A method, device, equipment and medium for coordinated control of vehicle hybrid power system

Abstract

The present application discloses a vehicle hybrid power system coordinated control method, device, equipment and medium, which relates to the field of vehicle hybrid power system control. The method includes: obtaining an engine operating state signal; calculating the driver's required torque through a PID regulator based on the engine operating state signal; determining the engine output oil volume based on the driver's required torque according to the engine's working state and power output characteristics; determining the motor output torque according to the driver's required torque and the engine output oil volume; controlling the engine according to the engine output oil volume and controlling the motor according to the motor output torque to achieve coordinated control of the vehicle hybrid power system. The present application achieves control of the vehicle hybrid power system through coordinated control of the engine and the motor.

Description

Technical Field

[0001] The present application relates to the field of vehicle hybrid power system control, and in particular to a vehicle hybrid power system coordinated control method, device, equipment and medium. Background Art

[0002] The coordinated control method of the vehicle hybrid system is a control method that comprehensively regulates the various power sources of the hybrid system. When the vehicle is in dynamic operating conditions such as starting and accelerating, the coordinated control method combines the dynamic output characteristics of the power sources such as the engine and motor to comprehensively regulate the output of the power source, thereby achieving an overall improvement in the dynamic vehicle power performance and smoothness performance. At present, the number of hybrid vehicles in China continues to rise. As a decisive factor in the dynamic performance of hybrid vehicles, the coordinated control method is receiving close attention from vehicle industry R&D personnel.

[0003] The existing technical solutions mainly have the following problems.

[0004] Existing coordinated control methods for vehicle hybrid power systems use intelligent control algorithms such as neural networks and model predictive control. Such technical solutions are highly complex and require large amounts of program software computation. They can be tested and verified through high-computing power computing platforms such as workstations, but are difficult to apply to vehicle-mounted embedded platforms with limited computing power, and the real-time and reliability of the algorithms cannot be guaranteed.

[0005] Existing coordinated control methods for vehicle hybrid power systems generally use data-driven models or heuristic empirical models for prediction when analyzing the driver's required torque. Such schemes generally have problems such as loss of physical meaning in the prediction and analysis process and inaccurate analysis of the driver's required torque, resulting in poor coordinated control of the dynamic process.

[0006] The existing vehicle hybrid system coordination control method is mainly designed for medium-hybrid or high-hybrid light vehicles. There is a situation of "long-term deep intervention of electric power" during operation, that is, the motor outputs torque for a long time or outputs a large torque. However, low-hybrid hybrid heavy vehicles have the characteristics of small motor power and small battery capacity. The existing technical solutions do not match the above characteristics of low-hybrid hybrid heavy vehicles.

[0007] The existing coordinated control method of vehicle hybrid power system distributes torque according to the principle of the highest comprehensive efficiency of the engine and the motor, but this method ignores the output characteristics of low-hybrid hybrid power system. On the one hand, distributing torque according to the principle of the highest comprehensive efficiency may cause the output torque of the hybrid power system to fail to meet the driver's needs, resulting in a lack of dynamic performance in the dynamic process. On the other hand, if too much torque is allocated to the motor, the engine will reduce the torque output, and when the dynamic process ends, the motor stops driving, and the motor output torque quickly drops to zero. It is difficult for the engine to compensate for the motor torque by increasing the output in a short time, so the vehicle will show a lack of power and a sense of frustration. It should be pointed out that the above problems will be aggravated under the influence of the plateau environment, and may even cause the vehicle to be unable to start. Summary of the invention

[0008] In order to solve the above problems, the present application provides a vehicle hybrid power system coordinated control method, device, equipment and medium.

[0009] To achieve the above objectives, this application provides the following solutions.

[0010] In a first aspect, the present application provides a coordinated control method for a vehicle hybrid power system, comprising: obtaining an engine operating status signal; the engine operating status signal includes the actual engine speed, the accelerator pedal position and the engine output oil volume in the previous cycle; based on the engine operating status signal, calculating the driver's required torque through a PID regulator; determining the engine output oil volume based on the driver's required torque according to the engine's operating state and power output characteristics; determining the motor output torque according to the driver's required torque and the engine output oil volume; controlling the engine according to the engine output oil volume and controlling the motor according to the motor output torque, so as to achieve coordinated control of the vehicle hybrid power system.

[0011] In the second aspect, the present application provides a coordinated control device for a vehicle hybrid power system, including: a signal acquisition module, used to acquire an engine operating status signal; the engine operating status signal includes the actual engine speed, the accelerator pedal position and the engine output oil volume in the previous cycle; a driver required torque calculation module, used to calculate the driver required torque through a PID regulator based on the engine operating status signal; an engine output oil volume determination module, used to determine the engine output oil volume based on the driver required torque according to the engine working state and power output characteristics; a motor output torque determination module, used to determine the motor output torque according to the driver required torque and the engine output oil volume; a control module, used to control the engine according to the engine output oil volume and control the motor according to the motor output torque, so as to realize coordinated control of the vehicle hybrid power system.

[0012] In a third aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the above-mentioned vehicle hybrid power system coordinated control methods.

[0013] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-mentioned vehicle hybrid power system coordinated control methods.

[0014] According to the specific embodiments provided in this application, this application discloses the following technical effects.

[0015] (1) This application calculates the driver's required torque through a PID regulator. Compared with existing technologies such as neural network control algorithms and model predictive control algorithms, this application has a small amount of computation and a fast software execution speed. It can be directly applied to existing vehicle-mounted embedded control platforms, effectively solving the problem of poor real-time performance of existing algorithms.

[0016] (2) This application interprets the output of the PID regulator as the driver's required torque, which is consistent with the actual physical meaning, so the driver's required torque is more accurate.

[0017] (3) The present application determines the engine oil output and the motor output torque according to the engine's operating state and power output characteristics. On the one hand, it ensures that the torque output of the engine in the dynamic process is maximized. On the other hand, it achieves the precise distribution of the motor output torque, reasonably and accurately exerts the power assisting role of the motor, and solves the problem of difficult determination of torque distribution in low-hybrid hybrid heavy-duty vehicles.

[0018] (4) The power compensation effect of the motor output torque can help the engine quickly increase the speed, avoid the influence of the hysteresis characteristics of the exhaust gas turbocharger technology, make the intake recovery function of the exhaust gas turbocharger take effect quickly, and achieve rapid recovery of the engine power output performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of the vehicle hybrid system.

[0021] Figure 2A schematic flow chart of a coordinated control method for a vehicle hybrid power system provided in one embodiment of the present application.

[0022] Figure 3 Schematic diagram of the detailed process for calculating the driver's required torque.

[0023] Figure 4 Detailed flow chart for determining the amount of oil output from an engine.

[0024] Figure 5 Detailed flow chart for determining the motor output torque.

[0025] Figure 6 A schematic diagram of functional modules of a vehicle hybrid power system coordination control device provided in one embodiment of the present application.

[0026] Figure 7 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] The structure of the vehicle hybrid system is as follows Figure 1 As shown, it includes an engine 1, a motor 2, a battery 5, a transmission box 3 and a wheel end 4. The engine 1 and the motor 2 output a driving torque to the transmission box 3, and the transmission box 3 transmits the driving torque to the wheel end 4 to drive the vehicle. The motor 2 is powered by the battery 5. It should be pointed out that the vehicle hybrid system is a coaxial parallel hybrid system. The engine 1 and the motor 2 are coaxially connected in parallel. The engine 1 and the motor 2 can drive the vehicle separately or together. The crankshaft of the engine 1 is connected to the rotor of the motor 2, and the crankshaft speed of the engine 1 is equal to the rotor speed of the motor 2. It should be pointed out that the hybrid degree of the vehicle hybrid system is 8.33%, which is a low hybrid system.

[0029] The engine 1 is a high-power abandoned turbocharged diesel engine. During the driving process of the vehicle, the engine 1 always serves as the main power source to provide driving force for the vehicle. The motor 2 is a low-power starter-generator integrated machine with two working modes: driving and power generation. When working in the driving mode, the motor 2 is powered by the battery 5 and outputs torque to the transmission box 3; when working in the power generation mode, the motor 2 absorbs part of the power output of the engine 1 and converts it into electrical energy to charge the battery 5. It should be pointed out that the power of the motor 2 is much smaller than that of the engine 1, and it cannot drive the vehicle to drive normally. The motor 2 only serves as an auxiliary power source to provide auxiliary driving force when the power output of the engine 1 is limited. It should be pointed out that this application only involves the driving mode of the motor 2, not the power generation mode. The battery 5 is a lithium titanate power battery, and the capacity of the battery 5 is less than 10kW·h. It should be pointed out that the capacity of the battery 5 is small, and it is impossible to maintain the motor 2 working in the driving mode for a long time. The transmission box 3 transmits the driving force output by the engine 1 and the motor 2 to the wheel end 4 to drive the vehicle. It should be pointed out that the vehicle type applied in this application is a heavy-duty vehicle with a total vehicle mass greater than 10 tons.

[0030] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0031] In an exemplary embodiment, Figure 2 As shown, a vehicle hybrid power system coordinated control method is provided, which is executed by a computer device, and can be specifically executed by a computer device such as a terminal or a server alone, or by a terminal and a server together. In an embodiment of the present application, the method is applied to a server as an example for explanation, including the following steps S1 to S5.

[0032] S1: Obtaining an engine operating status signal; the engine operating status signal includes the actual engine speed, the accelerator pedal position, and the engine output oil volume in the previous cycle. The engine output oil volume in the previous cycle refers to the engine output oil volume output in the previous program cycle using the vehicle hybrid power system coordinated control method provided by the present application.

[0033] S2: Based on the engine operating state signal, the driver's required torque is calculated through a PID regulator.

[0034] S3: Determine the engine output oil quantity based on the driver's required torque according to the engine's operating state and power output characteristics.

[0035] S4: Determine the motor output torque according to the driver's required torque and the engine output oil amount.

[0036] S5: Control the engine according to the engine oil output and control the motor according to the motor output torque to achieve coordinated control of the vehicle hybrid system, wherein the engine oil output is used to control the torque corresponding to the engine output, and the motor output torque is used to control the motor to output a specified torque.

[0037] In an exemplary embodiment, Figure 3 As shown, step S2 specifically includes steps S21 to S23.

[0038] S21: Calculate the target engine speed by looking up a table according to the accelerator pedal position and the engine oil output in the previous cycle in combination with the engine full-range speed regulation characteristic curve.

[0039] Specifically, the full-range speed governor calculates the target engine speed based on the input accelerator pedal position and the engine oil output in the previous cycle, combined with the engine full-range speed regulation characteristic curve. The full-range speed regulation characteristic curve is an engine design parameter, which is determined at the engine design stage and is not inherent characteristic data of this application.

[0040] S22: Subtract the target engine speed from the actual engine speed to obtain an engine speed deviation value.

[0041] S23: Input the engine speed deviation to the PID regulator to calculate the driver's required torque.

[0042] Specifically, the engine speed deviation is input into the PID regulator, and the output control quantity is calculated by the PID control algorithm, and the control quantity represents the torque required by the driver.

[0043] In an exemplary embodiment, Figure 4 As shown, step S3 specifically includes steps S31 to S34.

[0044] S31: Determine the engine external characteristic output limit according to the actual engine speed.

[0045] The engine external characteristic output limit is an engine design parameter, which indicates the upper limit of the engine power output under ideal stable operating conditions.

[0046] S32: Determine the engine air-fuel ratio output limit according to the actual engine speed, the engine intake pressure signal and the engine intake temperature signal.

[0047] The engine intake pressure signal and the engine intake temperature signal are engine status parameters measured by the engine intake pressure sensor and the engine intake temperature sensor. The engine intake pressure sensor and the engine intake temperature sensor are conventional sensors equipped with the engine and are not exclusive to this application. The engine air-fuel ratio output limit is an engine design parameter, which indicates the upper limit of the power output when considering the engine intake condition constraints under dynamic operating conditions.

[0048] S33: Determine the engine reliable output upper limit according to the engine external characteristic output limit and the engine air-fuel ratio output limit.

[0049] The smaller value between the engine external characteristic output limit and the engine air-fuel ratio output limit is taken as the engine reliable output upper limit, and the engine reliable output upper limit represents the maximum torque that the engine can continuously and stably output under the current operating state.

[0050] S34: Determine the engine output oil amount according to the driver demand torque and the engine reliable output upper limit.

[0051] Determine whether the driver demand torque is greater than the engine reliable output upper limit; if so, set the engine output oil volume to be equal to the oil volume corresponding to the engine reliable output upper limit; if not, set the engine output oil volume to be equal to the oil volume corresponding to the driver demand torque.

[0052] If the torque required by the driver is greater than the upper limit of the engine's reliable output, it means that the engine cannot meet the power demand. The engine output oil volume is equal to the oil volume corresponding to the upper limit of the engine's reliable output, and the engine outputs power at maximum power.

[0053] If the torque required by the driver is less than or equal to the upper limit of the engine's reliable output, it means that the engine can meet the power demand and the motor does not need to provide additional torque. The engine output oil volume is equal to the oil volume corresponding to the torque required by the driver, and only the engine output torque is used to meet the driver's power demand.

[0054] In an exemplary embodiment, Figure 5 As shown, step S4 specifically includes steps S41 to S44.

[0055] S41: When the engine output oil quantity is equal to the oil quantity corresponding to the driver's required torque, it is determined that the motor output torque is equal to zero.

[0056] S42: When the engine output oil quantity is equal to the oil quantity corresponding to the upper limit of the reliable output of the engine, the expected motor output torque is determined according to the driver's required torque and the engine output oil quantity.

[0057] The expected motor output torque is set equal to the difference between the driver's required torque and the upper limit of the engine's reliable output.

[0058] S43: limiting the expected motor output torque according to the motor output characteristics, including: determining whether the expected motor output torque is greater than the motor rated output; if so, using the motor rated output as the output value; if not, using the expected motor output torque as the output value.

[0059] The motor output protection mechanism detects whether the expected motor output torque is greater than the motor rated output. If the motor output protection mechanism detects that the expected motor output torque is greater than the motor rated output, the motor output protection mechanism uses the motor rated output as the output value. If the motor output protection mechanism detects that the expected motor output torque is less than or equal to the motor rated output, the motor output protection mechanism uses the expected motor output torque as the output value.

[0060] S44: Correcting the limited desired motor output torque according to the battery SOC (State of Charge) to obtain the motor output torque, which specifically includes: determining a correction proportional factor according to the battery SOC; and correcting the limited desired motor output torque according to the correction proportional factor to obtain the motor output torque.

[0061] The battery SOC maintenance mechanism corrects the output of the motor output protection mechanism (i.e., the expected motor output torque after limitation) according to the battery SOC, preventing the vehicle hybrid system from controlling the motor to work when the battery SOC is low, avoiding excessive discharge of the battery, and affecting the normal function of the vehicle hybrid system. In the above embodiment, the output correction method is a proportional factor reduction correction, and a correction proportional factor with a numerical range of 0-100% is determined according to the battery SOC, and the motor output protection mechanism output value multiplied by the correction proportional factor is used as the motor output torque. For example, the output value of the motor output protection mechanism is 500Nm, the battery SOC is 60%, and the corresponding correction proportional factor is 40%. Then, the motor output torque value output by the battery SOC maintenance mechanism after correction is 500×40%=200Nm.

[0062] This application has the following advantages.

[0063] (1) The analysis of driver demand torque is more accurate and efficient.

[0064] This application uses "full-range speed regulator + PID regulator" to implement driver demand torque analysis, and calculates the driver demand torque through the PID control algorithm. Compared with existing technologies such as neural network control algorithms and model predictive control algorithms, this application has a small amount of calculation and fast software execution speed. It can be directly applied to existing vehicle-mounted embedded control platforms, effectively solving the problem of poor real-time operation of existing algorithms.

[0065] In addition, the present application interprets the output of the PID regulator as the driver's required torque, which is consistent with the actual physical meaning, so the driver's required torque is more accurate. The PID regulator takes the deviation between the engine target speed and the actual engine speed as input, and calculates the output through the proportional link-integral link-differential link. This calculation process is consistent with the driver's control thinking mode of driving the vehicle. Therefore, interpreting the output of the PID regulator as the driver's required torque is consistent with the actual physical meaning and the analysis is accurate. However, in the process of parsing the driver's required torque, the prior art method adopts the method of abstracting the actual physical problem into a mathematical problem, and the physical meaning of its output is unclear, so it is impossible to judge whether the output result can accurately represent the driver's required torque.

[0066] (2) Effectively solved the problem of difficult coordinated control of low-hybrid hybrid heavy-duty vehicles.

[0067] The existing technical methods mainly design coordinated control strategies for medium-hybrid or high-hybrid light vehicles, and lack the design of coordinated control strategies for low-hybrid hybrid heavy vehicles. Low-hybrid hybrid heavy vehicles have the characteristics of small motor power and small battery capacity, which are significantly different from medium- and high-hybrid light vehicles. The existing technical solution of "long-term deep intervention of electric power" is not feasible. This application designs a coordinated control strategy based on the characteristics of low-hybrid hybrid heavy vehicles, and realizes effective control of the dynamic process of low-hybrid hybrid heavy vehicles.

[0068] In addition, the present application solves the problem that torque distribution is difficult to determine in low-hybrid hybrid heavy-duty vehicles. If the output torque allocated to the motor is too little, and the engine output torque has reached the maximum value, the power system output torque is insufficient and cannot meet the driver's power needs, which ultimately manifests as poor vehicle power in the dynamic process. If the output torque allocated to the motor is too much and the engine output torque is reduced, the battery power is consumed too quickly, and after the dynamic process is completed, the motor exits the drive mode, the motor output torque decreases rapidly, and it is difficult for the engine to restore high torque output in a short time, which ultimately manifests as a lack of power and a sense of frustration in the dynamic process vehicle. The present application adopts a torque distribution method based on the engine external characteristic output limitation and the engine air-fuel ratio output limitation. On the one hand, it ensures the maximization of the torque output of the engine in the dynamic process, and on the other hand, it realizes the precise distribution of the motor output torque, and reasonably and accurately exerts the power auxiliary role of the motor.

[0069] (3) Significantly improved the dynamic performance of heavy-duty vehicles in plateau environments.

[0070] This application significantly improves the power performance of heavy-duty vehicles in the starting and acceleration conditions of plateau environments. Compared with the plain environment, the air in the plateau environment is thin and the air pressure is low, the engine intake volume is significantly reduced, and the engine output torque is reduced accordingly. Exhaust gas turbocharging technology can be used to restore the engine intake volume in steady-state conditions, but the exhaust gas turbocharging has a hysteresis characteristic and cannot quickly and effectively restore the intake volume in dynamic conditions such as starting and accelerating. Therefore, the vehicle in the plateau environment shows a significant decrease in power performance in dynamic processes such as starting and accelerating, and some heavy-duty vehicles are even unable to complete the vehicle start. During the starting and acceleration of vehicles in plateau environments, the engine air-fuel ratio output limit is the main factor determining the engine output torque. This application adopts a torque distribution method based on the engine external characteristic output limit and the engine air-fuel ratio output limit, and realizes the maximum torque output with the engine air-fuel ratio output limit as the target in the dynamic process of the plateau environment. The output torque allocated to the motor can achieve a power compensation effect, compensate for the power shortage caused by low intake volume, and help the vehicle quickly complete the starting and acceleration process. In addition, the power compensation effect of the motor's output torque can help the engine quickly increase its speed, avoid the influence of the hysteresis characteristics of the exhaust gas turbocharger technology, and enable the exhaust gas turbocharger's intake recovery function to take effect quickly, thereby achieving rapid recovery of the engine's power output performance.

[0071] (4) The motor working process effectively protects the motor and maintains the power battery SOC.

[0072] Since the motor power of low-hybrid heavy-duty vehicles is relatively small, when distributing torque under dynamic conditions, the expected motor output torque may exceed the rated output torque of the motor. Without any limiting protection mechanism, when the motor output torque exceeds the rated output torque, the motor may burn out due to excessive driving current. This application uses a motor output protection mechanism to judge and limit the expected motor output torque, and sets protection measures for the motor on the demand side to ensure the safe use of the motor.

[0073] In addition, the battery SOC maintenance mechanism can effectively maintain the power battery SOC above the target level. In a hybrid power system, the power battery is not only used to drive the motor to output torque, but also to supply power to some electrical equipment on the vehicle. Therefore, the coordinated control strategy of the hybrid power system should maintain the power battery SOC while improving the dynamic performance of the vehicle's dynamic process, so as to avoid excessive battery depletion and affect the normal operation of other equipment on the vehicle. The present application corrects the motor output torque by correcting the proportional factor, and the correction proportional factor changes continuously in the range of 0-100% according to the battery SOC value. On the one hand, this scheme ensures that the battery SOC can be effectively maintained above the target level, and on the other hand, it realizes the smooth change of the corrected motor output torque when the battery SOC changes, avoiding the power interruption and frustration of the vehicle caused by the sudden change of the motor output torque.

[0074] Based on the same inventive concept, the embodiment of the present application also provides a vehicle hybrid power system coordinated control device for implementing the vehicle hybrid power system coordinated control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle hybrid power system coordinated control device embodiments provided below can refer to the limitations of the vehicle hybrid power system coordinated control method above, and will not be repeated here.

[0075] In an exemplary embodiment, Figure 6 As shown, a vehicle hybrid power system coordination control device is provided. The device includes the following modules.

[0076] The signal acquisition module 10 is used to acquire the engine operation status signal; the engine operation status signal includes the actual engine speed, the accelerator pedal position and the engine output oil volume in the previous cycle.

[0077] The driver demand torque calculation module 20 is used to calculate the driver demand torque through a PID regulator based on the engine operating state signal.

[0078] The engine output oil quantity determination module 30 is used to determine the engine output oil quantity based on the driver's required torque according to the working state and power output characteristics of the engine.

[0079] The motor output torque determination module 40 is used to determine the motor output torque according to the driver's required torque and the engine output oil amount.

[0080] The control module 50 is used to control the engine according to the oil output of the engine and to control the motor according to the motor output torque, so as to realize coordinated control of the vehicle hybrid power system.

[0081] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program. The computer device may be a server or a terminal, and its internal structure diagram may be as shown in FIG. Figure 7As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle hybrid power system coordinated control method is implemented.

[0082] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0083] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0084] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0085] In this application, all actions to obtain signals, information or data are carried out in compliance with the relevant data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0086] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0087] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0088] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A vehicle hybrid power system coordinated control method, characterized in that: include: Obtain engine operating status signal; The engine operation status signal includes the actual engine speed, the accelerator pedal position and the engine oil output in the previous cycle; Based on the engine operating state signal, calculating the driver demand torque through a PID regulator; Specifically, it includes: according to the accelerator pedal position and the engine oil output in the previous cycle, combined with the engine full-range speed regulation characteristic curve, looking up the table to calculate the engine target speed; subtracting the engine target speed from the engine actual speed to obtain the engine speed deviation value; inputting the engine speed deviation into the PID regulator to calculate the driver's required torque; According to the working state and power output characteristics of the engine, the engine output oil quantity is determined based on the driver's required torque; specifically, the method includes: determining the engine external characteristic output limit according to the actual engine speed; determining the engine air-fuel ratio output limit according to the actual engine speed, the engine intake pressure signal and the engine intake temperature signal; determining the engine reliable output upper limit according to the engine external characteristic output limit and the engine air-fuel ratio output limit; determining the engine output oil quantity according to the driver's required torque and the engine reliable output upper limit; Determining the motor output torque according to the driver's required torque and the engine output oil amount; Controlling the engine according to the oil output of the engine and controlling the motor according to the motor output torque to achieve coordinated control of the vehicle hybrid power system; The motor output torque is determined according to the driver's required torque and the engine output oil volume, specifically including: When the oil output amount of the engine is equal to the oil output amount corresponding to the driver's required torque, determining that the motor output torque is equal to zero; When the engine output oil quantity is equal to the oil quantity corresponding to the upper limit of the reliable output of the engine, determining the expected motor output torque according to the driver's required torque and the engine output oil quantity; Limiting the desired motor output torque according to motor output characteristics; The limited desired motor output torque is corrected according to the battery SOC to obtain the motor output torque.

2. The vehicle hybrid power system coordinated control method according to claim 1, characterized in that: Determining the engine output oil amount according to the driver's required torque and the engine's reliable output upper limit specifically includes: determining whether the driver demand torque is greater than the engine reliable output upper limit; If so, let the engine output oil quantity be equal to the oil quantity corresponding to the upper limit of the engine reliable output; If not, the engine output fuel volume is set equal to the fuel volume corresponding to the driver's required torque.

3. The vehicle hybrid power system coordinated control method according to claim 1, characterized in that: The expected motor output torque is limited according to the motor output characteristics, specifically including: Determining whether the expected motor output torque is greater than the motor rated output; If yes, the rated output of the motor is used as the output value; If not, the expected motor output torque is used as the output value.

4. The vehicle hybrid power system coordinated control method according to claim 1, characterized in that: The limited expected motor output torque is corrected according to the battery SOC to obtain the motor output torque, which specifically includes: Determine a correction proportional factor according to the battery SOC; The limited desired motor output torque is corrected according to the correction proportional factor to obtain the motor output torque.

5. A vehicle hybrid power system coordinated control device, characterized in that: include: A signal acquisition module, used to acquire an engine operation status signal; The engine operation status signal includes the actual engine speed, the accelerator pedal position and the engine oil output in the previous cycle; A driver demand torque calculation module, used for calculating the driver demand torque through a PID regulator based on the engine operation state signal; Specifically, it includes: according to the accelerator pedal position and the engine oil output in the previous cycle, combined with the engine full-range speed regulation characteristic curve, looking up the table to calculate the engine target speed; subtracting the engine target speed from the engine actual speed to obtain the engine speed deviation value; inputting the engine speed deviation into the PID regulator to calculate the driver's required torque; The engine output oil quantity determination module is used to determine the engine output oil quantity based on the driver's required torque according to the working state and power output characteristics of the engine; specifically includes: determining the engine external characteristic output limit according to the actual engine speed; determining the engine air-fuel ratio output limit according to the actual engine speed, the engine intake pressure signal and the engine intake temperature signal; determining the engine reliable output upper limit according to the engine external characteristic output limit and the engine air-fuel ratio output limit; determining the engine output oil quantity according to the driver's required torque and the engine reliable output upper limit; A motor output torque determination module, used to determine the motor output torque according to the driver's required torque and the engine output oil amount; A control module, used to control the engine according to the oil output of the engine and to control the motor according to the output torque of the motor, so as to realize coordinated control of the vehicle hybrid power system; The motor output torque is determined according to the driver's required torque and the engine output oil volume, specifically including: When the oil output amount of the engine is equal to the oil output amount corresponding to the driver's required torque, determining that the motor output torque is equal to zero; When the engine output oil quantity is equal to the oil quantity corresponding to the upper limit of the reliable output of the engine, determining the expected motor output torque according to the driver's required torque and the engine output oil quantity; Limiting the desired motor output torque according to motor output characteristics; The limited desired motor output torque is corrected according to the battery SOC to obtain the motor output torque.

6. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vehicle hybrid power system coordinated control method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle hybrid power system coordinated control method according to any one of claims 1 to 4 is implemented.

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