Vehicle control method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle control method and device, electronic equipment and a storage medium, and relates to the field of vehicles. The method comprises the following steps: in response to the detection that the vehicle stops running, determining whether the vehicle enters a preset acceleration mode or not; in response to determining that the vehicle enters the preset acceleration mode and the current vehicle speed of the vehicle is greater than a first preset vehicle speed, determining a first torque output capability of a series working mode and a second torque output capability of a parallel working mode under the condition that the current vehicle speed reaches a second preset vehicle speed, the second preset speed is used for representing the speed of the vehicle entering the parallel working mode, and the first preset speed is smaller than the second preset speed; determining a target working mode of the vehicle based on the first torque output capability and the second torque output capability; and controlling the vehicle to accelerate according to the target working mode. The technical problem that the time consumed for completing zero hundred acceleration is long is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a vehicle control method, device, electronic equipment and storage medium. Background Art

[0002] Series-parallel hybrid electric vehicles are a commonly used hybrid configuration, and their operating modes include pure electric, series hybrid and parallel hybrid. Zero-to-hundred-kilowatt acceleration is a commonly used vehicle dynamics evaluation standard. Shortening the zero-to-hundred-kilowatt acceleration time can make the vehicle more competitive.

[0003] Existing series-parallel hybrid electric vehicles use a common control logic when starting the vehicle. When the pedal opening reaches 100%, the vehicle selects between the series working mode and the parallel working mode. This method has the problem of entering the parallel working mode late and failing to make good use of the speed advantage of the parallel working mode for zero-to-hundred acceleration, resulting in a long time spent on completing the zero-to-hundred acceleration.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] Embodiments of the present invention provide a vehicle control method, device, electronic device and storage medium to at least solve the technical problem that it takes a long time to complete zero-to-hundred acceleration.

[0006] According to one aspect of an embodiment of the present invention, a vehicle control method is provided, comprising: in response to detecting that the vehicle has stopped driving, determining whether the vehicle enters a preset acceleration mode; in response to determining that the vehicle enters the preset acceleration mode and the current vehicle speed of the vehicle is greater than a first preset vehicle speed, determining a first torque output capacity of the series working mode and a second torque output capacity of the parallel working mode when the current vehicle speed reaches a second preset vehicle speed, wherein the second preset vehicle speed is used to characterize the vehicle speed at which the vehicle enters the parallel working mode, and the first preset vehicle speed is less than the second preset vehicle speed; determining a target working mode of the vehicle based on the first torque output capacity and the second torque output capacity; and controlling the vehicle to accelerate according to the target working mode.

[0007] Optionally, determining whether the vehicle enters a preset acceleration mode includes at least one of the following: determining whether an entry command corresponding to the preset acceleration mode is received; determining whether the vehicle's gear is in a forward gear, the vehicle's accelerator pedal and brake pedal are triggered, the accelerator pedal opening is greater than a preset opening, and the vehicle electronic stability system is in an off state.

[0008] Optionally, based on the first torque output capacity and the second torque output capacity, the target operating mode of the vehicle is determined, including: in response to the first torque output capacity being greater than the second torque output capacity, determining the target operating mode to be a series operating mode; in response to the first torque output capacity being less than or equal to the second torque output capacity, determining the target operating mode to be a parallel operating mode.

[0009] Optionally, controlling the vehicle to accelerate according to a target operating mode includes: obtaining a current operating mode of the vehicle; in response to the current operating mode being different from the target operating mode, controlling the vehicle to switch from the current operating mode to the target operating mode, and when determining that the vehicle enters the target operating mode, controlling the vehicle to accelerate according to the target operating mode; in response to the current operating mode being the same as the target operating mode, controlling the vehicle to accelerate according to the target operating mode.

[0010] Optionally, in response to the current operating mode being the series operating mode and the target operating mode being the parallel operating mode, the vehicle is controlled to switch from the current operating mode to the target operating mode, including: controlling the vehicle's engine torque to decrease, and controlling the engine speed to a preset speed; in response to the current vehicle speed being greater than a second preset vehicle speed, controlling the vehicle's clutch to engage; controlling the vehicle's generator torque to decrease to a preset torque, and controlling the engine torque to increase to a preset torque.

[0011] Optionally, in response to the current operating mode being a parallel operating mode and the target operating mode being a series operating mode, the vehicle is controlled to switch from the current operating mode to the target operating mode, including: controlling the vehicle's generator torque to increase until the generator torque is the same as the vehicle's engine torque; controlling the vehicle's clutch to disconnect; and controlling the vehicle's engine speed to increase.

[0012] Optionally, in response to determining that the vehicle enters a preset acceleration mode and the current speed of the vehicle is less than or equal to a first preset speed, the method also includes: determining that the target operating mode is a series operating mode; obtaining the current operating mode of the vehicle; in response to the current operating mode being different from the target operating mode, controlling the vehicle to switch from the current operating mode to the target operating mode, and when determining that the vehicle enters the target operating mode, controlling the vehicle to accelerate according to the target operating mode; in response to the current operating mode being the same as the target operating mode, controlling the vehicle to accelerate according to the target operating mode.

[0013] Optionally, in response to determining that the vehicle has not entered the preset acceleration mode, the method also includes: in response to the vehicle's current speed being greater than a second preset speed, determining a first torque output capacity and a second torque output capacity; based on the first torque output capacity and the second torque output capacity, determining a target operating mode of the vehicle; and controlling the vehicle to accelerate according to the target operating mode.

[0014] Optionally, controlling the vehicle to accelerate according to the target operating mode includes: obtaining the current operating mode of the vehicle; in response to the current operating mode being a series operating mode and the target operating mode being a parallel operating mode, controlling the vehicle's engine torque to decrease, and controlling the engine speed to a preset speed; controlling the vehicle's clutch to engage; controlling the vehicle's generator torque to decrease to a preset torque, and controlling the engine torque to increase to a preset torque.

[0015] According to another aspect of an embodiment of the present invention, a vehicle control device is also provided, including: a first mode determination module, used to determine whether the vehicle enters a preset acceleration mode in response to detecting that the vehicle has stopped traveling; a capacity determination module, used to determine, in response to determining that the vehicle enters a preset acceleration mode and the current vehicle speed of the vehicle is greater than the first preset vehicle speed, the first torque output capacity of the series working mode and the second torque output capacity of the parallel working mode when the current vehicle speed reaches a second preset vehicle speed, wherein the second preset vehicle speed is used to characterize the vehicle speed at which the vehicle enters the parallel working mode, and the first preset vehicle speed is less than the second preset vehicle speed; a second mode determination module, used to determine the target working mode of the vehicle based on the first torque output capacity and the second torque output capacity; and a control module, used to control the vehicle to accelerate according to the target working mode.

[0016] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0017] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0018] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0019] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0020] According to another aspect of the embodiments of the present invention, a computer program is further provided. When the computer program is executed by a processor, the methods in the embodiments of the present invention are implemented.

[0021] In the embodiment of the present invention, in response to detecting that the vehicle stops driving, determining whether the vehicle enters the preset acceleration mode; in response to determining that the vehicle enters the preset acceleration mode and the current speed of the vehicle is greater than the first preset speed, determining the first torque output capacity of the series working mode and the second torque output capacity of the parallel working mode when the current speed reaches the second preset speed; determining the target working mode of the vehicle based on the first torque output capacity and the second torque output capacity; and controlling the vehicle to accelerate according to the target working mode. It is easy to notice that when the vehicle has not reached the second preset speed for entering the parallel working mode and has only reached the first preset speed, the first torque output capacity and the second torque output capacity at the second preset speed are determined in advance, and the target working mode is determined and switched according to the first torque output capacity and the second torque output capacity, so that the switching timing of the target working mode can be advanced, and when the target working mode is the parallel working mode, the vehicle can enter the parallel working mode earlier, so as to achieve the purpose of fully utilizing the high power output of the parallel working mode for zero-to-hundred acceleration, thereby achieving the technical effect of shortening the time to complete the zero-to-hundred acceleration, and thus solving the technical problem of the long time spent on completing the zero-to-hundred acceleration. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

[0024] Figure 2 is a flow chart of an optional series and parallel working mode switching when a vehicle has entered a zero-to-hundred acceleration mode according to an embodiment of the present invention;

[0025] Figure 3 is a flow chart of an optional series and parallel working mode switching of a vehicle that has not entered a zero-to-hundred acceleration mode according to an embodiment of the present invention;

[0026] Figure 4 is a schematic diagram of a vehicle control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] According to an embodiment of the present invention, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0031] Step S102, in response to detecting that the vehicle stops traveling, determining whether the vehicle enters a preset acceleration mode.

[0032] The preset acceleration mode in the above steps is a mode for the vehicle to accelerate, which can be a zero-to-hundred acceleration mode, a zero-to-two-hundred acceleration mode, or a gear shift acceleration mode, but is not limited thereto. Among them, the zero-to-hundred acceleration mode is a mode for achieving zero-to-hundred acceleration, which is the time required for the vehicle to accelerate from a stationary state to 100 kilometers per hour, and is an important parameter for measuring vehicle performance. The shorter this time is, the better the acceleration performance of the vehicle is and the stronger the power output is; the zero-to-two-hundred acceleration mode is a mode for achieving zero-to-hundred acceleration, which is the time required for the vehicle to accelerate from a stationary state to 200 kilometers per hour; the gear shift acceleration mode is a mode for the vehicle to accelerate during the gear shift process.

[0033] In an optional embodiment, the preset acceleration mode may be a zero-to-hundred acceleration mode. When the vehicle is traveling, the vehicle speed is not 0 and the zero-to-hundred acceleration mode cannot be entered. The prerequisite for the vehicle to enter the zero-to-hundred acceleration mode is that the vehicle is stopped and the vehicle speed is 0.

[0034] When it is detected that the vehicle has stopped driving, the vehicle can identify whether the driver has the intention of zero-to-hundred acceleration based on the driver's operation. If the vehicle identifies that the driver has the intention of zero-to-hundred operation, it can be determined that the vehicle enters the zero-to-hundred acceleration mode. If the vehicle does not identify that the driver has the intention of zero-to-hundred operation, it is determined that the vehicle has not entered the zero-to-hundred acceleration mode.

[0035] When the vehicle identifies whether the driver intends to accelerate from 0 to 100 km / h, it can identify this through an explicit signal. The explicit signal can be a signal explicitly sent by the driver that he wants to enter the zero-to-100 km / h acceleration mode, and it can be a signal sent by the driver through a button, an interactive screen, or a voice interaction system to command the vehicle to enter the zero-to-100 km / h acceleration mode. However, the identification method is not limited to this, and the intention to enter the zero-to-100 km / h acceleration mode can also be identified through the driver's implicit operation. For example, it can be identified whether the driver intends to enter the zero-to-100 km / h acceleration mode based on the driving gear selection, pedal conditions, etc.

[0036] Step S104, in response to determining that the vehicle enters a preset acceleration mode and the current speed of the vehicle is greater than a first preset speed, determines the first torque output capacity of the series working mode and the second torque output capacity of the parallel working mode when the current speed reaches a second preset speed, wherein the second preset speed is used to characterize the speed at which the vehicle enters the parallel working mode, and the first preset speed is less than the second preset speed.

[0037] The first preset vehicle speed in the above steps is the vehicle speed threshold for starting to determine the first torque output capacity and the second torque output capacity. Determining the first torque output capacity and the second torque output capacity is the preparatory work for switching between series and parallel working modes. The determination of the first torque output capacity and the second torque output capacity begins when the vehicle speed has not reached the second preset vehicle speed. Putting the preparatory work in advance can enable the vehicle to enter the target working mode earlier.

[0038] The series working mode in the above steps is a mode in which the engine does not directly drive the wheels, but operates as a generator to provide electrical energy to the motor. The first torque output capacity is the torque output capacity of the vehicle in the series working mode, that is, the ability of the motor to accept and convert into torque to drive the wheels. Since the engine and the motor work in series in the series working mode, the torque output capacity of the motor, that is, the first torque output capacity, depends on the electrical energy generated by the engine and the efficiency of the motor.

[0039] The parallel working mode in the above steps is a mode in which the engine and the motor can drive the wheels at the same time to provide a greater total power output. The second torque output capacity is the torque output capacity of the vehicle in the parallel working mode, that is, the total torque that can be output when the engine and the motor work together. In the parallel working mode, the torque of the engine and the torque of the motor can be added to provide a greater total torque.

[0040] In an optional embodiment, under the premise of determining that the vehicle enters the preset acceleration mode, the current vehicle speed can be obtained from the wheel speed sensor of the anti-lock braking system, or the Doppler radar can be used to measure the current vehicle speed, but the method of obtaining the current vehicle speed is not limited to this. Once the current vehicle speed of the vehicle is greater than the first preset vehicle speed, even if the current vehicle speed has not yet reached the second preset vehicle speed for entering the parallel working mode, the preparation work for switching between the series and parallel working modes can be started in advance, that is, the determination of the target working mode. During the preparation work, the vehicle speed is constantly increasing. The purpose of starting the preparation work in advance is to directly switch between the series and parallel working modes after the vehicle reaches the second preset vehicle speed, thereby advancing the time to enter the series working mode or the parallel working mode.

[0041] The preparation work is to determine the first torque output capacity of the series working mode and the second torque output capacity of the parallel working mode when the current vehicle speed reaches the second preset vehicle speed. In the determination process, the current working mode of the vehicle, as well as the current speed, torque and power output of the vehicle can be obtained, and the current working mode, speed, torque and power output of the vehicle are input into the trained engine control model and motor control model. According to the external characteristic curve of the engine and the efficiency characteristics of the motor, the first torque output capacity of the vehicle in the series working mode and the second torque output capacity of the parallel working mode are predicted when the vehicle speed is the second preset vehicle speed.

[0042] Step S106: determining a target operating mode of the vehicle based on the first torque output capacity and the second torque output capacity.

[0043] The target operating mode in the above steps is the operating mode that the vehicle should currently switch to. The target operating mode may be the same as the current operating mode or may be different from the current operating mode.

[0044] In an optional embodiment, the first torque output capacity and the second torque output capacity can be compared to determine which of the series working mode and the parallel working mode can provide a greater torque output capacity, that is, which working mode can provide a better acceleration performance for the vehicle, so that the vehicle can complete zero-to-hundred acceleration faster. The working mode that can provide a greater torque output capacity can be used as the target working mode of the vehicle.

[0045] Step S108, controlling the vehicle to accelerate according to the target working mode.

[0046] In an optional embodiment, it can be determined whether the target operating mode and the current operating mode are consistent. If they are consistent, zero-to-hundred acceleration is performed while maintaining the existing state. If they are inconsistent, the states of the vehicle's engine, clutch and clutch are adjusted according to the target operating mode, and the vehicle's current operating mode is switched to the target operating mode. The target operating mode provides better acceleration performance support for zero-to-hundred acceleration, thereby shortening the time to complete zero-to-hundred acceleration.

[0047] In an embodiment of the present invention, in response to detecting that the vehicle stops traveling, determining whether the vehicle enters a preset acceleration mode; in response to determining that the vehicle enters the preset acceleration mode and the current vehicle speed of the vehicle is greater than the first preset vehicle speed, determining the first torque output capacity of the series working mode and the second torque output capacity of the parallel working mode when the current vehicle speed reaches the second preset vehicle speed; determining the target working mode of the vehicle based on the first torque output capacity and the second torque output capacity; and controlling the vehicle to accelerate according to the target working mode. It is easy to notice that when the vehicle has not yet reached the second preset vehicle speed for entering the parallel working mode and has only reached the first preset vehicle speed, the first torque output capacity and the second torque output capacity at the second preset vehicle speed are determined in advance, and the target working mode is determined and switched according to the first torque output capacity and the second torque output capacity, so that the switching timing of the target working mode can be advanced. When the target working mode is the parallel working mode, the vehicle can enter the parallel working mode earlier, so as to achieve the purpose of fully utilizing the high power output of the parallel working mode for zero-to-hundred acceleration, thereby achieving the technical effect of shortening the time to complete the zero-to-hundred acceleration, and further solving the technical problem of the long time consumed to complete the zero-to-hundred acceleration.

[0048] Optionally, determining whether the vehicle enters a preset acceleration mode includes at least one of the following: determining whether an entry command corresponding to the preset acceleration mode is received; determining whether the vehicle's gear is in a forward gear, the vehicle's accelerator pedal and brake pedal are triggered, the accelerator pedal opening is greater than a preset opening, and the vehicle electronic stability system is in an off state.

[0049] The entry instruction in the above steps is an instruction issued by the user to the vehicle to enter a preset acceleration mode.

[0050] The forward gear in the above steps is the D (Driving) gear in the vehicle gear, which is used to power the car under normal driving conditions. In D gear, the vehicle's driving speed is controlled by the accelerator pedal. When the driver steps on the accelerator pedal, the engine speed increases, thereby increasing the vehicle's speed. Conversely, when the driver releases the accelerator pedal, the engine speed decreases and the vehicle's speed slows down accordingly.

[0051] The accelerator pedal in the above steps is also called the accelerator pedal, which is a pedal used to control the engine power output in the vehicle. The driver increases the engine speed and power output by stepping on the accelerator pedal, thereby accelerating the car.

[0052] The brake pedal in the above steps is a pedal used to control the braking system in the vehicle. The driver decelerates or stops the vehicle by stepping on the brake pedal, which controls the contact between the brake pad and the brake disc, thereby generating braking force.

[0053] The opening degree in the above steps is the distance between the accelerator pedal being fully released and fully depressed, which is related to the engine output or the working intensity of the braking system. For example, a 100% opening degree of the accelerator pedal means that the accelerator pedal is fully depressed and the engine will provide maximum power output.

[0054] The preset opening in the above steps is a preset pedal opening, which can be preset according to actual application conditions, and the specific value of the preset opening is not limited here.

[0055] The Electronic Stability Program (ESP) in the above steps can detect wheel slip and automatically increase braking force or adjust engine power when necessary to prevent the vehicle from losing control. ESP can help the driver maintain vehicle stability and control in an emergency by automatically adjusting the vehicle's braking force and engine output.

[0056] In an optional embodiment, if the driver sends an entry instruction to the vehicle to enter the zero-to-hundred acceleration mode through vehicle screen interaction, button interaction or voice interaction, after the vehicle receives the entry instruction issued by the driver, it can be determined that the vehicle enters the zero-to-hundred acceleration mode.

[0057] In addition, if it is detected that the vehicle gear is in D gear, the accelerator pedal and the brake pedal are pressed at the same time, and the opening of the accelerator pedal is 100%, and ESP is in the off state, it is judged that the driver has the intention to enter the zero-to-hundred acceleration mode, and it can be determined that the vehicle enters the zero-to-hundred acceleration mode. When the zero-to-hundred acceleration starts, the opening of the accelerator pedal needs to be kept at 100% and the brake is not pressed to keep the vehicle in the zero-to-hundred acceleration mode; when the accelerator is released or the brake is pressed during driving, the normal mode should be entered immediately. It should be noted that the above 100% is only an exemplary value. In actual applications, other preset openings can also be selected as the judgment threshold, and the preset openings that can be selected may not be limited to this.

[0058] Optionally, based on the first torque output capacity and the second torque output capacity, the target operating mode of the vehicle is determined, including: in response to the first torque output capacity being greater than the second torque output capacity, determining the target operating mode to be a series operating mode; in response to the first torque output capacity being less than or equal to the second torque output capacity, determining the target operating mode to be a parallel operating mode.

[0059] In an optional embodiment, if the first torque output capacity is greater than the second torque output capacity, it means that the series working mode can provide a greater torque output capacity and provide better acceleration performance for the vehicle, and the target working mode is determined to be the series working mode; if the second torque output capacity is greater than the first torque output capacity, it means that the parallel working mode can provide a greater torque output capacity and provide better acceleration performance for the vehicle, and the target working mode is determined to be the parallel working mode.

[0060] Optionally, controlling the vehicle to accelerate according to a target operating mode includes: obtaining a current operating mode of the vehicle; in response to the current operating mode being different from the target operating mode, controlling the vehicle to switch from the current operating mode to the target operating mode, and when determining that the vehicle enters the target operating mode, controlling the vehicle to accelerate according to the target operating mode; in response to the current operating mode being the same as the target operating mode, controlling the vehicle to accelerate according to the target operating mode.

[0061] The current working mode in the above steps is the working mode that the vehicle is currently in, which can be a series working mode or a parallel working mode.

[0062] In an optional embodiment, when obtaining the current operating mode of the vehicle, it is possible to determine whether the engine is powering the motor by means of power flow analysis; if the engine does not directly drive the wheels but instead powers the motor as a generator, and the motor drives the wheels alone, then the current operating mode is determined to be a series operating mode; if the engine does not power the motor as a generator but instead provides power to the wheels together with the motor, then the current operating mode is determined to be a parallel operating mode, but the method for obtaining the current operating mode may not be limited to this.

[0063] Then compare the current working mode with the target working mode to see if they are the same. If they are the same, the current working mode is the target working mode and there is no need to switch the working mode. The vehicle can continue to accelerate from 0 to 100 km / h in the current working mode. If they are different, adjust the states of the transmitter, generator and clutch, and control the vehicle to switch from the current working mode to the target working mode. The vehicle can accelerate from 0 to 100 km / h in the target working mode, shortening the time to complete the acceleration.

[0064] Optionally, in response to the current operating mode being the series operating mode and the target operating mode being the parallel operating mode, the vehicle is controlled to switch from the current operating mode to the target operating mode, including: controlling the vehicle's engine torque to decrease, and controlling the engine speed to a preset speed; in response to the current vehicle speed being greater than a second preset vehicle speed, controlling the vehicle's clutch to engage; controlling the vehicle's generator torque to decrease to a preset torque, and controlling the engine torque to increase to a preset torque.

[0065] The engine torque in the above steps is the rotational torque generated by the engine, that is, the torque output when the energy generated by internal combustion of the engine is converted into the rotational motion of the crankshaft through the movement of the piston.

[0066] The preset speed in the above steps is a pre-set speed, which can be preset according to actual application conditions, and no limitation is imposed on the specific value of the preset speed.

[0067] The clutch in the above steps is a device that connects and disconnects the engine and the transmission system. The presence of the clutch enables the driver to switch the driving force of the vehicle without stopping. In the series working mode, the engine does not directly drive the wheels, but acts as a generator to provide electrical energy to the motor, which drives the wheels. Therefore, in the series working mode, the clutch is separated because the power of the engine does not need to be directly transmitted to the wheels. In the parallel working mode, the engine and the motor can provide power at the same time to drive the wheels together to achieve stronger acceleration performance or higher speed. Therefore, in the parallel working mode, the clutch will engage, allowing the power of the engine to be transmitted to the wheels through the gearbox.

[0068] The generator torque in the above steps is the rotational torque of the rotor relative to the stator during the operation of the generator, and can be used to describe the rotational ability of the generator rotor or the ability to maintain rotation under a specific load.

[0069] The preset torque in the above steps is a pre-set torque, which can be preset according to actual application conditions, and the specific value of the preset torque is not limited here.

[0070] In an optional embodiment, when switching from the series working mode to the parallel working mode, it is necessary to control the engine torque of the vehicle to be reduced and reduce the engine speed to a target value, that is, a preset speed. The purpose of this operation is that in the parallel working mode, the clutch needs to be engaged, and controlling the engine torque to be reduced and reducing the engine speed to the target speed can reduce the impact when the clutch is engaged, making the mode switching smoother.

[0071] Then, when the current vehicle speed is greater than the second preset speed, that is, when the vehicle speed reaches the speed that can enter the parallel working mode, the vehicle's clutch is engaged to maximize the power output. The power between the engine and the motor is properly matched to prevent the power output of the engine and the motor from being out of sync due to the low vehicle speed when the clutch is engaged, thereby causing power waste.

[0072] The vehicle's generator torque is then controlled to decrease to a preset torque, and the engine torque is controlled to increase to a preset torque, thereby ensuring that the vehicle's power output remains consistent during the switching process and achieving a smooth transition of the output power of the engine and motor.

[0073] Optionally, in response to the current operating mode being a parallel operating mode and the target operating mode being a series operating mode, the vehicle is controlled to switch from the current operating mode to the target operating mode, including: controlling the vehicle's generator torque to increase until the generator torque is the same as the vehicle's engine torque; controlling the vehicle's clutch to disconnect; and controlling the vehicle's engine speed to increase.

[0074] In an optional embodiment, when the parallel working mode is switched to the series working mode, it is necessary to control the increase of the generator torque of the vehicle until the generator torque is the same as the engine torque of the vehicle. The smoothness of the power output is ensured by matching the generator torque and the engine torque, thereby preventing the problem of discontinuous power output of the vehicle caused by the mismatch between the generator and the engine torque.

[0075] The vehicle's clutch is then disconnected, thereby disconnecting the connection between the engine and the wheels, ensuring that only the engine is used as the power source. The vehicle's engine speed is then controlled to increase, increasing the engine's power output, thereby improving the vehicle's acceleration efficiency.

[0076] Optionally, in response to determining that the vehicle enters a preset acceleration mode and the current speed of the vehicle is less than or equal to a first preset speed, the method also includes: determining that the target operating mode is a series operating mode; obtaining the current operating mode of the vehicle; in response to the current operating mode being different from the target operating mode, controlling the vehicle to switch from the current operating mode to the target operating mode, and when determining that the vehicle enters the target operating mode, controlling the vehicle to accelerate according to the target operating mode; in response to the current operating mode being the same as the target operating mode, controlling the vehicle to accelerate according to the target operating mode.

[0077] In an optional embodiment, when the vehicle enters a preset acceleration mode and the current speed of the vehicle is less than or equal to a first preset speed, since the vehicle speed has not reached a second preset speed at which the vehicle can enter the parallel working mode, the vehicle cannot enter the parallel working mode. Therefore, the target working mode is determined to be the series working mode.

[0078] The current working mode of the vehicle is monitored and identified through sensors and control units, and the target working mode is compared with the current working mode. If the two are inconsistent, the state of the engine, generator and clutch is adjusted, the torque of the generator is controlled to increase until it is balanced with the torque of the engine, the clutch of the vehicle is disconnected and the engine speed is increased, and the current mode is switched to the target working mode. After switching, the vehicle is accelerated from 0 to 100 according to the power output of the target working mode. If the two are consistent, the current working mode is maintained and the vehicle is accelerated from 0 to 100 according to the power output of the current working mode.

[0079] Optionally, in response to determining that the vehicle has not entered the preset acceleration mode, the method also includes: in response to the vehicle's current speed being greater than a second preset speed, determining a first torque output capacity and a second torque output capacity; based on the first torque output capacity and the second torque output capacity, determining a target operating mode of the vehicle; and controlling the vehicle to accelerate according to the target operating mode.

[0080] In an optional embodiment, when the vehicle has not entered the zero-to-hundred acceleration mode, preparations for mode switching cannot be performed in advance when the current speed of the vehicle is less than the second preset speed. Instead, preparations need to be started when the current speed of the vehicle is greater than the second preset speed.

[0081] When the current speed of the vehicle is greater than the second preset speed, the first torque output capacity and the second torque output capacity of the vehicle at the current speed are determined, and the target working mode of the vehicle is determined by comparing the first torque output capacity and the second torque output capacity. When the first torque output capacity is greater than the second torque output capacity, the target working mode of the vehicle is determined to be the series working mode; when the second torque output capacity is greater than the first torque output capacity, the target working mode of the vehicle is determined to be the parallel working mode. The current working mode of the vehicle is switched to the target working mode, and acceleration is performed.

[0082] Optionally, controlling the vehicle to accelerate according to the target operating mode includes: obtaining the current operating mode of the vehicle; in response to the current operating mode being a series operating mode and the target operating mode being a parallel operating mode, controlling the vehicle's engine torque to decrease, and controlling the engine speed to a preset speed; controlling the vehicle's clutch to engage; controlling the vehicle's generator torque to decrease to a preset torque, and controlling the engine torque to increase to a preset torque.

[0083] In an optional embodiment, the VCU (Vehicle Control Unit) can collect sensor data from an accelerator pedal position sensor, an engine speed sensor, a vehicle speed sensor, and a battery voltage sensor, and perform pattern recognition based on the sensor data to determine the current working mode of the vehicle. Therefore, the current working mode of the vehicle can be obtained from the VCU.

[0084] When the current working mode is the series working mode and the target working mode is the parallel working mode, the vehicle is controlled to switch to the parallel working mode. During the switching process, the torque of the engine is reduced, and the engine speed is reduced to the preset speed so that the speeds at both ends of the clutch are close, and then the clutch is engaged, and the generator torque, that is, the generator torque, is reset to zero. At this time, the engine starts to output and controls the engine torque to increase to the preset torque. That is, the second preset vehicle speed. It should be noted that the generator torque is reset to zero only for exemplary purposes. The generator torque of the vehicle can also be reduced to the preset torque according to actual application conditions. The specific value of the preset torque is not limited here.

[0085] A preferred embodiment is described below. Figure 2 FIG. 1 is a flow chart of an optional series and parallel operation mode switching when a vehicle has entered a zero-to-hundred acceleration mode according to an embodiment of the present invention. Figure 2As shown, after the process starts, the current vehicle speed state, the parallel minimum speed threshold and the parallel start switching minimum speed threshold are read, wherein the parallel minimum speed threshold is also the second preset vehicle speed mentioned above, the parallel start switching minimum speed threshold is also the first preset vehicle speed mentioned above, and the parallel start switching minimum speed threshold is less than the parallel minimum speed threshold. Then, it is determined whether the current vehicle speed state is greater than the parallel start switching minimum speed threshold. If not, it is determined to use the series working mode; if so, the maximum torque output capacity of the parallel working mode and the maximum torque output capacity of the series working mode under the parallel minimum speed threshold are calculated, and it is determined whether the maximum torque output capacity of the parallel working mode is greater than the maximum torque output capacity of the series working mode. If not, it is determined to use the series working mode; if so, it is determined to use the parallel working mode. Then, based on the current working mode, determine whether switching is required. If the series working mode is required and the current working mode is the series working mode, the vehicle will work according to the strategy of the series working mode; if the series working mode is required and the current working mode is the parallel working mode, the parallel working mode needs to be switched to the series working mode. The specific execution steps are: gradually increase the generator torque until it is balanced with the engine torque, disconnect the clutch, and increase the engine speed to obtain greater power; if the parallel working mode is required and the current working mode is the parallel working mode, the vehicle will work according to the parallel working mode strategy. If the parallel working mode is needed, and the current working mode is the series working mode, the series working mode needs to be switched to the parallel working mode. The specific execution steps are: reduce the engine torque, make the engine speed gradually close to the target value, and then determine whether the current vehicle speed state is greater than the parallel minimum vehicle speed threshold. If so, engage the clutch, gradually reduce the generator torque to 0, and gradually increase the engine torque to the external characteristic, thereby completing the switching of the parallel working mode; if not, maintain the current working state, wait for the vehicle speed to rise, and after the current vehicle speed state is greater than the parallel minimum vehicle speed threshold, engage the clutch and perform a series of operations. After completing the determination and switching of the mode, control the operation of each power source according to the selected mode.

[0086] Figure 3 FIG. 1 is a flow chart of an optional series and parallel operation mode switching when the vehicle does not enter the zero-to-hundred acceleration mode according to an embodiment of the present invention. Figure 3As shown, after the process starts, the current vehicle speed state and the parallel minimum vehicle speed threshold are read, wherein the parallel minimum vehicle speed threshold is the second preset vehicle speed mentioned above. Then, it is determined whether the current vehicle speed state is greater than the parallel minimum vehicle speed threshold. If not, the series working mode is used, that is, the target working mode is determined as the series working mode; if so, the maximum torque output capacity of the parallel working mode and the maximum torque output capacity of the series working mode are continued to be calculated, that is, the first torque output capacity and the second torque output capacity are calculated. It is determined whether the maximum torque output of the parallel working mode is greater than the maximum torque output capacity of the series working mode. If so, the parallel working mode is used, that is, the target working mode is determined as the parallel working mode; if not, the series working mode is used. Then, based on the current mode, it is determined whether the mode needs to be switched. If the series working mode is required and the current working mode is the series working mode, the vehicle works according to the series working mode strategy; if the series working mode is required and the current working mode is the parallel working mode, the parallel working mode needs to be switched to the series working mode. The specific execution steps are: gradually increase the generator torque until it is balanced with the engine torque, disconnect the clutch, and increase the engine speed to obtain greater power; if the parallel working mode is required and the current working mode is the parallel working mode, the vehicle works according to the parallel working mode strategy; if the parallel working mode is required and the current working mode is the series working mode, the series working mode needs to be switched to the parallel working mode. The specific execution steps are: reduce the engine torque, make the engine speed gradually close to the target value, engage the clutch, gradually reduce the generator torque to 0, and gradually increase the engine torque to the external characteristic. After completing the determination and switching of the mode, control each power source to work according to the selected mode.

[0087] exist Figure 3 In the process shown, when the series working mode switches to the parallel working mode, the current vehicle speed must meet the parallel minimum speed threshold before the target working mode is determined and the working mode is switched. The entire switching process takes a certain amount of time, so when the switch is completed, the vehicle speed is significantly higher than the threshold for entering the parallel working mode. It can meet the needs when the vehicle has not entered the zero-to-hundred acceleration mode, but if the vehicle has entered the zero-to-hundred acceleration mode, the vehicle needs to complete the zero-to-hundred acceleration quickly. Compared with the series working mode, the parallel working mode can provide a greater total power output, and Figure 3 The method in the above example enters the parallel operation mode too late and cannot fully utilize the advantages of the parallel operation mode. Figure 3 The method in is not applicable when the vehicle has entered zero-to-hundred acceleration mode.

[0088] Figure 2 and Figure 3 The difference between the methods in Figure 3In the method, the target working mode is judged only when the vehicle speed reaches the parallel minimum speed threshold. However, Figure 2 The method in the embodiment introduces a parallel switching minimum speed threshold which is less than the parallel minimum speed threshold. Figure 2 In the method, when the vehicle speed reaches the minimum speed threshold for parallel switching, but has not reached the minimum speed threshold for parallel connection, the target working mode judgment is executed. If it is necessary to switch from the series working mode to the parallel working mode, the clutch only needs to be engaged when the vehicle speed reaches the minimum speed threshold for parallel connection. Figure 2 The method and Figure 3 Compared with the method in , when switching from the series working mode to the parallel working mode, the time of entering the parallel working mode is earlier, and the power output of the parallel working mode is fully utilized to speed up the zero-to-hundred acceleration speed. Therefore, it is more suitable for the situation where the vehicle has entered the zero-to-hundred acceleration mode.

[0089] For example, taking a vehicle with a 0-100 acceleration time of 8 seconds as an example, the vehicle's minimum parallel speed threshold for entering the parallel mode is 70 kilometers per hour. It generally takes 2 to 3 seconds from the start of the mode switching program to switch the series working mode to the parallel working mode to the clutch engagement. Figure 3 The method in the above example starts from 70 km / h and the vehicle speed reaches about 90 km / h when the switching is completed. Figure 2 The method in the above example can set the minimum speed threshold for parallel switching that is less than the minimum speed threshold for parallel switching to kilometers per hour. The minimum speed threshold for parallel switching is still 70 kilometers per hour. In this way, the mode switching procedure starts at a speed of 50 kilometers per hour, and the switching is completed at 70 kilometers per hour, entering the parallel working mode. After simulation, Figure 2 The method in the above example can optimize the 0-100 acceleration time by 0.2 to 0.3 seconds. It should be noted that the above values ​​are examples, and the values ​​used in actual applications are not limited to these.

[0090] According to an embodiment of the present invention, a vehicle control device embodiment is provided. It should be noted that the device can be used to execute the above vehicle control method. The specific implementation and preferred application scenario are the same as those of the above embodiment 1, and will not be repeated here.

[0091] Figure 4 is a schematic diagram of a vehicle control device according to an embodiment of the present invention. Figure 4 As shown, the vehicle control device includes:

[0092] The first mode determination module 40 is configured to determine whether the vehicle enters a preset acceleration mode in response to detecting that the vehicle stops traveling.

[0093] The capacity determination module 42 is used to determine, in response to determining that the vehicle enters a preset acceleration mode and the current vehicle speed of the vehicle is greater than a first preset vehicle speed, a first torque output capacity of the series working mode and a second torque output capacity of the parallel working mode when the current vehicle speed reaches a second preset vehicle speed, wherein the second preset vehicle speed is used to characterize the vehicle speed at which the vehicle enters the parallel working mode, and the first preset vehicle speed is less than the second preset vehicle speed.

[0094] The second mode determination module 44 is configured to determine a target operating mode of the vehicle based on the first torque output capacity and the second torque output capacity.

[0095] The control module 46 is used to control the vehicle to accelerate according to the target working mode.

[0096] Optionally, the first mode determination module includes: a first determination unit, used to determine whether an entry instruction corresponding to a preset acceleration mode is received; a second determination unit, used to determine whether the vehicle's gear is in a forward gear, the vehicle's accelerator pedal and brake pedal are triggered, the opening of the accelerator pedal is greater than a preset opening, and the vehicle electronic stability system is in an off state.

[0097] Optionally, the second mode determination module includes: a third determination unit, used to determine that the target operating mode is a series operating mode in response to the first torque output capacity being greater than the second torque output capacity; and a fourth determination unit, used to determine that the target operating mode is a parallel operating mode in response to the first torque output capacity being less than or equal to the second torque output capacity.

[0098] Optionally, the control module includes: an acquisition unit for acquiring a current operating mode of the vehicle; a first control unit for controlling the vehicle to switch from the current operating mode to the target operating mode in response to the current operating mode being different from the target operating mode, and controlling the vehicle to accelerate according to the target operating mode when it is determined that the vehicle enters the target operating mode; and a second control unit for controlling the vehicle to accelerate according to the target operating mode in response to the current operating mode being the same as the target operating mode.

[0099] Optionally, the first control unit is also used to control the vehicle's engine torque to be reduced, and control the engine speed to be a preset speed; in response to the current vehicle speed being greater than a second preset vehicle speed, control the vehicle's clutch to engage; control the vehicle's generator torque to be reduced to a preset torque, and control the engine torque to increase to a preset torque.

[0100] Optionally, the first control unit is also used to control the generator torque of the vehicle to increase until the generator torque is the same as the engine torque of the vehicle; control the clutch of the vehicle to be disconnected; and control the engine speed of the vehicle to increase.

[0101] Optionally, the second determination module is also used to determine that the target operating mode is a series operating mode; the control module is also used to obtain the current operating mode of the vehicle; in response to the current operating mode being different from the target operating mode, the vehicle is controlled to switch from the current operating mode to the target operating mode, and when it is determined that the vehicle enters the target operating mode, the vehicle is controlled to accelerate according to the target operating mode; in response to the current operating mode being the same as the target operating mode, the vehicle is controlled to accelerate according to the target operating mode.

[0102] Optionally, the capacity determination module is also used to determine the first torque output capacity and the second torque output capacity in response to the vehicle's current speed being greater than a second preset speed; the second mode determination module is also used to determine the vehicle's target operating mode based on the first torque output capacity and the second torque output capacity; the control module is also used to control the vehicle to accelerate according to the target operating mode.

[0103] The control module is also used to obtain the current operating mode of the vehicle; in response to the current operating mode being the series operating mode and the target operating mode being the parallel operating mode, control the vehicle's engine torque to be reduced, and control the engine speed to be a preset speed; control the vehicle's clutch to engage; control the vehicle's generator torque to be reduced to a preset torque, and control the engine torque to be increased to a preset torque.

[0104] An embodiment of the present application further provides a vehicle, comprising: a memory storing an executable program; and a processor for running the program, wherein the method in each embodiment of the present invention is executed when the program is running.

[0105] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0106] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0107] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0108] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0109] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0110] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0111] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0112] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0113] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0114] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0115] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: The vehicle comprises: In response to detecting that the vehicle stops traveling, determining whether the vehicle enters a preset acceleration mode; In response to determining that the vehicle enters the preset acceleration mode and the current vehicle speed of the vehicle is greater than a first preset vehicle speed, determining a first torque output capacity of the series working mode and a second torque output capacity of the parallel working mode when the current vehicle speed reaches a second preset vehicle speed, wherein the second preset vehicle speed is used to represent the vehicle speed at which the vehicle enters the parallel working mode, and the first preset vehicle speed is less than the second preset vehicle speed; determining a target operating mode of the vehicle based on the first torque output capacity and the second torque output capacity; The vehicle is controlled to accelerate according to the target operating mode.

2. The vehicle control method according to claim 1, characterized in that: Determining whether the vehicle enters a preset acceleration mode includes at least one of the following: Determining whether an entry instruction corresponding to the preset acceleration mode is received; It is determined whether the gear position of the vehicle is in the forward gear position, the accelerator pedal and the brake pedal of the vehicle are triggered, the opening of the accelerator pedal is greater than a preset opening, and the vehicle body electronic stability system is in an off state.

3. The vehicle control method according to claim 1, characterized in that: Determining a target operating mode of the vehicle based on the first torque output capacity and the second torque output capacity includes: In response to the first torque output capacity being greater than the second torque output capacity, determining the target operating mode to be the series operating mode; In response to the first torque output capacity being less than or equal to the second torque output capacity, the target operating mode is determined to be the parallel operating mode.

4. The vehicle control method according to claim 1, characterized in that: Controlling the vehicle to accelerate according to the target working mode includes: Obtaining a current operating mode of the vehicle; In response to the current operating mode being different from the target operating mode, controlling the vehicle to switch from the current operating mode to the target operating mode, and in the case where it is determined that the vehicle enters the target operating mode, controlling the vehicle to accelerate according to the target operating mode; In response to the current operating mode being the same as the target operating mode, the vehicle is controlled to accelerate according to the target operating mode.

5. The vehicle control method according to claim 4, characterized in that: In response to the current operating mode being the series operating mode and the target operating mode being the parallel operating mode, controlling the vehicle to switch from the current operating mode to the target operating mode includes: Controlling the engine torque of the vehicle to decrease, and controlling the speed of the engine to be a preset speed; In response to the current vehicle speed being greater than the second preset vehicle speed, controlling a clutch of the vehicle to engage; The generator torque of the vehicle is controlled to decrease to a preset torque, and the engine torque is controlled to increase to a preset torque.

6. The vehicle control method according to claim 4, characterized in that: In response to the current operating mode being the parallel operating mode and the target operating mode being the series operating mode, controlling the vehicle to switch from the current operating mode to the target operating mode includes: controlling a generator torque of the vehicle to increase until the generator torque is equal to an engine torque of the vehicle; Controlling the clutch of the vehicle to disengage; The engine speed of the vehicle is controlled to increase.

7. The vehicle control method according to any one of claims 1 to 6, characterized in that: In response to determining that the vehicle enters the preset acceleration mode and the current vehicle speed of the vehicle is less than or equal to the first preset vehicle speed, the method further includes: Determining that the target operating mode is the series operating mode; Obtaining a current operating mode of the vehicle; In response to the current operating mode being different from the target operating mode, controlling the vehicle to switch from the current operating mode to the target operating mode, and in the case where it is determined that the vehicle enters the target operating mode, controlling the vehicle to accelerate according to the target operating mode; In response to the current operating mode being the same as the target operating mode, the vehicle is controlled to accelerate according to the target operating mode.

8. The vehicle control method according to any one of claims 1 to 6, characterized in that: In response to determining that the vehicle has not entered the preset acceleration mode, the method further includes: In response to a current vehicle speed of the vehicle being greater than the second preset vehicle speed, determining the first torque output capacity and the second torque output capacity; determining a target operating mode of the vehicle based on the first torque output capacity and the second torque output capacity; The vehicle is controlled to accelerate according to the target operating mode.

9. The vehicle control method according to claim 8, characterized in that: Controlling the vehicle to accelerate according to the target working mode includes: Obtaining a current operating mode of the vehicle; In response to the current working mode being the series working mode and the target working mode being the parallel working mode, controlling the engine torque of the vehicle to be reduced and controlling the speed of the engine to be a preset speed; controlling clutch engagement of the vehicle; The generator torque of the vehicle is controlled to decrease to a preset torque, and the engine torque is controlled to increase to a preset torque.

10. A vehicle control device, characterized in that: include: A first mode determination module, configured to determine whether the vehicle enters a preset acceleration mode in response to detecting that the vehicle stops traveling; a capacity determination module, configured to, in response to determining that the vehicle enters the preset acceleration mode and the current vehicle speed of the vehicle is greater than a first preset vehicle speed, determine a first torque output capacity of the series working mode and a second torque output capacity of the parallel working mode when the current vehicle speed reaches a second preset vehicle speed, wherein the second preset vehicle speed is used to represent the vehicle speed at which the vehicle enters the parallel working mode, and the first preset vehicle speed is less than the second preset vehicle speed a second mode determination module, configured to determine a target operating mode of the vehicle based on the first torque output capacity and the second torque output capacity; A control module is used to control the vehicle to accelerate according to the target working mode.

11. A vehicle, characterized in that: include: A memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 9 when running.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored executable program, wherein when the executable program is executed, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 9.

13. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 9.

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