Vehicle and control method, control device and controller thereof

Abstract

The invention discloses a vehicle, a control method and device thereof and a controller, and the method comprises the steps: obtaining the power required by a driver under the condition that the vehicle is in an energy recovery working condition; when the driver demand power is greater than the power battery feedback power, determining target demand power according to the driver demand power and the power battery feedback power; and the generator is controlled based on the target demand power, so that the generator drags the engine. Therefore, according to the method, the insufficient recovery part of the power battery under the current energy recovery working condition is calculated, the generator is used for dragging the engine to consume electricity so as to make up for the power with insufficient recovery intensity, the consistency of the energy recovery intensity is guaranteed, the sliding control feeling of a driver under the working condition is enhanced, and the user experience is greatly improved.

Description

Technical Field

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

[0002] For new energy hybrid vehicles, the strength of energy recovery depends on the feedback capacity of the power battery. For example, when the driver releases the accelerator and enters the coasting recovery mode, if the power battery feedback capacity is weak, the vehicle recovery strength will be weakened, and the driver's coasting damping feeling will be greatly weakened, resulting in inconsistent energy recovery driving performance, giving users a sense of loss of control in the coasting mode, greatly reducing the user experience. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first purpose of the present invention is to propose a vehicle control method, which calculates the insufficient recovery of the power battery under the current energy recovery condition, uses the generator to drive the engine to consume power to make up for the insufficient recovery intensity, ensures the consistency of energy recovery intensity, enhances the driver's sense of control of gliding under any working condition, and greatly improves the user experience.

[0004] A second object of the present invention is to provide a control device for a vehicle.

[0005] A third object of the present invention is to provide a vehicle controller.

[0006] A fourth object of the present invention is to provide a vehicle.

[0007] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present invention proposes a vehicle control method, which includes: when the vehicle is in an energy recovery condition, obtaining the driver's required power; when the driver's required power is greater than the power fed back by the power battery, determining the target required power according to the driver's required power and the power fed back by the power battery; and controlling the generator based on the target required power so that the generator drags the engine.

[0008] According to the vehicle control method of the embodiment of the present invention, when the vehicle is in an energy recovery condition, the driver's required power is obtained, and when the driver's required power is greater than the power fed back by the power battery, the target required power is determined according to the driver's required power and the power fed back by the power battery, and the generator is controlled based on the target required power so that the generator drags the engine. Therefore, the method calculates the insufficient recovery of the power battery under the current energy recovery condition, uses the power consumed by the generator to drag the engine to make up for the insufficient recovery intensity, ensures the consistency of the energy recovery intensity, enhances the driver's sense of control when gliding under any condition, and greatly improves the user experience.

[0009] In addition, the vehicle control method according to the above embodiment of the present invention may also have the following additional technical features:

[0010] According to one embodiment of the present invention, obtaining the driver's required power includes: obtaining the driver's required torque; when it is determined that the vehicle is in an energy recovery condition based on the driver's required torque, obtaining the current speed of the drive motor; and determining the driver's required power based on the driver's required torque, the current speed of the drive motor and a preset coefficient.

[0011] According to one embodiment of the present invention, obtaining the driver required torque includes: determining the driver required torque based on the current opening of the accelerator pedal, the current speed of the drive motor and a first preset relationship; wherein the first preset relationship is used to indicate the mapping relationship between the current opening of the accelerator pedal, the current speed of the drive motor and the driver required torque; or, determining the driver required torque based on the current opening of the accelerator pedal, the current speed of the vehicle and a second preset relationship; wherein the second preset relationship is used to indicate the mapping relationship between the current opening of the accelerator pedal, the current speed of the vehicle and the driver required torque.

[0012] According to one embodiment of the present invention, the target required power is determined based on the driver's required power and the power fed back by the power battery, including: obtaining the difference between the driver's required power and the power fed back by the power battery to obtain a first difference; and determining the target required power based on the sum of the first difference and a preset offset.

[0013] According to one embodiment of the present invention, controlling the generator based on the target demand power includes: determining an engine drag target speed based on the target demand power; and controlling the generator according to the engine drag target speed.

[0014] According to one embodiment of the present invention, determining the target engine drag speed based on the target required power includes: obtaining the current friction torque of the engine; and determining the target engine drag speed based on the target required power, the current friction torque of the engine and a preset coefficient.

[0015] According to one embodiment of the present invention, the vehicle control method also includes: obtaining the current speed of the vehicle and determining a target speed threshold based on the current speed of the vehicle; obtaining a minimum speed value between the target speed threshold value and the engine drag target speed, and controlling the generator according to the minimum speed value.

[0016] To achieve the above-mentioned purpose, a second embodiment of the present invention proposes a vehicle control device, which includes: an acquisition module, used to obtain the driver's required power when the vehicle is in an energy recovery condition; a determination module, used to determine the target required power according to the driver's required power and the power battery feedback power when the driver's required power is greater than the power battery feedback power; a control module, used to control the generator based on the target required power so that the generator drags the engine.

[0017] According to the vehicle control device of the embodiment of the present invention, the acquisition module acquires the driver's required power when the vehicle is in an energy recovery condition, and the determination module determines the target required power according to the driver's required power and the power battery feedback power when the driver's required power is greater than the power battery feedback power. The control module controls the generator based on the target required power so that the generator drags the engine. Thus, the device calculates the insufficient recovery of the power battery under the current energy recovery condition, and uses the generator to drag the engine to compensate for the insufficient recovery intensity, thereby ensuring the consistency of the energy recovery intensity, enhancing the driver's sense of control when gliding under any condition, and greatly improving the user experience.

[0018] To achieve the above-mentioned purpose, a vehicle controller proposed in an embodiment of the third aspect of the present invention includes a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the processor executes the vehicle control program, the above-mentioned vehicle control method is implemented.

[0019] According to the vehicle controller of an embodiment of the present invention, when the processor executes the control program of the vehicle, the above-mentioned vehicle control method is implemented. Based on the above-mentioned vehicle control method, the consistency of energy recovery intensity is ensured, the driver's gliding control feeling under any working conditions is enhanced, and the user experience is greatly improved.

[0020] In order to achieve the above-mentioned purpose, a vehicle is proposed in a fourth aspect of an embodiment of the present invention, comprising the above-mentioned vehicle control device, or the above-mentioned vehicle controller.

[0021] The vehicle according to the embodiment of the present invention, based on the above-mentioned vehicle control device or the above-mentioned vehicle controller, ensures the consistency of energy recovery intensity, enhances the driver's gliding control feeling under any working conditions, and greatly improves the user experience.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0024] Figure 2 is a flow chart of a vehicle control method according to a specific embodiment of the present invention;

[0025] Figure 3 is a connection diagram of a control device for a vehicle according to an embodiment of the present invention;

[0026] Figure 4 is a block diagram of a vehicle controller according to an embodiment of the present invention;

[0027] Figure 5 is a block diagram of a vehicle according to an embodiment of the present invention;

[0028] Figure 6 FIG. 4 is a block diagram of a vehicle according to another embodiment of the present invention. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0030] The following describes a vehicle control method, a vehicle control device, a vehicle controller, and a vehicle according to an embodiment of the present invention with reference to the accompanying drawings.

[0031] Figure 1 4 is a flow chart of a vehicle control method according to an embodiment of the present invention.

[0032] As shown in Figure 1, the vehicle control method of the embodiment of the present invention may include:

[0033] S1, when the vehicle is in an energy recovery condition, obtaining the driver's required power;

[0034] S2, when the driver's required power is greater than the power fed back by the power battery, determining the target required power according to the driver's required power and the power fed back by the power battery;

[0035] S3, controlling the generator based on the target required power so that the generator drives the engine.

[0036] Specifically, the vehicle control method can be applied to a series hybrid vehicle and a parallel-parallel hybrid vehicle, without any specific limitation. The energy recovery working condition can be a coasting recovery working condition or a braking recovery working condition. For example, when the vehicle is in a coasting recovery working condition, the driver's required power can be determined based on the opening of the accelerator pedal, and when the vehicle is in a braking recovery working condition, the driver's required power can be determined based on the opening of the accelerator pedal and the opening of the brake pedal. The driver's required power is the target energy recovery power.

[0037] Then, the driver's required power is compared with the power fed back by the power battery, wherein the power fed back by the power battery can be directly called or driven in real time based on the battery parameters, without any specific restrictions. If the driver's required power is less than or equal to the power fed back by the power battery, it is determined that the power battery can meet the energy recovery demand, and the energy recovery action is performed only through the power battery. If the driver's required power is greater than the power fed back by the power battery, it is determined that the power battery fed back by the power battery is small and cannot meet the energy recovery demand. If energy recovery is performed only through the power battery, it will lead to inconsistent driving performance, giving the user a sense of loss of control of the vehicle, greatly reducing the user experience. Therefore, when the driver's required power is greater than the power fed back by the power battery, the target required power is determined based on the driver's required power and the power fed back by the power battery, that is, the power part that is insufficiently recovered by the power battery under the current energy recovery condition.

[0038] Then, the generator is controlled based on the target power demand, and the generator is used to drive the engine power consumption to make up for the power of insufficient recovery intensity, ensuring the consistency of energy recovery intensity, enhancing the driver's control feeling of sliding or braking under any working conditions, and greatly improving the user experience. In addition, this embodiment does not require additional hardware costs, and is an energy recovery control method that can be implemented using existing hardware, which greatly reduces the application cost.

[0039] In one embodiment of the present invention, obtaining the driver's required power includes: obtaining the driver's required torque; when it is determined that the vehicle is in an energy recovery condition based on the driver's required torque, obtaining the current speed of the drive motor; and determining the driver's required power based on the driver's required torque, the current speed of the drive motor and a preset coefficient.

[0040] Specifically, when the driver's required torque is less than zero, it is determined that the vehicle is in an energy recovery condition, and the current speed of the drive motor is obtained, and the driver's required power is calculated by the following formula:

[0041] P=T*n / k

[0042] Among them, P is the power required by the driver, T is the torque required by the driver, n is the current speed of the drive motor, k is the preset coefficient, and the k value is 9549.

[0043] In one embodiment of the present invention, obtaining the driver required torque includes: determining the driver required torque based on the current opening of the accelerator pedal, the current speed of the drive motor and a first preset relationship; wherein the first preset relationship is used to indicate the mapping relationship between the current opening of the accelerator pedal, the current speed of the drive motor and the driver required torque; or, determining the driver required torque based on the current opening of the accelerator pedal, the current speed of the vehicle and a second preset relationship; wherein the second preset relationship is used to indicate the mapping relationship between the current opening of the accelerator pedal, the current speed of the vehicle and the driver required torque.

[0044] Specifically, the first preset relationship and the second preset relationship may be in a table form or in a formula form, and are not specifically limited. Taking the first preset relationship and the second preset relationship in a table form as an example, the driver's required torque may be determined based on the following two methods.

[0045] In one embodiment, the voltage value of the accelerator pedal sensor is first obtained and converted into accelerator pedal opening information. At the same time, the current speed of the drive motor is obtained. The preset table 1, i.e., the first preset relationship, is looked up according to the current opening of the accelerator pedal and the current speed of the drive motor to obtain the driver's required torque.

[0046] In another embodiment, the current opening of the accelerator pedal is obtained according to the conversion of the accelerator pedal sensor voltage value, and the current speed of the vehicle is obtained at the same time. The driver's required torque is obtained by looking up the preset table 2, i.e., the second preset relationship, based on the current opening of the accelerator pedal and the current speed of the vehicle.

[0047] By further taking an example, the setting principle of the preset table 2 may be: when the opening of the accelerator pedal is less than a set threshold and the vehicle speed is less than a set threshold, the driver's required torque is zero; when the opening of the accelerator pedal is less than a set threshold and the vehicle speed is greater than or equal to the set threshold, the driver's required torque is a negative value (recovery torque); when the opening of the accelerator pedal is greater than or equal to the set threshold and the vehicle speed is greater than or equal to the set threshold, the driver's required torque is a positive value (driving torque).

[0048] In one embodiment of the present invention, the target required power is determined based on the driver's required power and the power fed back by the power battery, including: obtaining the difference between the driver's required power and the power fed back by the power battery to obtain a first difference; and determining the target required power based on the sum of the first difference and a preset offset.

[0049] Specifically, when the driver's required power is ≤ the power battery feedback power, it is determined that the power battery can meet the energy recovery demand, and the target required power is zero; when the driver's required power is greater than the power battery feedback power, it is determined that the power battery cannot meet the energy recovery demand, and the target required power is determined to be = the driver's required power - the power battery feedback power + the preset offset.

[0050] Among them, the preset offset can be set according to actual conditions, for example 5kw, to ensure that there is a certain tolerance distance between the power required by the driver and the power fed back by the power battery, so as to avoid driving problems such as recovery torque jitter caused by fluctuations near the capacity value of the power battery feedback power.

[0051] In one embodiment of the present invention, controlling the generator based on the target demand power includes: determining the engine drag target speed based on the target demand power; and controlling the generator according to the engine drag target speed.

[0052] Specifically, the relationship between the target power requirement and the target engine drag speed can be preset, for example, a preset mapping table between the target power requirement and the target engine drag speed can be established in advance, and the target engine drag speed can be determined by looking up the table during the application process, or a preset calculation formula between the target power requirement and the target engine drag speed can be established in advance, and the target engine drag speed can be determined by calculation during the application process. Then, the generator is controlled to run at the target engine drag speed, so as to drag the engine.

[0053] In one embodiment of the present invention, determining the target engine drag speed based on the target required power includes: obtaining the current friction torque of the engine; and determining the target engine drag speed based on the target required power, the current friction torque of the engine and a preset coefficient.

[0054] That is to say, the engine drag target speed is calculated according to the following formula:

[0055] n_Eng=P / T_EngLoss*k

[0056] Among them, n_Eng is the target speed of the engine; P is the target required power; T_EngLoss is the current friction torque of the engine, which can be obtained based on real-time reporting of EMS (Engine Management System); k is the preset coefficient, and its value is 9549.

[0057] In one embodiment of the present invention, the vehicle control method also includes: obtaining the current speed of the vehicle and determining a target speed threshold based on the current speed of the vehicle; obtaining the minimum speed between the target speed threshold and the engine drag target speed, and controlling the generator according to the minimum speed.

[0058] Specifically, the engine drag target speed is limited by NVH (Noise, Vibration, Harshness) at various vehicle speeds, so the final engine drag target speed is:

[0059] n1_Eng=min{n_Eng,n_NVH}

[0060] Among them, n1_Eng is the final corrected engine drag target speed, which is used to control the generator; n_Eng is the engine drag target speed; n_NVH is the target speed threshold. In addition, the target speed threshold is the speed value that meets the NVH requirements at each vehicle speed, which can be obtained by looking up the table according to the current vehicle speed.

[0061] Finally, the engine fuel injection prohibition ignition command is sent to the EMS through the CAN line, and the corrected engine drag target speed n1_Eng is sent to the MCU (Microcontroller Unit) through the CAN line, so as to control the generator to drag the engine based on the final corrected engine drag target speed n1_Eng, and realize the compensation of recovery power through the generator drag power consumption, so as to achieve the consistency of wheel-end recovery driving feel.

[0062] As a specific embodiment of the present invention, Figure 2 As shown, the vehicle control method may include the following steps:

[0063] S101, obtaining the current opening degree of the accelerator pedal and the current rotation speed of the drive motor.

[0064] S102, determining the driver's required torque according to the current opening of the accelerator pedal, the current rotation speed of the drive motor and a first preset relationship.

[0065] S103, determining whether the driver's required torque is less than zero. If so, executing step S104; if not, executing step S101.

[0066] S104, determining that the vehicle is in an energy recovery condition, and calculating the driver's required power = driver's required torque * current speed of the drive motor / preset coefficient.

[0067] S105, determining whether the power required by the driver is greater than the power fed back by the power battery. If so, executing step S106; if not, executing step S111.

[0068] S106, calculating target required power = driver required power - power fed back by power battery + preset offset.

[0069] S107, calculating the target engine drag speed n_Eng=P / T_EngLoss*k, wherein n_Eng is the target engine drag speed; P is the target required power; T_EngLoss is the current friction torque of the engine; and k is a preset coefficient, the value of which is 9549.

[0070] S108: Determine a target speed threshold n_NVH based on the current vehicle speed.

[0071] S109, obtaining the final engine drag target speed n1_Eng=min{n_Eng, n_NVH}.

[0072] S110, controlling the generator according to the final engine drag target speed n1_Eng to drive the engine to run.

[0073] S111, determining that the target required power is zero, and performing energy recovery only through the power battery.

[0074] In summary, according to the vehicle control method of the embodiment of the present invention, when the vehicle is in an energy recovery condition, the driver's required power is obtained, and when the driver's required power is greater than the power fed back by the power battery, the target required power is determined according to the driver's required power and the power fed back by the power battery, and the generator is controlled based on the target required power so that the generator drags the engine. Therefore, the method calculates the insufficient recovery of the power battery under the current energy recovery condition, uses the power consumed by the generator to drag the engine to make up for the insufficient recovery intensity, ensures the consistency of the energy recovery intensity, enhances the driver's sense of control when gliding under any condition, and greatly improves the user experience.

[0075] Corresponding to the above embodiments, the present application also proposes a vehicle control device.

[0076] like Figure 3 As shown, the vehicle control device of the embodiment of the present invention may include: an acquisition module 10 , a determination module 20 and a control module 30 .

[0077] The acquisition module 10 is used to acquire the driver's required power when the vehicle is in an energy recovery condition. The determination module 20 is used to determine the target required power according to the driver's required power and the power battery feedback power when the driver's required power is greater than the power battery feedback power. The control module 30 is used to control the generator based on the target required power so that the generator drives the engine.

[0078] According to one embodiment of the present invention, the acquisition module 10 acquires the driver's required power, specifically for: acquiring the driver's required torque; acquiring the current speed of the drive motor when it is determined that the vehicle is in an energy recovery condition based on the driver's required torque; determining the driver's required power based on the driver's required torque, the current speed of the drive motor and a preset coefficient.

[0079] According to one embodiment of the present invention, the acquisition module 10 acquires the driver's required torque, and is specifically used to: determine the driver's required torque based on the current opening of the accelerator pedal, the current speed of the drive motor and a first preset relationship; wherein the first preset relationship is used to indicate the mapping relationship between the current opening of the accelerator pedal, the current speed of the drive motor and the driver's required torque; or, determine the driver's required torque based on the current opening of the accelerator pedal, the current speed of the vehicle and a second preset relationship; wherein the second preset relationship is used to indicate the mapping relationship between the current opening of the accelerator pedal, the current speed of the vehicle and the driver's required torque.

[0080] According to one embodiment of the present invention, the determination module 20 determines the target required power based on the driver's required power and the power fed back by the power battery, and is specifically used to: obtain the difference between the driver's required power and the power fed back by the power battery to obtain a first difference; determine the target required power based on the sum of the first difference and a preset offset.

[0081] According to an embodiment of the present invention, the control module 30 controls the generator based on the target power demand, specifically for: determining the engine drag target speed based on the target power demand; and controlling the generator according to the engine drag target speed.

[0082] According to one embodiment of the present invention, the control module 30 determines the target engine drag speed based on the target required power, specifically for: obtaining the current friction torque of the engine; determining the target engine drag speed based on the target required power, the current friction torque of the engine and a preset coefficient.

[0083] According to one embodiment of the present invention, the control module 30 is also used to: obtain the current speed of the vehicle and determine the target speed threshold based on the current speed of the vehicle; obtain the minimum speed between the target speed threshold and the engine drag target speed, and control the generator according to the minimum speed.

[0084] It should be noted that for details not disclosed in the vehicle control device of the embodiment of the present invention, please refer to the details disclosed in the vehicle control method of the above-mentioned embodiment of the present invention, and the details will not be repeated here.

[0085] According to the vehicle control device of the embodiment of the present invention, the acquisition module acquires the driver's required power when the vehicle is in an energy recovery condition, and the determination module determines the target required power according to the driver's required power and the power battery feedback power when the driver's required power is greater than the power battery feedback power. The control module controls the generator based on the target required power so that the generator drags the engine. Thus, the device calculates the insufficient recovery of the power battery under the current energy recovery condition, and uses the generator to drag the engine to compensate for the insufficient recovery intensity, thereby ensuring the consistency of the energy recovery intensity, enhancing the driver's sense of control when gliding under any condition, and greatly improving the user experience.

[0086] Corresponding to the above embodiments, the present application also proposes a vehicle controller.

[0087] like Figure 4 As shown, the vehicle controller 100 of the embodiment of the present invention includes a memory 110, a processor 120, and a vehicle control program stored in the memory 110 and executable on the processor 120. When the processor 120 executes the vehicle control program, the above-mentioned vehicle control method is implemented.

[0088] According to the vehicle controller of an embodiment of the present invention, when the processor executes the control program of the vehicle, the above-mentioned vehicle control method is implemented. Based on the above-mentioned vehicle control method, the consistency of energy recovery intensity is ensured, the driver's gliding control feeling under any working conditions is enhanced, and the user experience is greatly improved.

[0089] Corresponding to the above embodiments, the present application also proposes a vehicle.

[0090] like Figure 5 As shown, the vehicle 200 of the embodiment of the present invention includes the vehicle control device 210 as described above, or as shown in FIG. Figure 6 As shown, the vehicle 200 according to the embodiment of the present invention includes the vehicle controller 100 described above.

[0091] The vehicle according to the embodiment of the present invention, based on the above-mentioned vehicle control device or the above-mentioned vehicle controller, ensures the consistency of energy recovery intensity, enhances the driver's gliding control feeling under any working conditions, and greatly improves the user experience.

[0092] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0093] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0094] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0095] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0096] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0097] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle is in an energy recovery state, obtaining a driver's required power; When the driver's required power is greater than the power fed back by the power battery, determining the target required power according to the driver's required power and the power fed back by the power battery; The generator is controlled based on the target required power so that the generator drives the engine.

2. The vehicle control method according to claim 1, characterized in that: The obtaining of the driver's required power includes: Obtaining the driver's required torque; When it is determined that the vehicle is in an energy recovery state according to the driver's required torque, obtaining a current speed of the drive motor; The driver required power is determined according to the driver required torque, the current speed of the drive motor and a preset coefficient.

3. The vehicle control method according to claim 2, characterized in that: Obtain the driver's required torque, including: The driver demand torque is determined according to the current opening of the accelerator pedal, the current speed of the drive motor and a first preset relationship; wherein the first preset relationship is used to indicate the mapping relationship between the current opening of the accelerator pedal, the current speed of the drive motor and the driver demand torque; or, The driver demand torque is determined based on the current opening of the accelerator pedal, the current speed of the vehicle and a second preset relationship; wherein the second preset relationship is used to indicate the mapping relationship between the current opening of the accelerator pedal, the current speed of the vehicle and the driver demand torque.

4. The vehicle control method according to claim 1, characterized in that: The determining the target required power according to the driver required power and the power battery feedback power includes: Obtaining a difference between the driver's required power and the power fed back by the power battery to obtain a first difference; The target required power is determined according to the sum of the first difference and a preset offset.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: The controlling the generator based on the target required power includes: Determining an engine drag target speed based on the target required power; The generator is controlled according to the engine drag target speed.

6. The vehicle control method according to claim 5, characterized in that: Determining the target engine speed based on the target required power includes: acquiring a current friction torque of the engine; The engine drag target speed is determined based on the target required power, the current friction torque of the engine and a preset coefficient.

7. The vehicle control method according to claim 5, characterized in that: The method further comprises: Acquiring a current speed of the vehicle, and determining a target speed threshold based on the current speed of the vehicle; A minimum speed value between the target speed threshold and the engine drag target speed is obtained, and the generator is controlled according to the minimum speed value.

8. A vehicle control device, characterized in that: The device comprises: an acquisition module, used for acquiring the power required by the driver when the vehicle is in an energy recovery condition; a determination module, configured to determine a target required power according to the driver's required power and the power fed back by the power battery when the driver's required power is greater than the power fed back by the power battery; The control module is used to control the generator based on the target required power so that the generator drives the engine.

9. A vehicle controller, characterized in that: The invention comprises a memory, a processor and a vehicle control program stored in the memory and executable on the processor. When the processor executes the vehicle control program, the vehicle control method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: Includes the vehicle control device according to claim 8, or the vehicle controller according to claim 9.

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