Mode switching method and device of hybrid power system, vehicle and storage medium

Abstract

The present disclosure relates to the technical field of electronic appliances, and provides a mode switching method and device of a hybrid power system, a vehicle and a storage medium. The method comprises periodically acquiring current state information of a vehicle; determining system power losses of the vehicle in different driving modes respectively according to the current state information; comparing the system power losses in the different driving modes, and outputting a driving mode corresponding to a minimum system power loss; and controlling the vehicle to switch to the driving mode corresponding to the minimum system power loss according to a preset switching strategy. The mode switching method of the present disclosure can reduce the energy consumption of the vehicle and ensure that the system efficiency is always in an optimal state.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of electronic appliances, and in particular, to a mode switching method and device of a hybrid power system, a vehicle, and a storage medium. BACKGROUND

[0002] With the rapid development of social economy, vehicles have become an indispensable means of transportation and production, bringing great convenience to people's daily life. At present, in the related art, mode switching is based on a fixed rule energy management strategy, that is, mode switching is performed according to trigger conditions set according to experience and calibration data, but this way cannot guarantee optimal system efficiency. SUMMARY

[0003] Therefore, it is necessary to provide a mode switching method and device of a hybrid power system, a vehicle, and a storage medium, which can ensure that the system efficiency is always optimal.

[0004] In a first aspect, the embodiments of the present disclosure provide a mode switching method of a hybrid power system, the method comprising:

[0005] periodically obtaining current state information of a vehicle;

[0006] determining system power losses of the vehicle in different driving modes according to the current state information, respectively;

[0007] comparing the system power losses in the different driving modes, and outputting a driving mode corresponding to a minimum system power loss;

[0008] controlling the vehicle to switch to the driving mode corresponding to the minimum system power loss according to a preset switching strategy.

[0009] In one embodiment, the determining the system power losses of the vehicle in different driving modes according to the current state information comprises determining a system power loss of the vehicle in an electric-only driving mode.

[0010] In one embodiment, the obtaining the current state information of the vehicle comprises:

[0011] obtaining a current wheel end demand torque of the vehicle;

[0012] Correspondingly, the determining the system power loss of the vehicle in the electric-only driving mode comprises:

[0013] setting l working conditions of the vehicle in the electric-only driving mode, wherein l is a positive integer greater than 1, in each working condition, a first front motor torque is obtained according to the current wheel end demand torque and a front motor speed ratio, and a first rear motor torque is obtained according to the current wheel end demand torque and a rear motor speed ratio.

[0014] According to the first front motor torque under each working condition and the first rear motor torque under each working condition, a pure electric power loss of the vehicle in each working condition in a pure electric mode is calculated;

[0015] The minimum value of each pure electric power loss is taken as a system power loss of the vehicle in the pure electric mode;

[0016] Correspondingly, the control of the vehicle switching to the drive mode corresponding to the minimum system power loss comprises:

[0017] When the vehicle is controlled to switch to the pure electric mode, the vehicle is controlled to switch to the working condition with the minimum pure electric power loss.

[0018] In one embodiment, the calculation of the pure electric power loss of the vehicle in each working condition in the pure electric mode comprises:

[0019] The first motor power loss, the first battery power loss, and the first electric quantity compensation power loss of the vehicle in each working condition in the pure electric mode are calculated;

[0020] The sum of the first motor power loss, the first battery power loss, and the first electric quantity compensation power loss of the vehicle in each working condition in the pure electric mode is calculated, and the sum is taken as the pure electric power loss in the corresponding working condition.

[0021] In one embodiment, the acquisition of the current state information of the vehicle comprises:

[0022] The front motor speed, the rear motor speed, the front motor power, the rear motor power, the current electric quantity, and the target electric quantity of the vehicle are acquired;

[0023] Correspondingly, the calculation of the first motor power loss, the first battery power loss, and the first electric quantity compensation power loss of the vehicle in each working condition in the pure electric mode comprises:

[0024] According to the front motor speed, the rear motor speed, the first front motor torque under each working condition, and the first rear motor torque under each working condition, the first motor power loss in each working condition is calculated;

[0025] According to the front motor power, the rear motor power, and the first motor power loss under each working condition, the first battery power loss in each working condition is calculated;

[0026] According to the current electric quantity and the target electric quantity, the first electric quantity compensation power loss in each working condition is calculated.

[0027] In one embodiment, the determining the system power loss of the vehicle in different driving modes respectively according to the current state information comprises determining the system power loss of the vehicle in the series mode.

[0028] In one embodiment, the obtaining the current state information of the vehicle comprises:

[0029] obtaining the current wheel end demand torque of the vehicle;

[0030] Correspondingly, the determining the system power loss of the vehicle in the series mode comprises:

[0031] obtaining a second rear motor torque according to the current wheel end demand torque and a rear motor speed ratio;

[0032] setting m kinds of working conditions of the vehicle in the series mode, wherein m is a positive integer greater than 1, in each working condition, the engine output power has a different value, and the ratio of the first engine torque to the second front motor torque is constant;

[0033] obtaining the first engine torque and the second front motor torque in each working condition according to the engine output power and engine universal characteristic data;

[0034] calculating series power losses in the m kinds of working conditions of the vehicle in the series mode according to the second front motor torque, the second rear motor torque and the first engine torque;

[0035] taking the minimum value of each series power loss as the system power loss of the vehicle in the series mode;

[0036] Correspondingly, the controlling the vehicle to switch to the driving mode corresponding to the minimum system power loss comprises:

[0037] when controlling the vehicle to switch to the series mode, controlling the vehicle to switch to the working condition with the minimum series power loss.

[0038] In one embodiment, the calculating the series power losses in the m kinds of working conditions of the vehicle in the series mode comprises:

[0039] calculating second motor power losses, first engine power losses, second battery power losses and second electric quantity compensation power losses in the m kinds of working conditions of the vehicle in the series mode;

[0040] calculating a sum of the second motor power loss, the first engine power loss, the second battery power loss and the second electric quantity compensation power loss of the vehicle in the series mode in the m working conditions, and taking the sum of the second motor power loss, the first engine power loss, the second battery power loss and the second electric quantity compensation power loss as the series power loss in the corresponding working condition.

[0041] In one embodiment, the obtaining the first engine torque and the second front motor torque in each working condition according to the engine output power and engine universal characteristic data comprises:

[0042] determining a value range of the engine output power, and determining m values of the engine output power;

[0043] obtaining the optimal specific fuel consumption in each working condition according to the engine output power and the engine universal characteristic data;

[0044] determining the first engine torque in each working condition according to the optimal specific fuel consumption in each working condition;

[0045] obtaining the second front motor torque in each working condition according to the first engine torque in each working condition.

[0046] In one embodiment, the determining the system power loss of the vehicle in different driving modes according to the current state information comprises determining the system power loss of the vehicle in the parallel mode.

[0047] In one embodiment, the obtaining the current state information of the vehicle comprises:

[0048] obtaining the current wheel end demand torque of the vehicle;

[0049] Correspondingly, the determining the system power loss of the vehicle in the parallel mode comprises:

[0050] setting n working conditions of the vehicle in the parallel mode, wherein n is a positive integer greater than 1, in each working condition, the engine speed value is not completely the same, the sum of the product of the third rear motor torque and the rear motor speed ratio and the product of the second engine torque and the engine speed ratio is the current wheel end demand torque, and the ratio of the third front motor torque to the second engine torque is constant;

[0051] obtaining the second engine torque, the third front motor torque and the third rear motor torque in each working condition according to the engine speed and the engine speed-torque table;

[0052] calculating parallel power losses of the vehicle in n working conditions in the parallel mode according to the third front motor torque, the third rear motor torque and the second engine torque;

[0053] taking a minimum value of each of the parallel power losses as a system power loss of the vehicle in the parallel mode;

[0054] Accordingly, the control of the vehicle switching to the driving mode corresponding to the minimum value of the system power loss comprises:

[0055] When the vehicle is controlled to switch to the parallel mode, the vehicle is controlled to switch to the working condition with the minimum parallel power loss.

[0056] In one embodiment, the calculation of the parallel power losses of the vehicle in n working conditions in the parallel mode comprises:

[0057] calculating third motor power losses, second engine power losses, third battery power losses and third power compensation power losses of the vehicle in n working conditions in the parallel mode;

[0058] calculating the sum of the third motor power losses, the second engine power losses, the third battery power losses and the third power compensation power losses of the vehicle in n working conditions in the parallel mode, and taking the sum of the third motor power losses, the second engine power losses, the third battery power losses and the third power compensation power losses as the parallel power loss in the corresponding working condition.

[0059] In one embodiment, the obtaining of the second engine torque, the third front motor torque and the third rear motor torque in each working condition according to the engine speed and the engine speed-torque correspondence table comprises:

[0060] determining the value range of the engine speed, and determining the number of values of the engine speed according to the number of gears of the vehicle;

[0061] obtaining the maximum engine torque in each working condition according to the engine speed-torque correspondence table;

[0062] determining the second engine torque in each working condition according to the maximum engine torque in each working condition;

[0063] obtaining the third front motor torque and the third rear motor torque in each working condition according to the second engine torque in each working condition.

[0064] In one embodiment, the preset switching strategy comprises switching after a preset time;

[0065] And / or, the sum of the minimum system power loss and the switching power loss is less than the system power loss corresponding to the current driving mode.

[0066] In a second aspect, the embodiments of the present disclosure provide a mode switching device of a hybrid power system, the device comprising:

[0067] an acquisition module configured to periodically acquire current state information of the vehicle;

[0068] a determination module configured to determine system power losses of the vehicle in different driving modes respectively according to the current state information;

[0069] a comparison module configured to compare the system power losses in the different driving modes and output a driving mode corresponding to a minimum system power loss;

[0070] a control module configured to control the vehicle to switch to the driving mode corresponding to the minimum system power loss according to a preset switching strategy.

[0071] In a third aspect, the embodiments of the present disclosure provide a vehicle, the vehicle comprising a vehicle controller, the vehicle controller comprising the device of the second aspect.

[0072] In one embodiment, the vehicle further comprises a front motor controller, a rear motor controller, a battery controller, a gearbox controller and an engine controller connected to the vehicle controller.

[0073] In a fourth aspect, the embodiments of the present disclosure provide a computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the steps of the method of any one of the first aspect.

[0074] As can be seen from the above technical solutions, the embodiments of the present disclosure have the following advantages:

[0075] The mode switching method, device, vehicle and storage medium of the hybrid power system provided by the embodiments of the present disclosure periodically acquire current state information of the vehicle, and then determine system power losses in different driving modes of the vehicle according to the current state information, compare the system power losses in the different driving modes, and output a driving mode corresponding to a minimum system power loss. Further, the vehicle is controlled to switch to the driving mode corresponding to the minimum system power loss according to a preset switching strategy, thereby reducing the energy consumption of the vehicle, ensuring that the system efficiency is always optimal, avoiding frequent mode switching, and making the system stable and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0076] Other features, objects, and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings:

[0077] Figure 1 A structural schematic diagram of a hybrid power system provided by an embodiment of the present disclosure;

[0078] Figure 2 A basic flow schematic diagram of a mode switching method of a hybrid power system provided by an embodiment of the present disclosure;

[0079] Figure 3 A basic structural schematic diagram of a mode switching device of a hybrid power system provided by an embodiment of the present disclosure;

[0080] Figure 4 A structural block diagram of a vehicle provided by an embodiment of the present disclosure;

[0081] Figure 5 A structural block diagram of another vehicle provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0082] In order to make the personnel in the technical field better understand the present disclosure scheme, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, not all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present disclosure.

[0083] The terms "first", "second", "third", "fourth" and the like (if any) in the description, claims and above drawings of the present disclosure are used to distinguish similar objects, and do not necessarily have to describe a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the described embodiments of the present disclosure can be implemented in an order other than those illustrated or described herein.

[0084] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or modules does not have to be limited to those steps or modules clearly listed, but can include other steps or modules not clearly listed or inherent to these processes, methods, products or devices.

[0085] For better understanding of the embodiments of the present disclosure, the above and other objects, features and advantages of the present disclosure will be described in detail below with reference to the accompanying drawings. Figure 1The hybrid system is shown in detail. Exemplarily, the hybrid system includes but is not limited to an ICE (engine), a GBOX (gearbox), a MOT1 (front motor), a Battery (battery), a MOT2 (rear motor), a clutch, and the like. The following describes the hybrid system in detail. Figures 2 to 5 The mode switching method, device, vehicle, and storage medium of the hybrid system provided by the embodiments of the present disclosure are described in detail.

[0086] In one embodiment, as shown in the figure, it is a basic flow diagram of a mode switching method of a hybrid system provided by the embodiments of the present disclosure. The method includes the following steps: Figure 2

[0087] S101, periodically acquire the current state information of the vehicle.

[0088] It should be noted that the periodic acquisition in the embodiments of the present disclosure can be real-time acquisition, or can be acquisition after a period of time. The current state information of the vehicle includes but is not limited to the front motor speed, the rear motor speed, the front motor power, the rear motor power, the engine speed, the current power, the target power, and the current vehicle speed, etc.

[0089] S102, according to the current state information, respectively determine the system power loss of the vehicle in different driving modes.

[0090] It should be noted that the driving mode of the vehicle in the embodiments of the present disclosure includes but is not limited to the pure electric mode (EV), the series mode (ER), the parallel mode (EP), the parking power generation mode, and the energy recovery mode, etc. Among them, the pure electric mode includes but is not limited to EV front drive, EV rear drive and EV four-wheel drive, the series mode includes but is not limited to series rear drive, and the parallel mode includes but is not limited to engine parallel front drive, engine parallel four-wheel drive and engine direct drive.

[0091] ​Exemplarily, in the case that the driving mode is the pure electric mode, the embodiment of the present disclosure first acquires the current wheel end demand torque of the vehicle; secondly, sets l working conditions of the vehicle in the pure electric mode, wherein l is a positive integer greater than 1, in each working condition, the first front motor torque T_mot1' is obtained according to the current wheel end demand torque and the front motor speed ratio, and the first rear motor torque T_mot2' is obtained according to the current wheel end demand torque and the rear motor speed ratio, for example, the first front motor torque T_mot1' is 1 / l / if*Twheel, 2 / l / if*Twheel, 3 / l / if*Twheel, …, l / l / if*Twheel, that is, l equal parts are divided, and the corresponding first rear motor torque T_mot2' is (1-1 / l) / ir*Twheel, (1-2 / l) / ir*Twheel, (1-3 / l) / ir*Twheel, …, (1-l / l) / ir*Twheel, wherein if and ir are the speed ratios corresponding to the front and rear motors respectively, and Twheel is the wheel end demand torque; thirdly, according to the first front motor torque T_mot1' in each working condition and the first rear motor torque T_mot2' in each working condition, the pure electric power loss Ploss_EV of the vehicle in the l working conditions in the pure electric mode is calculated; and finally, the minimum value of each pure electric power loss Ploss_EV is taken as the system power loss of the vehicle in the pure electric mode.

[0092] Optionally, when the embodiment of the present disclosure calculates the pure electric power loss Ploss_EV of the vehicle in the l working conditions in the pure electric mode, first, the first motor power loss Ploss_mot', the first battery power loss Ploss_bat', and the first power compensation power loss Ploss_equ' of the vehicle in the l working conditions in the pure electric mode are calculated, wherein the power compensation power loss refers to the power loss when the current power consumption of the vehicle is compensated in the future, for example, ① according to the front motor speed W_mot1, the rear motor speed W_mot2, the first front motor torque T_mot1' in each working condition, and the first rear motor torque T_mot2' in each working condition, the first motor power loss Ploss_mot' in the l working conditions is calculated (as shown in formula (1)), wherein the motor speed can be obtained through a sensor, or can also be obtained according to the current vehicle speed, that is:

[0093] Ploss_mot' = Ploss_mot1' + Ploss_mot2'

[0094] = W_mot1*T_mot1' / 9549.3 / η_mot1'*(1-η_mot1') + W_mot2*T_mot2' / 9549.3 / η_mot2'*(1-η_mot2')

[0095] W_mot2 * T_mot2' / 9549.3 / η_mot2' * (1 - η_mot2') (1)

[0097] In formula (1), η_mot represents the motor charging and discharging efficiency, the value of which can be obtained according to the motor speed and the motor torque;

[0098] ②According to the front motor power Pmot1, the rear motor power Pmot2 and the first motor power loss Ploss_mot' under each working condition, the first battery power loss Ploss_bat' in the l working conditions is calculated (as shown in formulas (2)-(4)), that is:

[0099] Pbat' = Pmot1 + Pmot2 + Ploss_mot' (2)

[0100] In formula (2), Pbat' represents the first battery power;

[0101] Ibat' = Pbat' / Ubat (3)

[0102] In formula (3), Ibat' represents the battery current, and Ubat represents the battery voltage, which can be measured;

[0103] Ploss_bat' = (Ibat')^2 * Rbat (4)

[0104] In formula (4), Rbat represents the battery internal resistance, the value of which can be obtained according to the battery voltage and the battery temperature;

[0105] ③According to the current electric quantity SOCact and the target electric quantity SOCtarget, the first electric quantity compensation power loss Ploss_equ' in the l working conditions is calculated (as shown in formulas (5)-(6)), that is:

[0106] Psoc = ((SOCtarget - SOCact) / ((SOCupper - SOClower) / 2))^3 + 1 (5)

[0107] In formula (5), Psoc represents the electric quantity penalty coefficient, SOCupper represents the preset upper limit value of the electric quantity, and SOClower represents the preset lower limit value of the electric quantity;

[0108] Ploss_equ' = ((((1 + sign(Pbat')) / 2) * Pbat') * (EquChgCoe - 1)

[0109] + ((((1 - sign(Pbat')) / 2) * Pbat') * (EquDisCoe - 1)) * Psoc * 1000 (6)

[0110] In formula (6), sign represents a sign function, EquChgCoe represents a battery charging equivalent coefficient, EquDisCoe represents a battery discharging equivalent coefficient, and EquChgCoe and EquDisCoe are calibration values;

[0111] Further, the sum of the first motor power loss Ploss_mot', the first battery power loss Ploss_bat', and the first electric quantity compensation power loss Ploss_equ' of the vehicle in the l kinds of working conditions in the pure electric mode is calculated, and the sum of the first motor power loss Ploss_mot', the first battery power loss Ploss_bat', and the first electric quantity compensation power loss Ploss_equ' is taken as the pure electric power loss Ploss_EV in the corresponding working condition.

[0112] Optionally, when the pure electric power loss Ploss_EV of the vehicle in the l kinds of working conditions in the pure electric mode is calculated, the accessory power loss Ploss_fitting, which refers to the total power of various power consumption devices on the vehicle, can also be added. In this way, the system power loss is covered comprehensively, so that the finally output driving mode is more accurate, and the system efficiency is always in the optimal state.

[0113] It should be noted that the larger the value of l is, the closer the final calculation result is to the optimal value, but the calculation amount also increases accordingly. Therefore, under the premise of ensuring the accuracy of motor torque control, the value of l can be appropriately reduced, so that the vehicle can respond to the driving demand in real time. In addition, in some embodiments of the present disclosure, the front motor or the rear motor can also be disconnected from the wheels, at which time the motor power loss is zero. The advantage of this setting is that it can avoid the drag loss of the motor, thereby reducing the energy consumption of the whole vehicle.

[0114] For example, in the case of the driving mode being series mode, the embodiment of the present disclosure first obtains the current wheel end demand torque of the vehicle; secondly, according to the current wheel end demand torque and the rear motor speed ratio, the second rear motor torque T_mot2” is obtained, and m kinds of working conditions of the vehicle in series mode are set, wherein m is a positive integer greater than 1, in each working condition, the engine output power Pice takes different values, and the ratio of the first engine torque T_ice’ to the second front motor torque T_mot1” is constant. Here, the embodiment of the present disclosure takes the engine driving the front motor to generate electricity and the rear motor driving as an example for illustration. It can be understood that some embodiments of the present disclosure can also operate by the engine driving the rear motor to generate electricity and the front motor driving. The difference lies in that the engine is connected to different motors. In addition, the embodiment of the present disclosure only considers how to reduce losses, and does not consider how to improve power generation. If necessary, the switching to which working condition can be determined after comparing the power generation and the reduced loss.

[0115] Thirdly, according to the engine output power Pice and the engine universal characteristic data, the first engine torque T_ice’ and the second front motor torque T_mot1” in each working condition are obtained, for example, (1) the value range of the engine output power Pice is determined, and m values of the engine output power Pice are determined, that is, according to the minimum power Pice_min and the maximum power Pice_max of the engine, the engine power is divided to obtain m engine powers Pice, which are Pice_min+1 / m*(Pice_max-Pice_min),

[0116] Pice_min+2 / m*(Pice_max-Pice_min),

[0117] …

[0118] Pice_min+m / m*(Pice_max-Pice_min)

[0119] (2) According to the engine output power Pice and the engine universal characteristic data, the best specific fuel consumption Bice_min in each working condition is obtained, and according to the best specific fuel consumption Bice_min in each working condition, the first engine torque T_ice’ in each working condition is determined; (3) According to the first engine torque T_ice’ in each working condition, the second front motor torque T_mot1” in each working condition is obtained.

[0120] Then, the series power loss Ploss ER in the m working conditions of the vehicle in the series mode is calculated according to the second front motor torque T_mot1'', the second rear motor torque T_mot2'' and the first engine torque T_ice';finally, the minimum value of each series power loss Ploss ER is taken as the system power loss of the vehicle in the series mode.

[0121] Alternatively, when the series power loss Ploss ER in the m working conditions of the vehicle in the series mode is calculated, the second motor power loss Ploss_mot'', the first engine power loss Ploss_ice'', the second battery power loss Ploss_bat'' and the second electric quantity compensation power loss Ploss_equ'' in the m working conditions of the vehicle in the series mode are first calculated, for example, ① the second motor power loss Ploss_mot'' in the m working conditions is calculated according to the front motor speed W_mot1, the rear motor speed W_mot2, the second front motor torque T_mot1'' in each working condition and the second rear motor torque T_mot2'' in each working condition (principle same as formula (1));② the first engine power loss Ploss_ice' in the m working conditions is calculated according to the engine speed W_ice' and the first engine torque T_ice' in each working condition (as shown in formula (7)),wherein the engine speed W_ice' can be obtained according to the engine power Pice and the first engine torque T_ice', that is:

[0122] Ploss_ice' = W_ice' * T_ice' / 9549.3 / (3600000 / Bice_min / Qfuel) * (1-3600000 / Bice_min / Qfuel) * 1000 (7)

[0123] In formula (7), Qfuel represents the fuel heat value;

[0124] ③ the second battery power loss Ploss_bat'' in the m working conditions is calculated according to the front motor power Pmot1, the rear motor power Pmot2 and the second motor power loss Ploss_mot'' in each working condition (principle same as formula (2)-(4));④ the second electric quantity compensation power loss Ploss_equ'' in the m working conditions is calculated according to the current electric quantity SOCact and the target electric quantity SOCtarget (principle same as formula (5)-(6));

[0125] Further, the sum of the second motor power loss Ploss mot", the first engine power loss Ploss ice', the second battery power loss Ploss bat" and the second electric quantity compensation power loss Ploss equ" of the vehicle in the m kinds of working conditions in the series mode is calculated, and the sum of the second motor power loss Ploss mot", the first engine power loss Ploss ice', the second battery power loss Ploss bat" and the second electric quantity compensation power loss Ploss equ" is taken as the series power loss Ploss ER in the corresponding working condition.

[0126] Optionally, when the series power loss Ploss ER of the vehicle in the m kinds of working conditions in the series mode is calculated, the fitting power loss Ploss fitting can also be added, so that the system power loss is covered comprehensively, the finally output driving mode is more accurate, and the system efficiency is always in the optimal state.

[0127] It should be noted that the greater the value of m in the embodiment of the present disclosure, the closer the final calculation result is to the optimal value, but the calculation amount also increases accordingly, therefore, the value of m can be appropriately reduced under the premise of ensuring the accuracy of motor torque control, so that the vehicle can respond to the driving demand in real time.

[0128] For example, in the case of the driving mode being the series mode, the embodiment of the present disclosure first obtains the current wheel end demand torque of the vehicle; secondly, the n kinds of working conditions of the vehicle in the series mode are set, wherein n is a positive integer greater than 1, the engine speed W ice" in each working condition is not completely the same, the sum of the product of the third motor torque T mot2"'and the rear motor speed ratio and the product of the second engine torque T ice" and the engine speed ratio is the current wheel end demand torque, and the ratio of the third front motor torque T mot1"'to the second engine torque T ice" is constant;

[0129] Again, according to the engine speed W_ice" and the engine speed torque table, the second engine torque T_ice", the third front motor torque T_mot1"' and the third rear motor torque T_mot2"' in each working condition are obtained, for example, (1) the value range of the engine speed W_ice" is determined, and the number of values of the engine speed W_ice" is determined according to the number of gears of the vehicle, that is, according to the current vehicle speed, the engine speed W_ice" corresponding to each gear is calculated in the speed range meeting the engine operation; (2) according to the engine speed torque table, the maximum engine torque Tice_max in each working condition is obtained, and according to the maximum engine torque Tice_max in each working condition, the second engine torque T_ice" in each working condition is determined, that is, the maximum engine torque Tice_max under the engine speed W_ice" is obtained by table lookup, and the engine torque is divided to obtain n second engine torques T_ice", which are 1 / n*Tice_max, 2 / n*Tice_max, …, n / n*Tice_max, respectively; (3) according to the second engine torque T_ice" in each working condition, the third front motor torque T_mot1"' and the third rear motor torque T_mot2"' in each working condition are obtained, that is, the third front motor torque T_mot1"' is (Twheel-T_ice"*ieng) / if, or the third rear motor torque T_mot2"' is (Twheel-T_ice"*ieng) / ir, wherein ieng represents the engine speed ratio, and here the embodiment of the present disclosure still takes the example of the engine driving the front motor to generate electricity and the rear motor driving as an example, and it can be understood that some embodiments of the present disclosure can also operate by the engine driving the rear motor to generate electricity, the front motor driving, or the engine driving the front and rear motors at the same time, in the case that the front motor and the rear motor are both driving assistance, the third front motor torque T_mot1"' is (Twheel-T_ice"*ieng+T_mot2"'*ir) / if, and the third rear motor torque T_mot2"' is the maximum torque corresponding to the current rear motor speed W_mot2.

[0130] Then, according to the third front motor torque T_mot1"', the third rear motor torque T_mot2"' and the second engine torque T_ice", the parallel power loss Ploss_EP in n working conditions of the vehicle in parallel mode is calculated; finally, the minimum value of each parallel power loss is taken as the system power loss of the vehicle in parallel mode.

[0131] Optionally, when the parallel power loss Ploss EP in the n working conditions of the vehicle in the parallel mode is calculated, the third motor power loss Ploss mot" ', the second engine power loss Ploss ice", the third battery power loss Ploss bat" ', and the third electric quantity compensation power loss Ploss equ"'in the n working conditions of the vehicle in the parallel mode are calculated first, for example, ① the third motor power loss Ploss mot"'in the n working conditions is calculated according to the front motor speed W_mot1, the rear motor speed W_mot2, the third front motor torque T_mot1"'in each working condition, and the third rear motor torque T_mot2"'in each working condition (the principle is the same as shown in formula (1)), ② the second engine power loss Ploss ice" in the n working conditions is calculated according to the engine speed W_ice" and the second engine torque T_ice" in each working condition (the principle is the same as shown in formula (7), and the engine specific fuel consumption Bice can be obtained by looking up the engine speed and torque table), ③ the third battery power loss Ploss bat"'in the n working conditions is calculated according to the front motor power Pmot1, the rear motor power Pmot2, and the third motor power loss Ploss mot"'in each working condition (the principle is the same as shown in formula (2)-(4)), and ④ the third electric quantity compensation power loss Ploss equ"'in the n working conditions is calculated according to the current electric quantity SOCact and the target electric quantity SOCtarget (the principle is the same as shown in formula (5)-(6)).

[0132] Further, the sum of the third motor power loss Ploss mot" ', the second engine power loss Ploss ice", the third battery power loss Ploss bat" ', and the third electric quantity compensation power loss Ploss equ"'in the n working conditions of the vehicle in the parallel mode is calculated, and the sum of the third motor power loss Ploss mot" ', the second engine power loss Ploss ice", the third battery power loss Ploss bat" ', and the third electric quantity compensation power loss Ploss equ"'in the n working conditions of the vehicle in the parallel mode is taken as the parallel power loss Ploss EP in the corresponding working condition.

[0133] Optionally, when the parallel power loss Ploss EP in the n working conditions of the vehicle in the parallel mode is calculated, the accessory power loss Ploss fitting can also be added, so that the system power loss is covered comprehensively, the finally output driving mode is more accurate, and the system efficiency is always in the optimal state.

[0134] It should be noted that the greater the value of n in the embodiment of the present disclosure, the closer the final calculation result is to the optimal value, but the calculation amount also increases accordingly, so the value of n can be appropriately reduced under the premise of ensuring the accuracy of motor torque control, so that the vehicle can respond to driving requirements in real time. In addition, the values of l, m and n in the embodiment of the present disclosure can be equal or not equal, which is not limited.

[0135] S103, comparing the system power losses of different driving modes and outputting the driving mode corresponding to the minimum system power loss.

[0136] S104, controlling the vehicle to switch to the driving mode corresponding to the minimum system power loss according to the preset switching strategy.

[0137] It should be noted that the preset switching strategy in the embodiment of the present disclosure can be switching after a preset time, or can be switching when the sum of the minimum system power loss and the switching power loss is less than the system power loss corresponding to the current driving mode, or can be switching when the sum of the minimum system power loss and the switching power loss is less than the system power loss corresponding to the current driving mode and after a preset time.

[0138] For example, if the system power loss of the pure electric mode is the smallest, the vehicle is controlled to switch to the working condition with the smallest pure electric power loss after a preset time of 5 seconds. Similarly, if the system power loss of the series mode is the smallest, the vehicle is controlled to switch to the working condition with the smallest series power loss after a preset time of 5 seconds. If the system power loss of the parallel mode is the smallest, the vehicle is controlled to switch to the working condition with the smallest parallel power loss after a preset time of 5 seconds.

[0139] In the mode switching method of the hybrid power system described above, the current state information of the vehicle is periodically obtained, so that according to the current state information, the system power loss is first determined in different driving modes of the vehicle, then the system power losses in different driving modes are compared, and the driving mode corresponding to the minimum system power loss is output. Further, according to the preset switching strategy, the vehicle is controlled to switch to the driving mode corresponding to the minimum system power loss, thereby reducing the energy consumption of the whole vehicle, ensuring that the system efficiency is always in the optimal state, and avoiding frequent mode switching, so that the system runs stably and has strong reliability.

[0140] In one embodiment, as shown in FIG. 1, Figure 3 The mode switching device 100 of the hybrid power system provided by the embodiment of the present disclosure includes an acquisition module 101, a determination module 102, a comparison module 103 and a control module 104. Wherein:

[0141] The acquisition module 101 is configured to periodically acquire the current state information of the vehicle.

[0142] The determination module 102 is configured to determine the system power loss of the vehicle in different driving modes respectively according to the current state information.

[0143] The comparison module 103 is configured to compare the system power losses in different driving modes and output the driving mode corresponding to the minimum system power loss.

[0144] The control module 104 is configured to control the vehicle to switch to the driving mode corresponding to the minimum system power loss according to a preset switching strategy.

[0145] Optionally, in some embodiments of the present disclosure, the determination module 102 is configured to determine the system power loss of the vehicle in the pure electric mode.

[0146] Optionally, in some embodiments of the present disclosure, the acquisition module 101 is configured to acquire the current wheel end demand torque of the vehicle.

[0147] Correspondingly, the determination module 102 is configured to set l kinds of working conditions of the vehicle in the pure electric mode, where l is a positive integer greater than 1, and in each working condition, the first front motor torque is obtained according to the current wheel end demand torque and the front motor speed ratio, and the first rear motor torque is obtained according to the current wheel end demand torque and the rear motor speed ratio.

[0148] According to the first front motor torque in each working condition and the first rear motor torque in each working condition, the pure electric power loss of the vehicle in the l kinds of working conditions in the pure electric mode is calculated.

[0149] The minimum value of each pure electric power loss is taken as the system power loss of the vehicle in the pure electric mode.

[0150] Correspondingly, the control module 104 is configured to control the vehicle to switch to the working condition with the minimum pure electric power loss when controlling the vehicle to switch to the pure electric mode.

[0151] Optionally, in some embodiments of the present disclosure, the determination module 102 is further configured to calculate the first motor power loss, the first battery power loss, and the first power compensation power loss of the vehicle in the l kinds of working conditions in the pure electric mode.

[0152] The sum of the first motor power loss, the first battery power loss, and the first power compensation power loss of the vehicle in the l kinds of working conditions in the pure electric mode is calculated, and the sum of the first motor power loss, the first battery power loss, and the first power compensation power loss is taken as the pure electric power loss in the corresponding working condition.

[0153] Optionally, in some embodiments of the present disclosure, the acquisition module 101 is further configured to acquire a front motor speed, a rear motor speed, a front motor power, a rear motor power, a current electric quantity and a target electric quantity of the vehicle;

[0154] Correspondingly, the determination module 102 is further configured to calculate a first motor power loss in the l working conditions according to the front motor speed, the rear motor speed, the first front motor torque in each working condition and the first rear motor torque in each working condition;

[0155] According to the front motor power, the rear motor power and the first motor power loss in each working condition, a first battery power loss in the l working conditions is calculated;

[0156] According to the current electric quantity and the target electric quantity, a first electric quantity compensation power loss in the l working conditions is calculated.

[0157] Optionally, in some embodiments of the present disclosure, the determination module 102 is configured to determine a system power loss of the vehicle in the series mode.

[0158] Optionally, in some embodiments of the present disclosure, the acquisition module 101 is configured to acquire a current wheel end demand torque of the vehicle;

[0159] Correspondingly, the determination module 102 is configured to obtain a second rear motor torque according to the current wheel end demand torque and the rear motor speed ratio;

[0160] m working conditions of the vehicle in the series mode are set, where m is a positive integer greater than 1, the engine output power has different values in each working condition, and the ratio of the first engine torque to the second front motor torque is constant;

[0161] According to the engine output power and the engine universal characteristic data, the first engine torque and the second front motor torque in each working condition are obtained;

[0162] According to the second front motor torque, the second rear motor torque and the first engine torque, a series power loss in the m working conditions of the vehicle in the series mode is calculated;

[0163] The minimum value of each series power loss is taken as the system power loss of the vehicle in the series mode;

[0164] Correspondingly, the control module 104 is configured to control the vehicle to switch to the working condition with the minimum series power loss when the vehicle is controlled to switch to the series mode.

[0165] Optionally, in some embodiments of the present disclosure, the determination module 102 is further configured to calculate a second motor power loss, a first engine power loss, a second battery power loss and a second electric quantity compensation power loss in the m working conditions of the vehicle in the series mode;

[0166] The sum of the second motor power loss, the first engine power loss, the second battery power loss and the second electric quantity compensation power loss in the m working conditions in the series mode is calculated, and the sum of the second motor power loss, the first engine power loss, the second battery power loss and the second electric quantity compensation power loss is taken as the series power loss in the corresponding working condition.

[0167] Optionally, in some embodiments of the present disclosure, the determining module 102 is further configured to determine a value range of the engine output power, and determine m values of the engine output power.

[0168] According to the engine output power and the engine universal characteristic data, the optimal specific fuel consumption in each working condition is obtained.

[0169] According to the optimal specific fuel consumption in each working condition, the first engine torque in each working condition is determined.

[0170] According to the first engine torque in each working condition, the second front motor torque in each working condition is obtained.

[0171] Optionally, in some embodiments of the present disclosure, the determining module 102 is configured to determine the system power loss of the vehicle in the parallel mode.

[0172] Optionally, in some embodiments of the present disclosure, the obtaining module 101 is configured to obtain the current wheel end demand torque of the vehicle.

[0173] Correspondingly, the determining module 102 is configured to set n working conditions of the vehicle in the parallel mode, wherein n is a positive integer greater than 1, in each working condition, the engine speed value is not completely the same, the sum of the product of the third rear motor torque and the rear motor speed ratio and the product of the second engine torque and the engine speed ratio is the current wheel end demand torque, and the ratio of the third front motor torque to the second engine torque is constant.

[0174] According to the engine speed and the engine speed-torque table, the second engine torque, the third front motor torque and the third rear motor torque in each working condition are obtained.

[0175] According to the third front motor torque, the third rear motor torque and the second engine torque, the parallel power loss of the vehicle in the n working conditions in the parallel mode is calculated.

[0176] The minimum value of each parallel power loss is taken as the system power loss of the vehicle in the parallel mode.

[0177] Correspondingly, the control module 104 is configured to control the vehicle to switch to the working condition with the minimum parallel power loss when the vehicle is controlled to switch to the parallel mode.

[0178] Optionally, in some embodiments of the present disclosure, the determining module 102 is further configured to calculate a third motor power loss, a second engine power loss, a third battery power loss and a third power compensation power loss of the vehicle in the n working conditions in the parallel mode;

[0179] The sum of the third motor power loss, the second engine power loss, the third battery power loss and the third power compensation power loss of the vehicle in the n working conditions in the parallel mode is calculated, and the sum of the third motor power loss, the second engine power loss, the third battery power loss and the third power compensation power loss is taken as the parallel power loss in the corresponding working condition.

[0180] Optionally, in some embodiments of the present disclosure, the determining module 102 is further configured to determine a value range of the engine speed, and determine the number of values of the engine speed according to the number of gears of the vehicle;

[0181] According to the engine speed-torque table, the maximum engine torque in each working condition is obtained;

[0182] According to the maximum engine torque in each working condition, the second engine torque in each working condition is determined;

[0183] According to the second engine torque in each working condition, the third front motor torque and the third rear motor torque in each working condition are obtained.

[0184] Optionally, in some embodiments of the present disclosure, the control module 104 is further configured to switch after a preset time;

[0185] And / or, the sum of the system power loss minimum value and the switching power loss is less than the system power loss corresponding to the current driving mode, and the switching is performed.

[0186] It should be noted that the specific limitations of the mode switching device can be referred to the limitations of the mode switching method in the above, which will not be repeated here. Each module in the above mode switching device can be realized by software, hardware and their combinations, totally or partially.

[0187] In the above mode switching device of the hybrid power system, the obtaining module periodically obtains the current state information of the vehicle, so that the first determining module can determine the system power loss in different driving modes of the vehicle according to the current state information, the comparing module can compare the system power loss between different driving modes, and output the driving mode corresponding to the system power loss minimum value. Further, the control module can control the vehicle to switch to the driving mode corresponding to the system power loss minimum value according to the preset switching strategy, thereby reducing the energy consumption of the vehicle, ensuring that the system efficiency is always in the optimal state, and avoiding frequent mode switching, so that the system runs stably and has strong reliability.

[0188] In one embodiment, as shown in Figure 4 FIG. 2 is a structural diagram of a vehicle provided by an embodiment of the present disclosure. The vehicle 200 can include a vehicle controller 201, and the vehicle controller 201 can include the mode switching device 100 of the above-described embodiments.

[0189] Optionally, in some embodiments of the present disclosure, as shown in Figure 5 The vehicle 200 can further include a front motor controller 202, a rear motor controller 203, a battery controller 204, a gearbox controller 205, and an engine controller 206 connected to the vehicle controller 201.

[0190] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement Figure 1 the steps of any one of the methods in the corresponding embodiments.

[0191] A person of ordinary skill in the art can understand that all or part of the processes in the above-described embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the computer program can include the processes of the above-described embodiments. Any reference to a memory, a database, or other medium used in the embodiments provided by the present disclosure can include at least one of a non-volatile memory and a volatile memory. The non-volatile memory can include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, or an optical memory. The volatile memory can include a random access memory (RAM) or an external cache memory. As an illustration but not limitation, the RAM is available in various forms, such as static random access memory (SRAM) and dynamic random access memory (DRAM).

[0192] Any combination of the technical features in the above-described embodiments can be made, and to make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present disclosure.

[0193] The above embodiments only express several implementation ways of the present disclosure, and the description is specific and detailed, but it should not be understood as a limitation to the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present disclosure, several modifications and improvements can be made, which are within the protection scope of the present disclosure.

Claims

1. A mode switching method of a hybrid system, characterized by, The method comprises: periodically acquiring current state information of the vehicle; determining system power loss of the vehicle in different driving modes respectively according to the current state information; comparing the system power loss of the different driving modes, and outputting a driving mode corresponding to a minimum system power loss; controlling the vehicle to switch to the driving mode corresponding to the minimum system power loss according to a preset switching strategy; the determining system power loss of the vehicle in different driving modes according to the current state information comprises determining system power loss of the vehicle in an electric drive mode; the acquiring current state information of the vehicle comprises: acquiring current wheel end demand torque of the vehicle; correspondingly, the determining system power loss of the vehicle in an electric drive mode comprises: setting l kinds of working conditions of the vehicle in the electric drive mode, wherein l is a positive integer greater than 1, in each working condition, a first front motor torque is obtained according to the current wheel end demand torque and a front motor speed ratio, and a first rear motor torque is obtained according to the current wheel end demand torque and a rear motor speed ratio; calculating electric drive power loss in the l kinds of working conditions of the vehicle in the electric drive mode according to the first front motor torque in each working condition and the first rear motor torque in each working condition; taking a minimum value of each of the electric drive power loss as the system power loss of the vehicle in the electric drive mode; correspondingly, the controlling the vehicle to switch to the driving mode corresponding to the minimum system power loss comprises: when controlling the vehicle to switch to the electric drive mode, controlling the vehicle to switch to a working condition with the minimum electric drive power loss.

2. The method of claim 1, wherein, said calculating the vehicle in pure electric mode l A pure electric power loss in a working condition includes: calculating the vehicle in pure electric mode l A first motor power loss, a first battery power loss, and a first power compensation power loss in a working condition. calculating a pure electric power loss of the vehicle in the pure electric mode l a sum of the first motor power loss, the first battery power loss, and the first power compensation power loss in the working condition, and taking the sum of the first motor power loss, the first battery power loss, and the first power compensation power loss as the pure electric power loss in the corresponding working condition.

3. The method of claim 2, wherein, the acquiring current state information of the vehicle comprises: acquiring front motor speed, rear motor speed, front motor power, rear motor power, current electric quantity and target electric quantity of the vehicle; Correspondingly, the calculating the vehicle in the pure electric mode l The first motor power loss, the first battery power loss, and the first power compensation power loss in the working condition include: According to the front motor speed, the rear motor speed, the first front motor torque under each working condition, and the first rear motor torque under each working condition, a first motor power loss in a working condition is calculated l a first motor power loss in a working condition; According to the front motor power, the rear motor power, and the first motor power loss under each working condition, a first battery power loss in the working condition is calculated l a first battery power loss in a working condition; According to the current power and the target power, a first power loss compensation power in a working condition is calculated l A first power loss compensation power in a working condition is calculated.

4. The method of claim 1, wherein, the determining system power loss of the vehicle in different driving modes according to the current state information comprises determining system power loss of the vehicle in a series mode.

5. The method of claim 4, wherein, the acquiring current state information of the vehicle comprises: acquiring current wheel end demand torque of the vehicle; correspondingly, the determining system power loss of the vehicle in a series mode comprises: obtaining a second rear motor torque according to the current wheel end demand torque and a rear motor speed ratio; Setting the vehicle in series mode m A working condition, wherein, m is a positive integer greater than 1, the engine output power is different in each working condition, and the ratio of the first engine torque to the second front motor torque is constant. obtaining the first engine torque and the second front motor torque in each working condition according to the engine output power and engine universal characteristic data; calculating the vehicle in series mode m a series power loss in a working condition; taking a minimum value of each of the series power loss as the system power loss of the vehicle in the series mode; correspondingly, the controlling the vehicle to switch to the driving mode corresponding to the minimum system power loss comprises: when controlling the vehicle to switch to the series mode, controlling the vehicle to switch to a working condition with the minimum series power loss.

6. The method of claim 5, wherein, calculating the vehicle in series mode m A series power loss in a working condition includes: calculating the vehicle in series mode m a second motor power loss, a first engine power loss, a second battery power loss, and a second power compensation power loss in a working condition. calculating the vehicle in series mode m a sum of the second motor power loss, the first engine power loss, the second battery power loss, and the second power compensation power loss in the working condition, and taking the sum of the second motor power loss, the first engine power loss, the second battery power loss, and the second power compensation power loss as the series power loss in the corresponding working condition.

7. The method of claim 5, wherein, the obtaining the first engine torque and the second front motor torque in each working condition according to the engine output power and engine universal characteristic data comprises: determining a range of values of the engine output power and determining a value of the engine output power m from the range of values. obtaining optimal specific fuel consumption in each working condition according to the engine output power and the engine universal characteristic data; determine the first engine torque under each working condition according to the optimal specific fuel consumption under each working condition; obtain the second front motor torque under each working condition according to the first engine torque under each working condition.

8. The method of claim 1, wherein, determining the system power loss of the vehicle under different driving modes according to the current state information, including determining the system power loss of the vehicle under the parallel mode.

9. The method of claim 8, wherein, The current state information of the vehicle includes: obtaining the current wheel end demand torque of the vehicle; Accordingly, the determination of the system power loss of the vehicle under the parallel mode includes: Setting the vehicle in parallel mode n A working condition, wherein, n is a positive integer greater than 1, in each working condition, the engine speed is not completely the same, the sum of the product of the third rear motor torque and the rear motor speed ratio and the product of the second engine torque and the engine speed ratio is the current wheel end demand torque, and the ratio of the third front motor torque to the second engine torque is constant. obtaining the second engine torque, the third front motor torque and the third rear motor torque under each working condition according to the engine speed and the engine speed-torque correspondence table; According to the third front motor torque, the third rear motor torque and the second engine torque, the vehicle in parallel mode is calculated n A parallel power loss in a working condition; taking the minimum value of each parallel power loss as the system power loss of the vehicle under the parallel mode; Accordingly, the control of the vehicle switching to the driving mode corresponding to the minimum system power loss includes: when the vehicle is controlled to switch to the parallel mode, the vehicle is controlled to switch to the working condition with the minimum parallel power loss.

10. The method of claim 9, wherein, said calculating the vehicle in parallel mode n A parallel power loss in a working condition includes: calculating the vehicle in parallel mode n a third motor power loss, a second engine power loss, a third battery power loss, and a third power compensation power loss in a working condition. calculating the vehicle in parallel mode n a sum of the third motor power loss, the second engine power loss, the third battery power loss, and the third power compensation power loss in the working condition, and taking the sum of the third motor power loss, the second engine power loss, the third battery power loss, and the third power compensation power loss as the parallel power loss in the corresponding working condition.

11. The method of claim 9, wherein, According to the engine speed and the engine speed-torque correspondence table, the second engine torque, the third front motor torque and the third rear motor torque under each working condition are obtained, including: determining the value range of the engine speed, and determining the number of values of the engine speed according to the number of gears of the vehicle; obtaining the engine maximum torque under each working condition according to the engine speed-torque correspondence table; determining the second engine torque under each working condition according to the engine maximum torque under each working condition; obtaining the third front motor torque and the third rear motor torque under each working condition according to the second engine torque under each working condition.

12. The method according to any one of claims 1 to 11, characterized in that, The preset switching strategy includes switching after a preset time; And / or, the sum of the minimum system power loss and the switching power loss is less than the system power loss corresponding to the current driving mode.

13. A mode switching device of a hybrid system for implementing the method according to any one of claims 1 to 11, characterized in that The device includes: an acquisition module configured to periodically acquire the current state information of the vehicle; a determination module configured to determine the system power loss of the vehicle under different driving modes according to the current state information; a comparison module configured to compare the system power losses of the different driving modes and output the driving mode corresponding to the minimum system power loss; a control module configured to control the vehicle to switch to the driving mode corresponding to the minimum system power loss according to a preset switching strategy.

14. A vehicle characterized by comprising: The vehicle includes a vehicle controller, and the vehicle controller includes the device of claim 13.

15. The vehicle of claim 14, wherein, The vehicle further includes a front motor controller, a rear motor controller, a battery controller, a gearbox controller and an engine controller connected with the vehicle controller.

16. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to realize the steps of the method of any one of claims 1-12.

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