Vehicle control method, vehicle control device and vehicle

Abstract

The present application provides a vehicle control method, a vehicle control device and a vehicle, and the method relates to the field of vehicles. The method comprises: when it is detected that the vehicle starts in a target driving mode, obtaining the battery parameters of the vehicle's power battery; wherein the battery parameters include the battery state of charge and the battery available discharge power; based on the battery parameters, determining the first control instruction of the engine in the vehicle; wherein the first control instruction is used to indicate whether the engine is allowed to start; based on the first control instruction, controlling the engine. The method can improve the control flexibility of the engine, so as to reduce the engine fuel consumption and ensure driving safety.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more particularly, to a vehicle control method, a vehicle control device and a vehicle in the field of vehicles. Background Art

[0002] A hybrid vehicle is equipped with both a drive motor and an engine, and can achieve pure electric drive and oil-electric hybrid drive during driving; during driving, the vehicle may start and stop frequently, for example, on congested or muddy roads, and the driver may start the vehicle by stepping on the accelerator deeply. At this time, the vehicle will request to start the engine due to a large drive power or drive torque request; however, under this condition, it may not be necessary to start the engine to control the vehicle to start; if the engine is controlled to start, it will increase the engine's fuel consumption and may also threaten driving safety.

[0003] Therefore, how to determine how to control the engine according to the working conditions of the vehicle and improve the flexibility of engine control to reduce engine fuel consumption and ensure driving safety is an urgent problem to be solved. Summary of the invention

[0004] The present application provides a vehicle control method, a vehicle control device and a vehicle, wherein the method can improve the control flexibility of an engine to reduce engine fuel consumption and ensure driving safety.

[0005] In a first aspect, a vehicle control method is provided, the method comprising:

[0006] When it is detected that the vehicle starts in the target driving mode, battery parameters of the power battery of the vehicle are obtained; wherein the battery parameters include the battery state of charge and the battery available discharge power;

[0007] Based on the battery parameter, determining a first control instruction of an engine in the vehicle; wherein the first control instruction is used to indicate whether to allow the engine to start;

[0008] The engine is controlled based on the first control instruction.

[0009] In the above technical solution, when it is detected that the vehicle starts in the target drive mode, the battery state of charge and the available discharge power of the battery of the vehicle's power battery are obtained; according to the above battery parameters, the first control instruction is determined to determine whether the engine is allowed to start; after the first control instruction is determined, the engine of the vehicle is controlled according to the first control instruction. For hybrid vehicles, which are equipped with a drive motor and an engine at the same time, the battery parameters of the power battery can reflect whether the drive motor can provide sufficient power; combined with the battery parameters, it is determined whether the engine is allowed to start in the starting stage, which can improve the flexibility of controlling the engine; when the vehicle starts in the target drive mode, judgment and control can be performed to avoid the energy consumption caused by controlling the engine start when the engine does not need to be started, which can reduce the cost of using the vehicle and improve the economy of use; on this basis, flexible control of the start and stop of the engine can also ensure that the vehicle can run stably under the current working conditions and ensure driving safety.

[0010] In conjunction with the first aspect, in some possible implementations, determining a first control instruction for an engine in a vehicle based on a battery parameter includes:

[0011] determining whether the battery state of charge is greater than or equal to a first charge threshold, and whether the battery available discharge power is greater than or equal to a first power threshold;

[0012] If the battery state of charge is greater than or equal to the first charge threshold, and the battery available discharge power is greater than or equal to the first power threshold, obtaining the accelerator pedal opening and the current state of the drive motor when the vehicle is in the starting state;

[0013] A first control instruction is determined based on the accelerator pedal opening degree and the current state of the drive motor when the vehicle is in a starting state.

[0014] In the above technical solution, the relationship between the battery state of charge and the first charge threshold, and the relationship between the battery available discharge power and the first power threshold are compared; when it is determined that the battery state of charge is greater than or equal to the first charge threshold, and the battery available discharge power is greater than or equal to the first power threshold, the corresponding first control instruction is determined in combination with the accelerator pedal opening and the current state of the drive motor when the vehicle is starting. By setting the charge threshold and the power threshold, it is determined whether the vehicle's power battery can provide sufficient power for the vehicle; if it can provide sufficient power, it can be further determined whether there is a situation of large throttle starting, and whether the drive motor is working normally, so as to determine whether the engine needs to be started, so as to improve the accuracy of the first control instruction and avoid engine control errors that cause the vehicle to be unable to drive normally or cause energy waste.

[0015] In combination with the first aspect and the above implementations, in some possible implementations, determining the first control instruction based on the accelerator pedal opening and the current state of the drive motor when the vehicle is in a starting state includes:

[0016] If the accelerator pedal opening is greater than or equal to the first opening threshold, and the current state of the drive motor is a normal state, determining that the first control instruction is a prohibition start instruction;

[0017] If the accelerator pedal opening is less than the first opening threshold, or the current state of the drive motor is an abnormal state, the first control instruction is determined to be a start permission instruction.

[0018] In the above technical solution, when the accelerator pedal opening is greater than or equal to the first opening threshold, and the current state of the drive motor is normal, the first control instruction is determined to be a prohibition start instruction; when the accelerator pedal opening is less than the first opening threshold, or the current state of the drive motor is abnormal, the first control instruction is determined to be a permission start instruction. When the accelerator pedal opening is large, it indicates that the vehicle is in a state of large throttle start; when the drive motor is in a normal state, it indicates that the drive motor can provide enough power to start the vehicle, and determining the prohibition start instruction can avoid unnecessary starting of the engine and waste of energy; when the accelerator pedal opening is small, or there is an abnormality in the drive motor, determining the permission start instruction can enable the engine to provide power to the vehicle and ensure that the vehicle can drive normally.

[0019] In combination with the first aspect and the above implementation manner, in some possible implementation manners, when the first control instruction is a startup prohibition instruction, the method further includes:

[0020] Acquiring a first parameter of the vehicle; wherein the first parameter includes the available discharge power of the power battery, the engine starting method, the vehicle speed, gear position and accelerator pedal opening;

[0021] When the first parameter satisfies the first preset condition, determining a second control instruction;

[0022] controlling the engine based on the second control instruction;

[0023] Among them, the first preset condition includes at least one of the following: the available discharge power of the battery is less than or equal to the second power threshold; the engine starting method includes sliding friction start; the vehicle speed is greater than or equal to the speed threshold; the accelerator pedal opening is less than or equal to the second opening threshold; the gear is the preset gear.

[0024] In the above technical solution, when the battery state of charge and the battery available discharge power are both greater than or equal to the preset threshold, after the engine start is restricted based on the prohibition start instruction, multiple first parameters of the vehicle are monitored, and when the first parameter meets the first preset condition, the engine is controlled through the second control instruction. The first preset conditions are all used to indicate that there is no need to restrict the engine start, further improving the flexibility of the engine control, and when the necessity of starting the engine is greater, the engine can be allowed to start to ensure that the vehicle can drive normally.

[0025] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the method further includes:

[0026] If the battery state of charge is less than the first charge threshold, or the battery available discharge power is less than the first power threshold, detecting whether the vehicle is in a slipping state and obtaining a detection result;

[0027] If the detection result indicates that the vehicle is not in a slipping state, determining the first control instruction as a start permission instruction;

[0028] If the detection result indicates that the vehicle is in a slipping state, a first control instruction is determined based on the relationship between the battery state of charge and the second charge threshold, and the relationship between the battery available discharge power and the third power threshold; wherein the second charge threshold is less than the first charge threshold, and the third power threshold is less than the first power threshold.

[0029] In the above technical solution, when it is detected that the battery state of charge is less than the first charge threshold, or the battery available discharge rate is less than the first power threshold, it is further determined whether the vehicle is in a slipping state; if it is in a slipping state, the first control instruction is determined to be an instruction to allow starting, and starting the engine can provide greater power for the vehicle to ensure normal driving of the vehicle; when the vehicle is in a slipping state, the relationship between the battery state of charge and the battery available discharge power and the preset threshold is further determined to determine the first control instruction; the first control instruction is determined in combination with multiple parameters to improve the accuracy of the first control instruction to avoid misoperation of the engine, waste of energy, and impact on driving safety.

[0030] In combination with the first aspect and the above implementation manner, in some possible implementation manners, determining the first control instruction based on the relationship between the battery state of charge and the second charge threshold, and the relationship between the battery available discharge power and the third power threshold, includes:

[0031] If the battery state of charge is greater than or equal to the second charge threshold, and the battery available discharge power is greater than or equal to the third power threshold, determining that the first control instruction is a prohibition start instruction;

[0032] If the battery state of charge is less than the second charge threshold, or the battery available discharge power is less than the third power threshold, the first control instruction is determined to be a start-up permission instruction.

[0033] In the above technical solution, when the battery state of charge is greater than or equal to the second charge threshold, and the battery available discharge power is greater than or equal to the third power threshold, the first control instruction is determined as a start-prohibiting instruction; when the power battery can meet the vehicle power requirements, the engine is prohibited from starting, which can avoid unnecessary waste of energy; when the battery state of charge is less than the second charge threshold, or the battery available discharge power is less than the third power threshold, the first control instruction is determined as a start-allowing instruction, so that the engine can combine with the drive motor to provide power for the vehicle, ensuring that the vehicle can drive normally.

[0034] In combination with the first aspect and the above implementation manner, in some possible implementation manners, when the first control instruction is a startup prohibition instruction, the method further includes:

[0035] Acquiring a second parameter of the vehicle; wherein the second parameter includes whether the vehicle is in a slipping state, a battery state of charge of a power battery and an available discharge power of the battery, an engine starting method, and a gear position of the vehicle;

[0036] When the second parameter satisfies the second preset condition, determining a third control instruction;

[0037] controlling the engine based on the third control instruction;

[0038] Among them, the second preset condition includes at least one of the following: the vehicle is not in a slipping state; the battery state of charge is less than or equal to a third charge threshold; the battery available discharge power is less than or equal to a fourth power threshold; the engine starting method includes sliding friction start; the gear is a preset gear.

[0039] In the above technical solution, when any one of the battery state of charge and the battery available discharge power is less than the preset threshold, after the engine start is restricted based on the prohibition start instruction, multiple second parameters of the vehicle are monitored, and when the second parameter meets the second preset condition, the engine is controlled through the third control instruction. The second preset conditions are all used to indicate that there is no need to restrict the engine start, further improving the flexibility of the engine control, and when the necessity of starting the engine is greater, the engine can be allowed to start to ensure that the vehicle can drive normally.

[0040] In combination with the first aspect and the above implementations, in some possible implementations, detecting whether the vehicle is in a slipping state includes:

[0041] Get the current speed of the vehicle and the current wheel speed;

[0042] Based on the current vehicle speed, determining a target wheel speed corresponding to the vehicle speed;

[0043] Based on the target wheel speed and the current wheel speed, determine whether the vehicle is in a slipping state.

[0044] In combination with the first aspect and the above implementations, in some possible implementations, determining whether the vehicle is in a slipping state based on the target wheel speed and the current wheel speed includes:

[0045] If the current wheel speed is greater than the target wheel speed, determining the wheel speed difference between the current wheel speed and the target wheel speed;

[0046] If the wheel speed difference is greater than or equal to the difference threshold, it is determined that the vehicle is in a slipping state;

[0047] If the wheel speed difference is less than the difference threshold, it is determined that the vehicle is not in a slipping state.

[0048] In the above technical scheme, the current vehicle speed and wheel speed of the vehicle are obtained; the target wheel speed corresponding to the current vehicle speed is determined; when the current wheel speed is greater than the target wheel speed, the wheel speed difference between the two is calculated; if the wheel speed difference is greater than or equal to the difference threshold, it is determined that the vehicle is in a slipping state; if the wheel speed difference is less than the difference threshold, it is determined that the vehicle is not in a slipping state; by comparing the target wheel speed in the theoretical situation with the actual current wheel speed, it is determined whether the vehicle is in a slipping state, thereby improving the accuracy of the slipping state judgment; a difference threshold is set, and when the difference between the two is large, it is determined that the vehicle is in a slipping state, thereby avoiding small errors in the numerical value from affecting the judgment result, thereby further improving the accuracy of the judgment result.

[0049] In a second aspect, a vehicle control device is provided, the vehicle control device comprising:

[0050] A first acquisition module is used to acquire battery parameters of a power battery of the vehicle when it is detected that the vehicle starts in a target driving mode; wherein the battery parameters include a battery state of charge and a battery available discharge power;

[0051] A first determination module is used to determine a first control instruction of an engine in a vehicle based on a battery parameter; wherein the first control instruction is used to indicate whether to allow the engine to start;

[0052] The first control module is used to control the engine based on a first control instruction.

[0053] In combination with the second aspect, in some possible implementations, the first determination module is also used to determine whether the battery state of charge is greater than or equal to a first charge threshold, and whether the battery available discharge power is greater than or equal to a first power threshold; if the battery state of charge is greater than or equal to the first charge threshold, and the battery available discharge power is greater than or equal to the first power threshold, obtain the accelerator pedal opening at the starting state of the vehicle and the current state of the drive motor; determine the first control instruction based on the accelerator pedal opening at the starting state of the vehicle and the current state of the drive motor.

[0054] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the first determination module is also used to determine that the first control instruction is a prohibit start instruction if the accelerator pedal opening is greater than or equal to a first opening threshold and the current state of the drive motor is a normal state; if the accelerator pedal opening is less than the first opening threshold, or the current state of the drive motor is an abnormal state, determine that the first control instruction is a permission start instruction.

[0055] In combination with the second aspect and the above implementation manner, in some possible implementation manners, when the first control instruction is a startup prohibition instruction, the device further includes:

[0056] A second acquisition module is used to acquire a first parameter of the vehicle; wherein the first parameter includes the available discharge power of the power battery, the engine starting method, the vehicle speed, the gear position and the accelerator pedal opening;

[0057] A second determining module, configured to determine a second control instruction when the first parameter satisfies a first preset condition;

[0058] A second control module, used for controlling the engine based on a second control instruction;

[0059] Among them, the first preset condition includes at least one of the following: the available discharge power of the battery is less than or equal to the second power threshold; the engine starting method includes sliding friction start; the vehicle speed is greater than or equal to the speed threshold; the accelerator pedal opening is less than or equal to the second opening threshold; the gear is the preset gear.

[0060] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the first determination module is also used to detect whether the vehicle is in a slipping state and obtain a detection result if the battery state of charge is less than a first charge threshold, or the battery available discharge power is less than a first power threshold; if the detection result indicates that the vehicle is not in a slipping state, determine the first control instruction as an instruction to allow start; if the detection result indicates that the vehicle is in a slipping state, determine the first control instruction based on the relationship between the battery state of charge and the second charge threshold, and the relationship between the battery available discharge power and the third power threshold; wherein the second charge threshold is less than the first charge threshold, and the third power threshold is less than the first power threshold.

[0061] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the first determination module is also used to determine that the first control instruction is a prohibit start instruction if the battery state of charge is greater than or equal to the second charge threshold, and the battery available discharge power is greater than or equal to the third power threshold; if the battery state of charge is less than the second charge threshold, or the battery available discharge power is less than the third power threshold, determine that the first control instruction is a allow start instruction.

[0062] In combination with the second aspect and the above implementation manner, in some possible implementation manners, when the first control instruction is a startup prohibition instruction, the device further includes:

[0063] A third acquisition module is used to acquire a second parameter of the vehicle; wherein the second parameter includes whether the vehicle is in a slipping state, a battery charge state of the power battery and an available discharge power of the battery, a starting method of the engine, and a gear position of the vehicle;

[0064] A third determining module, configured to determine a third control instruction when the second parameter satisfies a second preset condition;

[0065] A third control module, used for controlling the engine based on a third control instruction;

[0066] Among them, the second preset condition includes at least one of the following: the vehicle is not in a slipping state; the battery state of charge is less than or equal to a third charge threshold; the battery available discharge power is less than or equal to a fourth power threshold; the engine starting method includes sliding friction start; the gear is a preset gear.

[0067] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the first determination module is also used to obtain the current vehicle speed and the current wheel speed of the vehicle; based on the current vehicle speed, determine the target wheel speed corresponding to the vehicle speed; based on the target wheel speed and the current wheel speed, determine whether the vehicle is in a slipping state.

[0068] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the first determination module is also used to determine the wheel speed difference between the current wheel speed and the target wheel speed if the current wheel speed is greater than the target wheel speed; if the wheel speed difference is greater than or equal to the difference threshold, determine that the vehicle is in a slipping state; if the wheel speed difference is less than the difference threshold, determine that the vehicle is not in a slipping state.

[0069] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0070] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0071] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 This is a schematic diagram of a scenario provided by an embodiment of the present application;

[0073] Figure 2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0074] Figure 3 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0075] Figure 4 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0076] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0077] The following will be combined with the accompanying drawings to clearly and thoroughly describe the technical solutions in this application. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, such as A or B, which can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0078] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0079] In order to solve the problems of excessive energy consumption and environmental pollution, more and more users will choose electric vehicles equipped with drive motors; however, when pure electric vehicles are under conditions where high torque is required, such as when the battery is insufficient or when climbing a slope, the drive motor cannot provide the vehicle with high torque, affecting the normal driving of the vehicle. Therefore, a hybrid electric vehicle (HEV) is proposed, referred to as a hybrid vehicle. The hybrid vehicle is equipped with the engine, transmission, fuel tank and other parts of a traditional fuel vehicle, as well as the drive motor, power battery and external charging interface of a pure electric vehicle. During daily commuting, in order to save energy and achieve good quietness, most people will drive in pure electric mode, that is, the engine is not started, and only the drive motor is used to drive the vehicle; the engine is started to intervene and assist when the battery is insufficient or when climbing a slope on an elevated road.

[0080] Generally speaking, during the entire driving process, the operation of shutting down and starting the engine is quite common. For example, when starting on ice, snow, muddy roads in rainy days, or when driving on roads with high road resistance such as slopes, the driver usually presses the accelerator pedal deeply to request a larger torque so that the vehicle can start smoothly; at this time, according to the preset rules of the vehicle, when the requested torque reaches a certain value, the engine will be automatically started to provide power; but for hybrid vehicles, they are equipped with both a drive motor and an engine. If the drive motor is sufficient to drive the vehicle to start, there is no need to start the engine, resulting in a waste of fuel; when the vehicle is in congested sections and other working conditions, there may be frequent engine starts and stops, which will further increase the waste of fuel. For example, when a vehicle is waiting for a traffic light at an intersection and is the first vehicle in the current lane, some drivers will press the accelerator pedal deeply to complete the start under the premise of ensuring safety; if the vehicle is on an urban road, after starting, the accelerator is released because the road display value is not displayed. In this process, there is also a process of starting and stopping the engine, which will cause fuel consumption.

[0081] In addition, the driving modes of hybrid vehicles can include four-wheel drive mode, front-wheel drive mode and rear-wheel drive mode; when the vehicle is in pure electric four-wheel drive mode before starting, or in the process of switching from pure electric rear-wheel drive mode to pure electric four-wheel drive mode, if the driver steps on the accelerator deeply to start, the engine may be started at this time due to the large demand for driving power or driving torque; however, when the vehicle is in low-speed pure electric four-wheel drive mode, before starting the engine, the front axle needs to be disengaged from neutral gear, and then the clutch is closed to start the engine. The above process can avoid the jerking of low-speed sliding start and the damage to the clutch caused by long-term sliding; therefore, under this operating condition, starting the engine will not only cause additional fuel consumption, but may also cause the front axle power interruption caused by engine start-stop, resulting in a tail-end swing accident of the vehicle, endangering driving safety.

[0082] Slip start means that the front axle transmission is in gear, and the front axle drive motor and clutch are controlled to make the two ends of the clutch slide and drag the engine. Because hybrid vehicles have fewer gears, the speed range for slip start is limited to 30kph~100kph, to avoid low-speed direct drive that pulls down the engine wheel speed and stalls the engine.

[0083] In view of the above problems, the embodiments of the present application provide a vehicle control method, a vehicle control device and a vehicle; when the method detects that the vehicle starts in the target driving mode, by detecting the battery charge state of the vehicle's power battery and the battery available discharge power, the first control instruction for the engine is determined; the engine is controlled according to the first control instruction. In combination with the battery parameters of the power battery, it is determined whether the engine is allowed to be controlled to start, and the engine can be flexibly controlled in combination with the working conditions of the vehicle; the engine is avoided from being started in unnecessary situations, resulting in fuel waste and even causing a tail-spinning accident.

[0084] Figure 1 This is a schematic diagram of a scenario provided by an embodiment of the present application. Figure 1 As shown, the hybrid vehicle 100 is equipped with two drive motors, namely a front drive motor 101 and a rear drive motor 102; taking the left side as the front direction of the vehicle 100 as an example, when the driving mode of the vehicle 100 is the front drive mode, the front drive motor 101 is in a working state, the right front wheel 103 and the left front wheel 104 are driving wheels, and the right rear wheel 105 and the left rear wheel 106 are driven wheels; when the driving mode of the vehicle 100 is the rear drive mode, the rear drive motor 102 is in a working state, the right rear wheel 105 and the left rear wheel 106 are driving wheels, and the right front wheel 103 and the left front wheel 104 are driven wheels; when the driving mode of the vehicle 100 is the four-wheel drive mode, the front drive motor 101 and the rear drive motor 102 are both in a working state, and the right front wheel 103, the left front wheel 104, the right rear wheel 105 and the left rear wheel 106 are all driving wheels.

[0085] In the embodiment of the present application, the vehicle 100 needs to meet the requirements of having a pure electric four-wheel drive mode, and the front axle transmission needs to be shifted to neutral before starting the engine at a low speed.

[0086] Combine the following Figures 2 to 3 The vehicle control method provided in the embodiment of the present application is described in detail.

[0087] Figure 2 is a schematic flow chart of a vehicle control method provided by an embodiment of the present application. It should be understood that the method can be applied to a vehicle; or, applied to a processor in a vehicle; or, applied to a chip in a processor mounted in a vehicle.

[0088] For example, Figure 2 As shown, the method 200 includes:

[0089] S201, when it is detected that the vehicle starts in the target driving mode, obtaining battery parameters of the power battery of the vehicle; wherein the battery parameters include the battery state of charge and the battery available discharge power.

[0090] Among them, the above-mentioned vehicle is a hybrid vehicle, which is equipped with a drive motor and an engine at the same time.

[0091] In the embodiment of the present application, the target driving mode is a pure electric four-wheel drive mode.

[0092] The vehicle's driving modes may include pure electric four-wheel drive mode, pure electric rear-wheel drive mode, hybrid mode and engine drive mode, etc. During vehicle driving, the Electronic Control Unit (ECU) will select a driving mode that matches the current operating conditions based on the vehicle's driving conditions and driving requirements; or, based on the driver's manual operation, select the currently required driving mode.

[0093] The state of charge (SOC) of the battery is used to indicate the percentage of the current remaining power of the power battery to the total capacity, and is an important parameter for measuring the remaining power of the battery; the available discharge power (AvailableDischargePower) of the battery is used to indicate the maximum power output that the power battery can provide in the current state; both SOC and available discharge power can directly affect the vehicle's acceleration performance, climbing ability and overall driving experience. Therefore, combined with the battery parameters of the power battery, the power situation of the vehicle can be accurately analyzed.

[0094] Exemplarily, during the vehicle starting process, if it is detected that the vehicle's driving mode is a pure electric four-wheel drive mode, or the vehicle is in the process of switching from a pure electric rear-wheel drive mode to a pure electric four-wheel drive mode, the SOC of the vehicle's power battery and the battery available discharge power are obtained.

[0095] Exemplarily, the battery state of charge of the power battery is obtained to be 70%; the available discharge power of the battery is 135 kW.

[0096] Optionally, the battery state of charge SOC acquisition method may include: current integration method (CoulombCounting), voltage method (Voltage Method), impedance method (Impedance Method) and model prediction method (Model-Based Estimation), etc. The current integration method measures the current during the battery charging and discharging process to calculate the battery charge and discharge amount, and then estimates the SOC; the voltage method measures the open circuit voltage (OCV) of the battery and estimates the SOC according to the battery voltage-state of charge curve; the impedance method measures the internal resistance of the battery and estimates the SOC according to the relationship between the internal resistance and the SOC; the model prediction method uses the mathematical model of the battery, combined with multiple parameters such as current, voltage, temperature, etc., to predict the SOC through an algorithm.

[0097] Optionally, the method for obtaining the available discharge power of the battery may include: direct measurement, model prediction, and real-time monitoring, etc. Direct measurement directly measures the discharge power of the battery through a power meter or a battery management system (BMS); model prediction uses a mathematical model of the battery, combined with current SOC, temperature, charge and discharge history and other parameters, to predict the available discharge power through an algorithm; real-time monitoring dynamically adjusts the estimated value of the available discharge power by real-time monitoring of battery parameters such as voltage, current and temperature.

[0098] It should be noted that, during the starting phase of the vehicle, the gear position of the vehicle may be D gear or R gear; that is, the vehicle may be in the forward starting phase or the reverse starting phase.

[0099] S202, determining a first control instruction for an engine in the vehicle based on the battery parameters; wherein the first control instruction is used to indicate whether to allow the engine to start.

[0100] Exemplarily, after the battery state of charge and the available discharge power of the power battery are acquired, a corresponding first control instruction is determined according to the above battery parameters to determine whether to allow the engine in the vehicle to start.

[0101] In one implementation, determining a first control instruction for an engine in a vehicle based on a battery parameter includes:

[0102] determining whether the battery state of charge is greater than or equal to a first charge threshold, and whether the battery available discharge power is greater than or equal to a first power threshold;

[0103] If the battery state of charge is greater than or equal to the first charge threshold, and the battery available discharge power is greater than or equal to the first power threshold, obtaining the accelerator pedal opening and the current state of the drive motor when the vehicle is in a starting state;

[0104] A first control instruction is determined based on the accelerator pedal opening degree and the current state of the drive motor when the vehicle is in a starting state.

[0105] The current state of the drive motor is used to indicate whether the drive motor has an abnormal fault; the current state may be a normal state or an abnormal state.

[0106] Exemplarily, the first charge threshold is pre-set to 25%, and the first power threshold is pre-set to 100kW; after obtaining the battery state of charge and the battery available discharge power before the vehicle starts, compare the relationship between the battery state of charge and the first charge threshold; and the relationship between the battery available discharge power and the first power threshold; when it is detected that the battery state of charge is greater than or equal to 25%, and the battery available discharge power is greater than or equal to 100kW, it indicates that the power battery can provide sufficient power; further obtain the accelerator pedal opening during the vehicle starting process and the current state of the drive motor; determine the first control instruction of the vehicle's engine according to the accelerator pedal opening and the current state of the drive motor.

[0107] Optionally, the process of detecting the current state of the drive motor can also be called detecting whether the vehicle has a high-priority starting source. The high-priority starting source may include a drive motor failure or an overtemperature of the drive motor. When a high-priority starting source is detected, the current state of the drive motor is an abnormal state. If no high-priority starting source is detected, the current state of the drive motor is a normal state.

[0108] In the embodiment of the present application, the relationship between the battery state of charge and the first charge threshold, and the relationship between the battery available discharge power and the first power threshold are compared; when it is determined that the battery state of charge is greater than or equal to the first charge threshold, and the battery available discharge power is greater than or equal to the first power threshold, the corresponding first control instruction is determined in combination with the accelerator pedal opening and the current state of the drive motor when the vehicle is in the starting state. By setting the charge threshold and the power threshold, it is determined whether the vehicle's power battery can provide sufficient power for the vehicle; if it can provide sufficient power, it can be further determined whether there is a situation of large throttle starting, and whether the drive motor is working normally, to determine whether the engine needs to be started, so as to improve the accuracy of the first control instruction and avoid engine control errors that cause the vehicle to be unable to drive normally or cause energy waste.

[0109] The accelerator pedal opening can reflect the torque required by the driver under the current working conditions. If the driver starts the vehicle by stepping on the accelerator pedal deeply, the vehicle engine may be started unnecessarily. In this case, the engine needs to be prohibited from starting to save fuel consumption and ensure driving safety. In one implementation, the first control instruction is determined based on the accelerator pedal opening when the vehicle starts and the current state of the drive motor, including:

[0110] If the accelerator pedal opening is greater than or equal to the first opening threshold, and the current state of the drive motor is a normal state, determining that the first control instruction is a prohibition start instruction;

[0111] If the accelerator pedal opening is less than the first opening threshold, or the current state of the drive motor is an abnormal state, the first control instruction is determined to be a start permission instruction.

[0112] Exemplarily, the first opening threshold corresponding to the accelerator pedal opening is preset to 60%; if the accelerator pedal opening when the vehicle is in the starting state is obtained to be 80%, which is greater than the first opening threshold of 60%, and the current state of the drive motor is normal, it indicates that the drive motor can be used normally at this time, and the starting state does not require the engine to start to provide power. Therefore, the first control instruction is determined to be a prohibition of starting instruction.

[0113] When the accelerator pedal opening is 30%, which is less than the first opening threshold of 60%, it indicates that the power demand is small at this time, and the vehicle will not actively control the engine to start and provide power. Therefore, the first control instruction can be determined as a start-allowed instruction; after the vehicle enters the driving stage normally, the engine can be flexibly controlled to be turned on and off according to the implementation needs of the vehicle; when the current state of the drive motor is detected to be an abnormal state, it indicates that the drive motor may not be able to provide power to the vehicle normally, so the first control instruction is determined to be a start-allowed instruction. Further, if it is determined that the drive motor has failed and cannot drive the vehicle, a start request is directly sent to the engine to start the engine and drive the vehicle to start.

[0114] Optionally, the method for determining the current state of the drive motor is to obtain relevant working parameters of the drive motor; if a fault code is detected in the working parameters of the drive motor, it can be determined that the current state of the drive motor is an abnormal state; otherwise, it is determined that the current state of the drive motor is a normal state.

[0115] Optionally, the method for determining the current state of the drive motor can also be to obtain the motor temperature of the drive motor; set a temperature threshold, if the motor temperature is greater than or equal to the temperature threshold, determine that the current state of the drive motor is an abnormal state; otherwise, determine that the current state of the drive motor is a normal state.

[0116] In the embodiment of the present application, when the accelerator pedal opening is greater than or equal to the first opening threshold, and the current state of the drive motor is normal, the first control instruction is determined to be a prohibition of starting instruction; when the accelerator pedal opening is less than the first opening threshold, or the current state of the drive motor is abnormal, the first control instruction is determined to be a permission of starting instruction. When the accelerator pedal opening is large, it indicates that the vehicle is in a state of large throttle starting; when the drive motor is in a normal state, it indicates that the drive motor can provide enough power to start the vehicle, and determining a prohibition of starting instruction can avoid unnecessary starting of the engine and waste of energy; when the accelerator pedal opening is small, or there is an abnormality in the drive motor, determining a permission of starting instruction can enable the engine to provide power to the vehicle and ensure that the vehicle can drive normally.

[0117] In one implementation, if the battery state of charge is less than a first charge threshold, or the battery available discharge power is less than a first power threshold, detecting whether the vehicle is in a slipping state and obtaining a detection result;

[0118] If the detection result indicates that the vehicle is not in a slipping state, determining the first control instruction as a start permission instruction;

[0119] If the detection result indicates that the vehicle is in a slipping state, a first control instruction is determined based on a relationship between the battery state of charge and the second charge threshold, and a relationship between the battery available discharge power and the third power threshold.

[0120] Exemplarily, when it is detected that the battery state of charge of the power battery is less than the first charge threshold (such as 25%), or the battery available discharge power is less than the first power threshold (such as 100kW), it indicates that the power that the current power battery can provide is small; it is further possible to detect whether the vehicle is in a slipping state, obtain a detection result, and determine the corresponding first control instruction according to the detection result; if the detection result indicates that the vehicle is not in a slipping state, there is no need to restrict the engine start, that is, determine the first control instruction as a start-allowing instruction; when the driver steps deeply on the accelerator, allow the engine to start to ensure electrical balance and power requirements. If the detection result indicates that the vehicle is in a slipping state, the relationship between the battery state of charge and the second charge threshold, and the battery available discharge power and the third power threshold is determined to determine the first control instruction.

[0121] In the case that the battery charge state of the power battery obtained above is less than the first charge threshold, or the available discharge power of the battery is less than the first power threshold, when the vehicle is detected to be in a slipping state, in order to further determine whether the drive motor can provide corresponding power to maintain vehicle stability, a second charge threshold that is less than the first charge threshold and a third power threshold that is less than the first power threshold are set.

[0122] Exemplarily, if the first charge threshold is 25%, the second charge threshold can be set to 15%; if the first power threshold is 100 kW, the third power threshold can be set to 50 kW.

[0123] It should be noted that the threshold setting values ​​in the embodiments of the present application are only examples. Different thresholds can be determined for different vehicles and driving conditions to adapt to the performance of the vehicle and improve the accuracy of the judgment.

[0124] In an embodiment of the present application, when it is detected that the battery state of charge is less than a first charge threshold, or the battery available discharge rate is less than a first power threshold, it is further determined whether the vehicle is in a slipping state; if in a slipping state, the first control instruction is determined to be an instruction to allow starting, and starting the engine can provide greater power for the vehicle to ensure normal driving of the vehicle; when the vehicle is in a slipping state, the relationship between the battery state of charge and the battery available discharge power and a preset threshold is further determined to determine the first control instruction; the first control instruction is determined in combination with multiple parameters to improve the accuracy of the first control instruction to avoid misoperation of the engine, waste of energy, and impact on driving safety.

[0125] In one implementation, determining the first control instruction based on the relationship between the battery state of charge and the second charge threshold, and the relationship between the battery available discharge power and the third power threshold, includes:

[0126] If the battery state of charge is greater than or equal to the second charge threshold, and the battery available discharge power is greater than or equal to the third power threshold, determining that the first control instruction is a prohibition start instruction;

[0127] If the battery state of charge is less than the second charge threshold, or the battery available discharge power is less than the third power threshold, the first control instruction is determined to be a start-up permission instruction.

[0128] Exemplarily, when the current battery state of charge of the power battery is greater than or equal to the second charge threshold, and the battery available discharge power is greater than or equal to the third power threshold, it indicates that the vehicle's power battery can provide power for the vehicle, so that the vehicle can start smoothly, and there is no need to control the engine to start at this time. Therefore, the first control instruction is determined to be a prohibition of starting instruction; when the battery state of charge is less than the second charge threshold, or the battery available discharge power is less than the third power threshold, in order to enable the vehicle to start and drive stably, the engine is not restricted, and the first control instruction is determined to be a permission to start instruction; when there is a starting demand, it is allowed to start the engine and the drive motor for series power generation or direct drive assistance.

[0129] In an embodiment of the present application, when the battery state of charge is greater than or equal to the second charge threshold, and the battery available discharge power is greater than or equal to the third power threshold, the first control instruction is determined as a start-prohibiting instruction; when the power battery can meet the vehicle power requirements, the engine is prohibited from starting, which can avoid unnecessary waste of energy; when the battery state of charge is less than the second charge threshold, or the battery available discharge power is less than the third power threshold, the first control instruction is determined as a start-allowing instruction, so that the engine can combine with the drive motor to provide power to the vehicle, ensuring that the vehicle can drive normally.

[0130] In one implementation, detecting whether the vehicle is in a slipping state includes:

[0131] Get the current speed of the vehicle and the current wheel speed;

[0132] Based on the current vehicle speed, determining a target wheel speed corresponding to the vehicle speed;

[0133] Based on the target wheel speed and the current wheel speed, determine whether the vehicle is in a slipping state.

[0134] For example, when a vehicle is driving, there is a certain proportional relationship between the vehicle speed and the wheel speed. The distance traveled by each wheel rotation is fixed, and this distance depends on the circumference of the tire. When the vehicle is driving on a good road and there is no slipping, the proportional relationship between the vehicle speed and the wheel speed is relatively stable. However, when the vehicle slips, the wheel speed will be significantly higher than the theoretical wheel speed calculated based on the vehicle speed. Therefore, the target wheel speed corresponding to normal driving conditions can be determined based on the current vehicle speed; then the target wheel speed and the current wheel speed can be compared to determine whether the vehicle is in a slipping state.

[0135] In one implementation, the process of determining the target wheel speed may include: obtaining the tire specifications of the wheel; the tire specifications may include the width, aspect ratio and inner diameter of the wheel, etc.; determining the corresponding tire circumference based on the tire specifications; determining the target wheel speed based on the tire circumference and the current speed of the vehicle.

[0136] For example, the tire specification of the wheel is 205 / 55 R16, where "205" indicates that the tire width is 205 mm, "55" indicates that the tire aspect ratio is 55%, and "R16" indicates that the tire inner diameter is 16 inches. Based on the above tire specifications, it can be calculated that the circumference of the wheel is approximately 1.9 meters. Then, the ratio of the current vehicle speed to the circumference is calculated to obtain the target wheel speed.

[0137] Optionally, the current wheel speed of the vehicle may be directly acquired through corresponding sensors.

[0138] In one implementation, determining whether the vehicle is in a slipping state based on the target wheel speed and the current wheel speed includes:

[0139] If the current wheel speed is greater than the target wheel speed, determining the wheel speed difference between the current wheel speed and the target wheel speed;

[0140] If the wheel speed difference is greater than or equal to the difference threshold, it is determined that the vehicle is in a slipping state;

[0141] If the wheel speed difference is less than the difference threshold, it is determined that the vehicle is not in a slipping state.

[0142] For example, after calculating the target wheel speed corresponding to the current vehicle speed, the target wheel speed and the current wheel speed acquired by the sensor can be compared. If the current wheel speed is less than or equal to the target wheel speed, it indicates that the vehicle is not currently in a slipping state; if the current wheel speed is greater than the target wheel speed, it indicates that the vehicle may be slipping; in order to further determine whether the vehicle is in a slipping state, the wheel speed difference between the current wheel speed and the target wheel speed is calculated; a difference threshold is set, and when the wheel speed difference is less than the difference threshold, it indicates that the gap between the current wheel speed and the target wheel speed is within a reasonable range, and it is determined that the vehicle is not in a slipping state; when the wheel speed difference is greater than the difference threshold, it indicates that the current wheel speed of the vehicle is significantly higher than the target wheel speed, and it can be determined that the vehicle is in a slipping state.

[0143] Optionally, the difference threshold can be set to a fixed value, such as 15 revolutions per minute; the difference threshold can also be determined in combination with the target wheel speed and a preset ratio value. For example, the preset ratio value is 10%. If the target wheel speed is calculated to be 50 revolutions per minute, the difference threshold can be determined to be 5 revolutions per minute. If the wheel speed difference is greater than or equal to 5 revolutions per minute, it indicates that the vehicle is in a slipping state.

[0144] In an embodiment of the present application, the current vehicle speed and wheel speed are obtained; a target wheel speed corresponding to the current vehicle speed is determined; when the current wheel speed is greater than the target wheel speed, the wheel speed difference between the two is calculated; if the wheel speed difference is greater than or equal to a difference threshold, it is determined that the vehicle is in a slipping state; if the wheel speed difference is less than the difference threshold, it is determined that the vehicle is not in a slipping state; by comparing the target wheel speed in a theoretical situation with the actual current wheel speed, it is determined whether the vehicle is in a slipping state, thereby improving the accuracy of the slipping state judgment; a difference threshold is set, and when the difference between the two is large, it is determined that the vehicle is in a slipping state, thereby avoiding small errors in the numerical value from affecting the judgment result, thereby further improving the accuracy of the judgment result.

[0145] S203, controlling the engine based on the first control instruction.

[0146] Exemplarily, after the first control instruction is determined according to the battery parameters, the engine is controlled according to the first control instruction.

[0147] Specifically, if the first control instruction is a start prohibition instruction, then when an engine start requirement is detected, sending a start instruction to the engine is prohibited; if the first control instruction is a start permission instruction, then when an engine start requirement is detected, a start instruction is sent to the engine to control the start of the engine.

[0148] In one implementation, when the battery state of charge is greater than or equal to the first charge threshold, and the battery available discharge power is greater than or equal to the first power threshold, and the determined first control instruction is a startup prohibition instruction, the embodiment of the present application further proposes:

[0149] Acquiring a first parameter of the vehicle; wherein the first parameter includes the available discharge power of the power battery, the engine starting method, the vehicle speed, gear position and accelerator pedal opening;

[0150] When the first parameter satisfies the first preset condition, determining a second control instruction;

[0151] controlling the engine based on the second control instruction;

[0152] Among them, the first preset condition includes at least one of the following: the available discharge power of the battery is less than or equal to the second power threshold; the engine starting method includes sliding friction start; the vehicle speed is greater than or equal to the speed threshold; the accelerator pedal opening is less than or equal to the second opening threshold; the gear is the preset gear.

[0153] Among them, the preset gear is P gear or N gear.

[0154] After the engine start restriction control is implemented through the prohibition of start command, the vehicle's operating condition needs to be monitored in real time; when it is detected that the vehicle's driving parameters meet the preset conditions, the restriction on the engine can be cancelled, and the second control command can be determined as the permission to start command to indicate that the engine is allowed to be controlled to start; the engine is controlled through the second control command.

[0155] Exemplarily, when the battery state of charge is greater than or equal to a first charge threshold, and the battery available discharge power is greater than or equal to a first power threshold, after the engine is controlled based on the start prohibition instruction, first parameters such as the battery available discharge power of the power battery, the engine starting method, the vehicle speed, gear position and accelerator pedal opening are monitored, and when one of them meets the first preset condition, the start instruction is determined to be allowed to control the engine.

[0156] Exemplarily, the second power threshold may be 60kW, and the first preset condition may be that the available discharge power of the battery is less than or equal to 60kW; and / or, the vehicle may control the start of the engine by means of sliding friction start; and / or, the vehicle speed threshold may be 30kph, and the first preset condition may be that the current vehicle speed is greater than or equal to 30kph, and sliding friction start is not available, and the vehicle is not in the process of switching from pure electric rear-wheel drive mode to pure electric four-wheel drive mode; and / or, the second opening threshold may be 20%, and the first preset condition may be that the accelerator pedal opening is less than or equal to 20%; and / or, the current gear of the vehicle is P gear or N gear.

[0157] Optionally, when the first parameters do not satisfy all of the above-mentioned first preset conditions, the second control instruction is determined to be a start prohibition instruction, and the engine start of the vehicle is continuously prohibited.

[0158] In the embodiment of the present application, when the battery state of charge and the battery available discharge power are both greater than or equal to the preset threshold, after the engine start is restricted based on the prohibition start instruction, multiple first parameters of the vehicle are monitored, and when the first parameter meets the first preset condition, the engine is controlled through the second control instruction. The first preset conditions are all used to indicate that there is no need to restrict the engine start, further improving the flexibility of the engine control, and when the necessity of starting the engine is greater, the engine can be allowed to start to ensure that the vehicle can drive normally.

[0159] In one implementation, when the battery state of charge is less than the first charge threshold, or the battery available discharge power is less than the first power threshold, and the determined first control instruction is a startup prohibition instruction, the embodiment of the present application further proposes:

[0160] Acquiring a second parameter of the vehicle; wherein the second parameter includes whether the vehicle is in a slipping state, a battery state of charge of a power battery and an available discharge power of the battery, an engine starting method, and a gear position of the vehicle;

[0161] When the second parameter satisfies the second preset condition, determining a third control instruction;

[0162] controlling the engine based on the third control instruction;

[0163] Among them, the second preset condition includes at least one of the following: the vehicle is not in a slipping state; the battery state of charge is less than or equal to a third charge threshold; the battery available discharge power is less than or equal to a fourth power threshold; the engine starting method includes sliding friction start; the gear is a preset gear.

[0164] Among them, the preset gear is P gear or N gear.

[0165] After the engine start restriction control is implemented through the start prohibition instruction, the vehicle's operating condition needs to be monitored in real time; when it is detected that the vehicle's driving parameters meet the preset conditions, the restriction on the engine can be cancelled, and the third control instruction can be determined as the permission control instruction to indicate that the engine start is allowed; the engine is controlled through the third control instruction.

[0166] Exemplarily, when the battery state of charge is less than a first charge threshold, or the battery available discharge power is less than a first power threshold, after the engine is controlled based on the start prohibition instruction, second parameters such as whether the vehicle is in a slipping state, the battery state of charge and the battery available discharge power of the power battery, the engine starting method, and the gear position of the vehicle are monitored. When one of them meets the second preset condition, the start instruction is determined to be allowed and the engine is controlled.

[0167] Exemplarily, when the vehicle is not in a slipping state, the third control instruction is determined to be an allowed control instruction; the third charge threshold may be 12%, and the first preset condition may be that the battery charge state is less than or equal to 12%; the fourth power threshold may be 20kW, and the first preset condition may be that the battery available discharge power is less than or equal to 20kW; and / or, the vehicle can control the engine to start by a slipping start method; and / or, the vehicle's current gear is P gear or N gear.

[0168] Optionally, in order to further ensure the driving safety of the vehicle, when it is detected that the vehicle switches from a slipping state to a non-slipping state, after a preset time (for example, 2 seconds), the third control instruction is determined to be an instruction to allow start-up to ensure that the vehicle completely exits the slipping state.

[0169] Optionally, when the second parameters do not satisfy all of the above second preset conditions, the third control instruction is determined to be a start prohibition instruction, and the engine start of the vehicle is continuously prohibited.

[0170] In the embodiment of the present application, when any one of the battery state of charge and the battery available discharge power is less than a preset threshold, after the engine start is restricted based on the prohibition of start instruction, multiple second parameters of the vehicle are monitored, and when the second parameter meets the second preset condition, the engine is controlled through the third control instruction. The second preset conditions are all used to indicate that there is no need to restrict the engine start, further improving the flexibility of the engine control, and when the necessity of starting the engine is greater, the engine can be allowed to start to ensure that the vehicle can drive normally.

[0171] In summary, when it is detected that the vehicle starts in the target drive mode, the battery state of charge and the available discharge power of the battery of the vehicle's power battery are obtained; according to the above battery parameters, the first control instruction is determined to determine whether the engine is allowed to start; after the first control instruction is determined, the vehicle's engine is controlled according to the first control instruction. For hybrid vehicles, which are equipped with a drive motor and an engine at the same time, the battery parameters of the power battery can reflect whether the drive motor can provide sufficient power; combined with the battery parameters, it is determined whether the engine is allowed to start in the starting stage, which can improve the flexibility of engine control; when the vehicle starts in the target drive mode, judgment and control can be performed to avoid energy consumption caused by controlling the engine start when the engine does not need to be started, which can reduce the cost of using the vehicle and improve the economy of use; on this basis, flexible control of the engine start and stop can also ensure that the vehicle can run stably in the current working conditions and ensure driving safety.

[0172] Figure 3 is a schematic flow chart of another vehicle control method provided by an embodiment of the present application. It should be understood that the method can be applied to a vehicle; or, applied to a processor in a vehicle; or, applied to a chip in a processor mounted in a vehicle.

[0173] For example, Figure 3 As shown, the method 300 includes:

[0174] S301, when it is detected that the vehicle starts in the target driving mode, obtaining the battery state of charge and the battery available discharge power of the power battery of the vehicle.

[0175] Among them, the above-mentioned vehicle is a hybrid vehicle, which is equipped with a drive motor and an engine at the same time.

[0176] In the embodiment of the present application, the target driving mode is a pure electric four-wheel drive mode.

[0177] Exemplarily, when it is detected that the vehicle starts in the pure electric four-wheel drive mode, or switches from other driving modes to the pure electric four-wheel drive mode, the SOC of the power battery is obtained to be 75%, and the available discharge power of the battery is obtained to be 500kW.

[0178] Optionally, the implementation of S301 can refer to Figure 2 The relevant description of S201 in the present application embodiment will not be repeated here.

[0179] S302: If the battery state of charge is greater than or equal to 25% and the battery available discharge power is greater than or equal to 100 kW, obtain the accelerator pedal opening when the vehicle is in the starting state and the current state of the drive motor.

[0180] The current state of the drive motor is used to reflect whether the drive motor can work normally.

[0181] Exemplarily, when it is detected that the battery state of charge of the power battery is greater than or equal to 25% and the available discharge power of the battery is greater than or equal to 100 kW, the accelerator pedal opening when the vehicle is in the starting state and the current state of the drive motor are further obtained.

[0182] Optionally, the accelerator pedal opening can be obtained by a sensor disposed on the accelerator pedal.

[0183] Optionally, the implementation of S302 can refer to Figure 2 The relevant description of S202 in the present application embodiment will not be repeated here.

[0184] S303: If the accelerator pedal opening is greater than or equal to the first opening threshold, and the current state of the drive motor is a normal state, determine that the first control instruction is a start prohibition instruction.

[0185] Exemplarily, the first opening threshold can be set to 70%. When the acquired accelerator pedal opening is greater than or equal to 70% and the current state of the drive motor is normal, there is no need to control the engine to start, that is, the first control instruction is determined to be a prohibition start instruction.

[0186] Optionally, the implementation of S303 can refer to Figure 2 The relevant description of S202 in the present application embodiment will not be repeated here.

[0187] S304: If the accelerator pedal opening is less than the first opening threshold, or the current state of the drive motor is an abnormal state, determine that the first control instruction is a start permission instruction.

[0188] Exemplarily, when the acquired accelerator pedal opening is less than 70%, or the current state of the drive motor is an abnormal state, it is determined that the first control instruction is a start permission instruction.

[0189] Optionally, when the motor temperature of the drive motor is too high, or the motor signal of the drive motor indicates the presence of a fault code, it can be determined that the current state of the drive motor is an abnormal state.

[0190] Optionally, the implementation of S304 can refer to Figure 2 The relevant description of S202 in the present application embodiment will not be repeated here.

[0191] S305: Control the engine based on the first control instruction.

[0192] Exemplarily, after determining the first control instruction of the engine, the electronic control system sends a corresponding instruction to the engine to control the engine.

[0193] Specifically, when the first control instruction is an instruction to allow starting, when there is a demand to start the engine, a start instruction is sent to the engine to control the engine start; when the first control instruction is an instruction to prohibit starting, if an engine start demand is detected during the vehicle's starting phase, no start instruction is sent to the engine, that is, the engine start is prohibited.

[0194] Optionally, the implementation of S305 can refer to Figure 2 The relevant description of S203 in the present application embodiment will not be repeated here.

[0195] S306: If the battery state of charge is less than 25%, or the battery available discharge power is less than 100 kW, detect whether the vehicle is in a slipping state and obtain a detection result.

[0196] Exemplarily, when the battery state of charge of the power battery is less than 25%, or the available discharge power of the battery is less than 100 kW, it is further detected whether the vehicle is in a slipping state to obtain a corresponding detection result.

[0197] Optionally, the current vehicle speed and the current wheel speed may be combined to determine whether the vehicle is in a slipping state.

[0198] Optionally, the implementation of S306 can refer to Figure 2 The relevant description of S202 in the present application embodiment will not be repeated here.

[0199] S307: If the detection result indicates that the vehicle is not in a slipping state, determine that the first control instruction is a start permission instruction.

[0200] Exemplarily, when the detection result indicates that the vehicle is not in a slipping state, the first control instruction is determined as a start permission instruction.

[0201] Optionally, the implementation of S307 can refer to Figure 2 The relevant description of S202 in the present application embodiment will not be repeated here.

[0202] S308: If the detection result indicates that the vehicle is in a slipping state, a first control instruction is determined based on the relationship between the battery state of charge and 15%, and the relationship between the battery available discharge power and 50 kW.

[0203] Exemplarily, when the detection result indicates that the vehicle is in a slipping state, it is further determined whether the battery state of charge is greater than or equal to 15%, and whether the battery available discharge power is greater than or equal to 50 kW, so as to determine the first control instruction according to different operating conditions.

[0204] Optionally, the implementation of S308 can refer to Figure 2 The relevant description of S202 in the present application embodiment will not be repeated here.

[0205] S309: If the battery state of charge is greater than or equal to 15%, and the battery available discharge power is greater than or equal to 50 kW, determine that the first control instruction is a prohibition start instruction.

[0206] Exemplarily, when the battery state of charge is greater than or equal to 15%, and the battery available discharge power is greater than or equal to 50 kW, the first control instruction is determined as a start prohibition instruction.

[0207] Optionally, the implementation of S309 can refer to Figure 2 The relevant description of S202 in the present application embodiment will not be repeated here.

[0208] S310: If the battery state of charge is less than 15%, or the battery available discharge power is less than 50 kW, determine that the first control instruction is a start permission instruction.

[0209] Exemplarily, when the battery state of charge is less than 15%, or the battery available discharge power is less than 50 kW, the first control instruction is determined as a start-permitting instruction.

[0210] Optionally, the implementation of S310 can refer to Figure 2 The relevant description of S202 in the present application embodiment will not be repeated here.

[0211] S311, controlling the engine based on the first control instruction.

[0212] Exemplarily, after determining the first control instruction of the engine, the electronic control system sends a corresponding instruction to the engine to control the engine.

[0213] Specifically, when the first control instruction is an instruction to allow starting, when there is a demand to start the engine, a start instruction is sent to the engine to control the engine start; when the first control instruction is an instruction to prohibit starting, if an engine start demand is detected during the vehicle's starting phase, no start instruction is sent to the engine, that is, the engine start is prohibited.

[0214] Optionally, the implementation of S311 can refer to Figure 2 The relevant description of S203 in the present application embodiment will not be repeated here.

[0215] S312: If the first control instruction is a start prohibition instruction, obtain a first parameter of the vehicle.

[0216] Among them, the first parameter includes the available discharge power of the power battery, the engine starting method, the vehicle speed, gear position and accelerator pedal opening.

[0217] Exemplarily, when the battery state of charge is greater than or equal to a first charge threshold, and the battery available discharge power is greater than or equal to a first power threshold, after the vehicle's engine is controlled according to a start prohibition instruction, parameters such as the battery available discharge power of the vehicle's power battery, the engine starting method, the vehicle's speed, gear position, and accelerator pedal opening are obtained in real time.

[0218] Optionally, the implementation of S312 can refer to Figure 2 The relevant description of S203 in the present application embodiment will not be repeated here.

[0219] S313: Determine a second control instruction when the first parameter satisfies a first preset condition.

[0220] Among them, the first preset condition includes at least one of the following: the available discharge power of the battery is less than or equal to 60kW; the engine starting method includes sliding start; the vehicle speed is greater than or equal to the vehicle speed threshold; the accelerator pedal opening is less than or equal to the second opening threshold; the gear is the preset gear, and the preset gear is P gear or N gear.

[0221] Exemplarily, after obtaining the first parameter, it is detected whether the first parameter satisfies a first preset condition; if the first parameter satisfies the corresponding first preset condition, it is determined that the second control instruction is a start-up permission instruction.

[0222] Optionally, if the first parameters do not satisfy all of the above-mentioned first preset conditions, the second control instruction is determined to be a startup prohibition instruction.

[0223] Optionally, the implementation of S313 can refer to Figure 2 The relevant description of S203 in the present application embodiment will not be repeated here.

[0224] S314: Control the engine based on the second control instruction.

[0225] For example, according to the second control instruction, it can be determined whether the engine is allowed to start under the current operating conditions, and then the engine can be controlled accordingly.

[0226] Optionally, the implementation of S314 can refer to Figure 2 The relevant description of S203 in the present application embodiment will not be repeated here.

[0227] S315: If the first control instruction is a start prohibition instruction, obtain a second parameter of the vehicle.

[0228] Among them, the second parameter includes whether the vehicle is in a slipping state, the battery charge state of the power battery and the battery available discharge power, the engine starting method, and the vehicle gear position.

[0229] Exemplarily, when the battery state of charge is less than a first charge threshold, or the battery available discharge power is less than a first power threshold, after the vehicle's engine is controlled according to a prohibition of starting instruction, it is detected in real time whether the vehicle is in a slipping state, and parameters such as the battery state of charge and the battery available discharge power, the engine starting method, and the vehicle's gear position are obtained.

[0230] Optionally, the implementation of S315 can refer to Figure 2 The relevant description of S203 in the present application embodiment will not be repeated here.

[0231] S316: Determine a third control instruction when the second parameter satisfies a second preset condition.

[0232] Among them, the second preset condition includes at least one of the following: the vehicle is not in a slipping state; the battery charge state is less than or equal to 12kW; the battery available discharge power is less than or equal to 20kW; the engine starting method includes slip start; the gear is a preset gear, and the preset gear is P gear or N gear.

[0233] Exemplarily, after the second parameter is acquired, it is detected whether the second parameter satisfies a second preset condition; if the second parameter satisfies the corresponding second preset condition, it is determined that the third control instruction is a start-allowing instruction.

[0234] Optionally, if the second parameters do not satisfy all of the above second preset conditions, the third control instruction is determined to be a startup prohibition instruction.

[0235] Optionally, the implementation of S316 can refer to Figure 2 The relevant description of S203 in the present application embodiment will not be repeated here.

[0236] S317, controlling the engine based on the third control instruction.

[0237] For example, according to the third control instruction, it can be determined whether the engine is allowed to start under the current operating conditions, and then the engine can be controlled accordingly.

[0238] Optionally, the implementation of S317 can refer to Figure 2 The relevant description of S203 in the present application embodiment will not be repeated here.

[0239] It should be noted that Figure 3 The threshold values ​​involved are only examples. In the application process, other threshold values ​​can be used. The embodiment of the present application does not limit the comparison and can be based on actual measurements.

[0240] To sum up, during the process of starting the vehicle in the target drive mode, the battery parameters of the power battery and the various driving parameters of the vehicle are combined to determine whether it is necessary to start the engine under the current working conditions of the vehicle. If there is no need to start the engine, the engine can be controlled according to the prohibition of starting command to limit the engine starting and avoid wasting vehicle energy; if there is a need to start the engine, the engine is controlled according to the permission of starting command. When the need to start the engine is detected, the engine can be started to provide power to the vehicle to ensure that the vehicle can drive stably and ensure the safety of vehicle driving.

[0241] Combination of the above Figures 1 to 3 The vehicle control method provided by the embodiment of the present application is described in detail; Figure 4 and Figure 5 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0242] Figure 4 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0243] For example, Figure 4 As shown, the vehicle control device 400 includes:

[0244] The first acquisition module 401 is used to acquire battery parameters of the power battery of the vehicle when it is detected that the vehicle starts in the target driving mode; wherein the battery parameters include the battery state of charge and the battery available discharge power;

[0245] A first determination module 402 is used to determine a first control instruction of an engine in a vehicle based on a battery parameter; wherein the first control instruction is used to indicate whether to allow the engine to start;

[0246] The first control module 403 is used to control the engine based on the first control instruction.

[0247] In one possible implementation, the first determination module 402 is also used to determine whether the battery state of charge is greater than or equal to a first charge threshold, and whether the battery available discharge power is greater than or equal to a first power threshold; if the battery state of charge is greater than or equal to the first charge threshold, and the battery available discharge power is greater than or equal to the first power threshold, obtain the accelerator pedal opening when the vehicle is in a starting state and the current state of the drive motor; determine the first control instruction based on the accelerator pedal opening when the vehicle is in a starting state and the current state of the drive motor.

[0248] In one possible implementation, the first determination module 402 is also used to determine that the first control instruction is a prohibit start instruction if the accelerator pedal opening is greater than or equal to a first opening threshold and the current state of the drive motor is a normal state; if the accelerator pedal opening is less than the first opening threshold, or the current state of the drive motor is an abnormal state, determine that the first control instruction is a permission start instruction.

[0249] In a possible implementation, when the first control instruction is a startup prohibition instruction, the device further includes:

[0250] A second acquisition module is used to acquire a first parameter of the vehicle; wherein the first parameter includes the available discharge power of the power battery, the engine starting method, the vehicle speed, the gear position and the accelerator pedal opening;

[0251] A second determining module, configured to determine a second control instruction when the first parameter satisfies a first preset condition;

[0252] A second control module, used for controlling the engine based on a second control instruction;

[0253] Among them, the first preset condition includes at least one of the following: the available discharge power of the battery is less than or equal to the second power threshold; the engine starting method includes sliding friction start; the vehicle speed is greater than or equal to the speed threshold; the accelerator pedal opening is less than or equal to the second opening threshold; the gear is the preset gear.

[0254] In one possible implementation, the first determination module 402 is also used to detect whether the vehicle is in a slipping state and obtain a detection result if the battery state of charge is less than a first charge threshold, or the battery available discharge power is less than a first power threshold; if the detection result indicates that the vehicle is not in a slipping state, determine the first control instruction as an instruction to allow start; if the detection result indicates that the vehicle is in a slipping state, determine the first control instruction based on the relationship between the battery state of charge and the second charge threshold, and the relationship between the battery available discharge power and the third power threshold; wherein the second charge threshold is less than the first charge threshold, and the third power threshold is less than the first power threshold.

[0255] In one possible implementation, the first determination module 402 is also used to determine that the first control instruction is a prohibit start instruction if the battery state of charge is greater than or equal to the second charge threshold, and the battery available discharge power is greater than or equal to the third power threshold; if the battery state of charge is less than the second charge threshold, or the battery available discharge power is less than the third power threshold, determine that the first control instruction is a allow start instruction.

[0256] In a possible implementation, when the first control instruction is a startup prohibition instruction, the device further includes:

[0257] A third acquisition module is used to acquire a second parameter of the vehicle; wherein the second parameter includes whether the vehicle is in a slipping state, a battery charge state of the power battery and an available discharge power of the battery, a starting method of the engine, and a gear position of the vehicle;

[0258] A third determining module, configured to determine a third control instruction when the second parameter satisfies a second preset condition;

[0259] A third control module, used for controlling the engine based on a third control instruction;

[0260] Among them, the second preset condition includes at least one of the following: the vehicle is not in a slipping state; the battery state of charge is less than or equal to a third charge threshold; the battery available discharge power is less than or equal to a fourth power threshold; the engine starting method includes sliding friction start; the gear is a preset gear.

[0261] In one possible implementation, the first determination module 402 is also used to obtain the current vehicle speed and the current wheel speed of the vehicle; based on the current vehicle speed, determine the target wheel speed corresponding to the vehicle speed; based on the target wheel speed and the current wheel speed, determine whether the vehicle is in a slipping state.

[0262] In one possible implementation, the first determination module 402 is also used to determine the wheel speed difference between the current wheel speed and the target wheel speed if the current wheel speed is greater than the target wheel speed; if the wheel speed difference is greater than or equal to the difference threshold, determine that the vehicle is in a slipping state; if the wheel speed difference is less than the difference threshold, determine that the vehicle is not in a slipping state.

[0263] It should be noted that the above vehicle control device is embodied in the form of a functional unit. The term "module" here can be implemented in the form of software or hardware, and is not specifically limited to this.

[0264] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, or other suitable components that support the described functions.

[0265] Therefore, the units of each example described in the embodiments of the present application can be implemented by 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 the present application.

[0266] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0267] For example, Figure 5 As shown, the vehicle 100 includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 503, and the processor 502 is used to call and execute the executable program code 503 to perform a vehicle control method.

[0268] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to execute a vehicle control method provided by an embodiment of the present application.

[0269] In this embodiment, the functional modules of the vehicle control device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0270] In the case of dividing each functional module according to each function, the vehicle control device may also include a first acquisition module, a first determination module, a first control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0271] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0272] In the case of an integrated unit, the vehicle control device may include a processing module and a storage module. When the vehicle control device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing mutual program codes, etc.

[0273] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0274] In addition, the device provided in the embodiments of the present application may specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiments.

[0275] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0276] Among them, computer-readable storage media may include but are not limited to any type of disk, including floppy disks, optical disks, digital versatile disks (Digital Video Disc, DVD), compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), microdrives and magneto-optical disks, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable programmable read only memory (Electrically Erasable Programmable read only memory, EEPROM), dynamic random access memory (Dynamic Random Access Memory, DRAM), video random access memory (Video Random Access Memory, VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions or data.

[0277] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0278] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0279] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0280] 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, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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 devices or units, which can be electrical, mechanical or other forms.

[0281] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: When it is detected that the vehicle starts in the target driving mode, obtaining battery parameters of the power battery of the vehicle; wherein the battery parameters include the battery state of charge and the battery available discharge power; Based on the battery parameter, determining a first control instruction for an engine in the vehicle; wherein the first control instruction is used to indicate whether to allow the engine to start; Controlling the engine based on the first control instruction; Wherein, determining a first control instruction of an engine in the vehicle based on the battery parameter includes: Determining whether the battery state of charge is greater than or equal to a first charge threshold, and whether the battery available discharge power is greater than or equal to a first power threshold; If the battery state of charge is less than the first charge threshold, or the battery available discharge power is less than the first power threshold, detecting whether the vehicle is in a slipping state and obtaining a detection result; If the detection result indicates that the vehicle is not in the slipping state, determining that the first control instruction is a start permission instruction; If the detection result indicates that the vehicle is in the slipping state, the first control instruction is determined based on the relationship between the battery state of charge and the second charge threshold, and the relationship between the battery available discharge power and the third power threshold; wherein the second charge threshold is smaller than the first charge threshold, and the third power threshold is smaller than the first power threshold.

2. The method according to claim 1, characterized in that Also includes: If the battery state of charge is greater than or equal to the first charge threshold, and the battery available discharge power is greater than or equal to the first power threshold, obtaining the accelerator pedal opening and the current state of the drive motor when the vehicle is in a starting state; The first control instruction is determined based on the accelerator pedal opening when the vehicle is in a starting state and the current state of the drive motor.

3. The method according to claim 2, characterized in that The determining the first control instruction based on the accelerator pedal opening when the vehicle is in a starting state and the current state of the drive motor includes: If the accelerator pedal opening is greater than or equal to a first opening threshold, and the current state of the drive motor is a normal state, determining that the first control instruction is a start prohibition instruction; If the accelerator pedal opening is less than the first opening threshold, or the current state of the drive motor is an abnormal state, it is determined that the first control instruction is a start permission instruction.

4. The method according to claim 3, characterized in that When the first control instruction is the startup prohibition instruction, the method further includes: Acquiring a first parameter of the vehicle; wherein the first parameter includes the available discharge power of the power battery, the starting method of the engine, the speed and gear of the vehicle, and the accelerator pedal opening; When the first parameter satisfies a first preset condition, determining a second control instruction; controlling the engine based on the second control instruction; Among them, the first preset condition includes at least one of the following: the available discharge power of the battery is less than or equal to a second power threshold; the starting method of the engine includes sliding friction start; the vehicle speed is greater than or equal to a speed threshold; the accelerator pedal opening is less than or equal to a second opening threshold; the gear is a preset gear.

5. The method according to claim 1, characterized in that The determining the first control instruction based on the relationship between the battery state of charge and the second charge threshold, and the relationship between the battery available discharge power and the third power threshold, comprises: If the battery state of charge is greater than or equal to the second charge threshold, and the battery available discharge power is greater than or equal to the third power threshold, determining that the first control instruction is a startup prohibition instruction; If the battery state of charge is less than the second charge threshold, or the battery available discharge power is less than the third power threshold, the first control instruction is determined to be a start-up permission instruction.

6. The method according to claim 5, characterized in that When the first control instruction is the startup prohibition instruction, the method further includes: Acquire a second parameter of the vehicle; wherein the second parameter includes whether the vehicle is in the slipping state, the battery state of charge of the power battery and the available discharge power of the battery, the starting method of the engine, and the gear position of the vehicle; When the second parameter satisfies a second preset condition, determining a third control instruction; Controlling the engine based on the third control instruction; Among them, the second preset condition includes at least one of the following: the vehicle is not in a slipping state; the battery state of charge is less than or equal to a third charge threshold; the battery available discharge power is less than or equal to a fourth power threshold; the engine starting method includes slip start; the gear is a preset gear.

7. The method according to claim 1, characterized in that The detecting whether the vehicle is in a slipping state comprises: Obtaining the current vehicle speed and current wheel speed of the vehicle; Based on the current vehicle speed, determining a target wheel speed corresponding to the vehicle speed; Based on the target wheel speed and the current wheel speed, it is determined whether the vehicle is in a slipping state.

8. The method according to claim 7, characterized in that The determining whether the vehicle is in a slipping state based on the target wheel speed and the current wheel speed includes: If the current wheel speed is greater than the target wheel speed, determining a wheel speed difference between the current wheel speed and the target wheel speed; If the wheel speed difference is greater than or equal to the difference threshold, determining that the vehicle is in the slipping state; If the wheel speed difference is less than the difference threshold, it is determined that the vehicle is not in the slipping state.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

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