A torque control method and device of a hybrid vehicle, a vehicle, and a storage medium

Abstract

The present application relates to the technical field of vehicles, and specifically discloses a torque control method and device for a hybrid vehicle, a vehicle and a storage medium, the torque control method comprising the following steps: obtaining a required speed of an engine and making the engine run at the required speed and be in transmission connection with a gearbox; determining an optimal power of the engine based on the required speed of the engine; determining an optimal torque of the engine based on the optimal power, the required speed of the engine and a first mapping relationship; when a charging interface is connected with a charging gun, obtaining a current torque of the engine; and when the current torque is greater than the optimal torque, determining a first assist torque output by a motor based on a difference ΔN1 between the current torque and the optimal torque and an SOC of a battery and making the motor output the first assist torque. In full consideration of the SOC of the battery, the current torque of the engine is close to or equal to the optimal torque, thereby guaranteeing the fuel economy and NVH performance of the engine and improving the working efficiency of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a torque control method, device, vehicle, and storage medium for a hybrid vehicle. Background Art

[0002] The upper body working modes of hybrid vehicles such as cement pump trucks include motor drive mode, engine drive mode and hybrid mode. Among them, in motor drive mode and engine drive mode, the motor and engine respectively respond to the upper body power demand independently, while in hybrid mode, the motor and engine work together, which involves the problem of torque distribution. If the torque distribution is unreasonable, it will lead to excessive engine fuel consumption, which in turn leads to a decrease in vehicle efficiency.

[0003] To ensure engine fuel efficiency, a conventional method for torque control in hybrid vehicles uses a method that switches to engine mode when the engine is under low load, simultaneously driving the motor to generate electricity and improve fuel efficiency. When the engine is under high load, the method switches to hybrid mode to reduce the load and improve fuel efficiency. However, this control method does not specify the adjustment range for adjusting the engine load. If the adjustment is too large or too small, it will also result in a loss of engine fuel efficiency. Summary of the Invention

[0004] The object of the present invention is to provide a torque control method, device, vehicle and storage medium for a hybrid vehicle, so as to optimize the fuel economy of the engine when adjusting the load of the engine.

[0005] In a first aspect, the present invention provides a method for controlling torque in a hybrid vehicle. The vehicle includes a battery, a charging port, a power take-off, and an engine, a clutch, a motor, and a transmission connected in sequence. The battery is electrically connected to the motor and the charging port, respectively. The charging port is configured to connect to a charging gun. The power take-off is in transmission connection with the transmission, and the power take-off is in transmission connection with a mounted actuator. The method for controlling torque in a hybrid vehicle includes:

[0006] Obtaining a required speed of the engine;

[0007] The engine runs at the required speed and is transmission-connected to the gearbox;

[0008] determining an optimal power of the engine based on a required speed of the engine, where, under the premise that the engine operates at the required speed, fuel consumption when the engine outputs the optimal power is less than fuel consumption when the engine outputs power other than the optimal power;

[0009] Obtaining an optimal torque of the engine, a first mapping relationship of a required rotating speed of the engine and an optimal power of the engine;

[0010] Determining the optimal torque of the engine based on the required rotating speed of the engine, the optimal power and the first mapping relationship;

[0011] Determining whether the charging interface is connected with the charging gun;

[0012] If yes, obtaining a current torque of the engine;

[0013] Comparing the current torque with the optimal torque;

[0014] If the current torque is greater than the optimal torque, determining a first assist torque output by the motor based on a difference ΔN1 between the current torque and the optimal torque and an SOC of the battery;

[0015] The motor outputs the first assist torque.

[0016] As a preferred technical solution of the torque control method of the hybrid vehicle, when comparing the current torque with the optimal torque, if the current torque is not greater than the optimal torque, the torque control method of the hybrid vehicle further comprises the following steps:

[0017] The torque output by the motor is zero, and the motor idles under the drive of the engine and does not generate electricity.

[0018] As a preferred technical solution of the torque control method of the hybrid vehicle, when determining whether the charging interface is connected with the charging gun, if no; the torque control method of the hybrid vehicle further comprises:

[0019] Obtaining a current torque of the engine;

[0020] Calculating an absolute value of a difference ΔN2 between the current torque and the optimal torque;

[0021] Comparing the absolute value with a first set value;

[0022] If the absolute value is not greater than the first set value, the torque output by the motor is zero, and the motor idles under the drive of the engine and does not generate electricity.

[0023] As a preferred technical solution of the torque control method of the hybrid vehicle, when comparing the absolute value with the first set value, if the absolute value is greater than the first set value, the torque control method of the hybrid vehicle further comprises the following steps:

[0024] Comparing the current torque with the optimal torque;

[0025] If the current torque is less than the optimal torque, the motor generates electricity under the drive of the engine, and the motor's electricity generation torque is determined based on the difference ΔN3 between the optimal torque and the current torque, and the SOC of the battery.

[0026] As a preferred technical solution of the torque control method of the hybrid vehicle, when the absolute value is greater than the first set value, in the comparison of the size of the current torque and the optimal torque, if the current torque is not less than the optimal torque, the torque control method of the hybrid vehicle further comprises the following steps:

[0027] Obtaining an external characteristic curve of the engine, the external characteristic curve of the engine being a second mapping relationship between the required speed of the engine and the maximum output torque of the engine;

[0028] Determining the maximum output torque of the engine based on the required speed of the engine and the external characteristic curve;

[0029] Calculating the difference ΔN4 between the maximum output torque and the current torque;

[0030] Comparing the size of the difference ΔN4 and a second set value;

[0031] If the difference ΔN4 is greater than the second set value, the motor outputs a second assist torque, and the second assist torque output by the motor is determined based on the difference between the current torque and the optimal torque and the SOC of the battery.

[0032] As a preferred technical solution of the torque control method of the hybrid vehicle, when the size of the difference ΔN4 and the second set value is compared, if the difference ΔN4 is not greater than the second set value, the torque control method of the hybrid vehicle further comprises the following steps:

[0033] Determining the second assist torque output by the motor based on the difference between the current torque and the optimal torque and the SOC of the battery, and correcting the second assist torque based on the difference ΔN4 to obtain a third assist torque;

[0034] The motor outputs the third assist torque.

[0035] As a preferred technical solution of the torque control method of the hybrid vehicle, determining the first assist torque output by the motor based on the difference ΔN1 between the current torque and the optimal torque and the SOC of the battery comprises:

[0036] Determining a first proportional factor based on the SOC of the battery, the first proportional factor being not greater than 1;

[0037] The first assist torque = the difference ΔN1 × the first proportional factor.

[0038] In a second aspect, the present application provides a torque control device of a hybrid vehicle, the vehicle comprising a battery, a charging interface, a power take-off, and an engine, a clutch, an electric machine and a gearbox connected in sequence, the battery being electrically connected to the electric machine and the charging interface respectively, the charging interface being used for connecting a charging gun, the power take-off being drivingly connected to the gearbox, and the power take-off being used for drivingly connecting to an upper-mounted implement, the torque control device of the hybrid vehicle comprising:

[0039] a demand speed acquisition module configured to acquire a demand speed of the engine;

[0040] a first execution module configured to drive the engine to operate at the demand speed and to be drivingly connected to the gearbox;

[0041] an optimal power determination module configured to determine an optimal power of the engine based on the demand speed of the engine, and the engine to output the optimal power under the premise of operating at the demand speed, and the fuel consumption of the engine to be less than the fuel consumption of the engine outputting a power other than the optimal power;

[0042] a first mapping relationship acquisition module configured to acquire a first mapping relationship among an optimal torque of the engine, the demand speed of the engine and the optimal power;

[0043] an optimal torque determination module configured to determine the optimal torque of the engine based on the optimal power, the demand speed of the engine and the first mapping relationship;

[0044] a charging judgment module configured to judge whether the charging interface is connected to the charging gun;

[0045] a current torque acquisition module configured to acquire a current torque of the engine when the charging interface is connected to the charging gun;

[0046] a first comparison module configured to compare the current torque with the optimal torque;

[0047] a first assist torque determination module configured to determine a first assist torque output by the electric machine based on a difference ΔN1 between the current torque and the optimal torque and an SOC of the battery when the current torque is greater than the optimal torque;

[0048] a second execution module configured to cause the electric machine to output the first assist torque.

[0049] In a third aspect, the present application provides a vehicle comprising:

[0050] one or more processors;

[0051] a storage device configured to store one or more programs;

[0052] When the one or more programs are executed by the one or more processors, the one or more processors control the vehicle to implement the torque control method of the hybrid vehicle as described in any of the above solutions.

[0053] In a fourth aspect, the present application provides a storage medium having stored thereon a computer program, which, when executed by a processor, causes a vehicle to implement the torque control method of the hybrid vehicle as described in any of the above solutions.

[0054] The present application has the following advantages:

[0055] The present application provides a torque control method, device, vehicle and storage medium of a hybrid vehicle. The torque control method of the hybrid vehicle comprises the following steps: obtaining a demand speed of an engine, the engine being in transmission connection with a gearbox and running at the demand speed; determining an optimal power of the engine based on the demand speed of the engine; obtaining a first mapping relationship between the optimal power, the demand speed of the engine and an optimal torque of the engine; determining the optimal torque of the engine based on the optimal power, the demand speed of the engine and the first mapping relationship; obtaining a current torque of the engine when a charging interface is connected with a charging gun; and determining a first assist torque output by a motor based on a difference ΔN1 between the current torque and the optimal torque and a state of charge (SOC) of a battery when the current torque is greater than the optimal torque, and then causing the motor to output the first assist torque. In this way, the current torque of the engine is close to or equal to the optimal torque under full consideration of the SOC of the battery, thereby guaranteeing the fuel economy and NVH performance of the engine and improving the working efficiency of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 FIG. 1 is a structural schematic diagram of a vehicle in an embodiment of the present application;

[0057] Figure 2 FIG. 2 is a flowchart of a torque control method of a hybrid vehicle in an embodiment of the present application; Figure One ;

[0058] Figure 3 FIG. 3 is a flowchart of a torque control method of a hybrid vehicle in an embodiment of the present application; Figure Two ;

[0059] Figure 4 FIG. 4 is a flowchart of a torque control method of a hybrid vehicle in an embodiment of the present application; Figure Three ;

[0060] Figure 5 FIG. 5 is a structural schematic diagram of a torque control device of a hybrid vehicle in an embodiment of the present application;

[0061] Figure 6 FIG. 6 is a structural schematic diagram of a control system of a vehicle provided by an embodiment of the present application.

[0062] Fig.:

[0063] 1, battery; 2, charging interface; 3, engine; 4, clutch; 5, motor; 6, gearbox; 7, rear drive axle;

[0064] 10, demand speed acquisition module; 20, first execution module; 30, optimal power determination module; 40, first mapping relationship acquisition module; 50, optimal torque determination module; 60, charging judgment module; 70, current torque acquisition module; 80, first comparison module; 90, first assist torque determination module; 91, second execution module;

[0065] 100, terminal device; 110, processor; 120, ROM; 130, RAM; 140, bus; 150, I / O interface; 160, input unit; 170, output unit; 180, storage unit; 190, communication unit. DETAILED DESCRIPTION

[0066] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0067] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and moreover, the "above", "above" and "above" of the first feature to the second feature include the "above" and "above" of the first feature to the second feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The "below", "below" and "below" of the first feature to the second feature include the "below" and "below" of the first feature to the second feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0068] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, and can be internal communication of two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0069] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0070] Embodiment one

[0071] The present embodiment provides a vehicle, specifically a cement pump truck or a concrete mixer truck, etc., and adopts a P2 hybrid system.

[0072] Specifically as Figure 1 shown, the vehicle includes a battery 1, a charging interface 2, a power take-off, and an engine 3, a clutch 4, a motor 5 and a gearbox 6 connected in sequence. Among them, the battery 1 is electrically connected with the motor 5 and the charging interface 2 respectively, the charging interface 2 is used for connecting a charging gun, the charging gun is used for connecting a city power supply, and is used for charging the battery 1; the power take-off is drivingly connected with the gearbox 6, and the power take-off is used for drivingly connected with an upper-mounted executive element, such as a cable winding drum. Specifically, the gearbox 6 has an input shaft, an intermediate shaft and an output shaft, the motor 5 is drivingly connected with the input shaft, the input shaft, the intermediate shaft and the output shaft are drivingly connected in sequence through gear pairs, the output shaft is connected with a rear drive axle 7, the power take-off is drivingly connected with the input shaft or the intermediate shaft of the gearbox 6, and the power take-off is used for connecting a hydraulic pump, the hydraulic pump and a hydraulic motor constitute a circulating loop, and the hydraulic motor is used for driving the upper-mounted executive element to operate.

[0073] In this embodiment, the vehicle has an engine driving mode, a motor driving mode and a hybrid mode. When the vehicle is in the engine driving mode, only the engine 3 is in transmission connection with the gearbox 6. Specifically, at this time, the clutch 4 is engaged, and the battery 1 does not supply power to the motor 5, and the power output by the engine 3 can be transmitted to the power take-off through the rotor shaft of the motor 5 and the gearbox 6. When the vehicle is in the motor driving mode, only the motor 5 is in transmission connection with the gearbox 6, at this time, the clutch 4 is disengaged, and the battery 1 supplies power to the motor 5. When the vehicle is in the hybrid driving mode, the engine 3 and the motor 5 are both in transmission connection with the gearbox 6, at this time, the clutch 4 is engaged, and the battery 1 can supply power to the motor 5 or not, when the battery 1 supplies power to the motor 5, the motor 5 provides assist torque, when the battery 1 does not supply power to the motor 5, the motor 5 provides charging torque, and the motor 5 generates electricity and stores it in the battery 1.

[0074] When the vehicle is in the engine driving mode, the stator winding of the motor 5 is not powered, at this time, the rotor of the motor 5 idles and does not charge. When the vehicle is in the hybrid driving mode, the stator winding of the motor 5 is powered, at this time, the rotor of the motor 5 cuts the magnetic induction lines, the motor 5 can generate electricity and be used to charge the battery 1, when the motor 5 charges the battery 1, the motor 5 outputs charging torque, which is resistance to the engine 3, and the engine 3 needs to consume part of its output torque to overcome the resistance.

[0075] In addition, when the vehicle is in the hybrid mode, the engine 3 and the motor 5 jointly provide the torque required by the load under the current working condition, at this time, the total torque output by the engine 3 and the motor 5 is constant, and the torque output by the engine 3 can be adjusted in the opposite direction by adjusting the size of the torque output by the motor 5.

[0076] The embodiment also provides a torque control method of a hybrid vehicle, which can be applied to the case where the torque required by the vehicle is automatically distributed between the engine and the motor, and can be executed by a torque control device of the hybrid vehicle, which can be realized by software and / or hardware and integrated in the vehicle.

[0077] Specifically, as shown in Figure 2 The torque control method of the hybrid vehicle comprises the following steps:

[0078] S100: Obtain the required speed of the engine.

[0079] The demand speed of the engine can be obtained by interacting with the driving controller. Specifically, when the vehicle is running and the upper implement is not working, the demand speed of the engine can be determined based on the speed of the wheel under the current working condition and the speed ratio from the engine to the wheel end; when the vehicle is running and the upper implement is working, the demand speed of the engine can also be determined based on the speed of the wheel under the current working condition and the speed ratio from the engine to the wheel end; when the vehicle is parked and the upper implement is working, the demand speed of the engine can be determined according to the speed of the upper implement and the speed ratio from the engine to the upper implement.

[0080] S110: The engine runs at the demand speed and is in driving connection with the gearbox.

[0081] By making the clutch engage, the engine is in driving connection with the gearbox, and the engine drives the power take-off through the gearbox, and the power take-off is in driving connection with the upper implement.

[0082] When the engine runs at the demand speed, the speed of the wheel can meet the demand, and / or the speed of the upper implement can meet the demand.

[0083] S120: Determine the optimal power of the engine based on the demand speed of the engine.

[0084] Under the premise that the engine runs at the demand speed, the fuel consumption of the engine when outputting the optimal power is less than the fuel consumption of the engine when outputting other powers except the optimal power.

[0085] Specifically, the relationship diagram of the demand speed of the engine, the optimal power of the engine and the fuel consumption is pre-stored in the controller, and based on the demand speed of the engine, the power corresponding to the lowest fuel consumption is selected as the optimal power of the engine. The optimal power of the engine can be a point value or a range value, and when it is a range value, the fuel consumption corresponding to each power in the range is less than the fuel consumption corresponding to other powers outside the range under the premise that the demand speed of the engine.

[0086] The relationship diagram can be an optimal working curve of the engine, which is a curve connecting a plurality of points with the minimum fuel consumption at the same power under different speeds of the engine. Generally, the optimal working curve of the engine is set when the engine is manufactured; of course, the relationship diagram can also be determined through a large number of tests.

[0087] S130: Obtain the first mapping relationship between the optimal torque of the engine, the demand speed of the engine and the optimal power.

[0088] The first mapping relationship can be obtained through a large number of tests in advance and pre-stored in the controller.

[0089] S140: determining the optimal torque of the engine based on the optimal power, the required speed of the engine and the first mapping relationship.

[0090] In the process that the engine operates at the required speed of the engine, the fuel consumption of the engine is the lowest and the NVH (Noise, Vibration, Harshness) performance of the engine is the optimal when the engine outputs the optimal torque.

[0091] S150: determining whether the charging interface is connected with the charging gun.

[0092] If yes, S160 is performed.

[0093] The determination of whether the charging interface is connected with the charging gun can be achieved by interacting with the battery controller, or a current sensor can be arranged on the cable of the charging interface, and when there is current passing through, it indicates that the charging interface is connected with the charging gun at this time, and when there is no current passing through, it indicates that the charging interface is not connected with the charging gun at this time.

[0094] It can be understood that when the charging interface is connected with the charging gun, the battery can be powered by the mains power supply at this time, and the vehicle is necessarily in the parking state at this time, and in addition, in the embodiment, the engine is also driving the upper-mounted operating member to operate.

[0095] S160: obtaining the current torque of the engine.

[0096] The current torque of the engine can be obtained by the torque sensor arranged on the engine.

[0097] S170: comparing the current torque with the optimal torque.

[0098] If the current torque is greater than the optimal torque, S180 is performed.

[0099] S180: determining the first assist torque output by the motor based on the difference ΔN1 between the current torque and the optimal torque and the SOC of the battery.

[0100] Specifically, the determination of the first assist torque output by the motor based on the difference ΔN1 between the current torque and the optimal torque and the SOC of the battery can be achieved by a deep learning model or other mathematical model.

[0101] Specifically, in the embodiment, the determination of the first assist torque output by the motor based on the difference ΔN1 between the current torque and the optimal torque and the SOC of the battery includes the following steps:

[0102] determining a first proportional factor based on the SOC of the battery, the first proportional factor being not greater than 1;

[0103] the first assist torque = the difference ΔN1 × the first proportional factor.

[0104] The determining the first proportional factor based on the SOC of the battery comprises: obtaining a first correspondence relationship between the SOC of the battery and the first proportional factor, and querying the corresponding first proportional factor from the first correspondence relationship according to the SOC of the battery.

[0105] For example, when the SOC of the battery is less than 30%, the battery has low power at this time, and the battery power should be reserved in non-essential working conditions to be used in essential working conditions, such as when the fuel is consumed, at this time, the first proportional factor can be set to 0; when the SOC of the battery is more than 30% and less than 70%, the battery has partial excess power, which can supply the motor to participate in power assistance to a certain extent, at this time, the first proportional factor increases in proportion with the increase of the SOC of the battery, but the first proportional factor is less than 1; when the SOC of the battery is more than 70%, it indicates that the battery has sufficient power at this time, which can fully support the motor to participate in power assistance, and the first proportional factor can be equal to 1, at this time, the first power assistance torque provided by the motor is maximum and equal to the difference ΔN1, which can make the current torque of the engine be reduced to the optimal torque.

[0106] S190: The motor outputs the first power assistance torque.

[0107] In the process of steps S170 to S190, the first power assistance torque is output by the engine, which will cause the current torque of the engine to be reduced under the premise that the torque demand of the load is unchanged, and by controlling the value of the first power assistance torque, the current torque of the engine can be close to or equal to the optimal torque, thereby ensuring the fuel economy and NVH performance of the engine.

[0108] The torque control method of the hybrid vehicle provided in the embodiment comprises the following steps: obtaining a demand speed of an engine, the engine being in operation at the demand speed and being in transmission connection with a gearbox; determining an optimal power of the engine based on the demand speed of the engine; obtaining a first mapping relationship between the optimal torque of the engine, the demand speed of the engine and the optimal power; determining the optimal torque of the engine based on the optimal power, the demand speed of the engine and the first mapping relationship; obtaining a current torque of the engine when a charging interface is connected with a charging gun; and when the current torque is greater than the optimal torque, determining a first power assistance torque output by a motor based on a difference ΔN1 between the current torque and the optimal torque and an SOC of a battery, and then making the motor output the first power assistance torque, so that the current torque of the engine is close to or equal to the optimal torque under full consideration of the SOC of the battery, thereby ensuring the fuel economy and NVH performance of the engine and improving the working efficiency of the vehicle.

[0109] Embodiment Two

[0110] The embodiment provides a torque control method of a hybrid vehicle, which is further specified on the basis of the torque control method of the hybrid vehicle provided in the first embodiment.

[0111] Specifically, as shown in the figure, the torque control method of the hybrid vehicle comprises the following steps: Figure 3

[0112] S200: Obtain a demand rotating speed of the engine.

[0113] S210: The engine operates at the demand rotating speed and is in driving connection with the gearbox.

[0114] S220: Determine an optimal power of the engine based on the demand rotating speed of the engine.

[0115] S230: Obtain a first mapping relationship between the optimal torque of the engine, the demand rotating speed of the engine and the optimal power.

[0116] S240: Determine the optimal torque of the engine based on the optimal power, the demand rotating speed of the engine and the first mapping relationship.

[0117] S250: Determine whether a charging interface is connected with a charging gun.

[0118] If yes, S260 is executed.

[0119] S260: Obtain a current torque of the engine.

[0120] S270: Compare the current torque with the optimal torque.

[0121] If the current torque is greater than the optimal torque, S280 is executed; if the current torque is not greater than the optimal torque, S300 is executed.

[0122] S280: Determine a first assist torque output by the motor based on a difference ΔN1 between the current torque and the optimal torque and an SOC of the battery.

[0123] S290: The motor outputs the first assist torque.

[0124] S300: The torque output by the motor is zero, and the motor idles under the driving of the engine and does not generate electricity.

[0125] ​When the current torque is not greater than the optimal torque, if the motor outputs the assist torque, the torque output by the engine will be further reduced under the premise that the torque demand of the load is unchanged, thereby causing the current torque of the engine to deviate further from the optimal torque, and causing the fuel economy and NVH performance of the engine to be further reduced. Therefore, the motor is required not to output the assist torque. In addition, the economy of charging the battery through the power grid is obviously higher than the economy of charging the battery by driving the motor to operate through the consumption of fuel of the engine. Therefore, even if the current torque of the engine does not reach the optimal torque, the motor is required to idle and not generate electricity under the driving of the engine, and the motor is required not to output the charging torque, so as to pursue the maximum economic benefit.

[0126] Optionally, referring to Figure 4 In step S250, if the charging interface is not connected with the charging gun (which indicates that the vehicle may be in a running state or a parking state, and the upper-mounted executing member may be in operation or not in operation), the torque control method of the hybrid vehicle further includes the following steps.

[0127] S310: Obtain the current torque of the engine.

[0128] S320: Calculate the absolute value of the difference ΔN2 between the current torque and the optimal torque.

[0129] S330: Compare the absolute value with the first set value.

[0130] The first set value can be set according to the specific model of the engine.

[0131] If the absolute value is not greater than the first set value, S340 is performed; if the absolute value is greater than the first set value, S350 is performed.

[0132] S340: The torque output by the motor is zero, and the motor idles and does not generate electricity under the driving of the engine.

[0133] When the absolute value is not greater than the first set value, it indicates that the current torque and the optimal torque are not greatly different, and the torque of the engine can be adjusted to ensure that the engine has good fuel economy and NVH performance. Therefore, the torque output by the motor is kept to be zero, and the motor idles and does not generate electricity under the driving of the engine.

[0134] It should be noted that when the absolute value is greater than the first set value, the current torque can be greater than, equal to, or less than the optimal torque.

[0135] S350: Compare the current torque with the optimal torque.

[0136] If the current torque is less than the optimal torque, S360 is performed; if the current torque is not less than the optimal torque, S370 is performed.

[0137] S360: The motor generates electricity under the drive of the engine, and the electricity generation torque of the motor is determined based on the difference ΔN3 between the optimal torque and the current torque, and the SOC of the battery.

[0138] When the current torque is less than the optimal torque, the motor needs to provide resistance, that is, to provide electricity generation torque, so as to increase the output torque of the engine to the optimal torque.

[0139] Specifically, the electricity generation torque of the motor determined based on the difference ΔN3 between the optimal torque and the current torque, and the SOC of the battery can be realized by a deep learning model or other mathematical model.

[0140] Specifically, in the embodiment, the electricity generation torque of the motor determined based on the difference ΔN3 between the optimal torque and the current torque, and the SOC of the battery includes the following steps:

[0141] determining a second proportional factor based on the SOC of the battery, the second proportional factor being not greater than 1;

[0142] The electricity generation torque = the difference ΔN3 x the second proportional factor.

[0143] Wherein, determining the second proportional factor based on the SOC of the battery includes: obtaining a second correspondence relationship between the SOC of the battery and the second proportional factor, and querying the corresponding second proportional factor from the second correspondence relationship according to the SOC of the battery.

[0144] Exemplarily, when the SOC of the battery is greater than 90%, the battery has a high power at this time, and it is not suitable to continue charging the battery at this time, and the second proportional factor can be set to 0 at this time; when the SOC of the battery is less than 90% and greater than 30%, the battery has the ability to accommodate more power, and the battery can be charged to a certain extent by the motor at this time, and the second proportional factor decreases in proportion to the increase of the SOC of the battery at this time, but the second proportional factor is less than 1; when the SOC of the battery is less than 30%, it indicates that the battery has insufficient power at this time, and can be charged at the maximum power, which can fully support the motor to provide resistance, and the second proportional factor can be equal to 1 at this time, and the second assist torque provided by the motor is maximum at this time, and is equal to the difference ΔN3, which can make the current torque of the engine be increased to the optimal torque.

[0145] Through step S360, the actual situation of the SOC of the battery can be considered when the engine is running at the required speed, and the electricity generation torque can be provided by the motor, so as to increase the current torque of the engine to the direction close to the optimal torque, and further to ensure the fuel economy and NVH performance of the engine.

[0146] S370: Obtain the external characteristic curve of the engine.

[0147] The outer characteristic curve of the engine is a second mapping relationship between the required speed of the engine and the maximum output torque of the engine. The second mapping relationship can be a mathematical model or a deep learning model. Generally, the outer characteristic curve of the engine is set when the engine is shipped; of course, the outer characteristic curve of the engine can also be determined through a large number of tests.

[0148] S380: Determine the maximum output torque of the engine based on the required speed of the engine and the outer characteristic curve.

[0149] S390: Calculate the difference ΔN4 between the maximum output torque and the current torque.

[0150] It can be understood that the current torque will not exceed the maximum output torque, so the difference ΔN4 is positive.

[0151] S400: Compare the difference ΔN4 with the second set value.

[0152] If the difference ΔN4 is greater than the second set value, S410 is executed; if the difference ΔN4 is not greater than the second set value, S420 is executed.

[0153] The second set value can be set as needed. When the difference ΔN4 is greater than the second set value, it indicates that the current torque and the maximum output torque differ greatly at this time, which is not conducive to the NVH performance and fuel consumption of the engine, and the actual torque of the engine should be reduced and adjusted in the direction close to the optimal torque. When the difference ΔN4 is not greater than the second set value, it indicates that the current torque is close to the maximum output torque at this time, which is not conducive to the life, NVH performance and fuel consumption of the engine, and the actual torque of the engine should be reduced and adjusted in the direction close to the optimal torque.

[0154] S410: The motor outputs a second assist torque, and the second assist torque output by the motor is determined based on the difference between the current torque and the optimal torque and the SOC of the battery.

[0155] The determination direction of the second assist torque is the same as that of the first assist torque, and will not be described here. When the motor outputs the second assist torque, the current torque of the engine can be adjusted to the direction close to the optimal torque, thereby ensuring the fuel economy and NVH performance of the engine.

[0156] S420: Determine the second assist torque output by the motor based on the difference between the current torque and the optimal torque and the SOC of the battery, and correct the second assist torque based on the difference ΔN4 to obtain a third assist torque.

[0157] Wherein, when the second assist torque is corrected based on the difference ΔN4, the correction ratio can be determined based on the difference ΔN4, and the correction ratio can specifically increase with the decrease of the difference ΔN4, and the product of the correction ratio and the first proportional factor needs to be ensured to be not greater than 1. In this way, the current torque of the engine can be ensured to deviate from the outer characteristic curve of the engine with a large variation range, and approach the optimal torque, so as to ensure the service life, NVH performance and fuel economy of the engine.

[0158] S430: The motor outputs a third assist torque.

[0159] The torque control method of the hybrid vehicle provided by the embodiment can ensure that the current torque of the engine deviates from the outer characteristic curve of the engine with a large variation range, and approaches the optimal torque, so as to ensure the service life, NVH performance and fuel economy of the engine.

[0160] Embodiment Three

[0161] The embodiment provides a torque control device of a hybrid vehicle, which is used for implementing the torque control method of the hybrid vehicle in any of the above embodiments.

[0162] Specifically, referring to Figure 5 The torque control device of the hybrid vehicle comprises a demand speed obtaining module 10, a first executing module 20, an optimal power determining module 30, a first mapping relationship obtaining module 40, an optimal torque determining module 50, a charging judging module 60, a current torque obtaining module 70, a first comparing module 80, a first assist torque determining module 90 and a second executing module 91. The demand speed obtaining module 10 is used for obtaining the demand speed of the engine. The first executing module 20 is used for operating the engine at the demand speed and connecting the engine with the gearbox. The optimal power determining module 30 is used for determining the optimal power of the engine based on the demand speed of the engine. On the premise that the engine is operated at the demand speed, the fuel consumption of the engine when the engine outputs the optimal power is less than the fuel consumption of the engine when the engine outputs other power except the optimal power. The first mapping relationship obtaining module 40 is used for obtaining the first mapping relationship between the optimal torque of the engine and the demand speed and the optimal power of the engine. The optimal torque determining module 50 is used for determining the optimal torque of the engine based on the optimal power, the demand speed of the engine and the first mapping relationship. The charging judging module 60 is used for judging whether the charging interface is connected with the charging gun. The current torque obtaining module 70 is used for obtaining the current torque of the engine when the charging interface is connected with the charging gun. The first comparing module 80 is used for comparing the current torque with the optimal torque. The first assist torque determining module 90 is used for determining the first assist torque output by the motor based on the difference ΔN1 between the current torque and the optimal torque and the SOC of the battery when the current torque is greater than the optimal torque. The second executing module 91 is used for making the motor output the first assist torque.

[0163] The torque control device of the hybrid vehicle provided by the embodiment comprises a demand speed acquisition module 10, a first execution module 20, an optimal power determination module 30, a first mapping relationship acquisition module 40, an optimal torque determination module 50, a charging judgment module 60, a current torque acquisition module 70, a first comparison module 80, a first assist torque determination module 90 and a second execution module 91. The demand speed acquisition module 10 is used for acquiring the demand speed of the engine. The first execution module 20 is used for operating the engine at the demand speed and driving the gearbox. The optimal power determination module 30 is used for determining the optimal power of the engine based on the demand speed of the engine. The engine has a fuel consumption when outputting the optimal power, which is less than the fuel consumption when outputting other power except the optimal power. The first mapping relationship acquisition module 40 is used for acquiring the first mapping relationship between the optimal torque of the engine, the demand speed of the engine and the optimal power. The optimal torque determination module 50 is used for determining the optimal torque of the engine based on the optimal power, the demand speed of the engine and the first mapping relationship. The charging judgment module 60 is used for judging whether the charging interface is connected with the charging gun. The current torque acquisition module 70 is used for acquiring the current torque of the engine when the charging interface is connected with the charging gun. The first comparison module 80 is used for comparing the current torque with the optimal torque. The first assist torque determination module 90 is used for determining the first assist torque output by the motor based on the difference ΔN1 between the current torque and the optimal torque and the SOC of the battery when the current torque is greater than the optimal torque. The second execution module 91 is used for making the motor output the first assist torque. The torque control device of the hybrid vehicle fully considers the SOC of the battery, makes the current torque of the engine close to or equal to the optimal torque, guarantees the fuel economy and NVH performance of the engine and improves the working efficiency of the whole vehicle.

[0164] Optionally, the torque control device of the hybrid vehicle further comprises:

[0165] The third execution module is used for making the torque output by the motor be zero and the motor idle without generating electricity under the driving of the engine when the current torque is not greater than the optimal torque.

[0166] The current torque acquisition module is used for acquiring the current torque of the engine when the charging interface is not connected with the charging gun.

[0167] The first calculation module is used for calculating the absolute value of the difference ΔN2 between the current torque and the optimal torque.

[0168] The third comparison module is used for comparing the absolute value with the first set value.

[0169] The fourth execution module is used for making the torque output by the motor be zero and the motor idle without generating electricity under the driving of the engine when the absolute value is not greater than the first set value.

[0170] The fourth comparison module is used for comparing the current torque with the optimal torque.

[0171] The fifth execution module is configured to make the motor generate power under the drive of the engine, and determine the power generation torque of the motor based on a difference value N3 between the optimal torque and the current torque and the SOC of the battery.

[0172] The outer characteristic curve acquisition module is configured to acquire the outer characteristic curve of the engine when the current torque is not less than the optimal torque.

[0173] The maximum output torque determination module is configured to determine the maximum output torque of the engine based on the required rotating speed of the engine and the outer characteristic curve.

[0174] The second calculation module is configured to calculate a difference value N4 between the maximum output torque and the current torque.

[0175] The fifth comparison module is configured to compare the difference value N4 with a second set value.

[0176] The sixth execution module is configured to make the motor output a second assist torque when the difference value N4 is greater than the second set value, and determine the second assist torque output by the motor based on a difference value between the current torque and the optimal torque and the SOC of the battery.

[0177] The third assist torque determination module is configured to determine the second assist torque output by the motor based on a difference value between the current torque and the optimal torque and the SOC of the battery when the difference value N4 is not greater than the second set value, and correct the second assist torque based on the difference value N4 to obtain a third assist torque.

[0178] The seventh execution module is configured to make the motor output the third assist torque.

[0179] The torque control device of the hybrid vehicle provided by the embodiment of the present application can execute the torque control method of the hybrid vehicle provided by any embodiment of the present application, and has the function modules and beneficial effects corresponding to the execution method.

[0180] Embodiment four

[0181] Figure 6 is a structural schematic diagram of a vehicle control system provided by an embodiment of the present application. The vehicle (or referred to as a terminal device) is intended to represent various forms of digital computers, such as a laptop computer, a desktop computer, a workstation, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The terminal device can also represent various forms of mobile devices, such as a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.), and other similar computing devices. The components shown herein, their connections, and relationships, and their functions, are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0182] As Figure 6As shown, the terminal device 100 includes one or more processors 110, and storage devices, such as a ROM 120, a random access memory (RAM) 130, and the like, which are communicatively connected to the processor 110. The storage devices store computer programs that are executable by the one or more processors. The processor 110 can perform various appropriate actions and processes according to the computer programs stored in the ROM 120 or loaded from the storage unit 180 into the RAM 130. Various programs and data required for the operation of the terminal device 100 can also be stored in the RAM 130. The processor 110, the ROM 120, and the RAM 130 are connected to each other through a bus 140. An I / O interface 150 is also connected to the bus 140.

[0183] Various components in the terminal device 100 are connected to the I / O interface 150, including an input unit 160, such as a keyboard, a mouse, and the like, an output unit 170, such as various types of displays, speakers, and the like, a storage unit 180, such as a magnetic disk, an optical disk, and the like, and a communication unit 190, such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 190 allows the terminal device 100 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0184] The processor 110 can be various general-purpose and / or special-purpose processing components having processing and computing capabilities. Some examples of the processor 110 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, and the like. The processor 110 performs various methods and processes described above, such as the torque control method for a hybrid vehicle.

[0185] In some embodiments, the torque control method for a hybrid vehicle can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 180. In some embodiments, part or all of the computer program can be loaded and / or installed onto the terminal device 100 via the ROM 120 and / or the communication unit 190. When the computer program is loaded into the RAM 130 and executed by the processor 110, one or more steps of the torque control method for a hybrid vehicle described above can be performed. Alternatively, in other embodiments, the processor 110 can be configured to perform the torque control method for a hybrid vehicle by any other appropriate means, such as by means of firmware.

[0186] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0187] Computer programs used to implement the processes of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented on the computer or other programmable apparatus. The computer programs can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0188] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0189] To provide for interaction with a user, the systems and techniques described here can be implemented on a terminal device having a display, e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, for displaying information to the user and a keyboard and a pointing device, e.g., a mouse or a trackball, by which the user can provide input to the terminal device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback, e.g., visual feedback, auditory feedback, or tactile feedback; and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0190] The systems and techniques described here can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0191] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0192] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present application. For example, the steps recited in the present application can be executed in parallel, executed in sequence, or executed in a different order, as long as the desired results of the technical solutions of the present application are achieved, and the present application is not limited herein.

[0193] Note that the above merely describes preferred embodiments of the present application and the principles of the technology applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, modifications and substitutions can be made to the present application without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A torque control method of a hybrid vehicle, the vehicle comprising a battery, a charging interface, a power take-off, and an engine, a clutch, an electric machine and a gearbox connected in sequence, the battery being electrically connected to the electric machine and the charging interface respectively, the charging interface being used to connect a charging gun, the power take-off being drivingly connected to the gearbox, and the power take-off being used to drivingly connect to an upper-mounted implement, characterized in that, The torque control method of the hybrid vehicle comprises: acquiring a demand speed of the engine; the engine is running at the demand speed and is drivingly connected with the gearbox; determining an optimal power of the engine based on the demand speed of the engine, the fuel consumption of the engine when the engine outputs the optimal power is less than the fuel consumption of the engine when the engine outputs other power except the optimal power on the premise that the engine is running at the demand speed; acquiring a first mapping relationship between the optimal torque of the engine, the demand speed of the engine and the optimal power; determining the optimal torque of the engine based on the demand speed of the engine, the optimal power and the first mapping relationship; determining whether the charging interface is connected with the charging gun; if yes, acquiring a current torque of the engine; comparing the current torque with the optimal torque; if the current torque is greater than the optimal torque, determining a first assist torque output by the motor based on a difference ΔN1 between the current torque and the optimal torque and the SOC of the battery; the motor outputs the first assist torque.

2. The torque control method of a hybrid vehicle according to claim 1, characterized by, When comparing the current torque with the optimal torque, if the current torque is not greater than the optimal torque, the torque control method of the hybrid vehicle further comprises the following steps: the torque output by the motor is zero, and the motor idles under the driving of the engine and does not generate electricity.

3. The torque control method of a hybrid vehicle according to claim 1, characterized by, When determining whether the charging interface is connected with the charging gun, if no; the torque control method of the hybrid vehicle further comprises: acquiring a current torque of the engine; calculating an absolute value of a difference ΔN2 between the current torque and the optimal torque; comparing the absolute value with a first set value; if the absolute value is not greater than the first set value, the torque output by the motor is zero, and the motor idles under the driving of the engine and does not generate electricity.

4. The torque control method of a hybrid vehicle according to claim 3, characterized by, When comparing the absolute value with the first set value, if the absolute value is greater than the first set value, the torque control method of the hybrid vehicle further comprises the following steps: comparing the current torque with the optimal torque; if the current torque is less than the optimal torque, the motor generates electricity under the driving of the engine, and the power generation torque of the motor is determined based on a difference ΔN3 between the optimal torque and the current torque and the SOC of the battery.

5. The torque control method of a hybrid vehicle according to claim 4, characterized by, When the absolute value is greater than the first set value, when comparing the current torque with the optimal torque, if the current torque is not less than the optimal torque, the torque control method of the hybrid vehicle further comprises the following steps: acquiring an external characteristic curve of the engine, the external characteristic curve of the engine is a second mapping relationship between the demand speed of the engine and the maximum output torque of the engine; determining the maximum output torque of the engine based on the demand speed of the engine and the external characteristic curve; calculating a difference ΔN4 between the maximum output torque and the current torque; comparing the difference ΔN4 with a second set value; If the difference value ΔN4 is greater than the second set value, the motor outputs a second assist torque, and the second assist torque output by the motor is determined based on the difference value between the current torque and the optimal torque and the SOC of the battery.

6. The torque control method of a hybrid vehicle according to claim 5, characterized by, In the comparison of the difference value ΔN4 and the second set value, if the difference value ΔN4 is not greater than the second set value, the torque control method of the hybrid vehicle further comprises the following steps: The second assist torque output by the motor is determined based on the difference value between the current torque and the optimal torque and the SOC of the battery, and the second assist torque is corrected based on the difference value ΔN4 to obtain a third assist torque; The motor outputs the third assist torque.

7. The torque control method of a hybrid vehicle according to any one of claims 1 to 6, characterized by, The determination of the first assist torque output by the motor based on the difference value ΔN1 between the current torque and the optimal torque and the SOC of the battery comprises: A first proportional factor is determined based on the SOC of the battery, and the first proportional factor is not greater than 1; The first assist torque = the difference value ΔN1 x the first proportional factor.

8. A torque control device of a hybrid vehicle, the vehicle comprising a battery, a charging interface, a power take-off, and an engine, a clutch, an electric machine and a gearbox connected in sequence, the battery being electrically connected to the electric machine and the charging interface respectively, the charging interface being used for connecting a charging gun, the power take-off being drivingly connected to the gearbox, and the power take-off being used for drivingly connecting to an upper-mounted implement, characterized in that, The torque control device of the hybrid vehicle comprises: A demand speed acquisition module is configured to acquire a demand speed of the engine; A first execution module is configured to operate the engine at the demand speed and in transmission connection with the gearbox; An optimal power determination module is configured to determine an optimal power of the engine based on the demand speed of the engine, and the fuel consumption of the engine when the engine outputs the optimal power is less than the fuel consumption of the engine when the engine outputs other power than the optimal power, on the premise that the engine operates at the demand speed; A first mapping relationship acquisition module is configured to acquire a first mapping relationship between an optimal torque of the engine, a demand speed of the engine and an optimal power; An optimal torque determination module is configured to determine an optimal torque of the engine based on the optimal power, the demand speed of the engine and the first mapping relationship; A charging judgment module is configured to judge whether a charging interface is connected with a charging gun; A current torque acquisition module is configured to acquire a current torque of the engine when the charging interface is connected with the charging gun; A first comparison module is configured to compare the current torque with the optimal torque; A first assist torque determination module is configured to determine a first assist torque output by the motor based on the difference value ΔN1 between the current torque and the optimal torque and the SOC of the battery when the current torque is greater than the optimal torque; A second execution module is configured to make the motor output the first assist torque.

9. A vehicle characterized by comprising: Comprise: One or more processors; A storage device configured to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors control the vehicle to implement the torque control method of the hybrid vehicle according to any one of claims 1-7.

10. A storage medium having stored thereon a computer program, characterized in that The program is executed by the processor to make the vehicle implement the torque control method of the hybrid vehicle according to any one of claims 1-7.

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