Control methods, devices and storage media for vehicle slope driving

Abstract

This application discloses a control method, device, and storage medium for vehicle slope driving, belonging to the field of vehicle control technology. The method includes: acquiring the slope of the road where the vehicle is located, the state of charge (SOC) of the power battery, the vehicle's speed, and the connection method of the engine and electric motor; determining the slope level based on the road slope; controlling the activation state of a range extender (including an engine and a generator) based on the slope level, the SOC of the power battery, and the vehicle's speed; controlling the charging and discharging state of the power battery based on the slope level and the SOC of the power battery; and controlling the connection method of the engine and electric motor based on the slope level and the vehicle's speed. This ensures the vehicle's electrical balance and power when driving on a slope.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a control method, device and storage medium for vehicle driving on a slope. Background Technology

[0002] With the increased convenience of hybrid vehicles, the number of users choosing them has also increased. However, when hybrid vehicles are driving at high speeds or climbing hills, the State of Charge (SOC) of the vehicle's power battery will continuously decrease, and there may even be issues with battery depletion, affecting the normal use of the battery. At the same time, the charging noise of the range extender is also unusually noticeable, resulting in a very poor driving experience for users. Therefore, how to solve the problems of electrical balance and charging noise when hybrid vehicles are driving on slopes is crucial to ensuring the normal use of the power battery, the safety of vehicle driving, and improving the experience of riding in hybrid vehicles. Summary of the Invention

[0003] This application provides a method, apparatus, and storage medium for controlling vehicle slope driving, which can be used to ensure the normal use of the power battery, the safety of vehicle driving, and to improve the experience of riding in a hybrid vehicle. The technical solution is as follows:

[0004] On one hand, embodiments of this application provide a method for controlling vehicle driving on a slope, the method comprising:

[0005] It obtains the slope of the road where the vehicle is located, the state of charge (SOC) of the power battery, the vehicle's speed, and the connection method of the engine and electric motor.

[0006] The slope grade is determined based on the gradient of the road where the vehicle is located;

[0007] The activation status of the range extender is controlled according to the slope level, the SOC of the power battery, and the vehicle speed. The range extender includes an engine and a generator.

[0008] The charging and discharging state of the power battery is controlled according to the slope level and the SOC of the power battery.

[0009] The connection method of the engine and the electric motor is controlled according to the slope level and the vehicle speed.

[0010] On the other hand, a control device for vehicle hill driving is provided, the device comprising:

[0011] The acquisition module is used to acquire the slope of the road where the vehicle is located, the state of charge (SOC) of the power battery, the vehicle's speed, and the connection method of the engine and electric motor.

[0012] The determination module is used to determine the slope level based on the slope of the road where the vehicle is located;

[0013] The first control module is used to control the activation state of the range extender according to the slope level, the SOC of the power battery and the driving speed of the vehicle. The range extender includes an engine and a generator.

[0014] The second control module is used to control the charging and discharging state of the power battery according to the slope level and the SOC of the power battery.

[0015] The third control module is used to control the connection method of the engine and the electric motor according to the slope level and the vehicle speed.

[0016] On the other hand, a non-transitory computer-readable storage medium is also provided, characterized in that the computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement any of the above-described vehicle ramp driving control methods.

[0017] On the other hand, a computer program product is also provided, the computer program product including computer instructions, which, when executed by a processor, implement the steps of any of the above-described vehicle ramp driving control methods.

[0018] The technical solution provided in this application brings at least the following beneficial effects:

[0019] This application determines the slope level of the road where the vehicle is located based on the gradient of the road, which facilitates the control of the range extender's activation status, the charging and discharging status of the power battery, and the connection method of the engine and electric motor when the vehicle is driving on an incline, using different thresholds for different slope levels. Furthermore, it controls the range extender's activation status based on the slope level, the power battery's SOC, and the vehicle's speed, preventing the range extender from shutting down when the power battery's SOC is low, thus avoiding insufficient power from the power battery to support the vehicle's power requirements for climbing and causing dangers such as rolling away. Controlling the power battery's charging and discharging status based on the slope level and the power battery's SOC ensures the vehicle's electrical balance. Controlling the connection method of the engine and electric motor based on the slope level and the vehicle's speed ensures that the vehicle operates in series for most of the climbing process, allowing the range extender to charge the onboard battery and guarantee the vehicle's power while driving on an incline. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of an implementation environment provided in an embodiment of this application;

[0022] Figure 2 This is a flowchart of a vehicle ramp control method provided in an embodiment of this application;

[0023] Figure 3 This is a control logic diagram for vehicle ramp driving provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the structure of a vehicle ramp control device provided in an embodiment of this application. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0026] This application provides a method for controlling vehicle driving on a slope. Please refer to... Figure 1 The diagram illustrates the implementation environment of the method provided in this application embodiment. This implementation environment may include: a PCM (Powertrain Control Module) 11, a tilt sensor 12, a BMS 13, a speed sensor 14, a power battery 15, an engine 16, a generator 17, and an electric motor 18.

[0027] Optionally, the PCM11 detects the slope of the road where the vehicle is located via the tilt sensor 12, obtains the SOC (State of Charge) of the power battery 15 via the BMS (Battery Management System) 13, detects the vehicle speed via the vehicle speed sensor 14, and determines the connection mode of the engine 16 and the electric motor 18 based on their operating states. The PCM11 controls the activation state of the range extender based on the slope level, the SOC of the power battery 15, and the vehicle speed. The range extender includes the engine 16 and the generator 17. The PCM11 controls the charging and discharging state of the power battery 15 based on the slope level and the SOC of the power battery 15. The PCM11 controls the connection mode of the engine 16 and the electric motor 18 based on the slope level and the vehicle speed. The PCM11 controls the target torque and target charging power of the engine 16 based on the slope level.

[0028] For example, when the engine 16 and the electric motor 18 are connected in series, the engine 16 provides mechanical energy to the generator 17, which converts the mechanical energy into electrical energy to power the electric motor 18, which then drives the vehicle. The engine 17 can also charge the power battery 15. When the engine 16 and the electric motor 18 are connected in parallel, the power battery 15 supplies power to the electric motor 18, and both the electric motor 18 and the engine 16 drive the vehicle. The PCM 11, tilt sensor 12, BMS 13, speed sensor 14, power battery 15, engine 16, generator 17, and electric motor 18 establish a communication connection via a wired or wireless network.

[0029] Based on the above Figure 1 The implementation environment shown in this application provides a method for controlling vehicle driving on a slope, as described in this embodiment. Figure 2 As shown, taking the application of this method to PCM as an example, the method includes steps 201-205.

[0030] In step 201, the PCM acquires the slope of the road where the vehicle is located, the SOC of the power battery, the vehicle's speed, and the connection method of the engine and the electric motor.

[0031] In one possible implementation, during vehicle operation, the PCM acquires the road gradient, the state of charge (SOC) of the battery, the vehicle speed, and the connection method between the engine and the electric motor. The following sections provide examples illustrating the methods for acquiring each of these data points.

[0032] (1) Obtain the slope of the road where the vehicle is located.

[0033] For example, PCM acquires the slope of the road where the vehicle is located by: detecting the slope of the road where the vehicle is located using a tilt sensor installed on the vehicle. Optionally, the tilt sensor includes at least one accelerometer. The accelerometer detects the acceleration component perpendicular to the ground along the vehicle's longitudinal axis during vehicle movement. After determining the magnitude of the acceleration component perpendicular to the ground along the vehicle's longitudinal axis during vehicle movement, the formula for calculating the slope of the road where the vehicle is located is as follows:

[0034] θ=tan -1 (A÷G)

[0035] θ is the slope of the road where the vehicle is located, A is the magnitude of the acceleration component along the vehicle's longitudinal axis perpendicular to the ground where the vehicle is located during the vehicle's movement, and G is the magnitude of gravitational acceleration.

[0036] (2) Obtain the SOC of the power battery

[0037] For example, the PCM obtains the SOC of the power battery by: obtaining the SOC of the power battery from the BMS via a bus, wherein the SOC of the power battery can be in the form of a charge percentage. In one possible implementation, the bus can be a CAN (Controller Area Network) bus.

[0038] (3) Obtain the vehicle's speed

[0039] Optionally, the PCM acquires the vehicle's speed by detecting the vehicle's speed using speed sensors mounted on the wheels or drive axles. For example, the speed sensor acquires the rotational speed of the wheels and converts it into a corresponding electrical signal. The PCM acquires the electrical signal corresponding to the wheel's rotational speed from the speed sensor, determines the wheel's rotational speed based on the electrical signal, and then calculates the vehicle's speed based on the wheel's rotational speed and the wheel's circumference. Optionally, the wheel's circumference can be predetermined. The formula for calculating the vehicle's speed based on the wheel's rotational speed is shown below:

[0040] v = c ÷ a

[0041] v is the speed of the wheel, c is the circumference of the wheel, and a is the rotational speed of the wheel.

[0042] (4) Obtain the connection method between the engine and the electric motor.

[0043] In one possible implementation, the PCM acquires the connection method of the engine and the electric motor by: determining the connection method of the engine and the electric motor based on the operating status of the range extender and the electric motor, wherein the range extender includes an engine and a generator. Optionally, when it is detected that the engine and the electric motor are driving the vehicle simultaneously, it indicates that the connection method of the engine and the electric motor is parallel; when it is detected that the generator is driving the vehicle, and the engine only provides energy to the generator, it indicates that the connection method of the engine and the electric motor is series.

[0044] In step 202, the PCM determines the gradient level based on the gradient of the road where the vehicle is located.

[0045] For example, after obtaining the slope of the road where the vehicle is located, the PCM determines the slope level based on the slope of the road where the vehicle is located, including: determining the slope level as level 1 in response to the slope of the road where the vehicle is located being less than a first slope threshold; determining the slope level as level 2 in response to the slope of the road where the vehicle is located being greater than or equal to the first slope threshold and less than or equal to a second slope threshold; and determining the slope level as level 3 in response to the slope of the road where the vehicle is located being greater than the second slope threshold.

[0046] In one possible implementation, after obtaining the slope of the road where the vehicle is located, the slope is compared with a first slope threshold and a second slope threshold. If the slope of the road is less than the first slope threshold, the slope level of the road is determined to be Level 1; if the slope is greater than or equal to the first slope threshold and less than or equal to the second slope threshold, the slope level of the road is determined to be Level 2; if the slope is greater than the second slope threshold, the slope level of the road is determined to be Level 3. Optionally, the first and second slope thresholds can be set empirically, but the second slope threshold must be greater than the first slope threshold.

[0047] In step 203, the PCM controls the activation status of the range extender based on the gradient level, the SOC of the power battery, and the vehicle's driving speed. The range extender includes an engine and a generator.

[0048] In one possible implementation, after determining the gradient level, the PCM controls the activation state of the range extender based on the gradient level, the SOC of the power battery, and the vehicle's driving speed. This includes: when the gradient level is Level 1, controlling the range extender to start in response to the power battery's SOC being less than a first percentage, the driving speed being greater than a first speed, and the duration being greater than a first duration; when the gradient level is Level 2, controlling the range extender to start in response to the power battery's SOC being less than a second percentage and greater than or equal to the first percentage, the driving speed being greater than the second speed, and the duration being greater than the first duration, wherein the second percentage is greater than the first percentage and the second speed is less than the first speed; and when the gradient level is Level 3, controlling the range extender to start in response to the power battery's SOC being less than a third percentage and greater than or equal to the second percentage, the driving speed being greater than the second speed, and the duration being greater than the first duration, wherein the third percentage is greater than the second percentage.

[0049] Optionally, the SOC of the power battery is compared with a first percentage, a second percentage, and a third percentage, and the vehicle's driving speed is compared with a first speed and a second speed. For example, in the case of a gradient of level one, if the SOC of the power battery is less than the first percentage and the driving speed is greater than the first speed for a period longer than a first duration, the PCM controls the range extender to start. In one possible implementation, before the range extender starts, the electric motor is powered by the electrical energy from the power battery, driving the motor to rotate, thereby turning the wheels and enabling the vehicle to move. After the range extender starts, the engine powers the electric motor through a generator, which drives the wheels to rotate, enabling the vehicle to move. Optionally, the power battery can also be charged by the engine and used to power the electric motor.

[0050] In one possible implementation, when the gradient is level 2, if the SOC of the power battery is less than a second percentage and greater than or equal to the first percentage during a period longer than a first duration, and the driving speed is greater than a second speed, the PCM controls the range extender to start. The first and second percentages can be set empirically, requiring the second percentage to be greater than the first percentage; for example, the first percentage could be 10% and the second percentage could be 20%. The first and second speeds can also be set empirically, requiring the second speed to be less than the first speed; for example, the first speed could be 20 km / h and the second speed could be 0.

[0051] Optionally, when the gradient is level three, if the SOC of the power battery is less than the third percentage and greater than or equal to the second percentage during a period longer than the first duration, and the driving speed is greater than the second speed, the PCM controls the range extender to start. The third percentage can be set empirically, and must be greater than the second percentage; for example, the third percentage could be 30%.

[0052] In one possible implementation, after the range extender is started, the SOC of the power battery and the vehicle's driving speed are continuously monitored. When the gradient is level one, the range extender is shut down in response to the power battery's SOC being greater than or equal to a first percentage plus a first preset width value, the driving speed being greater than a second speed, and the duration of this monitoring being greater than a second duration. Similarly, when the gradient is level two, the range extender is shut down in response to the power battery's SOC being greater than or equal to a second percentage plus a second preset width value, the driving speed being greater than a second speed, and the duration of this monitoring being greater than a second duration. Finally, when the gradient is level three, the range extender is shut down in response to the power battery's SOC being greater than or equal to a third percentage plus a third preset width value, the driving speed being greater than a second speed, and the duration of this monitoring being greater than a second duration.

[0053] For example, in the case of a grade 1 gradient, if, after the range extender is activated, the SOC of the power battery is greater than or equal to a first percentage plus a first preset width value for any period exceeding a second time interval, and the driving speed is greater than a second speed, the PCM controls the range extender to shut down. After the range extender shuts down, the electrical energy from the power battery powers the electric motor, which drives the wheels to rotate, thus enabling the vehicle to move. In one possible implementation, in the case of a grade 2 gradient, if, after the range extender is activated, the SOC of the power battery is greater than or equal to a second percentage plus a second preset width value for any period exceeding a second time interval, and the driving speed is greater than a second speed, the PCM controls the range extender to shut down.

[0054] Optionally, when the gradient is level three, if, after the range extender is started, the SOC of the power battery is greater than or equal to the third percentage plus the third preset width value for any period exceeding the second time duration, and the driving speed is greater than the second speed, the PCM controls the range extender to shut down. In one possible implementation, the first, second, and third preset width values ​​can be set empirically; for example, all three preset width values ​​can be set to 2%.

[0055] As the slope of the road increases, the State of Charge (SOC) of the battery required to activate the range extender also increases, ensuring sufficient power for the vehicle on steep inclines. The range extender is deactivated only when the battery's SOC is greater than or equal to a corresponding threshold percentage and a preset width value, ensuring the engine's energy supply to the electric motor is stopped only when the battery's SOC is sufficient. This prevents insufficient power from the vehicle when driving on inclines due to low battery charge.

[0056] In step 204, the PCM controls the charging and discharging state of the power battery based on the slope level and the SOC of the power battery.

[0057] In one possible implementation, after determining the slope level and the SOC of the power battery, the PCM controls the charge and discharge state of the power battery based on the slope level and the SOC of the power battery, including: when the slope level is Level 1, controlling the power battery to discharge externally in response to the SOC of the power battery being greater than a fourth percentage; when the slope level is Level 1, charging the power battery with a first power in response to the SOC of the power battery being less than a fourth percentage minus a fourth preset width value; when the slope level is Level 2 or Level 3, charging the power battery with a first power in response to the SOC of the power battery being greater than a fifth percentage; and when the slope level is Level 2 or Level 3, charging the power battery with a second power in response to the SOC of the power battery being less than a fifth percentage minus a fifth preset width value, wherein the second power is greater than the first power.

[0058] For example, in the case of a gradient of level one, if the SOC of the power battery is greater than the fourth percentage, the PCM controls the power battery to discharge externally via the BMS, i.e., the power battery charges the motor. During the discharge process, the SOC of the power battery decreases. If the SOC of the power battery is less than the fourth percentage minus the fourth preset width value, the PCM controls the motor to charge the power battery at the first power. Optionally, the fourth percentage and the fourth preset width value can be set empirically; for example, the fourth percentage can be 12%, and the fourth preset width value can be 2%.

[0059] Optionally, when the slope level is level two or three, if the SOC of the power battery is greater than the fifth percentage, the PCM controls the engine to charge the power battery at a first power; if the SOC of the power battery is less than the fifth percentage minus a fifth preset width value, the PCM controls the engine to charge the power battery at a second power. The first and second power can be set empirically, but the second power must be greater than the first power. The fifth percentage and the fifth preset width value can also be set empirically; for example, the fifth percentage can be 32%, and the fifth preset width value can be 30%.

[0060] When the road gradient is gentle, if the battery's State of Charge (SOC) is high, the electric motor can be powered by the battery. If the battery's SOC is low, the engine charges the battery at a lower power to ensure a stable battery charge and maintain the vehicle's electrical balance. Conversely, when the road gradient is steep, if the battery's SOC is high, the engine charges the battery at a lower power; if the battery's SOC is low, the engine charges the battery at a higher power to prevent excessive battery drain during uphill driving.

[0061] In step 205, the PCM controls the connection method between the engine and the electric motor based on the gradient level and the vehicle's speed.

[0062] For example, after determining the gradient of the road where the vehicle is located and the vehicle's speed, the PCM controls the connection mode of the engine and the electric motor according to the gradient and the vehicle's speed, including: when the gradient is level 2, in response to the speed being greater than the third speed and less than or equal to the fourth speed, controlling the connection mode of the engine and the electric motor to switch from series to parallel; when the gradient is level 3, in response to the speed being greater than the fourth speed, controlling the connection mode of the engine and the electric motor to switch from series to parallel.

[0063] In one possible implementation, when the gradient is level two, if the driving speed is greater than the third speed and less than or equal to the fourth speed, the PCM controls the connection between the engine and the electric motor to switch from series to parallel. In series mode, the engine provides mechanical energy to the generator, which converts the mechanical energy into electrical energy to power the electric motor, which then drives the wheels to rotate, thus propelling the vehicle. In parallel mode, the battery provides electrical energy to the electric motor, and both the engine and the electric motor drive the wheels to rotate, thus propelling the vehicle.

[0064] For example, in the case of a grade three gradient, if the driving speed is greater than or equal to the fourth speed, the PCM controls the connection between the engine and the electric motor to switch from series to parallel. The third and fourth speeds can be set empirically, requiring the third speed to be less than the fourth speed; for example, the third speed could be 60 km / h and the fourth speed could be 65 km / h.

[0065] By controlling the vehicle to remain in series operation for most of the time during the uphill process, excessive power consumption of the power battery during the uphill process is avoided, thus ensuring the stability of the power battery's power and maintaining the vehicle's electrical balance.

[0066] In one possible implementation, when the slope level is level two or level three, in response to the engine's target charging speed being greater than or equal to a first speed and less than or equal to a second speed, the engine's target torque is controlled to increase while the engine's target charging power remains constant.

[0067] Optionally, when the slope level is Level 1, no correction is made to the engine's charging speed; when the slope level is Level 2 or Level 3, if the engine's target charging speed is greater than or equal to the first speed and less than or equal to the second speed, the engine's target torque is increased while the engine's target charging power remains constant. With the engine's target charging power remaining constant, the increase in engine target torque leads to a decrease in the engine's target charging speed, thereby reducing engine noise and ensuring that no serious sound pollution occurs during charging.

[0068] Combining the above methods and processes, with Figure 3 The control logic diagram for vehicle ramp driving provided in this application embodiment is illustrated below. The execution entity can be a PCM. Step 301: Obtain the slope of the road where the vehicle is located. After completing step 301, execute steps 302-304. Step 302: Determine whether the slope of the road where the vehicle is located is less than a first slope threshold. Step 303: Determine whether the slope of the road where the vehicle is located is greater than or equal to the first slope threshold and less than or equal to a second slope threshold. Step 304: Determine whether the slope of the road where the vehicle is located is greater than the second slope threshold. If the slope of the road where the vehicle is located is less than the first slope threshold, proceed to step 305. Step 305: Electrical balance control of the vehicle on flat roads.

[0069] If any one of the following conditions is met: the slope of the road where the vehicle is located is less than the first slope threshold; the slope of the road where the vehicle is located is greater than or equal to the first slope threshold and less than or equal to the second slope threshold; or the slope of the road where the vehicle is located is greater than the second slope threshold, proceed to steps 306 and 307. Step 306: Electrical balance control on the vehicle's slope. Step 307: Charging noise control on the vehicle's slope. Step 306 includes steps 308-310. Step 308: Controlling the activation state of the range extender. Step 309: Controlling the charging and discharging state of the power battery. Step 310: Controlling the connection method between the engine and the electric motor. Step 307 includes step 311. Step 311: Controlling the engine speed.

[0070] This application embodiment determines the slope level of the road where the vehicle is located based on the slope of the road. This facilitates the control of the range extender's activation state, the charging and discharging state of the power battery, and the connection method of the engine and electric motor when the vehicle is driving on a slope, using different thresholds according to different slope levels. Furthermore, the activation state of the range extender is controlled based on the slope level, the power battery's SOC, and the vehicle's speed. This prevents the range extender from shutting down when the power battery's SOC is low, which could lead to insufficient power from the power battery to support the vehicle's power requirements for climbing the slope, causing dangers such as vehicle slippage. Controlling the charging and discharging state of the power battery based on the slope level and the power battery's SOC ensures the vehicle's electrical balance. Controlling the connection method of the engine and electric motor based on the slope level and the vehicle's speed ensures that the vehicle operates in series for most of the climbing process. In series operation, the range extender can charge the onboard battery, ensuring the vehicle's power while driving on slopes.

[0071] See Figure 4 This application provides a control device for vehicle driving on a slope, the device comprising:

[0072] The acquisition module 401 is used to acquire the slope of the road where the vehicle is located, the state of charge (SOC) of the power battery, the vehicle's speed, and the connection method of the engine and the electric motor.

[0073] The determination module 402 is used to determine the slope grade based on the slope of the road where the vehicle is located;

[0074] The first control module 403 is used to control the activation status of the range extender according to the slope level, the SOC of the power battery and the vehicle speed. The range extender includes an engine and a generator.

[0075] The second control module 404 is used to control the charging and discharging state of the power battery according to the slope level and the SOC of the power battery.

[0076] The third control module 405 is used to control the connection method of the engine and the electric motor according to the slope level and the vehicle speed.

[0077] In one possible implementation, the determining module 402 is configured to determine the slope level as Level 1 in response to the slope of the road where the vehicle is located being less than a first slope threshold; determine the slope level as Level 2 in response to the slope of the road where the vehicle is located being greater than or equal to the first slope threshold and less than or equal to a second slope threshold; and determine the slope level as Level 3 in response to the slope of the road where the vehicle is located being greater than the second slope threshold.

[0078] In one possible implementation, the first control module 403 is configured to control the range extender to start when the slope level is level 1, in response to the power battery's SOC being less than a first percentage, the driving speed being greater than a first speed, and the duration being greater than a first duration; when the slope level is level 2, in response to the power battery's SOC being less than a second percentage and greater than or equal to the first percentage, the driving speed being greater than the second speed, and the duration being greater than the first duration, the range extender is controlled to start, the second percentage being greater than the first percentage, and the second speed being less than the first speed; when the slope level is level 3, in response to the power battery's SOC being less than a third percentage and greater than or equal to the second percentage, the driving speed being greater than the second speed, and the duration being greater than the first duration, the range extender is controlled to start, the third percentage being greater than the second percentage.

[0079] In one possible implementation, the first control module 403 is further configured to, when the slope level is level one, control the range extender to shut down in response to the power battery's SOC being greater than or equal to a first percentage plus a first preset width value, the driving speed being greater than a second speed, and the duration of the speed exceeding a second duration; when the slope level is level two, control the range extender to shut down in response to the power battery's SOC being greater than or equal to a second percentage plus a second preset width value, the driving speed being greater than a second speed, and the duration of the speed exceeding a second duration; and when the slope level is level three, control the range extender to shut down in response to the power battery's SOC being greater than or equal to a third percentage plus a third preset width value, the driving speed being greater than a second speed, and the duration of the speed exceeding a second duration.

[0080] In one possible implementation, the second control module 404 is configured to: control the power battery to discharge externally when the slope level is Level 1, in response to the power battery's SOC being greater than a fourth percentage; charge the power battery with a first power when the slope level is Level 1, in response to the power battery's SOC being less than a fourth percentage minus a fourth preset width value; charge the power battery with a first power when the slope level is Level 2 or Level 3, in response to the power battery's SOC being greater than a fifth percentage; and charge the power battery with a second power, greater than the first power, in response to the power battery's SOC being less than a fifth percentage minus a fifth preset width value.

[0081] In one possible implementation, the third control module 405 is used to switch the connection mode of the engine and the electric motor from series to parallel in response to a driving speed greater than the third speed and less than or equal to the fourth speed when the slope level is level 2; and to switch the connection mode of the engine and the electric motor from series to parallel in response to a driving speed greater than the fourth speed when the slope level is level 3.

[0082] In one possible implementation, the device further includes a fourth control module, configured to, in the case of a gradient level of two or three, control the target torque of the engine to increase and control the target charging power of the engine to remain constant, in response to the target charging speed of the engine being greater than or equal to a first speed and less than or equal to a second speed.

[0083] This device determines the slope level of the road where the vehicle is located based on the gradient of the road. This allows for control of the range extender's activation status, the battery's charging and discharging status, and the connection method of the engine and electric motor when the vehicle is driving on an incline, using different thresholds for different slope levels. Furthermore, it controls the range extender's activation status based on the slope level, the battery's state of charge (SOC), and the vehicle's speed. This prevents the range extender from shutting down when the battery's SOC is low, which could lead to insufficient power from the battery to support the vehicle's climbing needs and cause dangers such as rolling away. Controlling the battery's charging and discharging status based on the slope level and battery SOC ensures the vehicle's electrical balance. Finally, controlling the connection method of the engine and electric motor based on the slope level and vehicle speed ensures that the vehicle operates in series for most of the climbing process. In this series mode, the range extender can charge the onboard battery, ensuring the vehicle's power while driving on inclines.

[0084] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0085] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one computer program that is loaded and executed by a processor of a computer device to enable the computer to implement any of the above-described vehicle ramp driving control methods.

[0086] In one possible implementation, the aforementioned computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0087] In an exemplary embodiment, a computer program product or computer program is also provided, which includes 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 executes the computer instructions, causing the computer device to perform any of the above-described vehicle ramp driving control methods.

[0088] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the slope of the road where the vehicle is located, the state of charge (SOC) of the power battery, the vehicle's speed, and the connection method of the engine and electric motor involved in this application were all obtained with full authorization.

[0089] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0090] It should be noted that the terms "first," "second," etc. (if applicable) in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0091] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling vehicle driving on a slope, characterized in that, The method includes: It obtains the slope of the road where the vehicle is located, the state of charge (SOC) of the power battery, the vehicle's speed, and the connection method of the engine and electric motor. The slope grade is determined based on the gradient of the road where the vehicle is located; The activation status of the range extender is controlled according to the slope level, the SOC of the power battery, and the vehicle speed. The range extender includes an engine and a generator. The charging and discharging state of the power battery is controlled according to the slope level and the SOC of the power battery. The connection method of the engine and the electric motor is controlled according to the slope level and the vehicle speed; The step of determining the slope grade based on the gradient of the road where the vehicle is located includes: In response to the fact that the slope of the road where the vehicle is located is less than a first slope threshold, the slope level is determined to be a level one slope; In response to the fact that the slope of the road where the vehicle is located is greater than or equal to the first slope threshold and less than or equal to the second slope threshold, the slope level is determined to be a level two slope. In response to the fact that the slope of the road where the vehicle is located is greater than the second slope threshold, the slope level is determined to be a level three slope; The control of the range extender's activation state based on the slope level, the SOC of the power battery, and the vehicle's speed includes: When the gradient is the first gradient, in response to the SOC of the power battery being less than a first percentage, the driving speed being greater than a first speed, and the duration being greater than a first duration, the range extender is controlled to start. When the slope level is the second-level slope, in response to the power battery's SOC being less than the second percentage and greater than or equal to the first percentage, the driving speed being greater than the second speed, and the duration of the speed being greater than the first duration, the range extender is controlled to start, the second percentage being greater than the first percentage, and the second speed being less than the first speed; When the slope level is the third slope, in response to the power battery's SOC being less than the third percentage and greater than or equal to the second percentage, the driving speed being greater than the second speed, and the duration being greater than the first duration, the range extender is controlled to start, and the third percentage is greater than the second percentage.

2. The method according to claim 1, characterized in that, After the range extender is started, the control also includes: When the slope level is the first-level slope, in response to the SOC of the power battery being greater than or equal to a first percentage plus a first preset width value, the driving speed being greater than the second speed, and the duration being greater than the second duration, the range extender is controlled to stop. When the slope level is the second-level slope, in response to the SOC of the power battery being greater than or equal to the second percentage plus the second preset width value, the driving speed being greater than the second speed, and the duration being greater than the second duration, the range extender is controlled to stop. When the slope level is the third slope, in response to the SOC of the power battery being greater than or equal to the third percentage plus the third preset width value, the driving speed being greater than the second speed, and the duration being greater than the second duration, the range extender is controlled to stop.

3. The method according to claim 1, characterized in that, The control of the charging and discharging state of the power battery based on the slope level and the SOC of the power battery includes: When the slope level is the first-level slope, in response to the SOC of the power battery being greater than the fourth percentage, the power battery is controlled to discharge externally. When the slope level is the first-level slope, in response to the SOC of the power battery being less than the fourth percentage minus the fourth preset width value, the power battery is charged with the first power. When the slope level is the second-level slope or the third-level slope, in response to the SOC of the power battery being greater than the fifth percentage, the power battery is charged with the first power. When the slope level is the second-level slope or the third-level slope, in response to the SOC of the power battery being less than the fifth percentage minus the fifth preset width value, the power battery is charged with a second power, which is greater than the first power.

4. The method according to claim 1, characterized in that, The control of the connection method between the engine and the electric motor based on the slope level and the vehicle speed includes: When the gradient is level two, in response to the driving speed being greater than the third speed and less than or equal to the fourth speed, the connection mode of the engine and the electric motor is switched from series to parallel. When the slope level is the third level, in response to the driving speed being greater than the fourth speed, the connection mode of the engine and the electric motor is switched from the series connection to the parallel connection.

5. The method according to claim 1, characterized in that, The method further includes: When the slope level is the second or third slope, in response to the target charging speed of the engine being greater than or equal to the first speed and less than or equal to the second speed, the target torque of the engine is controlled to increase and the target charging power of the engine is controlled to remain unchanged.

6. A control device for vehicle driving on a slope, characterized in that, The device includes: The acquisition module is used to acquire the slope of the road where the vehicle is located, the state of charge (SOC) of the power battery, the vehicle's speed, and the connection method of the engine and electric motor. The determination module is used to determine the slope level based on the slope of the road where the vehicle is located; The first control module is used to control the activation state of the range extender according to the slope level, the SOC of the power battery and the driving speed of the vehicle. The range extender includes an engine and a generator. The second control module is used to control the charging and discharging state of the power battery according to the slope level and the SOC of the power battery. The third control module is used to control the connection method of the engine and the electric motor according to the slope level and the vehicle speed; The determining module is specifically configured to determine the slope level as a level 1 slope in response to the slope of the road where the vehicle is located being less than a first slope threshold; to determine the slope level as a level 2 slope in response to the slope of the road where the vehicle is located being greater than or equal to the first slope threshold and less than or equal to a second slope threshold; and to determine the slope level as a level 3 slope in response to the slope of the road where the vehicle is located being greater than the second slope threshold. The first control module is specifically configured to: when the slope level is level one, control the range extender to start in response to the SOC of the power battery being less than a first percentage, the driving speed being greater than a first speed, and the duration of the speed being greater than a first duration; when the slope level is level two, control the range extender to start in response to the SOC of the power battery being less than a second percentage and greater than or equal to the first percentage, the driving speed being greater than the second speed, and the duration of the speed being greater than the first duration, wherein the second percentage is greater than the first percentage and the second speed is less than the first speed; when the slope level is level three, control the range extender to start in response to the SOC of the power battery being less than a third percentage and greater than or equal to the second percentage, the driving speed being greater than the second speed, and the duration of the speed being greater than the first duration, wherein the third percentage is greater than the second percentage.

7. A computer program product comprising computer instructions that, when executed by a processor, implement the steps of the vehicle ramp control method as described in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the vehicle ramp driving control method as described in any one of claims 1 to 5.

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