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

Abstract

The invention provides a vehicle control method and device, a vehicle control unit, a vehicle and a program product, and the method comprises the steps: obtaining the actual torque of an engine, and determining the request torque of a motor according to the negative value of the actual torque of the engine; if the motor request torque is greater than the motor recovery capability, determining a difference torque value according to a difference value between the motor request torque and the motor recovery capability; adjusting the engine request torque according to the difference torque value to obtain a target engine request torque; and updating the motor request torque according to the target engine request torque to obtain a target motor request torque. According to the method, the target motor request torque can be prevented from exceeding the motor recovery capacity, it is guaranteed that the target motor request torque can control the front axle torque to reach the front axle request torque value, the situation that the mold changing and gear shifting are in a stuck state is avoided, and therefore the mold changing and gear shifting efficiency and reliability of the vehicle are improved.

Description

Technical Field

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

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

[0003] In the traditional technical solution, when the vehicle needs to be shifted, the engine torque and the motor torque are generally controlled to be reduced to the first preset value. When the engine torque and the motor torque are reduced to the first preset value, the vehicle control unit (VCU) sends a shift permission signal to the transmission control unit (TCU), and the TCU opens the clutch according to the shift permission signal; after controlling the engine speed and the motor speed to be synchronized, the clutch is closed to restore power transmission. However, in this technical solution, during the shift or gear shift process, the front axle torque may not reach the front axle request torque due to insufficient motor drive torque, so the shift and gear shift will be "stuck", that is, the shift and gear shift operation cannot be successfully implemented, and the success rate of the shift and gear shift is low.

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

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

[0006] In a first aspect, the present application provides a vehicle control method. The method comprises: Acquiring an actual engine torque, and determining a motor request torque according to a negative value of the actual engine torque; If the motor request torque is greater than the motor recovery capacity, determining a difference torque value according to a difference between the motor request torque and the motor recovery capacity; adjusting the engine request torque according to the difference torque value to obtain a target engine request torque; The motor request torque is updated according to the target engine request torque to obtain a target motor request torque.

[0007] In one embodiment, the method further comprises: Determine the motor speed regulating torque; The determining of the difference torque value according to the difference between the motor request torque and the motor recovery capacity includes: Calculating a difference between the motor request torque and the motor recovery capacity; The differential torque value is determined according to the sum of the difference value and the motor speed regulation torque.

[0008] In one embodiment, determining the motor speed regulating torque includes: Acquiring an engine target speed and an engine actual speed, and determining an actual speed difference between the engine target speed and the engine actual speed; The motor speed regulating torque corresponding to the actual speed difference is determined according to a preset corresponding relationship.

[0009] In one embodiment, the obtaining of the actual engine torque and determining the motor request torque according to the negative value of the actual engine torque includes: Obtaining engine request torque and engine actual torque; If it is determined that the front axle torque does not meet the front axle mode shifting condition according to the engine request torque and the engine actual torque, the motor request torque is determined according to the negative value of the engine actual torque.

[0010] In one embodiment, the method further comprises: The target motor request torque and / or the target engine request torque are filtered.

[0011] In a second aspect, the present application further provides a vehicle mode shifting and gear shifting method, the method comprising: Determining a target engine request torque and a target motor request torque according to the above vehicle control method; Keeping the target engine request torque unchanged, keeping the clutch closed, and controlling the front axle torque to decrease to the front axle request torque value according to the target motor request torque; When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, a mode shift permission signal is determined so that the transmission control unit performs a mode shift operation according to the mode shift permission signal.

[0012] In a third aspect, the present application also provides a vehicle control device. The device comprises: An acquisition module, used for acquiring an actual torque of the engine, and determining a motor request torque according to a negative value of the actual torque of the engine; a determination module, configured to determine a difference torque value according to a difference between the motor request torque and the motor recovery capacity if the motor request torque is greater than the motor recovery capacity; an adjustment module, configured to adjust the engine request torque according to the difference torque value to obtain a target engine request torque; The updating module is used to update the motor request torque according to the target engine request torque to obtain a target motor request torque.

[0013] In a fourth aspect, the present application further provides a vehicle controller, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0014] In a fifth aspect, the present application also provides a vehicle, comprising a vehicle body and a controller, wherein the controller is used to execute the steps of the above method.

[0015] In a sixth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0016] In a seventh aspect, the present application also provides a computer program product, comprising a computer program, which implements the steps of the above method when executed by a processor.

[0017] The present application provides a vehicle control method. When the motor request torque is greater than the motor recovery capacity, the method determines a differential torque value according to the difference between the motor request torque and the motor recovery capacity, adjusts the engine request torque according to the differential torque value, and obtains a target engine request torque; that is, the engine request torque is adjusted according to the differential torque value, the differential torque value of the motor request torque that exceeds the motor recovery capacity is transferred to the engine, and then the target motor request torque is determined according to the target engine request torque; therefore, it is possible to avoid the target motor request torque exceeding the motor recovery capacity, ensure that the target motor request torque can control the front axle torque to reach the front axle request torque value, avoid the "stuck state" of mode shifting, and thus improve the efficiency and reliability of mode shifting and gear shifting of the vehicle.

[0018] It can be understood that the embodiments of the present application provide a vehicle mode shifting and gear shifting method, a vehicle control device, a vehicle controller, a vehicle, a computer-readable storage medium and a computer program product, which have the same beneficial effects as the above-mentioned vehicle control method and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0020] Figure 1 A flow chart of a vehicle control method provided in an embodiment of the present application; Figure 2 A logic control schematic diagram of a vehicle control method provided in an embodiment of the present application; Figure 3 A logic control schematic diagram for determining a motor requested torque provided in an embodiment of the present application; Figure 4 A schematic diagram of the EV mode, series mode and parallel mode provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application; Figure 6 A schematic diagram of the structure of a vehicle controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0022] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0023] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0024] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0025] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0026] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" means "two or more".

[0027] For hybrid vehicles, such as new energy vehicles with hybrid power system architecture, there are usually three control modes, including EV (Electric vehicle) mode, series mode and parallel mode; the driver will switch the corresponding control mode according to the actual driving scenario to make the vehicle meet different driving conditions.

[0028] When the vehicle is shifting mode and gear, the front axle torque needs to be controlled to be reduced to the front axle request torque value before the vehicle can be shifted mode and gear. The front axle torque is the sum of the motor torque and the engine torque.

[0029] In the traditional technical solution, when the vehicle needs to shift mode and gear, the engine torque and the motor torque are generally controlled to be reduced to a first preset value first. When the engine torque and the motor torque are reduced to the first preset value, the sum of the motor torque and the engine torque is reduced to the front axle requested torque value; the vehicle control unit (VCU) sends a mode shift permission signal to the transmission control unit (TCU), and the TCU opens the clutch according to the mode shift permission signal; the mode shift operation is performed when the clutch is open, and after the mode shift operation, the clutch is controlled to close to restore power transmission.

[0030] However, in this technical solution, during the mold or gear shifting process, the front axle torque may not reach the front axle requested torque due to insufficient motor drive torque, so the mold and gear shifting will be "stuck", that is, the mold and gear shifting operation cannot be successfully completed, and the success rate of the mold and gear shifting is low.

[0031] Therefore, how to improve the efficiency and reliability of mode shifting and gear shifting of hybrid vehicles is a technical problem that those skilled in the art currently need to solve.

[0032] A vehicle control method provided in an embodiment of the present application may be executed by a vehicle control unit (VCU) of the vehicle when running a corresponding computer program.

[0033] Figure 1 This is a flow chart of a vehicle control method provided in an embodiment of the present application. For the sake of convenience, only the part related to the present embodiment is shown. The method provided in the present embodiment includes the following steps: S100: Acquire the actual engine torque, and determine the motor request torque according to the negative value of the actual engine torque.

[0034] The actual engine torque refers to the actual rotational torque generated by the engine, usually expressed in Newton meters (Nm); the actual engine torque can be monitored by an engine torque sensor or other related sensors.

[0035] In this embodiment, the motor request torque is determined based on the negative value of the actual engine torque; the motor request torque refers to the torque that the motor needs to generate. For example, if the engine request torque is 100Nm, the actual engine torque is 95Nm due to the engine performance state; the motor request torque is determined based on the actual engine torque, that is, the motor request torque is determined to be -95Nm.

[0036] S200: If the motor request torque is greater than the motor recovery capacity, determine a difference torque value according to the difference between the motor request torque and the motor recovery capacity.

[0037] Among them, the motor recovery capacity refers to the maximum torque that the motor can recover during braking or deceleration. After determining the motor request torque, determine whether the motor request torque is greater than the motor recovery capacity; if the motor request torque is greater than the motor recovery capacity, it means that the motor torque negative capacity cannot reach the motor request torque, so calculate the difference between the motor request torque and the motor recovery capacity, and determine the difference as the differential torque value; if the motor request torque is less than or equal to the motor recovery capacity, it means that the motor torque negative capacity can reach the motor request torque, so there is no need to perform subsequent steps.

[0038] S300: Adjust the engine request torque according to the difference torque value to obtain the target engine request torque.

[0039] In this step, after the differential torque value is determined, the engine request torque is adjusted according to the differential torque value, and the adjusted engine request torque is determined as the target engine request torque. It should be noted that the target engine request torque is generally obtained by reducing the differential torque value on the basis of the engine request torque.

[0040] For example, assume that the actual engine torque is 1000 Nm, the motor request torque is −1000 Nm, and the motor recovery capacity is −800 Nm (a negative value indicates that the motor recovers torque during braking or coasting); at this time, the motor request torque is greater than the motor recovery capacity, and the difference torque value is determined to be (−1000-(−800)) = −200 Nm; therefore, the engine request torque is adjusted according to the difference torque value, and the difference torque value is reduced by −200 Nm based on the actual engine torque of 1000 Nm, resulting in a target engine request torque of 800 Nm.

[0041] S400: Update the motor request torque according to the target engine request torque to obtain the target motor request torque.

[0042] Since the front axle request torque = the target generator request torque + the target motor request torque; therefore, after determining the target engine request torque, based on the goal of controlling the front axle torque to be reduced to the front axle request torque value, the target motor request torque is determined. The front axle request torque can be set according to actual needs, for example, it can be set to 0 or other values, which is not limited in this embodiment.

[0043] An embodiment of the present application provides a vehicle control method. When the motor request torque is greater than the motor recovery capacity, the method determines a differential torque value according to the difference between the motor request torque and the motor recovery capacity, adjusts the engine request torque according to the differential torque value, and obtains a target engine request torque; that is, the engine request torque is adjusted according to the differential torque value, the differential torque value of the motor request torque that exceeds the motor recovery capacity is transferred to the engine, and then the target motor request torque is determined according to the target engine request torque; therefore, it is possible to avoid the target motor request torque exceeding the motor recovery capacity, ensure that the target motor request torque can control the front axle torque to reach the front axle request torque value, and avoid the "stuck state" of mode shifting, thereby improving the efficiency and reliability of mode shifting and gear shifting of the vehicle.

[0044] On the basis of the above embodiments, this embodiment further considers that the motor needs a certain torque to maintain or adjust the engine or vehicle speed during the speed change process; that is, the motor needs to increase the motor speed regulation torque on the basis of the motor request torque; if the motor recovery capacity cannot meet the motor request torque and the motor speed regulation torque requirements, it will also lead to the "stuck state" of the mold shifting and gear shifting, that is, the mold shifting and gear shifting operation cannot be successfully implemented. Based on this, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the method also includes: Determine the motor speed regulating torque; The difference torque value is determined according to the difference between the motor request torque and the motor recovery capability, including: Calculate the difference between the motor request torque and the motor regeneration capability; The differential torque value is determined based on the sum of the difference and the motor speed regulation torque.

[0045] Among them, the motor speed regulation torque refers to the torque required by the motor to maintain or adjust the engine or vehicle speed during the speed change process.

[0046] In this embodiment, the difference between the motor request torque and the motor recovery capacity is first calculated, and then the difference torque value is determined based on the sum of the difference and the motor speed regulation torque. Assume that the actual engine torque is 1000 Nm, the motor request torque is −1000 Nm, the motor speed regulation torque is 300 Nm, and the motor recovery capacity is −800 Nm (negative value means that the motor recovers torque during braking or coasting); first calculate the difference between the motor request torque and the motor recovery capacity as (−1000 Nm−(−800 Nm) )=−200 Nm, and determine the difference torque value as (−200+(−300))=−500 Nm based on the sum of the difference and the motor speed regulation torque. Therefore, the torque is reduced by 500 Nm based on the actual engine torque, resulting in 500 Nm.

[0047] Figure 2The following is a logic control diagram of a vehicle control method provided in an embodiment of the present application. Figure 2 As shown, in a specific embodiment, the principles of vehicle control include: 1. Ensure the front axle torque requirement, that is, the front axle requested torque = engine requested torque + motor requested torque; 2. Give priority to the engine operating in the optimal efficiency range and output the actual engine torque; 3. Motor request torque = front axle request torque – engine actual torque – motor speed regulation torque; if the motor request torque exceeds the motor recovery capacity (motor negative capacity), determine the corresponding difference torque value; 4. Target engine request torque = actual engine torque + (difference torque value (negative value)); Target engine request torque = Max{Min[(front axle request torque – actual engine torque); motor recovery capacity]; motor driving capacity}; 5. Target motor request torque = front axle request torque – target engine request torque.

[0048] Combination Figure 2 As shown, the difference between the front axle request torque (front axle required torque) and the engine request torque is calculated to obtain the motor request torque; then the difference between the motor request torque and the motor recovery capacity is calculated; the sum of the difference and the motor speed regulation torque is calculated, that is, the differential torque value is obtained; then it is determined whether the differential torque value is less than 0 (calibrable); if it is greater than 0, it means that the current motor recovery torque can simultaneously meet the motor request torque and the motor speed regulation torque, the target engine request torque; if it is less than 0, it means that the current motor recovery torque cannot simultaneously meet the motor request torque and the motor speed regulation torque, so the target motor request torque is determined according to the engine request torque; specifically, the target engine request torque = engine actual torque + (difference torque value (negative value)); target engine request torque = Max{Min[(front axle request torque – engine actual torque); motor recovery capacity]; motor driving capacity}.

[0049] In one example, if the motor recovery capacity is -800 Nm, the front axle torque distribution is performed, that is, the target engine request torque and the target motor request torque are determined as shown in Table 1 below: Table 1 Front axle torque distribution when the motor recovery capacity is -800 Nm

[0050] In another example, if the motor recovery capacity is -800 Nm, the front axle torque is distributed according to different motor speed regulation torques, that is, the target engine request torque and the target motor request torque are determined as shown in Table 2 below: Table 2 Front axle torque distribution combined with motor speed regulation torque when the motor recovery capacity is -800 Nm

[0051] In this embodiment, on the basis of determining the motor requested torque according to the engine requested torque, the torque required for the motor's own speed regulation, that is, the motor speed regulation torque, is further considered, and the difference between the motor requested torque and the motor recovery capacity is calculated, and the differential torque value is determined according to the sum of the difference and the motor speed regulation torque; that is, the sum of the motor requested torque and the motor speed regulation torque is determined, and the difference between the motor recovery torque and the sum is calculated to obtain the differential torque value; when the engine requested torque is subsequently adjusted according to the differential torque value, the motor recovery capacity is not directly used up according to the engine requested torque, and negative capacity needs to be reserved for motor speed regulation, that is, the differential torque value is reserved in advance to avoid the situation where the motor cannot drive the engine to the engine target speed due to the lack of motor speed regulation torque. Therefore, this method can further improve the success rate of mode shifting and gear shifting.

[0052] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. Specifically, in this embodiment, determining the motor speed regulation torque includes: Obtaining an engine target speed and an engine actual speed, and determining an actual speed difference between the engine target speed and the engine actual speed; The motor speed regulating torque corresponding to the actual speed difference is determined according to the preset corresponding relationship.

[0053] When the vehicle is changing modes or gears, the motor can drive the engine or other power unit to the target speed through the motor speed regulation torque. The engine target speed is the speed that the motor needs to drive the engine to reach; the actual engine speed is the current speed of the engine, which can be collected by the speed sensor.

[0054] Figure 3 A logic control schematic diagram for determining a motor request torque provided in an embodiment of the present application. Figure 3 As shown, after obtaining the engine target speed and the engine actual speed, the difference between the engine target speed and the engine actual speed is calculated to obtain the actual speed difference; then the motor speed regulation torque corresponding to the actual speed difference is determined according to the preset corresponding relationship, that is, the motor speed regulation torque required to drive the engine from the engine actual speed to the engine target speed is determined.

[0055] The preset correspondence may be a preset correspondence table or a preset relationship function, which is not limited in this embodiment. For example, the motor speed regulating torque corresponding to each speed difference is preset to obtain a preset correspondence table (MAP), and the determined preset correspondence table is stored in a preset storage location; when the actual speed difference is determined, the preset correspondence table is obtained from the preset storage location, and the motor speed regulating torque corresponding to the actual speed difference is searched from the preset correspondence table.

[0056] According to the method of this embodiment, the motor speed regulation torque can be determined efficiently and conveniently, thereby improving the efficiency of front axle torque distribution during the vehicle's mode shifting and gear shifting process.

[0057] Generally speaking, if the actual torque of the front axle does not reach the requested torque value of the front axle, the deviation between the actual torque of the front axle and the requested torque of the front axle is large, which will affect the execution of the mode shifting operation, that is, a "stuck state" may occur during the mode shifting. Therefore, before determining the requested torque of the motor, this embodiment can pre-determine whether the front axle torque meets the front axle mode shifting conditions. Specifically, based on the above embodiment, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the actual torque of the engine is obtained, and the requested torque of the motor is determined according to the negative value of the actual torque of the engine, including: Obtaining engine request torque and engine actual torque; If it is determined that the front axle torque does not meet the front axle mode shifting condition according to the engine request torque and the engine actual torque, the motor request torque is determined according to the negative value of the engine actual torque.

[0058] Among them, the engine requested torque refers to the engine torque request value determined by the VCU; the engine actual torque refers to the rotational torque actually generated by the engine, usually expressed in Newton meters (Nm); the actual torque of the engine can be monitored by an engine torque sensor or other related sensors.

[0059] In this embodiment, determining whether the front axle torque meets the mold-shifting condition includes judging whether the front axle actual torque reaches the front axle requested torque value; if the front axle actual torque reaches the front axle requested torque value, it means that the front axle torque meets the mold-shifting condition; otherwise, that is, the front axle actual torque does not reach the front axle requested torque value, it means that the front axle torque does not meet the mold-shifting condition. The front axle requested torque value can be set according to actual needs, for example, it can be set to 0 or other values, which is not limited in this embodiment.

[0060] If the front axle torque is determined to not meet the front axle shifting condition based on the engine request torque and the engine actual torque, the motor request torque is determined based on the negative value of the engine actual torque. For example, if the engine request torque is 100Nm, the engine actual torque is 95Nm due to the engine performance state; if the motor request torque is determined to be -100Nm based on the engine request torque, the torque difference between the motor request torque and the engine actual torque is 5Nm, which causes the front axle actual torque to be unable to reach the front axle request torque value, that is, it is determined that the front axle torque does not meet the front axle shifting condition. Therefore, in this step, the motor request torque is determined based on the engine actual torque, that is, the motor request torque is determined to be -95Nm.

[0061] According to the method of this embodiment, the motor requested torque can be accurately determined, thereby improving the efficiency of front axle torque distribution during the vehicle's mode shifting process.

[0062] In practical applications, if there is abnormal data in the target motor request torque or the target engine request torque, after the target motor request torque is determined according to the target engine request torque, when the vehicle is controlled based on the target motor request torque, the vehicle may be jerked. Based on the above embodiment, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the method further includes: The target motor request torque and / or the target engine request torque are filtered.

[0063] Among them, filtering refers to the technology of removing unnecessary noise and interference from the signal, or smoothing data to extract useful information. In this embodiment, after obtaining the target motor request torque or the target engine request torque, the target motor request torque and / or the target engine request torque are filtered to remove abnormal data in the target motor request torque and / or the target engine request torque. Common filtering algorithms include low-pass filter, moving average filter, and exponential smoothing filter.

[0064] In this embodiment, after the target motor request torque and / or the target engine request torque are filtered, the filtered target motor request torque and / or the target engine request torque are applied to the motor or engine control.

[0065] According to the method of this embodiment, by further filtering the target motor request torque and / or the target engine request torque, the vehicle jerking can be avoided when the vehicle is controlled based on the target motor request torque, thereby improving the smoothness of the gear shifting or mode changing process.

[0066] The embodiment of the present application further provides a vehicle mold shifting and gear shifting method. In this embodiment, a vehicle mold shifting and gear shifting method includes: Determine a target engine request torque and a target motor request torque according to the vehicle control method in any of the above embodiments; Keep the target engine request torque unchanged, keep the clutch closed, and control the front axle torque to decrease to the front axle request torque value according to the target motor request torque; When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, a mode shift permission signal is determined so that the transmission control unit performs a mode shift operation according to the mode shift permission signal.

[0067] Among them, the engine wheel-end torque refers to the torque transmitted from the engine output torque to the wheels through the engine output shaft; the motor wheel-end torque refers to the torque transmitted from the motor output torque to the wheels through the motor output shaft.

[0068] In this embodiment, whether the torque balance condition is currently met is determined based on the engine wheel end torque and the motor wheel end torque; if the torque balance condition is met, it means that the mode shifting operation can be performed currently.

[0069] It should be noted that mode shifting and gear shifting include control mode switching and gear shifting in parallel mode. Specifically, the vehicle includes three control modes: EV (Electric Vehicle) mode, series mode and parallel mode; Figure 4 This is a schematic diagram of the EV mode, series mode and parallel mode provided in the embodiment of the present application. Figure 4 The EV mode shown in (a) refers to a control mode in which the vehicle is completely powered by the battery, the vehicle is driven by the electric motors (front motor and rear motor), and the engine is not started; Figure 4 The series mode shown in Figure (b) refers to a control mode in which the engine does not directly drive the wheels, but is used as a generator to charge the battery or directly provide power to the motor; Figure 4 The parallel mode shown in Figure (c) refers to a control mode in which the engine and the electric motor drive the vehicle simultaneously to provide maximum power to the vehicle.

[0070] Among them, the control mode switching in this embodiment includes switching from parallel mode to series mode, and switching from series mode to parallel mode. More specifically, switching from parallel mode to series mode means that the current control mode is parallel mode and the target control mode is series mode. Shifting in parallel mode means that the current control mode and the target control mode are both parallel modes, but the actual gear is inconsistent with the target gear, such as switching from 1st gear to 2nd gear, or from 2nd gear to 1st gear, etc.

[0071] Specifically, when it is determined that the torque balance condition is met according to the engine wheel-end torque and the motor wheel-end torque, a mode shifting permission signal is determined, and the mode shifting permission signal is sent to a transmission control unit (TCU). After receiving the mode shifting permission signal, the transmission control unit performs a mode shifting operation according to the mode shifting permission signal; that is, the control mode of the vehicle is switched to the target control mode, or the gear position of the vehicle in the parallel mode is switched to the target gear position.

[0072] Specifically, in this embodiment, if the mode shifting is from parallel mode to series mode, that is, the current control mode is parallel mode, and the target control mode is series mode; when the front axle torque is reduced to the front axle requested torque value, and the engine wheel-end torque and the motor wheel-end torque meet the torque balance condition, the transmission control unit (TCU) directly performs the gear shifting operation according to the mode shifting permission signal, that is, switches the vehicle's gear from parallel mode to series mode.

[0073] Because in the current technical solution, if the mode shift is to switch from series mode to parallel mode, or the mode shift is to shift in parallel mode, the clutch is opened after the engine torque and the motor torque fall within a certain range, and then the motor speed is controlled to be synchronized with the vehicle speed, and the mode shift operation is performed at this time; then the engine speed and the motor speed are controlled within a certain range, and the clutch is closed after the motor speed, the engine speed and the vehicle speed are synchronized. In other words, in the current technical solution, when controlling the vehicle to switch from series mode to parallel mode, or the mode shift is to shift in parallel mode, the clutch needs to be controlled to open and close. The long closing time leads to slow power output of the front axle, and the mode shift time is long, which cannot meet the driver's power output time requirements.

[0074] Based on the above technical problems, this embodiment further illustrates and optimizes the technical solution on the basis of the above embodiments. Specifically, in this embodiment, if the mode shifting is switching from the series mode to the parallel mode, or the mode shifting is shifting in the parallel mode, when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, the mode shifting permission signal is determined so that the transmission control unit performs the mode shifting operation according to the mode shifting permission signal, including: When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, a mode shift permission signal is determined, and the transmission control unit controls the motor speed, the engine speed and the vehicle speed to be synchronized according to the mode shift permission signal; After the motor speed, engine speed and vehicle speed are synchronized, the vehicle mode is switched from series mode to parallel mode, or gears are shifted in parallel mode.

[0075] Among them, the mold shifting is switching from parallel mode to series mode, that is, the current control mode is parallel mode, and the target control mode is series mode; the mold shifting is shifting in parallel mode, which means that the current control mode and the target control mode are both parallel modes, but the actual gear is inconsistent with the target gear, such as switching from 1st gear to 2nd gear, or from 2nd gear to 1st gear, etc.

[0076] In this embodiment, the clutch is always kept closed during the process of mold shifting and gear shifting, that is, there is no need to control the clutch to open and then close. The mold shifting and gear shifting operation is as follows: If the mode shift is to switch from series mode to parallel mode, the vehicle controller determines the mode shift permission signal when the front axle torque is reduced to the front axle requested torque value and the engine wheel end torque and the motor wheel end torque meet the torque balance condition, that is, determines the permission signal for switching from series mode to parallel mode, and sends the permission signal for switching from series mode to parallel mode to the transmission control unit; after the transmission control unit obtains the current vehicle speed, motor speed and engine speed according to the permission signal for switching from series mode to parallel mode, and directly controls the motor speed so that the motor speed is synchronized with the engine speed and the vehicle speed. After the motor speed, engine speed and vehicle speed are synchronized, the vehicle mode is switched from series mode to parallel mode according to the permission signal for switching from series mode to parallel mode.

[0077] If the mode shifting is a shifting in parallel mode, the vehicle controller determines the mode shifting permission signal when the engine wheel end torque and the motor wheel end torque meet the torque balance condition, that is, determines the permission signal for shifting in parallel mode, and sends the permission signal for shifting in parallel mode to the transmission control unit; the transmission control unit obtains the current vehicle speed, motor speed and engine speed according to the permission signal for shifting in parallel mode, and directly controls the motor speed so that the motor speed is synchronized with the engine speed and the vehicle speed. After the motor speed, engine speed and vehicle speed are synchronized, the vehicle gear is switched to the target gear according to the permission signal for shifting in parallel mode, such as switching from 1st gear to 2nd gear, or from 2nd gear to 1st gear, etc.

[0078] More specifically, the transmission control unit controls the motor speed through the motor controller (TMCU) so that the motor speed is synchronized with the engine speed and the vehicle speed.

[0079] In this embodiment, if the mode shifting is to switch from series mode to parallel mode, or the mode shifting is to shift in parallel mode, when the engine wheel-end torque and the motor wheel-end torque meet the torque balance condition, the transmission control unit controls the motor speed to be synchronized with the engine speed and the vehicle speed according to the mode shifting permission signal. After the motor speed, the engine speed and the vehicle speed are synchronized, the mode shifting operation is performed to ensure a smooth transition of the mode shifting, and there is no need to control the clutch to open and close, thereby shortening the mode shifting time, ensuring the stability of the front axle power output, and meeting the driver's power output time requirements.

[0080] In the current technical solution, when the engine torque and the motor torque fall within a preset range (such as ±3NM), a mode shift permission signal is determined so as to perform the mode shift operation later. In this solution, the front axle torque is adjusted only by the motor request torque while keeping the engine torque unchanged, that is, keeping the engine request torque unchanged and keeping the clutch closed, so that the front axle torque is reduced to the front axle request torque value. Therefore, based on the above embodiment, this embodiment further explains and optimizes the technical solution. Specifically, in this embodiment, the process of determining whether the engine wheel end torque and the motor wheel end torque meet the torque balance condition includes: Obtain the engine wheel end torque and the motor wheel end torque; Determining whether the sum of the engine wheel end torque and the motor wheel end torque is within a preset torque range; If the total torque is within the preset torque range, it is determined that the engine wheel end torque and the motor wheel end torque meet the torque balance condition.

[0081] Among them, the engine wheel-end torque refers to the torque transmitted from the engine output torque to the wheels through the engine output shaft; the motor wheel-end torque refers to the torque transmitted from the motor output torque to the wheels through the motor output shaft.

[0082] In this embodiment, the engine wheel-end torque, the motor wheel-end torque and the preset torque range are first obtained; the preset torque range is a preset boundary value for determining whether the engine wheel-end torque and the motor wheel-end torque meet the torque balance condition; for example, the preset torque range can be a torque range corresponding to ±20NM, and this embodiment does not limit the specific value of the preset torque range.

[0083] Then, the sum of the engine wheel-end torque and the motor wheel-end torque is calculated, and it is determined whether the sum of the torque is within the preset torque range; if the sum of the torque is within the preset torque range, it is determined that the engine wheel-end torque and the motor wheel-end torque meet the torque balance condition; otherwise, that is, the sum of the torque is not within the preset torque range, it is determined that the engine wheel-end torque and the motor wheel-end torque do not meet the torque balance condition.

[0084] In this embodiment, whether the engine wheel end torque and the motor wheel end torque meet the torque balance condition is determined based on whether the total torque of the engine wheel end torque and the motor wheel end torque is within a preset torque range. The judgment method is accurate and the judgment process is convenient, which can improve the efficiency of the vehicle's control mode switching.

[0085] In a specific embodiment, obtaining the engine wheel end torque and the motor wheel end torque includes: The engine wheel end torque is calculated according to the engine output torque and the corresponding total transmission ratio; The motor wheel end torque is calculated based on the motor output torque and the corresponding reducer speed ratio.

[0086] Among them, the engine wheel end torque refers to the torque transmitted from the engine output torque to the wheel through the engine output shaft; the total transmission ratio refers to the transmission ratio determined by the transmission and the final reducer. Specifically, the engine wheel end torque is calculated based on the product of the engine output torque and the corresponding total transmission ratio, that is: Engine wheel-end torque = engine output torque * reduction ratio * main reduction ratio.

[0087] The motor wheel end torque refers to the torque transmitted to the wheel through the motor output shaft. Specifically, the motor wheel end torque can be calculated based on the product of the motor output torque and the speed ratio of the reducer, that is, Motor wheel end torque = motor output torque * reducer speed ratio.

[0088] According to the method of this embodiment, the engine wheel end torque and the motor wheel end torque can be determined efficiently and conveniently, and then it can be determined efficiently and conveniently whether the engine wheel end torque and the motor wheel end torque meet the torque balance condition, which can improve the efficiency of the vehicle's control mode switching.

[0089] Since the front axle torque distribution is determined according to the vehicle control method in the above embodiment, that is, in the process of determining the target engine request torque and the target motor request torque, when the motor request torque is greater than the motor recovery capacity, the differential torque value is determined according to the difference between the motor request torque and the motor recovery capacity, and the engine request torque is adjusted according to the differential torque value to obtain the target engine request torque; that is, the engine request torque is adjusted according to the differential torque value, and the differential torque value of the motor request torque that exceeds the motor recovery capacity is transferred to the engine, and then the target motor request torque is determined according to the target engine request torque; this avoids the target motor request torque from exceeding the motor recovery capacity, so the method can avoid the situation where the mode shifting is "stuck", and therefore, the mode shifting of the vehicle is performed based on the target engine request torque and the target motor request torque, which can improve the efficiency and reliability of the mode shifting of the vehicle.

[0090] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0091] Figure 5 FIG. 1 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. Figure 5 As shown, the vehicle control device of this embodiment includes an acquisition module, a determination module, an adjustment module and an update module; wherein, An acquisition module 510 is used to acquire an actual engine torque and determine a motor request torque according to a negative value of the actual engine torque; A determination module 520, configured to determine a difference torque value according to a difference between the motor request torque and the motor recovery capacity if the motor request torque is greater than the motor recovery capacity; An adjustment module 530 is used to adjust the engine request torque according to the difference torque value to obtain a target engine request torque; The updating module 540 is configured to update the motor request torque according to the target engine request torque to obtain a target motor request torque.

[0092] A vehicle control device provided in an embodiment of the present application has the same beneficial effects as the above-mentioned vehicle control method.

[0093] In one embodiment, a vehicle control device further includes: The motor speed regulation torque determination submodule is used to determine the motor speed regulation torque; The determination module 520 includes: A difference calculation submodule, used for calculating the difference between the motor request torque and the motor recovery capability; The differential torque value determination submodule is used to determine the differential torque value according to the sum of the differential value and the motor speed regulation torque.

[0094] In one embodiment, the motor speed regulation torque determination submodule includes: an actual speed difference determination unit, used to obtain an engine target speed and an engine actual speed, and determine an actual speed difference between the engine target speed and the engine actual speed; The motor speed regulation torque determination unit is used to determine the motor speed regulation torque corresponding to the actual speed difference according to a preset corresponding relationship.

[0095] In one embodiment, the acquisition module includes: A data acquisition submodule, used for acquiring the engine request torque and the engine actual torque; The motor request torque determination submodule is used to determine the motor request torque according to the negative value of the engine actual torque if the front axle torque determined according to the engine request torque and the engine actual torque does not meet the front axle mode shifting condition.

[0096] In one embodiment, a vehicle control device further includes: The filtering processing submodule is used to perform filtering processing on the target motor request torque and / or the target engine request torque.

[0097] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0098] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0099] Figure 6 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of the present application. Figure 6 As shown, the vehicle controller 600 of this embodiment includes a memory 601, a processor 602, and a computer program 603 stored in the memory 601 and executable on the processor 602; when the processor 602 executes the computer program 603, the steps in the above-mentioned vehicle control method embodiments are implemented, or when the processor 602 executes the computer program 603, the functions of each module / unit in the above-mentioned device embodiments are implemented.

[0100] Exemplarily, the computer program 603 may be divided into one or more modules / units, one or more modules / units are stored in the memory 601, and are executed by the processor 602 to implement the method of the embodiment of the present application. One or more modules / units may be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program 603 in the vehicle controller 600. For example, the computer program 603 may be divided into an acquisition module, a determination module, an adjustment module, and an update module, and the specific functions of each module are as follows: An acquisition module, used for acquiring an actual torque of the engine, and determining a motor request torque according to a negative value of the actual torque of the engine; A determination module, configured to determine a differential torque value according to a difference between the motor request torque and the motor recovery capacity if the motor request torque is greater than the motor recovery capacity; An adjustment module, used for adjusting the engine request torque according to the difference torque value to obtain a target engine request torque; The updating module is used to update the motor request torque according to the target engine request torque to obtain the target motor request torque.

[0101] In application, the vehicle controller 600 may include but is not limited to a memory 601 and a processor 602. Those skilled in the art will appreciate that Figure 6 It is only an example of a vehicle controller and does not constitute a limitation of the vehicle controller. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the vehicle controller may also include input and output devices, network access devices, buses, etc.; among which, the input and output devices may include cameras, audio acquisition / playback devices, display screens, etc.; the network access device may include a communication module for wireless communication with external devices.

[0102] In applications, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0103] In applications, the memory can be the internal storage unit of the vehicle controller, such as the hard disk or memory of the vehicle controller; it can also be the external storage device of the vehicle controller, such as the plug-in hard disk equipped on the vehicle controller, the smart media card (SMC), the secure digital (SD) card, the flash card, etc.; it can also include both the internal storage unit and the external storage device of the vehicle controller. The memory is used to store the operating system, application program, boot loader, data and other programs, such as the program code of the computer program. The memory can also be used to temporarily store the data that has been output or is to be output.

[0104] An embodiment of the present application also provides a vehicle, including a vehicle body and a controller, wherein the controller is used to execute the steps in the above-mentioned method embodiments.

[0105] The vehicle is a hybrid vehicle (Hybrid Vehicle, HV), which refers to a vehicle whose vehicle drive system is composed of two or more single drive systems that can operate simultaneously, and the vehicle's driving power is provided by the single drive systems alone or together according to the actual vehicle driving state. In this embodiment, the vehicle includes a vehicle body and a controller, and the controller can implement the steps of the vehicle control method in the above embodiment.

[0106] A vehicle provided in an embodiment of the present application has the same beneficial effects as the above-mentioned vehicle control method.

[0107] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0108] The present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the vehicle controller, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, RandomAccess Memory), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0109] A computer-readable storage medium provided in an embodiment of the present application has the same beneficial effects as the above-mentioned vehicle control method.

[0110] The vehicle controller embodiment of the present application also provides a computer program product, including a computer program, which implements the steps in the above-mentioned method embodiments when the computer program is executed by a processor.

[0111] A computer program product provided in an embodiment of the present application has the same beneficial effects as the above-mentioned vehicle control method.

[0112] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0113] It should be noted that the information collection process involved in this application, such as the engine actual torque collection process, the motor actual torque collection process, and the vehicle speed collection process, etc.), and the data processing process, are performed with the user's knowledge and permission, that is, the information collection process and the data processing process comply with the requirements of laws and regulations and do not constitute acts that harm the public interest.

[0114] Those of ordinary skill in the art will appreciate that the devices and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0115] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices, which can be electrical, mechanical or other forms.

[0116] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquiring an actual engine torque, and determining a motor request torque according to a negative value of the actual engine torque; If the motor request torque is greater than the motor recovery capacity, determining a difference torque value according to a difference between the motor request torque and the motor recovery capacity; adjusting the engine request torque according to the difference torque value to obtain a target engine request torque; The motor request torque is updated according to the target engine request torque to obtain a target motor request torque.

2. The method according to claim 1, characterized in that The method further comprises: Determine the motor speed regulating torque; The determining of the difference torque value according to the difference between the motor request torque and the motor recovery capacity includes: Calculating a difference between the motor request torque and the motor recovery capacity; The differential torque value is determined according to the sum of the difference value and the motor speed regulation torque.

3. The method according to claim 2, characterized in that The step of determining the motor speed regulating torque comprises: Acquiring an engine target speed and an engine actual speed, and determining an actual speed difference between the engine target speed and the engine actual speed; The motor speed regulating torque corresponding to the actual speed difference is determined according to a preset corresponding relationship.

4. The method according to claim 1, characterized in that The obtaining of the actual engine torque and determining the motor request torque according to the negative value of the actual engine torque includes: Obtaining engine request torque and engine actual torque; If it is determined that the front axle torque does not meet the front axle mode shifting condition according to the engine request torque and the engine actual torque, the motor request torque is determined according to the negative value of the engine actual torque.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: The target motor request torque and / or the target engine request torque are filtered.

6. A vehicle control method, characterized in that: The method comprises: Determining a target engine request torque and a target motor request torque according to the method according to any one of claims 1 to 5; Keeping the target engine request torque unchanged, keeping the clutch closed, and controlling the front axle torque to decrease to the front axle request torque value according to the target motor request torque; When the engine wheel end torque and the motor wheel end torque meet the torque balance condition, a mode shift permission signal is determined so that the transmission control unit performs a mode shift operation according to the mode shift permission signal.

7. A vehicle control device, characterized in that: The device comprises: An acquisition module, used for acquiring an actual torque of the engine, and determining a motor request torque according to a negative value of the actual torque of the engine; a determination module, configured to determine a difference torque value according to a difference between the motor request torque and the motor recovery capacity if the motor request torque is greater than the motor recovery capacity; an adjustment module, configured to adjust the engine request torque according to the difference torque value to obtain a target engine request torque; The updating module is used to update the motor request torque according to the target engine request torque to obtain a target motor request torque.

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

9. A vehicle, comprising a vehicle body, characterized in that: It also includes a controller, which is used to execute the steps of the method according to any one of claims 1 to 6.

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

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