Control method, device, apparatus, medium, and program product for a hybrid vehicle

Abstract

The application discloses a control method, device, equipment, medium and program product of a hybrid vehicle, relates to the technical field of vehicles, and comprises the following steps. Vehicle information of the hybrid vehicle and section information of a target section are collected, a vehicle speed interval corresponding to the target section is obtained based on the vehicle information and the section information, and a vehicle speed range corresponding to a road condition of the target section is obtained. A torque distribution result is obtained based on the vehicle speed interval, and the hybrid vehicle is controlled to travel on the target section based on the torque distribution result. The actual situation of the travel section of the vehicle is combined to plan a suitable passing scheme for the vehicle, the vehicle can travel as much as possible under the passable state of the signal light under the condition that the torque distribution result meets the fuel saving requirement, the passing efficiency and fuel economy of the vehicle are improved, and the situation that the fuel saving is considered single and the vehicle speed is ignored is avoided.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicles, in particular to a control method, device, equipment, medium and program product of a hybrid vehicle. BACKGROUND

[0002] The hybrid vehicle is driven by an engine and a motor, and has the advantages of high efficiency, energy saving and environmental protection. How to reasonably allocate the resources of the engine and the motor to save energy consumption is a key concern in the process of vehicle driving.

[0003] In related technologies, the torque output by the engine and the motor is allocated to control the vehicle driving according to the current battery charge state and torque demand of the vehicle, so as to achieve fuel-saving driving. For example, the motor output torque is used preferentially, and the engine output torque is used when the remaining battery capacity is lower than a preset threshold.

[0004] However, only the vehicle fuel consumption factor is considered in the above-mentioned manner, which can easily lead to a low vehicle driving speed and affect the traffic efficiency of the vehicle. SUMMARY

[0005] Embodiments of the present application provide a control method, device, equipment, medium and program product of a hybrid vehicle, which can improve the traffic efficiency of the vehicle and reduce the fuel consumption in the process of vehicle driving. The technical solution is as follows:

[0006] On the one hand, a control method of a hybrid vehicle is provided, and the method comprises:

[0007] Vehicle information of the hybrid vehicle and road section information of a target road section are collected, the vehicle information includes an initial vehicle speed and an initial time when the hybrid vehicle enters the target road section, the road section information includes a change of a signal light of the target road section at the initial time, and the hybrid vehicle includes an engine driving mode and a motor driving mode;

[0008] Based on the vehicle information and the road section information, a vehicle speed interval corresponding to the target road section is obtained, the vehicle speed interval corresponds to a vehicle speed range corresponding to a road condition of the target road section;

[0009] A torque allocation result is obtained based on the vehicle speed interval, the torque allocation result includes an engine output torque and a motor output torque of the hybrid vehicle, the vehicle speed interval and the torque allocation result have a corresponding relationship, the engine output torque is used to control the driving force in the engine driving mode, and the motor output torque is used to control the driving force in the motor driving mode;

[0010] The hybrid vehicle is controlled to drive on the target road section based on the torque allocation result.

[0011] In another aspect, a control device of a hybrid vehicle is provided, the device comprising:

[0012] an acquisition module configured to acquire vehicle information of the hybrid vehicle and road section information of a target road section, the vehicle information comprising an initial vehicle speed and an initial time when the hybrid vehicle enters the target road section, the road section information comprising a change of a signal light of the target road section at the initial time, the hybrid vehicle comprising an engine driving mode and a motor driving mode;

[0013] an obtaining module configured to obtain a vehicle speed interval corresponding to the target road section based on the vehicle information and the road section information, the vehicle speed interval corresponding to a vehicle speed range of a road condition of the target road section;

[0014] the obtaining module is further configured to obtain a torque distribution result based on the vehicle speed interval, the torque distribution result comprising an engine output torque and a motor output torque of the hybrid vehicle, the vehicle speed interval and the torque distribution result having a corresponding relationship, the engine output torque being used to control driving force in the engine driving mode, and the motor output torque being used to control driving force in the motor driving mode;

[0015] a control module configured to control the hybrid vehicle to travel on the target road section based on the torque distribution result.

[0016] In another aspect, a computer device is provided, the computer device comprising a processor and a memory, the memory having stored therein at least one instruction, at least one program, a code set or an instruction set, the at least one instruction, the at least one program, the code set or the instruction set being loaded and executed by the processor to implement the control method of the hybrid vehicle according to any one of the above embodiments of the present application.

[0017] In another aspect, a computer readable storage medium is provided, the storage medium having stored therein at least one instruction, at least one program, a code set or an instruction set, the at least one instruction, the at least one program, the code set or the instruction set being loaded and executed by a processor to implement the control method of the hybrid vehicle according to any one of the above embodiments of the present application.

[0018] In another aspect, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the control method of the hybrid vehicle according to any one of the above embodiments.

[0019] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0020] By collecting vehicle information of the hybrid vehicle and section information of the target section, a vehicle speed interval corresponding to the target section is obtained based on the vehicle information and the section information, and a vehicle speed range corresponding to the road condition of the target section, so that a suitable passing scheme can be planned for the vehicle in combination with the actual situation of the section where the vehicle travels. The torque distribution result is obtained based on the vehicle speed interval, and the hybrid vehicle is controlled to travel on the target section based on the torque distribution result, so that the vehicle can travel as much as possible under the condition that the signal light is in a passable state, the passing efficiency and fuel economy of the vehicle are improved, and the situation where the fuel saving is considered alone and the vehicle speed is ignored is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0022] Figure 1 is a schematic diagram of an implementation environment provided by an exemplary embodiment of the present application;

[0023] Figure 2 is a flowchart of a control method of a hybrid vehicle provided by an exemplary embodiment of the present application;

[0024] Figure 3 is a schematic diagram of a vehicle speed interval of a target section provided by an exemplary embodiment of the present application;

[0025] Figure 4 is a schematic diagram of an equivalent fuel consumption coefficient table provided by an exemplary embodiment of the present application;

[0026] Figure 5 is a process schematic diagram of offline determination of a planned vehicle speed interval provided by an exemplary embodiment of the present application;

[0027] Figure 6 is a schematic diagram of speed-time relationship of various passing modes provided by an exemplary embodiment of the present application;

[0028] Figure 7 is an optimization mode schematic diagram based on Figure 6 provided by an exemplary embodiment of the present application;

[0029] Figure 8 is an optimization mode schematic diagram based on Figure 6A speed-distance range diagram of each mode shown;

[0030] Figure 9 A speed range diagram provided by an example embodiment of the present application;

[0031] Figure 10 A structure block diagram of a control device of a hybrid vehicle provided by an example embodiment of the present application;

[0032] Figure 11 A structure block diagram of a computer device provided by an example embodiment of the present application. DETAILED DESCRIPTION

[0033] For the purpose of making the purpose, technical solutions and advantages of the present application more clear, the following will make further detailed description to the embodiments of the present application in combination with the drawings.

[0034] The example embodiments will be described in detail herein with reference to the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following example embodiments are not meant to represent all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the appended claims.

[0035] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the present application and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "and / or," as used herein, refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0036] It should be noted that the information and data involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0037] It should be understood that although the terms first, second, etc. can be used in this application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another type of information. For example, a first parameter can also be referred to as a second parameter without departing from the scope of the present application, and similarly, a second parameter can also be referred to as a first parameter. Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining".

[0038] First, a brief introduction is made to the nouns involved in the embodiments of the present application:

[0039] Hybrid vehicle: refers to a vehicle whose driving system is composed of two or more single driving systems that can operate simultaneously. Its driving power is provided by single driving systems alone or jointly according to the actual vehicle driving state. The commonly used hybrid vehicle mainly refers to the oil-electric hybrid vehicle, which uses a traditional internal combustion engine (diesel engine or gasoline engine) and an electric motor as a power source.

[0040] The hybrid vehicle in this application refers to a vehicle that uses an engine and an electric motor as a driving source. During the driving process of the hybrid vehicle, it can drive based on only the torque output by the engine, or only the torque output by the electric motor, or both the torque output by the engine and the torque output by the electric motor.

[0041] Torque: the torque output by the engine and the electric motor, which is transmitted to the wheels through the transmission system to drive the vehicle forward or backward. The size of the torque directly determines the acceleration performance and climbing ability of the vehicle. In the hybrid vehicle, through the optimization of the control strategy, the precise control of the torque of the engine and the electric motor can be realized to achieve the best fuel economy and power performance.

[0042] Secondly, the implementation environment involved in the embodiments of the application is described, and the schematic diagram is shown in Figure 1 The implementation environment involves a hybrid vehicle 100 and a server 120, and the hybrid vehicle 100 and the server 120 are connected through a communication network 140.

[0043] The vehicle terminal is deployed on the hybrid vehicle 100, and the server 120 stores vehicle speed intervals respectively planned based on road conditions of different road sections. The vehicle speed interval is used to guide the vehicle speed range of the vehicle driving on the corresponding road section.

[0044] Each road section is provided with a corresponding vehicle speed interval and torque distribution result according to the color change of the signal light when the vehicle enters the road section. The torque distribution result is used to distribute the engine output torque and the electric motor output torque for the vehicle. The server 120 is deployed with a hybrid vehicle model, which is used to determine the torque distribution result offline based on the vehicle speed interval.

[0045] When the hybrid vehicle 100 drives on the road section, the vehicle terminal collects vehicle information of the hybrid vehicle 100 and road section information of the road section, and obtains the vehicle speed interval corresponding to the current road section and the corresponding torque distribution result from the server 120 according to the vehicle information and the road section information.

[0046] The vehicle terminal controls the hybrid vehicle 100 to drive on the road section based on the torque distribution result, so as to achieve the purpose of improving the traffic efficiency and saving fuel consumption.

[0047] It is worth noting that the above-mentioned server can be a stand-alone physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and basic cloud computing services such as big data and artificial intelligence platforms.

[0048] Among them, cloud technology refers to a hosting technology that unifies a series of resources such as hardware, software, network, etc. in a wide area network or local area network to realize data calculation, storage, processing and sharing. Cloud technology is a general term for network technology, information technology, integration technology, management platform technology, application technology, etc. based on cloud computing business model application, which can form a resource pool, and can be used on demand, flexibly and conveniently. Cloud computing technology will become an important support. The background service of the technical network system needs a large amount of computing and storage resources, such as video websites, picture websites and more portal websites. With the high development and application of the Internet industry, every item in the future may have its own identification mark and needs to be transmitted to the background system for logical processing. Different levels of data will be processed separately, and various industry data will need strong system support, which can only be realized through cloud computing.

[0049] In some embodiments, the above-mentioned server can also be implemented as a node in a blockchain system.

[0050] In combination with the above-mentioned name introduction and application scenarios, the control method of the hybrid vehicle provided by the present application is described, and the method is executed by the vehicle terminal of the hybrid vehicle as an example. As shown in Figure 2 , the flowchart of the control method of the hybrid vehicle provided by an exemplary embodiment of the present application is shown. Figure 2 The method comprises the following steps.

[0051] Step 210, collecting vehicle information of the hybrid vehicle and road section information of the target road section.

[0052] Among them, the vehicle information includes the initial speed and initial time of the hybrid vehicle entering the target road section, the road section information includes the change of the signal light of the target road section at the initial time, and the hybrid vehicle includes the engine driving mode and the motor driving mode.

[0053] For example, the target road section includes 6 sub-road sections, and the target road section is divided by the signal lights. The road section between the first intersection signal light and the second intersection signal light is the first sub-road section in the target road section, the road section between the second intersection signal light and the third intersection signal light is the second sub-road section in the target road section, and so on.

[0054] The initial time when the hybrid vehicle enters the target road section refers to the time when the hybrid vehicle enters the first sub-road section, that is, the time when the hybrid vehicle passes the first intersection signal light when the first intersection signal light is green.

[0055] In some embodiments, when the signal light switches between red and green, there is a yellow transition state, and the yellow state is classified as the red state in this application.

[0056] For example, the cycle of the signal light is 10 seconds of green, 2 seconds of yellow, and 20 seconds of red. The passable state is 10 seconds, and the impassable state is 22 seconds.

[0057] For example, the change of the signal light of the target road section at the initial time is as follows: when the hybrid vehicle reaches the first intersection signal light, the signal light is green, and the time difference from the last phase switching (from red to the current green state) is 5 seconds, and the time difference from the next phase switching (from the current green state to red) is also 5 seconds.

[0058] In step 220, a vehicle speed interval corresponding to the target road section is obtained based on the vehicle information and the road section information.

[0059] The vehicle speed interval includes a vehicle speed range corresponding to the road condition of the target road section.

[0060] Optionally, a plurality of planning vehicle speed intervals and a plurality of planning torque distribution results corresponding to the target road section are obtained based on the road section information, wherein the i-th planning vehicle speed interval corresponds to the i-th planning torque distribution result, the plurality of planning vehicle speed intervals correspond to different signal light change situations respectively, i is a positive integer.

[0061] In response to the vehicle information matching the j-th vehicle speed interval in the plurality of planning vehicle speed intervals, the j-th vehicle speed interval is determined as the vehicle speed interval corresponding to the target road section, j is a positive integer.

[0062] For example, four candidate planning vehicle speed intervals are determined according to the phase situation of the first intersection signal light in the road section information, which are: the first candidate planning vehicle speed interval (10, 40) km / h, the second candidate planning vehicle speed interval (0, 30) km / h, and the third candidate planning vehicle speed interval (20, 60) km / h.

[0063] For example, the first candidate planning speed interval (10, 40) km / h indicates that the minimum speed of the hybrid vehicle on the target road section is 10 km / h and the maximum speed is 40 km / h, and so on.

[0064] For example, the first candidate planning speed interval (10, 40) km / h indicates that the minimum speed of the hybrid vehicle on the target road section is 10 km / h and the maximum speed is 40 km / h, and so on.

[0065] For example, the first candidate planning speed interval (10, 40) km / h indicates that the minimum speed of the hybrid vehicle on the target road section is 10 km / h and the maximum speed is 40 km / h, and so on.

[0066] For example, the first candidate planning speed interval (10, 40) km / h indicates that the minimum speed of the hybrid vehicle on the target road section is 10 km / h and the maximum speed is 40 km / h, and so on.

[0067] Optionally, in the offline stage, the process of determining the multiple planning speed intervals of the target road section and the corresponding multiple planning torque distribution results is as follows: obtaining the signal light phase information and the road information of the target road section, the signal light phase information including the signal light cycle length, the signal light switching time, the green signal light phase length and the red signal light phase length, and the road information including the length of the target road section and the speed limit information. The reference speed of the target road section is determined based on the signal light phase information and the road information, and the reference speed refers to the reference speed of the vehicle passing through the target road section without stopping. The reference speed is adjusted based on the signal light phase information to obtain the multiple planning speed intervals.

[0068] For example, the first candidate planning speed interval (10, 40) km / h indicates that the minimum speed of the hybrid vehicle on the target road section is 10 km / h and the maximum speed is 40 km / h, and so on.

[0069] For example, the first candidate planning speed interval (10, 40) km / h indicates that the minimum speed of the hybrid vehicle on the target road section is 10 km / h and the maximum speed is 40 km / h, and so on.

[0070] Determine the reference speed of the kth sub-section based on the length and speed limit information of the kth sub-section, and the phase information of the signal light corresponding to the kth sub-section, k is a positive integer not exceeding n; determine the optimization interval of the reference speed of the n sub-sections based on the phase information of the signal lights corresponding to the n sub-sections respectively, and obtain the planning speed interval of the target section.

[0071] As shown in Figure 3 , Figure 3 is a schematic diagram of a speed interval of a target section.

[0072] Among them, the target section includes 5 signal light intersections, which are intersection 301, intersection 302, intersection 303, intersection 304 and intersection 305 respectively, and the signal light color change of each signal light intersection is as follows.

[0073] Among them, in order to more intuitively represent the signal light situation of the hybrid vehicle reaching each intersection, the signal light phase change is unfolded in time sequence.

[0074] That is, Figure 3 The horizontal axis in represents the change of time, the vertical axis represents the distance traveled by the hybrid vehicle on the target section, and the slope of the line segment represents the speed of the hybrid vehicle.

[0075] Among them, the purpose of planning the speed interval is to make the hybrid vehicle pass through each signal light when the signal light is in the passable state 310, and to avoid the hybrid vehicle stopping and waiting when the signal light is in the impassable state 320.

[0076] When the hybrid vehicle travels at the reference speed 330, it can pass through the target section without stopping. In some embodiments, because the passable time of each signal light is different and the color change time of the signal light is also different, the speed of the hybrid vehicle traveling on the target section has an optimization space. Based on the phase information of different signal lights, the optimization interval of the reference speed is determined.

[0077] Among them, the optimization interval refers to the time interval that makes the hybrid vehicle pass through a certain green light window (i.e. the signal light is in green state) earlier (accelerate) / later (decelerate). This time will not cause the hybrid vehicle to miss the green light of other intersections.

[0078] Optionally, the plurality of planning speed intervals are input into the hybrid vehicle model to calculate a plurality of planning torque distribution results corresponding to the plurality of planning speed intervals respectively.

[0079] For example, for the j-th speed range, the j-th speed range is input into the hybrid vehicle model to calculate the equivalent fuel consumption data when the hybrid vehicle travels through the target road segment. The j-th planned torque allocation result is then determined based on the equivalent fuel consumption data. Here, j is a positive integer.

[0080] In other words, when distributing torque, the equivalent fuel consumption minimization strategy is used to treat the electrical energy output by the motor as equivalent fuel, and the minimum value principle is used to solve the torque distribution with the minimum equivalent fuel consumption.

[0081] Obtain the equivalent fuel consumption coefficient comparison table, which indicates the correspondence between the remaining electric charge of a hybrid vehicle and the equivalent fuel consumption coefficient.

[0082] like Figure 4 As shown, Figure 4 This is a schematic diagram of an equivalent fuel consumption coefficient comparison table. In the comparison table 400, the horizontal axis represents the state of charge / remaining charge (SOC), and the vertical axis represents the conversion coefficient P, which enables the battery to use electricity first when the battery charge is high, and vice versa.

[0083] The target coefficient is determined from the equivalent fuel consumption coefficient comparison table based on the remaining electric capacity of hybrid vehicles.

[0084] The j-th planned torque allocation result is determined based on the target coefficient.

[0085] For example, after determining the torque demand based on the input vehicle speed range, the hybrid vehicle model determines the torque distribution result based on the aforementioned target coefficient.

[0086] For example, torque demand of 100nm = engine output torque + motor output torque. Equivalent fuel consumption = engine fuel consumption + p * motor energy consumption, based on engine and motor characteristics. Figure 4 Find the coefficient P that minimizes the equivalent fuel consumption at the current moment as the target coefficient, and then determine the torque distribution result.

[0087] Alternatively, when solving for torque requirements, a dynamic programming approach can be used to divide the solution grid according to a fixed interval.

[0088] For example, since the driving path of the hybrid vehicle is determined rather than the driving time, the target path is divided into grids at fixed intervals.

[0089] Grids are divided for parameters such as vehicle speed, engine speed, motor speed, battery SOC, etc. For example, the vehicle speed range is 0:0.5:80, and the engine speed is 800:50:3000. Among them, the vehicle speed range 0:0.5:80 means that the vehicle speed range is discretized, starting from 0, with an interval of 0.5, and ending at 80 km / h. The engine speed 800:50:3000 means that the engine speed starts at 800 rpm, with an interval of 50, and ends at 3000 rpm. The distance interval is set to 5 m, and the equivalent fuel consumption is calculated, for example, 5 / v (v is the vehicle speed) is the travel time t, based on t*(engine fuel consumption+motor equivalent fuel consumption), and finally the equivalent fuel consumption under each grid is obtained. Find a path with the minimum cumulative consumption as the optimal path, and determine the torque distribution result based on the torque demand and the equivalent fuel consumption coefficient corresponding to the optimal path.

[0090] In step 230, the torque distribution result is obtained based on the vehicle speed interval.

[0091] The torque distribution result includes the engine output torque and the motor output torque of the hybrid vehicle, and the vehicle speed interval and the torque distribution result have a corresponding relationship. The engine output torque is used to control the driving force in the engine driving mode, and the motor output torque is used to control the driving force in the motor driving mode.

[0092] Optionally, the jthplanned torque distribution result is determined as the torque distribution result based on the jthvehicle speed interval.

[0093] For example, for different planned vehicle speed intervals, corresponding planned torque distribution results are set in advance. When the suitable vehicle speed interval of the hybrid vehicle in the current driving state is determined, the torque distribution result can be directly obtained based on the corresponding relationship between the vehicle speed interval and the planned torque distribution result.

[0094] For example, in the stage of obtaining the vehicle speed interval of the target road section offline, 20 vehicle speed intervals are planned based on the phase information of the signal light. Each vehicle speed interval corresponds to different index information, which includes but is not limited to: (1) the color of the signal light at the first intersection when the hybrid vehicle enters the target road section; (2) the time length from the last time the signal light at the first intersection changes color to the current time; (3) the time length from the next time the signal light at the first intersection changes color to the current time; (4) the vehicle speed when the hybrid vehicle enters the target road section, etc.

[0095] Based on the matching result of the vehicle information of the hybrid vehicle and the index information corresponding to the 20 vehicle speed intervals, the jthvehicle speed interval can be determined from the 20 vehicle speed intervals as the vehicle speed interval when the hybrid vehicle is currently driving on the target road section.

[0096] For 20 speed intervals, each speed interval corresponds to a respective planning torque distribution result, for example, the first speed interval corresponds to the first planning torque distribution result, the second speed interval corresponds to the second planning torque distribution result, and so on.

[0097] When the speed interval of the hybrid vehicle is determined to be the jth speed interval, the jth planning torque distribution result can be directly obtained based on the correspondence between the jth speed interval and the jth planning torque distribution result, and the hybrid vehicle is controlled to travel on the target road section based on the jth planning torque distribution result.

[0098] For example, the speed of the hybrid vehicle when entering the first intersection of the target road section is 20 km / h, at this time, the color of the signal light is green, indicating that the hybrid vehicle directly enters the target road section without stopping, and the time length from the time of the last color change of the signal light to the current time is 5 seconds. The above information matches the index information of the 5th speed interval, and the 5th speed interval is taken as the speed interval of the hybrid vehicle when traveling on the target road section.

[0099] The 5th speed interval is (20, 50) km / h, indicating that the maximum speed is 50 km / h and the minimum speed is 20 km / h. The torque distribution result corresponding to the 5th speed interval is that the total torque demand is 600, and 50% torque is provided by the engine and 50% torque is provided by the motor, i.e., the torque output by the engine is 600*50% = 300, and the torque output by the motor is 600*50% = 300.

[0100] Alternatively, a hybrid vehicle model is pre-trained, which can calculate the torque demand of the hybrid vehicle when traveling based on the speed interval and the performance of the hybrid vehicle, and reasonably distribute the torque output by the motor and the engine when working based on the torque demand. For example, the hybrid vehicle model is jointly constituted by a plurality of sub-models, including a longitudinal dynamics model of the hybrid vehicle, an engine model, a motor model, an equivalent circuit battery model, and a dynamics model of the hybrid power transmission device, etc.

[0101] For example, in the offline stage (the offline stage refers to the stage of pre-planning the speed interval, at this time the hybrid vehicle has not traveled on the target road section), the jth speed interval is input into the hybrid vehicle model as an input quantity, and the total torque required by the hybrid vehicle when traveling on the target road section under the limitation of the speed interval is calculated.

[0102] In some embodiments, when calculating the torque by the hybrid vehicle model, the input quantities include any one or more of the following data in addition to the vehicle speed range: (1) the battery state of the vehicle, such as the remaining life of the vehicle battery, the remaining battery power; (2) the engine speed of the hybrid vehicle; (3) the motor speed of the hybrid vehicle; (4) the vehicle speed when the hybrid vehicle enters the target section, etc.

[0103] At step 240, the hybrid vehicle is controlled to travel on the target section based on the torque allocation result.

[0104] For example, the torque allocation result indicates that when the hybrid vehicle is controlled to travel on the target section at a vehicle speed within the vehicle speed range, the total torque required is 1000, of which 80% is allocated to the motor and 20% is allocated to the engine, i.e., the torque output by the motor is 1000*80% = 800, and the torque output by the engine is 1000*20% = 200.

[0105] In some embodiments, the torque allocation result output by the hybrid vehicle model directly indicates the torque amount that the motor and the engine need to output respectively, for example, the torque allocation result indicates that the torque output by the motor is 500, the torque output by the engine is 500, and the total torque is 500+500 = 1000.

[0106] Based on the torque allocation result, the motor and the engine work simultaneously to drive the hybrid vehicle to travel on the target section, at this time, the vehicle speed of the hybrid vehicle traveling on the target section belongs to the vehicle speed range, and when passing through the signal lights of multiple intersections, it can be avoided as much as possible to stop.

[0107] It is worth noting that the control method of the hybrid vehicle provided in the present application is applied to the field of automatic driving. During the driving process of the hybrid vehicle, road condition information and vehicle information can be automatically collected, and a suitable driving scheme can be automatically planned for the hybrid vehicle in combination with the road conditions, so that the motor and the engine can work according to the planned torque allocation result to output the torque for driving the hybrid vehicle to travel. The torque allocation result can control the speed of the hybrid vehicle to be within the planned vehicle speed range with the smallest fuel consumption. When the vehicle speed is within the vehicle speed range, it can be ensured that the vehicle avoids stopping as much as possible when passing through different signal light intersections, thereby improving the traffic efficiency of the vehicle.

[0108] In summary, the method provided in the application collects vehicle information of the hybrid vehicle and section information of the target section, obtains a vehicle speed interval corresponding to the target section based on the vehicle information and the section information, and obtains a vehicle speed range corresponding to the road condition of the target section based on the vehicle speed interval; the torque distribution result is obtained based on the vehicle speed interval, and the hybrid vehicle is controlled to travel on the target section based on the torque distribution result, so that a suitable passing scheme can be planned for the vehicle in combination with the actual condition of the section where the vehicle travels, the vehicle can travel as much as possible under the passable state of the signal light in the case where the torque distribution result meets the fuel saving requirement, the passing efficiency and fuel economy of the vehicle are improved, and the case where the fuel saving is considered single and the vehicle speed is ignored is avoided.

[0109] Figure 5 is a schematic diagram of an offline process for determining a planned vehicle speed interval.

[0110] In the process 500, the following variables are involved.

[0111] ti: the time for the vehicle to travel on the ith section; imax: the total number of sections; ti0: the time for the vehicle to enter the ith section; aacc: the maximum acceleration of the vehicle; adec: the minimum deceleration of the vehicle; di: the length of the ith section; si: the distance traveled by the vehicle on the ith section; tmode_n: the time required to pass the section in mode n; vmode_n: the end speed of passing the section in mode n; tib: the time difference of the last signal change at the ith intersection when passing the intersection; tin: the time difference of the next signal change at the ith intersection when passing the intersection; gi: the green phase duration of the ith intersection; Ti: the signal cycle duration of the ith intersection; vi: the vehicle speed when the vehicle enters the ith section; vie: the vehicle speed when the vehicle leaves the ith section; vi2end: the vehicle speed when the vehicle reaches the ith intersection; vimin: the minimum vehicle speed of the ith section; vimax: the maximum vehicle speed of the ith section; stopi: the record of whether to stop when entering the ith intersection, 1 for accelerating after stopping and entering, and 0 for not stopping and entering; ti_opt_acc: the accelerable time of the ith section; ti_opt_dec: the decelerable time of the ith section; vi_opt_acc: the speed-up range of the ith section; vi_opt_dec: the deceleration range of the ith section.

[0112] This process 500 determines whether stopping is necessary at intersection i. If passage is possible without stopping, the highest priority passage method is selected. If stopping is necessary, the vehicle decelerates to the minimum speed, stops upon approaching the intersection, and waits for the red light to turn green. After deciding on the passage strategy, the changes in each state variable are calculated and saved, and the data is passed to the next intersection's decision until the loop ends. The six passage methods, in order of priority, are as follows: constant speed, accelerating to the average of the current speed and the maximum speed, accelerating to the maximum speed, decelerating to the average of the current speed and the minimum speed, decelerating to the minimum speed, or stopping before the next intersection and waiting for the red light to turn green before proceeding. If the initial speed is 0 (i.e., starting from a stop), the vehicle first accelerates to the minimum speed before proceeding with process 500.

[0113] Speed-time (vt) relationship graphs for various throughput modes are as follows: Figure 6 As shown. Among them, sub Figure 6 (a) is moving at a constant speed, the sub- Figure 6 (b) Includes two scenarios: accelerating to the average of the current speed and the maximum speed, and accelerating to the maximum speed. Figure 6 (c) Includes two scenarios: deceleration to the average of the current speed and the minimum speed, and deceleration to the minimum speed. Figure 6 (d) Stop at the next intersection and wait for the light to turn green before proceeding. To simplify the calculation, the magnitudes of acceleration and deceleration during the process are taken as constant values.

[0114] Based on the above, we can obtain the baseline vehicle speed at each intersection and the time difference between the two most recent traffic light changes when passing through each intersection. The time difference *tib* from the previous traffic light change is the acceleration time, and the time difference *tin* from the next traffic light change is the deceleration time. Together, these constitute the optimizable travel time interval. The following section will allocate this interval according to the strategy.

[0115] First, iterate through all intersections to obtain the number and location of intersections where acceleration and deceleration are possible. If a road segment can be passed through an intersection without stopping and the final speed is less than the maximum speed, then the road segment is an acceleration segment. If a road segment can be passed through an intersection without stopping and the final speed is greater than the minimum speed, then the road segment is a deceleration segment. Otherwise, it is a segment where acceleration or deceleration is not possible. If a road segment requires stopping and waiting at a red light, then the road segment is a non-optimizable segment.

[0116] Because there are temporal interactions between different road segments—that is, acceleration of the current road segment will not only lead to earlier passage time at the current intersection but also earlier passage time at subsequent intersections—it is necessary to consider not only the optimizable time of the current intersection but also the optimizable time of other intersections. Based on the temporal interactions between intersections, the following time allocation strategy is proposed.

[0117] The time allocation strategy has the following constraints to simplify the vehicle speed optimization problem: acceleration, deceleration of each road segment, and the cycle of the red light at the intersection cannot be changed, that is, excessive acceleration or deceleration cannot be allowed to pass through another green light window. This simplification takes into account that in the dynamic programming problem divided by distance, if there are multiple feasible vehicle speed intervals at the signal light position, a large number of time constraints need to be added when solving the optimal solution at this position, resulting in an exponential increase in computational complexity. In addition to this constraint, the acceleration based on the reference vehicle speed cannot exceed the maximum speed of the road, and cannot be lower than the minimum speed constraint to ensure traffic efficiency.

[0118] The optimizable time allocation strategy is introduced by taking the accelerable road segment as an example. First, find the intersection with the minimum accelerable time in the accelerable road segment, denoted as num, and the accelerable time is represented by tnum_acc. Find the intersection with the minimum accelerable time in the non-accelerable road segment, denoted as num_1, and the accelerable time is represented by tnum_1_acc. Compare the order of the two intersection numbers and the size of the accelerable time. If tnum_1_acc>tnum_acc, then according to the ratio of the accelerable time of the road segment before num and num, the accelerable time of num is allocated. Considering the accumulation of time domain, the accelerable time of each road segment after num needs to be reduced by tnum_acc, and the optimization to num is recorded.

[0119] If tnum_1_acc<tnum_acc&&num>num_1, and the non-accelerable road segment is located after the accelerable road segment, then when allocating the acceleration time, use tnum_1_acc as the allocated time. Find the accelerable road segment between num and num_1. If there is no accelerable road segment, allocate the value according to the ratio of the accelerable time of the road segment before num and num. The accelerable time of each road segment after num_1 needs to be reduced by tnum_1_acc, and the optimization to num is recorded. If there is an acceleration road segment, update the num value to the road segment and perform the above allocation and update operations. The accelerable time allocated to each accelerable road segment is ti_opt_acc.

[0120] The time allocation strategy for decelerable road segments is the same as that for accelerable road segments, with the difference that the vehicle speed of the accelerable road segment needs to be determined whether it is lower than the maximum speed, while the vehicle speed of the decelerable road segment needs to be determined whether it is higher than the minimum speed. The decelerable time allocated to each road segment is ti_opt_acc.

[0121] Based on the reference vehicle speed and the passable time of each road segment obtained by solving, the following method is proposed to solve the optimal vehicle speed for various situations and obtain the green wave passing speed interval (green wave passing speed interval refers to the vehicle speed interval that can make the vehicle pass through each intersection in the road segment without stopping).

[0122] In solving the speed interval that can be optimized, the mode of acceleration and deceleration should be determined first to get the exact mathematical equation. In order of priority, the most preferred strategy is to pass through the intersection at a constant speed, followed by acceleration, and finally deceleration. Based on the first three non-stop passing modes in Figure 6 , i.e. sub Figure 6 (a), sub Figure 6 (b) and sub Figure 7 (c), the acceleration and deceleration optimization mode of Figure 7 is obtained. Among them, sub Figure 7 (a) is the constant speed passing mode / case, sub Figure 7 (b) is the acceleration passing mode / case, and sub Figure 7 (c) is the deceleration passing mode / case.

[0123] Figure 8 In , the solid line corresponds to the reference curve solved in the above content, and the two dashed lines are the upper and lower boundaries of the vehicle speed interval, where the upper dashed line is the maximum value of the vehicle speed interval and the lower dashed line is the minimum value of the vehicle speed interval. The process of accelerating vi_opt_acc or decelerating vi_opt_dec from the reference speed is uniform acceleration or uniform deceleration, and the acceleration is equal to the acceleration used in the solution of the reference speed. After adding the speed optimization interval, the actual range of the vehicle speed is [v-vi_opt_dec, v+vi_opt_acc]. The x-axis difference between the end of the dashed line and the end of the solid line is the corresponding optimizable time. Given the acceleration and the x-axis difference, the solving equation of the optimizable speed of the three cases can be obtained according to the same distance traveled.

[0124] vi_opt_acc in the constant speed passing case can be solved by the following formula: (1 / aacc+1 / |adec|)

[0125] *vi_opt_acc^2-(ti-ti_opt_acc)*vi_opt_acc+vie*ti_opt_acc=0;

[0126] vi_opt_dec in the constant speed passing case can be solved by the following formula: (1 / 2aacc-1 / 2|adec|)

[0127] *vi_opt_dec^2+(ti-ti_opt_dec)*vi_opt_dec-vie*ti_opt_dec=0;

[0128] vi_opt_acc in the acceleration passing case can be solved by the following formula: (-1 / 2aacc-1 / 2|adec|)

[0129] *vi_opt_acc^2+(ti-ti_opt_acc-vi_opt_acc / aacc)*vi_opt_acc-vie*ti_opt_acc=0;

[0130] vi_opt_dec can be solved by the following equation in the deceleration passing case:

[0131] vi_opt_dec = vie*ti_opt_dec / (ti+ti_opt_dec-(vie-vi) / aacc);

[0132] vi_opt_acc can be solved by the following equation in the deceleration passing case:

[0133] vi_opt_acc = vie*ti_opt_acc / (ti-ti_opt_acc-(vie-vi) / |adec|);

[0134] vi_opt_dec can be solved by the following equation in the deceleration passing case: (1 / 2aacc+1 / 2|adec|)

[0135] *vi_opt_dec^2+(ti / |adec|-ti_opt_dec+vi_opt_dec / adec^2)*vi_opt_acc-vie*ti_opt_acc=0;

[0136] The above equations include equations and formulas, wherein the formulas can be solved for the optimal range of vehicle speed according to ax2+bx+c=0.

[0137] According to the above equation, a speed-time (v-t) relationship diagram of the vehicle speed interval based on the reference vehicle speed can be obtained, and since the vehicle speed interval will be applied in the subsequent dynamic programming, it is necessary to convert the v-t constraint into a v-s constraint (speed-distance constraint). In various passing modes, the vehicle speed changes are uniform acceleration and deceleration, so the v-s interval can be obtained according to v2-v02=2ax, wherein v is the current vehicle speed, v0 is the initial vehicle speed, a is the acceleration, and x is the displacement. The v-s interval of various modes is shown in FIGS. 1(a)-1(c). Figure 8 Figure 8 (a) is the uniform speed case, sub Figure 8 (b) is the acceleration case, sub Figure 9 (c) is the deceleration case.

[0138] For example, based on the above vehicle speed interval solving process, the vehicle speed interval for passing through five traffic lights without stopping is obtained, as shown in FIG. 2. Figure 10 ​The horizontal coordinate of the vehicle speed interval 900 is the distance (m) of the vehicle driving on the road section, and the vertical coordinate is the vehicle speed (m / s).

[0139] In summary, the method provided by the application collects vehicle information of the hybrid vehicle and road section information of a target road section, obtains a vehicle speed interval corresponding to the target road section based on the vehicle information and the road section information, and obtains a torque distribution result based on the vehicle speed interval. The hybrid vehicle is controlled to drive on the target road section based on the torque distribution result. The method can plan a suitable passing scheme for the vehicle in combination with the actual situation of the driving road section of the vehicle, ensure that the torque distribution result meets the fuel saving requirement, make the vehicle drive as much as possible when the traffic light is in a passable state, improve the passing efficiency and fuel economy of the vehicle, and avoid the situation of only considering fuel saving and ignoring the vehicle speed.

[0140] Figure 10 is a structural block diagram of a control device of a hybrid vehicle provided by an exemplary embodiment of the application, as Figure 11 shown, the device includes the following parts.

[0141] The acquisition module 1010 is configured to acquire vehicle information of the hybrid vehicle and road section information of a target road section. The vehicle information includes an initial vehicle speed and an initial time when the hybrid vehicle enters the target road section. The road section information includes a change of a traffic light of the target road section at the initial time. The hybrid vehicle includes an engine driving mode and a motor driving mode.

[0142] The acquisition module 1020 is configured to obtain a vehicle speed interval corresponding to the target road section based on the vehicle information and the road section information. The vehicle speed interval corresponds to a vehicle speed range of the target road section.

[0143] The acquisition module 1020 is further configured to obtain a torque distribution result based on the vehicle speed interval. The torque distribution result includes an engine output torque and a motor output torque of the hybrid vehicle. The vehicle speed interval and the torque distribution result have a corresponding relationship. The engine output torque is used to control driving force in the engine driving mode, and the motor output torque is used to control driving force in the motor driving mode.

[0144] The control module 1030 is configured to control the hybrid vehicle to drive on the target road section based on the torque distribution result.

[0145] In an optional embodiment, the obtaining module 1020 is further configured to obtain a plurality of planning vehicle speed intervals and a plurality of planning torque distribution results corresponding to the target road section based on the road section information, wherein an ith planning vehicle speed interval corresponds to an ith planning torque distribution result, the plurality of planning vehicle speed intervals correspond to different signal light change conditions respectively, i is a positive integer; in response to the vehicle information matching a jth vehicle speed interval in the plurality of planning vehicle speed intervals, the jth vehicle speed interval is determined as the vehicle speed interval corresponding to the target road section, j is a positive integer; based on the jth vehicle speed interval, the jth planning torque distribution result is determined as the torque distribution result.

[0146] In an optional embodiment, the obtaining module 1020 is further configured to obtain signal light phase information and road information of the target road section, the signal light phase information including signal light cycle time length, signal light switching time, green signal light phase time length, and red signal light phase time length, and the road information including length and speed limit information of the target road section; determine a reference vehicle speed of the target road section based on the signal light phase information and the road information, the reference vehicle speed being a reference vehicle speed when a vehicle passes through the target road section without stopping; adjust the reference vehicle speed based on the signal light phase information to obtain the plurality of planning vehicle speed intervals; input the plurality of planning vehicle speed intervals into a hybrid vehicle model to calculate the plurality of planning torque distribution results corresponding to the plurality of planning vehicle speed intervals respectively.

[0147] In an optional embodiment, the target road section includes n sub-road sections, the n sub-road sections being divided based on positions of signal lights in the target road section, n being a positive integer.

[0148] The obtaining module 1020 is further configured to determine a reference vehicle speed of a kth sub-road section based on length and speed limit information of the kth sub-road section and phase information of a signal light corresponding to the kth sub-road section, k being a positive integer not more than n; determine an optimization interval of reference vehicle speeds of the n sub-road sections based on phase information of signal lights corresponding to the n sub-road sections, to obtain a planning vehicle speed interval of the target road section.

[0149] In an optional embodiment, the obtaining module 1020 is further configured to, for the jth vehicle speed interval, input the jth vehicle speed interval into the hybrid vehicle model to calculate equivalent fuel consumption data of the hybrid vehicle when the hybrid vehicle travels through the target road section; determine the jth planning torque distribution result based on the equivalent fuel consumption data.

[0150] In an optional embodiment, the acquisition module 1020 is further configured to acquire an equivalent fuel consumption coefficient table, the equivalent fuel consumption coefficient table being configured to indicate a correspondence between the remaining electric quantity of the hybrid vehicle and the equivalent fuel consumption coefficient; determine a target coefficient from the equivalent fuel consumption coefficient table based on the remaining electric quantity of the hybrid vehicle; and determine the jthplanning torque distribution result based on the target coefficient.

[0151] In summary, the control device of the hybrid vehicle provided in the present application can collect vehicle information of the hybrid vehicle and road section information of a target road section, acquire a vehicle speed interval corresponding to the target road section based on the vehicle information and the road section information, and acquire a vehicle speed range corresponding to a road condition of the target road section based on the vehicle speed interval; acquire a torque distribution result based on the vehicle speed interval, and control the hybrid vehicle to travel on the target road section based on the torque distribution result, so that a suitable passing scheme can be planned for the vehicle in combination with the actual condition of the travel road section of the vehicle, the vehicle can travel as much as possible under the passable state of the signal light in the case where the torque distribution result meets the fuel saving requirement, the passing efficiency and fuel economy of the vehicle are improved, and the case where the fuel saving is considered alone and the vehicle speed is ignored is avoided.

[0152] It should be noted that the control device of the hybrid vehicle provided in the above embodiments is only exemplified by the division of the above functional modules, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the control device of the hybrid vehicle provided in the above embodiments and the control method of the hybrid vehicle belong to the same concept, and the specific implementation process is described in the method embodiments, which will not be described here.

[0153] Figure 11 The structural block diagram of a computer device 1100 provided in an example embodiment of the present application is shown. The computer device 1100 can be a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 (Moving Picture Experts Group Audio Layer IV) player, a notebook computer or a desktop computer. The computer device 1100 can also be referred to as a user device, a portable terminal, a laptop terminal, a desktop terminal, and other names.

[0154] Generally, the computer device 1100 includes a processor 1101 and a memory 1102.

[0155] The processor 1101 can include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 1101 can be implemented in the form of at least one of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), a PLA (Programmable Logic Array). The processor 1101 can also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit). The coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1101 can be integrated with a GPU (Graphics Processing Unit) that is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 1101 can also include an AI (Artificial Intelligence) processor for processing machine learning-related computing operations.

[0156] The memory 1102 can include one or more computer-readable storage media that can be non-transitory. The memory 1102 can also include a high-speed random access memory, and a nonvolatile memory such as one or more disk storage devices, flash storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 1102 is used to store at least one instruction for being executed by the processor 1101 to implement the control method of the hybrid vehicle provided by the method embodiment of the present application.

[0157] In some embodiments, the computer device 1100 further includes other components, which can be understood by those skilled in the art, ​ The structure shown in the figure does not constitute a limitation on the computer device 1100, and can include more or fewer components than those shown, or combine certain components, or use different arrangements of components.

[0158] Optionally, the computer readable storage medium can include a read only memory (ROM), a random access memory (RAM), a solid state disk (SSD), an optical disk, etc. The random access memory can include a resistance random access memory (ReRAM) and a dynamic random access memory (DRAM). The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0159] The embodiments of the present application further provide a computer device, which comprises a processor and a memory. The memory stores at least one instruction, at least one program, a code set or an instruction set. The at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the control method of the hybrid vehicle according to any one of the above-mentioned embodiments of the present application.

[0160] The embodiments of the present application further provide a computer readable storage medium, which stores at least one instruction, at least one program, a code set or an instruction set. The at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by a processor to implement the control method of the hybrid vehicle according to any one of the above-mentioned embodiments of the present application.

[0161] The embodiments of the present application further provide a computer program product or a computer program, which comprises computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium. The processor executes the computer instructions, so that the computer device executes the control method of the hybrid vehicle according to any one of the above-mentioned embodiments.

[0162] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by a program instructing related hardware to complete, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read only memory, a magnetic disk or an optical disk, etc.

[0163] The above-mentioned only for optional embodiments of the present application, and do not limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. A control method of a hybrid vehicle, characterized by, The method comprises: Collecting vehicle information of the hybrid vehicle and road section information of a target road section, the vehicle information comprising an initial vehicle speed and an initial time when the hybrid vehicle enters the target road section, and the road section information comprising a change of a signal light of the target road section at the initial time, the hybrid vehicle comprising an engine driving mode and a motor driving mode; Based on the vehicle information and the road section information, a vehicle speed interval corresponding to the target road section is obtained, the vehicle speed interval comprising a vehicle speed range corresponding to a road condition of the target road section; Based on the vehicle speed interval, a torque distribution result is obtained, the torque distribution result comprising an engine output torque and a motor output torque of the hybrid vehicle, the vehicle speed interval and the torque distribution result having a corresponding relationship, the engine output torque being used to control driving force in the engine driving mode, and the motor output torque being used to control driving force in the motor driving mode; Based on the torque distribution result, the hybrid vehicle is controlled to travel on the target road section.

2. The method of claim 1, wherein, The method comprises: Based on the vehicle information and the road section information, a vehicle speed interval corresponding to the target road section is obtained, the vehicle speed interval comprising a vehicle speed range corresponding to a road condition of the target road section; Based on the vehicle information and the road section information, a vehicle speed interval corresponding to the target road section is obtained, the vehicle speed interval comprising a vehicle speed range corresponding to a road condition of the target road section; Based on the vehicle speed interval, a torque distribution result is obtained, the torque distribution result comprising an engine output torque and a motor output torque of the hybrid vehicle, the vehicle speed interval and the torque distribution result having a corresponding relationship, the engine output torque being used to control driving force in the engine driving mode, and the motor output torque being used to control driving force in the motor driving mode; Based on the torque distribution result, the hybrid vehicle is controlled to travel on the target road section.

3. The method of claim 2, wherein, The method comprises: Based on the vehicle information and the road section information, a vehicle speed interval corresponding to the target road section is obtained, the vehicle speed interval comprising a vehicle speed range corresponding to a road condition of the target road section; Based on the vehicle information and the road section information, a vehicle speed interval corresponding to the target road section is obtained, the vehicle speed interval comprising a vehicle speed range corresponding to a road condition of the target road section; Based on the vehicle speed interval, a torque distribution result is obtained, the torque distribution result comprising an engine output torque and a motor output torque of the hybrid vehicle, the vehicle speed interval and the torque distribution result having a corresponding relationship, the engine output torque being used to control driving force in the engine driving mode, and the motor output torque being used to control driving force in the motor driving mode; Based on the torque distribution result, the hybrid vehicle is controlled to travel on the target road section.

4. The method of claim 3, wherein, The method comprises: Based on the vehicle information and the road section information, a vehicle speed interval corresponding to the target road section is obtained, the vehicle speed interval comprising a vehicle speed range corresponding to a road condition of the target road section; Based on the vehicle information and the road section information, a vehicle speed interval corresponding to the target road section is obtained, the vehicle speed interval comprising a vehicle speed range corresponding to a road condition of the target road section; Based on the vehicle speed interval, a torque distribution result is obtained, the torque distribution result comprising an engine output torque and a motor output torque of the hybrid vehicle, the vehicle speed interval and the torque distribution result having a corresponding relationship, the engine output torque being used to control driving force in the engine driving mode, and the motor output torque being used to control driving force in the motor driving mode; Based on the torque distribution result, the hybrid vehicle is controlled to travel on the target road section. The method comprises: Based on the vehicle information and the road section information, a vehicle speed interval corresponding to the target road section is obtained, the vehicle speed interval comprising a vehicle speed range corresponding to a road condition of the target road section; Based on the vehicle information and the road section information, a vehicle speed interval corresponding to the target road section is obtained, the vehicle speed interval comprising a vehicle speed range corresponding to a road condition of the target road section; Based on the vehicle speed interval, a torque distribution result is obtained, the torque distribution result comprising an engine output torque and a motor output torque of the hybrid vehicle, the vehicle speed interval and the torque distribution result having a corresponding relationship, the engine output torque being used to control driving force in the engine driving mode, and the motor output torque being used to control driving force in the motor driving mode; Based on the torque distribution result, the hybrid vehicle is controlled to travel on the target road section. The method comprises: Based on the vehicle information and the road section information, a vehicle speed interval corresponding to the target road section is obtained, the vehicle speed interval comprising a vehicle speed range corresponding to a road condition of the target road section; Based on the vehicle information and the road section information, a vehicle speed interval corresponding to the target road section is obtained, the vehicle speed interval comprising a vehicle speed range corresponding to a road condition of the target road section; Based on the vehicle speed interval, a torque distribution result is obtained, the torque distribution result comprising an engine output torque and a motor output torque of the hybrid vehicle, the vehicle speed interval and the torque distribution result having a corresponding relationship, the engine output torque being used to control driving force in the engine driving mode, and the motor output torque being used to control driving force in the motor driving mode; Based on the torque distribution result, the hybrid vehicle is controlled to travel on the target road section. determine a reference vehicle speed of the kth sub-route based on length and speed limit information of the kth sub-route and phase information of a signal light corresponding to the kth sub-route, k being a positive integer not exceeding n; adjust the reference vehicle speed based on the phase information of the signal light to obtain the plurality of planned vehicle speed intervals, including: determine an optimization interval of the reference vehicle speed of the n sub-routes based on the phase information of the signal light corresponding to each of the n sub-routes to obtain the planned vehicle speed interval of the target route.

5. The method of claim 3, wherein, input the plurality of planned vehicle speed intervals into the hybrid vehicle model to calculate the plurality of planned torque distribution results corresponding to the plurality of planned vehicle speed intervals, including: for the jth vehicle speed interval, input the jth vehicle speed interval into the hybrid vehicle model to calculate equivalent fuel consumption data of the hybrid vehicle when traveling through the target route; determine the jth planned torque distribution result based on the equivalent fuel consumption data.

6. The method of claim 5, wherein, determine the jth planned torque distribution result based on the equivalent fuel consumption data, including: obtain an equivalent fuel consumption coefficient lookup table indicating a corresponding relationship between the remaining electric quantity of the hybrid vehicle and the equivalent fuel consumption coefficient; determine a target coefficient from the equivalent fuel consumption coefficient lookup table based on the remaining electric quantity of the hybrid vehicle; determine the jth planned torque distribution result based on the target coefficient.

7. A control device of a hybrid vehicle characterized by comprising: The device includes: a collection module configured to collect vehicle information of the hybrid vehicle and route information of a target route, the vehicle information including an initial vehicle speed and an initial time when the hybrid vehicle enters the target route, and the route information including a change of a signal light of the target route at the initial time, the hybrid vehicle including an engine driving mode and a motor driving mode; an acquisition module configured to acquire a vehicle speed interval corresponding to the target route based on the vehicle information and the route information, the vehicle speed interval corresponding to a vehicle speed range of a road condition of the target route; the acquisition module is further configured to acquire a torque distribution result based on the vehicle speed interval, the torque distribution result including an engine output torque and a motor output torque of the hybrid vehicle, the vehicle speed interval and the torque distribution result having a corresponding relationship, the engine output torque being used to control driving force in the engine driving mode, and the motor output torque being used to control driving force in the motor driving mode; a control module configured to control the hybrid vehicle to travel on the target route based on the torque distribution result.

8. A computer device, comprising: The computer device includes a processor and a memory, the memory storing at least one program, the at least one program being loaded and executed by the processor to implement the hybrid vehicle control method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The storage medium stores at least one program, the at least one program being loaded and executed by the processor to implement the hybrid vehicle control method of any one of claims 1 to 6.

10. A computer program product, characterised in that, The computer program includes a program that, when executed by a processor, implements the control method of the hybrid vehicle according to any one of claims 1 to 6.

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