Vehicle control method, device, vehicle controller, vehicle and program product

Abstract

The present application provides a vehicle control method, device, vehicle controller, vehicle and program product, the method comprising: obtaining the engine request torque, and determining the motor request torque according to the negative value of the engine request torque; keeping the engine request torque unchanged, keeping the clutch closed, and controlling the front axle torque to reduce to the front axle request torque value according to the motor request torque; when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, determining the mode shift permission signal, so that the transmission control unit performs the mode shift operation according to the mode shift permission signal. The method can meet the driver's power output time requirements, and through more precise torque control and reduced dependence on clutch operation, ensure the continuity of vehicle power output and improve the success rate of vehicle mode shift. Therefore, the method can improve the efficiency and reliability of vehicle mode shift.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method, device, vehicle controller, vehicle and program product. Background Art

[0002] Vehicles usually have three control modes, including EV (Electric Vehicle) mode, series mode and parallel mode; the driver will switch the corresponding control mode according to the actual driving scenario to make the vehicle meet different driving conditions.

[0003] In the traditional technical solution, when the vehicle needs to be shifted, the engine torque and the motor torque are generally controlled to decrease until the front axle torque is reduced to the front axle request torque value. When the engine torque and the motor torque are reduced to the front axle request torque value, the vehicle control unit (VCU) sends a shift permission signal to the transmission control unit (TCU). The TCU opens the clutch according to the shift permission signal and performs the shift operation with the clutch open. After the shift operation, the clutch is controlled to close to restore power transmission. In this technical solution, during the shift process, the clutch needs to be controlled to open and close. The clutch is open for 6 to 7 seconds, resulting in slow power output of the front axle and long shift time, so it cannot meet the driver's power output time requirements. In addition, it is difficult to accurately control the engine torque, resulting in discontinuous power output of the vehicle, affecting the success rate of the shift.

[0004] Therefore, how to improve the efficiency and reliability of vehicle mode shifting and gear shifting is a technical problem that technical personnel in this field currently need to solve. Summary of the invention

[0005] The purpose of the present application is to provide a vehicle control method, device, vehicle controller, vehicle, computer-readable storage medium and computer program product, aiming to improve the efficiency and reliability of vehicle mode shifting and gear shifting.

[0006] In a first aspect, the present application provides a vehicle control method. The method comprises:

[0007] Acquiring an engine request torque, and determining a motor request torque according to a negative value of the engine request torque;

[0008] Keeping the engine requested torque unchanged, keeping the clutch closed, and controlling the front axle torque to decrease to the front axle requested torque value according to the motor requested torque;

[0009] When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, a mode shift permission signal is determined so that the transmission control unit performs a mode shift operation according to the mode shift permission signal.

[0010] In one embodiment, if the mode shifting is switching from the series mode to the parallel mode, or the mode shifting is shifting in the parallel mode; when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, determining the mode shifting permission signal so that the transmission control unit performs the mode shifting operation according to the mode shifting permission signal, including:

[0011] When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, a mode shift permission signal is determined, and the transmission control unit controls the motor speed, the engine speed and the vehicle speed to be synchronized according to the mode shift permission signal;

[0012] After the motor speed, the engine speed and the vehicle speed are synchronized, the vehicle mode is switched from the series mode to the parallel mode, or the gear is shifted in the parallel mode.

[0013] In one embodiment, if the mode shifting is switching from the parallel mode to the series mode; when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, determining the mode shifting permission signal so that the transmission control unit performs the mode shifting operation according to the mode shifting permission signal, including:

[0014] When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, a mode shift permission signal is determined, and the transmission control unit switches the vehicle mode from the parallel mode to the series mode according to the mode shift permission signal.

[0015] In one embodiment, the method further comprises:

[0016] Based on the control path of the parallel mode, the engine torque and the motor torque are adjusted according to the driving conditions, the vehicle body posture and the engine operating efficiency.

[0017] In one embodiment, the process of determining whether the engine wheel end torque and the motor wheel end torque satisfy the torque balance condition includes:

[0018] Obtaining the engine wheel end torque and the motor wheel end torque;

[0019] Determining whether the sum of the engine wheel end torque and the motor wheel end torque is within a preset torque range;

[0020] If the total torque is within the preset torque range, it is determined that the engine wheel end torque and the motor wheel end torque satisfy a torque balance condition.

[0021] In one embodiment, the obtaining of the engine wheel end torque and the motor wheel end torque includes:

[0022] Calculating the engine wheel end torque according to the engine output torque and the corresponding total transmission ratio;

[0023] The motor wheel end torque is calculated according to the output torque of the motor and the corresponding speed ratio of the reducer.

[0024] In a second aspect, the present application also provides a vehicle control device. The device comprises:

[0025] An acquisition module, configured to acquire an engine request torque, and determine a motor request torque according to a negative value of the engine request torque;

[0026] A control module, configured to keep the engine requested torque unchanged, keep the clutch closed, and control the front axle torque to decrease to the front axle requested torque value according to the motor requested torque;

[0027] The execution module is used to determine a mode shift permission signal when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, so that the transmission control unit performs the mode shift operation according to the mode shift permission signal.

[0028] In a third aspect, the present application further provides a vehicle controller, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0029] In a fourth aspect, the present application also provides a vehicle, including a vehicle body and the above-mentioned vehicle controller.

[0030] In a fifth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0031] In a sixth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of the above method when executed by a processor.

[0032] The present application provides a vehicle control method, which obtains the engine request torque, and determines the motor request torque according to the negative value of the engine request torque; keeps the engine request torque unchanged, keeps the clutch closed, and determines the motor request torque according to the negative value of the engine request torque; when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, determines the mode shift permission signal, so that the transmission control unit performs the mode shift operation according to the mode shift permission signal. Compared with the prior art, it is necessary to control the clutch to open after controlling the engine and the motor to reduce torque, perform the mode shift operation when the clutch is open, and then control the clutch to close after the mode shift operation. In this method, during the mode shift process, there is no need to open and re-close the clutch, which reduces the operation time, thereby meeting the driver's power output time requirements. Furthermore, the motor torque is adjusted by the motor request torque to offset the engine request torque, so that the front axle torque is reduced to the front axle request torque value, and after the engine wheel end torque and the motor wheel end torque meet the torque balance, the mode shifting operation is directly performed. Since the motor torque is more accurate and convenient than the engine torque control, this solution does not need to adjust the engine torque, and only reduces the front axle torque to the front axle request torque value by adjusting the motor torque. Through more accurate torque control and reduced dependence on clutch operation, the vehicle power output is guaranteed to be continuous, and the success rate of the vehicle mode shifting is improved. Therefore, this method can improve the efficiency and reliability of the vehicle mode shifting.

[0033] It can be understood that the vehicle control device, vehicle controller, vehicle, computer-readable storage medium and computer program product provided in the embodiments of the present application have the same beneficial effects as the above-mentioned vehicle control method, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the EV mode, series mode and parallel mode provided in an embodiment of the present application;

[0037] Figure 3 A timing diagram corresponding to controlling the vehicle to switch from series mode to parallel mode in accordance with the prior art;

[0038] Figure 4 A timing diagram corresponding to controlling the vehicle to switch from the series mode to the parallel mode according to an embodiment of the present application;

[0039] Figure 5 A timing diagram corresponding to controlling the vehicle to switch from parallel mode to series mode in accordance with the prior art;

[0040] Figure 6 A timing diagram corresponding to controlling the vehicle to switch from parallel mode to series mode in accordance with an embodiment of the present application;

[0041] Figure 7 A timing diagram corresponding to controlling the vehicle to shift gears in parallel mode in accordance with the prior art;

[0042] Figure 8 A timing diagram corresponding to controlling the vehicle to shift gears in parallel mode according to an embodiment of the present application;

[0043] Fig. 9 Shown is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0044] Fig.10 A schematic diagram of the structure of a vehicle controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0046] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0047] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0048] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0049] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0050] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" means "two or more".

[0051] For hybrid vehicles, such as new energy vehicles with hybrid power system architecture, there are usually three control modes, including EV (Electric vehicle) mode, series mode and parallel mode; the driver will switch the corresponding control mode according to the actual driving scenario to make the vehicle meet different driving conditions.

[0052] When the vehicle is shifting mode and shifting gears, it is necessary to first control the front axle torque to be reduced to the front axle request torque value before the vehicle can be shifted mode and shifted mode. Among them, the front axle torque is the sum of the motor torque and the engine torque. In the traditional technical solution, when the vehicle needs to shift mode and shift gears, the engine torque and the motor torque are generally controlled to be reduced first until the front axle torque is reduced to the front axle request torque value. When the engine torque and the motor torque are reduced to the front axle request torque value, the vehicle control unit (VCU) sends a shift mode and shift permission signal to the transmission control unit (TCU). The TCU opens the clutch according to the shift mode and shift permission signal and performs the shift mode and shift operation with the clutch open. After the shift mode and shift operation, the clutch is controlled to close to restore power transmission. In this technical solution, during the shift mode and shift process, the clutch needs to be controlled to open and close. The clutch is open for 6 to 7 seconds, resulting in slow power output of the front axle and long shift mode and shift time, so it cannot meet the driver's power output time requirements. Moreover, in this process, it is difficult to accurately control the engine torque, resulting in discontinuous vehicle power output and affecting the success rate of mode and gear shifting.

[0053] Therefore, how to improve the efficiency and reliability of vehicle mode shifting and gear shifting is a technical problem that technical personnel in this field currently need to solve.

[0054] A vehicle control method provided in an embodiment of the present application may be executed by a vehicle control unit (VCU) of the vehicle when running a corresponding computer program.

[0055] Figure 1 This is a flow chart of a vehicle control method provided in an embodiment of the present application. For the sake of convenience, only the part related to the present embodiment is shown. The method provided in the present embodiment includes the following steps:

[0056] S100: Acquire the engine request torque, and determine the motor request torque according to the negative value of the engine request torque.

[0057] The engine request torque refers to the engine torque request value determined by the VCU, usually expressed in Newton meters (Nm). The motor request torque refers to the torque required to be generated by the motor.

[0058] In this embodiment, after obtaining the engine request torque, the motor torque needs to be reduced to a negative engine torque, so the motor request torque is determined according to the negative value of the engine request torque. For example, if the engine request torque is 100 Nm, the motor request torque is determined to be -100 Nm according to the engine request torque.

[0059] S200: Keep the engine requested torque unchanged, keep the clutch closed, and control the front axle torque to decrease to the front axle requested torque value according to the motor requested torque.

[0060] Specifically, the engine requested torque is kept unchanged, that is, the engine torque is not adjusted, and the clutch is kept closed, that is, there is no need to perform an operation of opening and re-closing the clutch.

[0061] In the process of controlling the motor torque according to the motor request torque, it is determined whether the front axle torque is reduced to the front axle request torque value. Specifically, the front axle torque = engine torque + motor torque; in this embodiment, the engine request torque is kept unchanged, and the motor torque is only reduced by the motor request torque to continuously reduce the front axle torque, so that the front axle torque is reduced to the front axle request torque value. Among them, the front axle request torque value refers to the expected front axle torque value, which can be set according to actual needs, for example, it can be set to 0, that is, the front axle torque is controlled to be reduced to 0 by the motor request torque; the front axle request torque value can also be set to other values, which is not limited in this embodiment.

[0062] S300: When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, determine a mode shift permission signal so that the transmission control unit performs a mode shift operation according to the mode shift permission signal.

[0063] Among them, the engine wheel-end torque refers to the torque transmitted from the engine output torque to the wheels through the engine output shaft; the motor wheel-end torque refers to the torque transmitted from the motor output torque to the wheels through the motor output shaft.

[0064] In this embodiment, it is determined whether the torque balance condition is currently met based on the engine wheel-end torque and the motor wheel-end torque; if the torque balance condition is met, it means that the mode shifting and gear shifting operation can be performed at present; if the torque balance condition is not met, it means that the mode shifting and gear shifting operation cannot be performed at present, so it is necessary to continue to determine whether the torque balance condition is met based on the engine wheel-end torque and the motor wheel-end torque, until the engine wheel-end torque and the motor wheel-end torque meet the torque balance condition, determine the mode shifting and gear shifting permission signal, and send the mode shifting and gear shifting permission signal to the transmission control unit.

[0065] It should be noted that mode shifting and gear shifting include control mode switching and gear shifting in parallel mode. Specifically, the vehicle includes three control modes: EV (Electric Vehicle) mode, series mode and parallel mode; Figure 2 This is a schematic diagram of the EV mode, series mode and parallel mode provided in the embodiment of the present application. Figure 2The EV mode shown in (a) refers to a control mode in which the vehicle is completely powered by the battery, the vehicle is driven by the electric motors (front motor and rear motor), and the engine is not started; Figure 2 The series mode shown in Figure (b) refers to a control mode in which the engine does not directly drive the wheels, but is used as a generator to charge the battery or directly provide power to the motor; Figure 2 The parallel mode shown in Figure (c) refers to a control mode in which the engine and the electric motor drive the vehicle simultaneously to provide maximum power to the vehicle.

[0066] The control mode switching in this embodiment includes switching from parallel mode to series mode, switching from series mode to parallel mode, and shifting in parallel mode. More specifically, switching from parallel mode to series mode means that the current control mode is parallel mode and the target control mode is series mode; switching from series mode to parallel mode means that the current control mode is series mode and the target control mode is parallel mode; shifting in parallel mode means that the current control mode and the target control mode are both parallel modes, but the actual gear is inconsistent with the target gear, such as switching from 1st gear to 2nd gear, or from 2nd gear to 1st gear, etc.

[0067] Specifically, when it is determined that the torque balance condition is met according to the engine wheel-end torque and the motor wheel-end torque, a mode shifting permission signal is determined, and the mode shifting permission signal is sent to a transmission control unit (TCU). After receiving the mode shifting permission signal, the transmission control unit performs a mode shifting operation according to the mode shifting permission signal; that is, the control mode of the vehicle is switched to the target control mode, or the gear position of the vehicle in the parallel mode is switched to the target gear position.

[0068] The embodiment of the present application provides a vehicle control method, which obtains the engine request torque, and determines the motor request torque according to the negative value of the engine request torque; keeps the engine request torque unchanged, keeps the clutch closed, and determines the motor request torque according to the negative value of the engine request torque; when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, determines the mode shift permission signal, so that the transmission control unit performs the mode shift operation according to the mode shift permission signal. Compared with the prior art, after controlling the engine and the motor to reduce torque, the clutch needs to be controlled to open, the mode shift operation is performed when the clutch is open, and after the mode shift operation, the clutch is controlled to close, in the present method, during the mode shift process, the clutch does not need to be opened and closed again, which reduces the operation time, thereby being able to meet the driver's power output time requirements. Furthermore, the motor torque is adjusted by the motor request torque to offset the engine request torque, so that the front axle torque is reduced to the front axle request torque value, and after the engine wheel end torque and the motor wheel end torque meet the torque balance, the mode shifting operation is directly performed. Since the motor torque is more accurate and convenient than the engine torque control, this solution does not need to adjust the engine torque, and only reduces the front axle torque to the front axle request torque value by adjusting the motor torque. Through more accurate torque control and reduced dependence on clutch operation, the vehicle power output is guaranteed to be continuous, and the success rate of the vehicle mode shifting is improved. Therefore, this method can improve the efficiency and reliability of the vehicle mode shifting.

[0069] Because in the current technical solution, if the mode shift is to switch from series mode to parallel mode, or the mode shift is to shift in parallel mode, the clutch is opened after the engine torque and the motor torque fall within a certain range, and then the motor speed is controlled to be synchronized with the vehicle speed, and the mode shift operation is performed at this time; then the engine speed and the motor speed are controlled within a certain range, and the clutch is closed after the motor speed, the engine speed and the vehicle speed are synchronized. In other words, in the current technical solution, when controlling the vehicle to switch from series mode to parallel mode, or the mode shift is to shift in parallel mode, the clutch needs to be controlled to open and close. The long closing time leads to slow power output of the front axle, and the mode shift time is long, which cannot meet the driver's power output time requirements.

[0070] Based on the above technical problems, this embodiment further illustrates and optimizes the technical solution on the basis of the above embodiments. Specifically, in this embodiment, if the mode shifting is switching from the series mode to the parallel mode, or the mode shifting is shifting in the parallel mode, when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, the mode shifting permission signal is determined so that the transmission control unit performs the mode shifting operation according to the mode shifting permission signal, including:

[0071] When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, a mode shift permission signal is determined, and the transmission control unit controls the motor speed, the engine speed and the vehicle speed to be synchronized according to the mode shift permission signal;

[0072] After the motor speed, engine speed and vehicle speed are synchronized, the vehicle mode is switched from series mode to parallel mode, or gears are shifted in parallel mode.

[0073] Among them, the mold shifting is switching from parallel mode to series mode, that is, the current control mode is parallel mode, and the target control mode is series mode; the mold shifting is shifting in parallel mode, which means that the current control mode and the target control mode are both parallel modes, but the actual gear is inconsistent with the target gear, such as switching from 1st gear to 2nd gear, or from 2nd gear to 1st gear, etc.

[0074] In this embodiment, the clutch is always kept closed during the process of mold shifting and gear shifting, that is, there is no need to control the clutch to open and then close. The mold shifting and gear shifting operation is as follows:

[0075] If the mode shift is to switch from series mode to parallel mode, the vehicle controller determines the mode shift permission signal when the front axle torque is reduced to the front axle requested torque value and the engine wheel end torque and the motor wheel end torque meet the torque balance condition, that is, determines the permission signal for switching from series mode to parallel mode, and sends the permission signal for switching from series mode to parallel mode to the transmission control unit; after the transmission control unit obtains the current vehicle speed, motor speed and engine speed according to the permission signal for switching from series mode to parallel mode, and directly controls the motor speed so that the motor speed is synchronized with the engine speed and the vehicle speed. After the motor speed, engine speed and vehicle speed are synchronized, the vehicle mode is switched from series mode to parallel mode according to the permission signal for switching from series mode to parallel mode.

[0076] If the mode shifting is a shifting in parallel mode, the vehicle controller determines the mode shifting permission signal when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, that is, determines the permission signal for shifting in parallel mode, and sends the permission signal for shifting in parallel mode to the transmission control unit; the transmission control unit obtains the current vehicle speed, motor speed and engine speed according to the permission signal for shifting in parallel mode, and directly controls the motor speed so that the motor speed is synchronized with the engine speed and the vehicle speed. After the motor speed, engine speed and vehicle speed are synchronized, the vehicle gear is switched to the target gear according to the permission signal for shifting in parallel mode, such as switching from 1st gear to 2nd gear, or from 2nd gear to 1st gear, etc.

[0077] More specifically, the transmission control unit controls the motor speed through the motor controller (TMCU) so that the motor speed is synchronized with the engine speed and the vehicle speed.

[0078] In this embodiment, if the mode shifting is to switch from series mode to parallel mode, or the mode shifting is to shift in parallel mode, when the engine wheel-end torque and the motor wheel-end torque meet the torque balance condition, the transmission control unit controls the motor speed to be synchronized with the engine speed and the vehicle speed according to the mode shifting permission signal. After the motor speed, the engine speed and the vehicle speed are synchronized, the mode shifting operation is performed to ensure a smooth transition of the mode shifting, and there is no need to control the clutch to open and close, thereby shortening the mode shifting time, ensuring the stability of the front axle power output, and meeting the driver's power output time requirements.

[0079] In the current technical solution, if the mode shift is to switch from parallel mode to series mode, the clutch is opened after the engine torque and motor torque fall within a certain range, and then the gear shifting operation is performed; after the motor speed is synchronized with the engine speed, the clutch is closed. In other words, in the current technical solution, when controlling the vehicle to switch from parallel mode to series mode, the clutch needs to be controlled to open and close. The long closing time leads to slow power output of the front axle, and the mode shifting time is long, which cannot meet the driver's power output time requirements.

[0080] On the basis of the above embodiments, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, if the mode shifting is switching from the parallel mode to the series mode; when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, the mode shifting permission signal is determined so that the transmission control unit performs the mode shifting operation according to the mode shifting permission signal, including:

[0081] When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, a mode shift permission signal is determined, and the transmission control unit performs a gear shifting operation according to the mode shift permission signal to switch the vehicle mode from the parallel mode to the series mode.

[0082] In this embodiment, the mode change and gear change is switching from the parallel mode to the series mode, that is, the current control mode is the parallel mode, and the target control mode is the series mode.

[0083] If the mode shifting is from parallel mode to series mode, the vehicle controller determines the mode shifting permission signal when the front axle torque is reduced to the front axle requested torque value and the engine wheel-end torque and the motor wheel-end torque meet the torque balance condition, that is, determines the permission signal for switching from parallel mode to series mode, and sends the permission signal for switching from parallel mode to series mode to the transmission control unit; the transmission control unit directly executes the gear disengagement operation according to the transmission control unit, that is, switches the gear of the vehicle from parallel mode to series mode.

[0084] In this embodiment, if the mode shifting is from parallel mode to series mode, when the engine wheel-end torque and the motor wheel-end torque meet the torque balance condition, the mode shifting permission signal is determined, and the transmission control unit executes the gear shifting operation according to the mode shifting permission signal to switch the vehicle mode from parallel mode to series mode. There is no need to control the clutch to open and close, which shortens the mode shifting time and ensures the stability of the front axle power output, thereby ensuring efficient switching of the mode shifting.

[0085] On the basis of the above embodiments, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, the method further includes:

[0086] Based on the control path of the parallel mode, the engine torque and motor torque are adjusted according to the driving conditions, vehicle posture and engine operating efficiency.

[0087] In this embodiment, after switching from series mode to parallel mode, or after the gear shift is completed in parallel mode, that is, after determining that the front axle is in gear, the vehicle controller controls the motor torque recovery to achieve control of the front axle torque recovery; then, according to the normal parallel mode control path, the engine torque and the motor torque are adjusted according to the engine operating efficiency. Specifically, the distribution of the engine torque and the motor torque is adjusted according to the driving road conditions, the vehicle body posture and the operating efficiency corresponding to the optimal working state of the engine.

[0088] Among them, driving conditions refer to the road conditions and traffic environment of vehicle driving. Driving conditions include road types, such as highways, urban roads, country roads, mountain roads, etc.; road conditions, including whether the road surface is flat, whether there is water accumulation, snow or ice, etc.; traffic flow, such as the degree of traffic congestion, the number of vehicles and pedestrians; weather conditions, such as sunny, rainy, snowy, foggy, etc.; light conditions such as light changes during the day, night, dawn, and dusk.

[0089] Among them, the body posture refers to the position and direction of the vehicle in space, including the vehicle's tilt, rotation and pitch states, including but not limited to the following states: horizontal tilt, that is, whether the left and right sides of the vehicle are balanced and whether there is roll; vertical vibration, that is, the up and down vibration of the vehicle caused by uneven road surface; steering angle, that is, the steering angle of the front wheels when the vehicle turns; vehicle pitch, that is, the lifting or sinking of the front or rear of the vehicle during acceleration or braking; vehicle yaw, that is, the rotational movement of the vehicle during driving, that is, the rotation of the vehicle around the vertical axis.

[0090] In a specific example, the distribution of engine torque and motor torque is adjusted according to the driving road conditions, vehicle body posture and the operating efficiency corresponding to the optimal working state of the engine. Specifically, the current driving road conditions are collected through vehicle sensors; the vehicle body posture is monitored using body sensors (such as accelerometers and gyroscopes); the engine operating efficiency is evaluated by monitoring parameters such as engine speed, power and torque; and the engine torque and motor torque are determined through a torque distribution model or optimization algorithm.

[0091] According to the method of this embodiment, after the vehicle performs mode shifting and gear shifting, after switching from series mode to parallel mode, or after the mode shifting and gear shifting is completed in parallel mode, that is, after determining that the front axle is in gear, the engine torque and the motor torque can be adjusted based on the control path of the parallel mode according to the driving road conditions, vehicle body posture and engine operating efficiency, and the engine torque and the motor torque can be determined by fully considering the actual driving conditions of the vehicle, which can ensure that the torque distribution meets the power requirements of the vehicle, and maintain the stability and efficiency of the vehicle, thereby ensuring that the vehicle can continue to drive efficiently and smoothly.

[0092] In the current technical solution, when the engine torque and the motor torque fall within a preset range (such as ±3NM), a mode shift permission signal is determined so as to perform the mode shift operation later. In this solution, the front axle torque is adjusted only by the motor request torque while keeping the engine torque unchanged, that is, keeping the engine request torque unchanged and keeping the clutch closed, so that the front axle torque is reduced to the front axle request torque value. Therefore, based on the above embodiment, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the process of determining whether the engine wheel end torque and the motor wheel end torque meet the torque balance condition includes:

[0093] Obtain the engine wheel end torque and the motor wheel end torque;

[0094] Determining whether the sum of the engine wheel end torque and the motor wheel end torque is within a preset torque range;

[0095] If the total torque is within the preset torque range, it is determined that the engine wheel end torque and the motor wheel end torque meet the torque balance condition.

[0096] Among them, the engine wheel-end torque refers to the torque transmitted from the engine output torque to the wheels through the engine output shaft; the motor wheel-end torque refers to the torque transmitted from the motor output torque to the wheels through the motor output shaft.

[0097] In this embodiment, the engine wheel-end torque, the motor wheel-end torque and the preset torque range are first obtained; the preset torque range is a preset boundary value for determining whether the engine wheel-end torque and the motor wheel-end torque meet the torque balance condition; for example, the preset torque range can be a torque range corresponding to ±20NM, and this embodiment does not limit the specific value of the preset torque range.

[0098] Then, the sum of the engine wheel-end torque and the motor wheel-end torque is calculated, and it is determined whether the sum of the torque is within the preset torque range; if the sum of the torque is within the preset torque range, it is determined that the engine wheel-end torque and the motor wheel-end torque meet the torque balance condition; otherwise, that is, the sum of the torque is not within the preset torque range, it is determined that the engine wheel-end torque and the motor wheel-end torque do not meet the torque balance condition.

[0099] In this embodiment, whether the engine wheel-end torque and the motor wheel-end torque meet the torque balance condition is determined based on whether the sum of the torques of the engine wheel-end torque and the motor wheel-end torque is within a preset torque range. The judgment method is accurate and the judgment process is convenient, which can improve the efficiency of the vehicle's control mode switching.

[0100] In a specific embodiment, obtaining the engine wheel end torque and the motor wheel end torque includes:

[0101] The engine wheel end torque is calculated according to the engine output torque and the corresponding total transmission ratio;

[0102] The motor wheel end torque is calculated based on the motor output torque and the corresponding reducer speed ratio.

[0103] Among them, the engine wheel end torque refers to the torque transmitted from the engine output torque to the wheel through the engine output shaft; the total transmission ratio refers to the transmission ratio determined by the transmission and the final reducer. Specifically, the engine wheel end torque is calculated based on the product of the engine output torque and the corresponding total transmission ratio, that is:

[0104] Engine wheel-end torque = engine output torque * reduction ratio * main reduction ratio.

[0105] The motor wheel end torque refers to the torque transmitted to the wheel through the motor output shaft. Specifically, the motor wheel end torque can be calculated based on the product of the motor output torque and the speed ratio of the reducer, that is,

[0106] Motor wheel end torque = motor output torque * reducer speed ratio.

[0107] According to the method of this embodiment, the engine wheel end torque and the motor wheel end torque can be determined efficiently and conveniently, and then it can be determined efficiently and conveniently whether the engine wheel end torque and the motor wheel end torque meet the torque balance condition, which can improve the efficiency of the vehicle's control mode switching.

[0108] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application are described in detail below in combination with actual application scenarios. In the embodiments of this application, a vehicle (new energy vehicle) with a hybrid power system architecture is used as an example for explanation. In the embodiments of this application, the specific steps of a vehicle control method are as follows:

[0109] Figure 3 The timing diagram corresponding to controlling the vehicle to switch from series mode to parallel mode according to the prior art is shown. Figure 3 As shown, the operation process of switching the vehicle from the series mode to the parallel mode in the prior art is: reducing the engine torque and the motor torque; when the engine torque and the motor torque are reduced to within a preset range (such as ±3NM), the VCU determines the mode shift permission signal and sends the mode shift permission signal to the transmission control unit (TCU), and the TCU opens the clutch;

[0110] After the clutch is opened, the TCU sends a motor speed control signal to the TMCU. The TMCU controls the motor speed and vehicle speed within a certain range (such as 100rpm) according to the motor speed control signal, and the TCU performs the mode shifting and gear shifting operation;

[0111] The VCU controls the engine torque, keeps the engine speed and the motor speed within a certain range (such as 100rpm), and closes the clutch; when the front axle is in gear and the clutch is closed, the VCU controls the engine output torque and the motor output torque.

[0112] Figure 4 The timing diagram corresponding to controlling the vehicle to switch from the series mode to the parallel mode according to the embodiment of the present application is shown in FIG. Figure 4 As shown, in the embodiment of the present application, if the mode shift is to switch from the series mode to the parallel mode; the VCU obtains the engine request torque, and determines the motor request torque according to the negative value of the engine request torque; the engine request torque is kept unchanged, the clutch is kept closed, and the front axle torque is controlled to be reduced to the front axle request torque value (0) according to the motor request torque;

[0113] Obtain the engine wheel end torque and the motor wheel end torque, and determine whether the sum of the engine wheel end torque and the motor wheel end torque is within a preset torque range (±20NM);

[0114] Determine the mold shift permission signal, and send the mold shift permission signal to the transmission control unit (TCU). After receiving the mold shift permission signal, the TCU controls the motor speed through the motor controller (TMCU) so that the motor speed is synchronized with the engine speed and the vehicle speed; after the motor speed, the engine speed and the vehicle speed are synchronized, perform the mold shift operation;

[0115] After determining that the front axle is in gear, the VCU controls the front axle torque recovery by controlling the motor torque recovery; then it follows the normal parallel mode control path, adjusts the engine torque and motor torque according to the engine operating efficiency, and drives the vehicle.

[0116] Figure 5 The timing diagram corresponding to controlling the vehicle to switch from parallel mode to series mode according to the prior art is shown. Figure 5 As shown, the operation process of switching the vehicle from the parallel mode to the series mode in the prior art is: reducing the engine torque and the motor torque; when the engine torque and the motor torque are reduced to within a preset range (such as ±3NM), the VCU determines the mode shift permission signal and sends the mode shift permission signal to the transmission control unit (TCU), and the TCU opens the clutch;

[0117] After the clutch is opened, the TCU performs the gear disengagement operation; after the gear is disengaged, the TCU sends a motor speed control signal to the TMCU, and the TMCU controls the motor speed and the engine speed within a certain range (such as 100rpm) according to the motor speed control signal; wherein, the engine speed is the power generation speed corresponding to the series mode of the VCU; after the motor speed is synchronized with the engine speed, the clutch is closed; after the clutch is closed, the VCU controls the engine output torque and the motor output torque.

[0118] Figure 6 The timing diagram corresponding to controlling the vehicle to switch from parallel mode to series mode according to the embodiment of the present application is shown in FIG. Figure 6 As shown, in the embodiment of the present application, if the mode shift is to switch from the parallel mode to the series mode; the VCU obtains the engine request torque, and determines the motor request torque according to the negative value of the engine request torque; the engine request torque is kept unchanged, the clutch is kept closed, and the front axle torque is controlled to be reduced to the front axle request torque value (0) according to the motor request torque;

[0119] Obtain the engine wheel end torque and the motor wheel end torque, and determine whether the sum of the engine wheel end torque and the motor wheel end torque is within a preset torque range (±20NM);

[0120] Determine a mold shifting permission signal, and send the mold shifting permission signal to a transmission control unit (TCU). After receiving the mold shifting permission signal, the TCU performs a gear shifting operation according to the mold shifting permission signal.

[0121] After determining that the current bridge is disengaged from gear, the VCU determines the engine torque according to the control path of the normal series mode to drive the vehicle.

[0122] Figure 7 The timing diagram corresponding to controlling the vehicle to shift gears in parallel mode according to the prior art is shown. Figure 7 As shown, the operation process of implementing vehicle shifting in parallel mode in the prior art is: reducing the engine torque and the motor torque; when the engine torque and the motor torque are reduced to within a preset range (such as ±3NM), the VCU determines the mode shift permission signal and sends the mode shift permission signal to the transmission control unit (TCU), and the TCU opens the clutch;

[0123] After the clutch is opened, the TCU sends a motor speed control signal to the TMCU. The TMCU controls the motor speed and vehicle speed within a certain range (such as 100rpm) according to the motor speed control signal, and the TCU performs the mode shifting and gear shifting operation;

[0124] The VCU controls the engine torque, keeps the engine speed and the motor speed within a certain range (such as 100rpm), and closes the clutch; when the front axle is in gear and the clutch is closed, the VCU controls the engine output torque and the motor output torque.

[0125] Figure 8 The timing diagram corresponding to controlling the vehicle to shift gears in parallel mode according to the embodiment of the present application is shown in FIG. Figure 8 As shown, in the embodiment of the present application, if the mode shift is a shift in parallel mode, the VCU obtains the engine request torque, and determines the motor request torque according to the negative value of the engine request torque; the engine request torque is kept unchanged, the clutch is kept closed, and the front axle torque is controlled to be reduced to the front axle request torque value (0) according to the motor request torque;

[0126] Obtain the engine wheel end torque and the motor wheel end torque, and determine whether the sum of the engine wheel end torque and the motor wheel end torque is within a preset torque range (±20NM);

[0127] Determine the mold shift permission signal, and send the mold shift permission signal to the transmission control unit (TCU). After receiving the mold shift permission signal, the TCU controls the motor speed through the motor controller (TMCU) so that the motor speed is synchronized with the engine speed and the vehicle speed; after the motor speed, the engine speed and the vehicle speed are synchronized, perform the mold shift operation;

[0128] After determining that the front axle is in gear, the VCU controls the front axle torque recovery by controlling the motor torque recovery; then it follows the normal parallel mode control path, adjusts the engine torque and motor torque according to the engine operating efficiency, and drives the vehicle.

[0129] The embodiment of the present application provides a vehicle control method, which obtains the engine request torque, and determines the motor request torque according to the negative value of the engine request torque; keeps the engine request torque unchanged, keeps the clutch closed, and determines the motor request torque according to the negative value of the engine request torque; when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, determines the mode shift permission signal, so that the transmission control unit performs the mode shift operation according to the mode shift permission signal. Compared with the prior art, after controlling the engine and the motor to reduce torque, the clutch needs to be controlled to open, the mode shift operation is performed when the clutch is open, and after the mode shift operation, the clutch is controlled to close, in the present method, during the mode shift process, the clutch does not need to be opened and closed again, which reduces the operation time, thereby being able to meet the driver's power output time requirements. Furthermore, the motor torque is adjusted by the motor request torque to offset the engine request torque, so that the front axle torque is reduced to the front axle request torque value, and after the engine wheel end torque and the motor wheel end torque meet the torque balance, the mode shifting operation is directly performed. Since the motor torque is more accurate and convenient than the engine torque control, this solution does not need to adjust the engine torque, and only reduces the front axle torque to the front axle request torque value by adjusting the motor torque. Through more accurate torque control and reduced dependence on clutch operation, the vehicle power output is guaranteed to be continuous, and the success rate of the vehicle mode shifting is improved. Therefore, this method can improve the efficiency and reliability of the vehicle mode shifting.

[0130] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0131] Fig. 9 FIG. 1 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. Fig. 9 As shown, a vehicle control device of this embodiment includes an acquisition module 910, a control module 920 and an execution module 930; wherein,

[0132] An acquisition module 910 is used to acquire the engine request torque and determine the motor request torque according to the negative value of the engine request torque;

[0133] A control module 920 is used to keep the engine request torque unchanged, keep the clutch closed, and control the front axle torque to decrease to the front axle request torque value according to the motor request torque;

[0134] The execution module 930 is used to determine a mode shift permission signal when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, so that the transmission control unit performs a mode shift operation according to the mode shift permission signal.

[0135] A vehicle control device provided in an embodiment of the present application has the same beneficial effects as the above-mentioned vehicle control method.

[0136] In one embodiment, if the mold shifting is switching from the series mode to the parallel mode, or the mold shifting is shifting in the parallel mode; the execution module includes:

[0137] The speed adjustment submodule is used to determine the mode shift permission signal when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, and the transmission control unit controls the motor speed, the engine speed and the vehicle speed to be synchronized according to the mode shift permission signal;

[0138] The first execution submodule is used to switch the vehicle mode from the series mode to the parallel mode, or to shift gears in the parallel mode, after the motor speed, the engine speed and the vehicle speed are synchronized.

[0139] In one embodiment, if the mode shifting is switching from parallel mode to series mode; the execution module includes:

[0140] The second execution submodule is used to determine the mode shift permission signal when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, and the transmission control unit switches the vehicle mode from the parallel mode to the series mode according to the mode shift permission signal.

[0141] In one embodiment, the device further comprises:

[0142] The driving parameter determination module is used to adjust the engine torque and the motor torque according to the driving road conditions, the vehicle body posture and the engine operating efficiency based on the control path of the parallel mode after determining that the vehicle mode is switched from the series mode to the parallel mode, or after shifting gears in the parallel mode.

[0143] In one embodiment, the execution module includes:

[0144] The first parameter acquisition submodule is used to obtain the engine wheel end torque and the motor wheel end torque;

[0145] A range judgment submodule, used to determine whether the sum of the engine wheel end torque and the motor wheel end torque is within a preset torque range;

[0146] The output determination submodule is used to determine whether the engine wheel end torque and the motor wheel end torque meet the torque balance condition if the total torque is within a preset torque range.

[0147] In one embodiment, the first parameter acquisition submodule includes:

[0148] A first parameter acquisition unit, used to calculate the engine wheel end torque according to the engine output torque and the corresponding total transmission ratio;

[0149] The second parameter acquisition unit is used to calculate the motor wheel end torque according to the output torque of the motor and the corresponding speed ratio of the reducer.

[0150] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0151] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0152] Fig.10 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of the present application. Fig.10 As shown, the vehicle controller 1000 of this embodiment includes a memory 1001, a processor 1002, and a computer program 1003 stored in the memory 1001 and executable on the processor 1002; when the processor 1002 executes the computer program 1003, the steps in the above-mentioned vehicle control method embodiments are implemented; or when the processor 1002 executes the computer program 1003, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0153] Exemplarily, the computer program 1003 may be divided into one or more modules / units, one or more modules / units are stored in the memory 1001, and are executed by the processor 1002 to implement the method of the embodiment of the present application. One or more modules / units may be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program 1003 in the vehicle controller 1000. For example, the computer program 1003 may be divided into an acquisition module, a control module, and an execution module, and the specific functions of each module are as follows:

[0154] An acquisition module, used for acquiring the engine request torque, and determining the motor request torque according to the negative value of the engine request torque;

[0155] a control module, configured to keep the engine request torque unchanged, keep the clutch closed, and control the front axle torque to decrease to the front axle request torque value according to the motor request torque;

[0156] The execution module is used to determine a mode shift permission signal when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, so that the transmission control unit performs the mode shift operation according to the mode shift permission signal.

[0157] In application, the vehicle controller 1000 may include but is not limited to a memory 1001 and a processor 1002. Those skilled in the art will appreciate that Fig.10 It is only an example of a vehicle controller and does not constitute a limitation of the vehicle controller. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the vehicle controller may also include input and output devices, network access devices, buses, etc.; among which, the input and output devices may include cameras, audio acquisition / playback devices, display screens, etc.; the network access device may include a communication module for wireless communication with external devices.

[0158] In applications, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0159] In applications, the memory can be the internal storage unit of the vehicle controller, such as the hard disk or memory of the vehicle controller; it can also be the external storage device of the vehicle controller, such as the plug-in hard disk equipped on the vehicle controller, the smart media card (SMC), the secure digital (SD) card, the flash card, etc.; it can also include both the internal storage unit and the external storage device of the vehicle controller. The memory is used to store the operating system, application program, boot loader, data and other programs, such as the program code of the computer program. The memory can also be used to temporarily store the data that has been output or is to be output.

[0160] An embodiment of the present application also provides a vehicle, including a vehicle body and the above-mentioned vehicle controller.

[0161] The vehicle may be a hybrid vehicle (Hybrid Vehicle, HV), which refers to a vehicle whose vehicle drive system is composed of two or more single drive systems that can operate simultaneously, and the vehicle's driving power is provided by the single drive systems individually or jointly according to the actual vehicle driving state. In this embodiment, the vehicle includes a vehicle body and a vehicle controller, and the controller can implement the steps of the vehicle control method in the above embodiment.

[0162] A vehicle provided in an embodiment of the present application has the same beneficial effects as the above-mentioned vehicle control method.

[0163] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0164] The present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the vehicle controller, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0165] A computer-readable storage medium provided in an embodiment of the present application has the same beneficial effects as the above-mentioned vehicle control method.

[0166] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0167] It should be noted that the information collection process involved in this application, such as the engine requested torque collection process, the motor actual torque collection process, and the vehicle speed collection process, etc.), as well as the data processing process, are performed with the user's knowledge and permission, that is, the information collection process and the data processing process comply with the requirements of laws and regulations and do not constitute acts that harm the public interest.

[0168] Those of ordinary skill in the art will appreciate that the devices and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0169] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices, which can be electrical, mechanical or other forms.

[0170] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquiring an engine request torque, and determining a motor request torque according to a negative value of the engine request torque; Keeping the engine requested torque unchanged, keeping the clutch closed, and controlling the front axle torque to decrease to the front axle requested torque value according to the motor requested torque; When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, a mode shift permission signal is determined so that the transmission control unit performs a mode shift operation according to the mode shift permission signal.

2. The method according to claim 1, characterized in that If the mold shifting and gear changing is switching from the series mode to the parallel mode, or the mold shifting and gear changing is shifting in the parallel mode; When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, determining a mode shift permission signal so that the transmission control unit performs a mode shift operation according to the mode shift permission signal, including: When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, a mode shift permission signal is determined, and the transmission control unit controls the motor speed, the engine speed and the vehicle speed to be synchronized according to the mode shift permission signal; After the motor speed, the engine speed and the vehicle speed are synchronized, the vehicle mode is switched from the series mode to the parallel mode, or the gear is shifted in the parallel mode.

3. The method according to claim 1, characterized in that If the mode shifting is switching from the parallel mode to the series mode; when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, determining the mode shifting permission signal so that the transmission control unit performs the mode shifting operation according to the mode shifting permission signal, including: When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, a mode shift permission signal is determined, and the transmission control unit switches the vehicle mode from the parallel mode to the series mode according to the mode shift permission signal.

4. The method according to claim 2, characterized in that: The method further comprises: After determining that the vehicle mode is switched from the series mode to the parallel mode, or after shifting gears in the parallel mode, the engine torque and the motor torque are adjusted according to the driving conditions, vehicle body posture and engine operating efficiency based on the control path of the parallel mode.

5. The method according to any one of claims 1 to 4, characterized in that: The process of determining that the engine wheel end torque and the motor wheel end torque satisfy the torque balance condition includes: Obtaining the engine wheel end torque and the motor wheel end torque; Determining whether the sum of the engine wheel end torque and the motor wheel end torque is within a preset torque range; If the total torque is within the preset torque range, it is determined that the engine wheel end torque and the motor wheel end torque satisfy a torque balance condition.

6. The method according to claim 5, characterized in that The obtaining of the engine wheel end torque and the motor wheel end torque comprises: Calculating the engine wheel end torque according to the engine output torque and the corresponding total transmission ratio; The motor wheel end torque is calculated according to the output torque of the motor and the corresponding speed ratio of the reducer.

7. A vehicle control device, characterized in that: The device comprises: An acquisition module, configured to acquire an engine request torque, and determine a motor request torque according to a negative value of the engine request torque; A control module, configured to keep the engine requested torque unchanged, keep the clutch closed, and control the front axle torque to decrease to the front axle requested torque value according to the motor requested torque; The execution module is used to determine a mode shift permission signal when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, so that the transmission control unit executes the mode shift operation according to the mode shift permission signal.

8. A vehicle controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A vehicle, comprising a vehicle body, characterized in that: It also includes the vehicle controller as claimed in claim 8.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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