, the rear motor speed ratio, the rear motor transmission efficiency, and each of the torque distribution coefficient settings. The power loss of the front motor is determined based on the front motor speed and the sample front motor torque, and the power loss of the rear motor is determined based on the rear motor speed and the sample rear motor torque. The torque distribution coefficient setting value corresponding to the minimum sum of the power loss of the front motor and the power loss of the rear motor is used as the target value of the torque distribution coefficient for the corresponding combination. The torque distribution relationship is generated based on the target value of the torque distribution coefficient corresponding to each of the combinations.

8. The method according to any one of claims 1-7, characterized in that, Driving information includes at least one of current vehicle speed and current wheel speed, and environmental information includes at least one of road gradient, traffic flow, ambient temperature outside the vehicle, and air density.

9. A control device of a hybrid vehicle including an engine, a motor, and a wheel, at least one of the engine and the motor being used to drive the wheel, characterized by, The device includes: The acquisition module is used to acquire first vehicle information and second vehicle information. The first vehicle information includes the vehicle's driving information and environmental information collected by the vehicle navigation system at the current time. The second vehicle information includes the vehicle's driving information and environmental information collected by the vehicle sensors and positioning system at the current time. The first determining module is used to determine first energy consumption information based on the first vehicle information and to determine second energy consumption information based on the second vehicle information. The second determining module is used to determine target vehicle information from the first vehicle information and the second vehicle information based on the first energy consumption information, the second energy consumption information and the actual energy consumption information at the current time. The first energy consumption information is used to indicate the energy consumption of the vehicle when it drives according to the first vehicle information, and the second energy consumption information is used to indicate the energy consumption of the vehicle when it drives according to the second vehicle information. The third determining module is used to determine the engine torque and motor torque based on the target vehicle information; The first control module is used to control the engine to output the engine torque; The second control module is used to control the motor to output the motor torque; The second determining module is used for: If the difference between the first energy consumption information and the actual energy consumption information is less than the difference between the second energy consumption information and the actual energy consumption information, the first vehicle information is taken as the target vehicle information. If the difference between the first energy consumption information and the actual energy consumption information is greater than or equal to the difference between the second energy consumption information and the actual energy consumption information, the second vehicle information is taken as the target vehicle information.

10. A vehicle characterized by comprising: The vehicle is used to perform the control method for a hybrid vehicle as described in any one of claims 1-8.

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