Engine crankshaft stop positioning method and engine crankshaft stop positioning device

Abstract

The present application provides an engine crankshaft shutdown positioning method and an engine crankshaft shutdown positioning device, the method comprising obtaining a first speed signal of a hybrid vehicle and a steering signal of a generator when the engine of the hybrid vehicle is shut down, wherein the first speed signal represents the speed information of the engine and / or the generator at the acquisition time, and the steering signal represents the rotation direction of the generator; establishing a speed-time coordinate system based on the acquisition time and the first speed signal; in the case where the steering signal includes a reversal signal, determining a first integral time interval from the speed-time coordinate system based on the reversal signal, wherein the reversal signal represents reverse rotation; determining a first target speed signal corresponding to the first integral time interval from the first speed signal; integrating the first target speed signal to obtain a first target integral value, the first target integral value representing the shutdown position of the engine crankshaft when the engine is reversed.

Description

Technical Field

[0001] The present application relates to the field of engine technology, and more specifically, to an engine crankshaft stop positioning method, an engine crankshaft stop positioning device, an electronic device, a computer-readable storage medium, and a computer program product. Background Art

[0002] After the engine of a hybrid vehicle is shut down, the acquisition of the crankshaft position is of great significance for engine starting. For example, the crankshaft position can be used to quickly determine the cylinder, thereby reducing the starter motor drag time, reducing the energy consumption during drag, and improving the consistency of starting. The shortened start time can reduce the driver's perception of starting and reduce the probability of noise, vibration, and harshness (NVH) problems. After the crankshaft shutdown position is known, the emission of pollutants during startup can also be reduced by using a sequential injection method.

[0003] For the engine of a hybrid vehicle, if the shutdown position is known, accurate resistance torque modeling can be performed for the crankshaft angle, thereby improving the accuracy of starting control and reducing the probability of starting failure. By using a smaller feedforward torque, energy consumption can be reduced. The vibration of the engine during starting can be reduced through active motor damping, which can improve the life of the suspension and the smoothness of starting, thereby reducing starting noise.

[0004] In the process of implementing the concept of this application, it was found that the crankshaft position calculated by the relevant technology has poor accuracy. The inaccurate crankshaft position will make the drag time and drag energy longer when the engine is started next time, worsen the NVH performance of the starting process, and even cause start failure in severe cases. Summary of the invention

[0005] In view of this, the present application provides an engine crankshaft stop positioning method, an engine crankshaft stop positioning device, an electronic device, a computer-readable storage medium and a computer program product.

[0006] One aspect of the present application provides an engine crankshaft stop positioning method, which is applied to a hybrid vehicle, and the method comprises:

[0007] When the engine of the hybrid vehicle is stopped, obtaining a first speed signal of the hybrid vehicle and a steering signal of the generator, wherein the first speed signal represents the speed information of the engine and / or the generator at the acquisition time, and the steering signal represents the rotation direction of the generator, and the rotation direction includes forward rotation and / or reverse rotation opposite to the forward rotation direction;

[0008] Establishing a speed-time coordinate system based on the acquisition time and the first speed signal;

[0009] In the case where the steering signal includes a reverse rotation signal, determining a first integral time interval from the speed-time coordinate system based on the reverse rotation signal, wherein the reverse rotation signal represents the reverse rotation;

[0010] Determining a first target speed signal corresponding to the first integration time interval from the first speed signal;

[0011] The first target speed signal is integrated to obtain a first target integral value, wherein the first target integral value represents a stop position of the engine crankshaft when the engine is in reverse rotation.

[0012] According to an embodiment of the present application, the engine crankshaft stop positioning method further includes:

[0013] Acquire a second speed signal during the engine shutdown process, wherein the second speed signal includes a second speed sub-signal related to the timing sequence;

[0014] The first speed signal is determined from the plurality of second speed sub-signals, wherein the first speed signal includes a plurality of first speed sub-signals determined based on the shutdown speed threshold.

[0015] According to an embodiment of the present application, determining the first integral time interval from the above speed-time coordinate system includes:

[0016] Determine a first integration start time from the speed-time coordinate system based on the inversion signal;

[0017] Determine the first integration end time from the above speed-time coordinate system based on the downtime duration threshold;

[0018] The first integration time interval is determined according to the first integration start time and the first integration end time.

[0019] According to an embodiment of the present application, determining the first integration start time from the speed-time coordinate system based on the reversal signal includes:

[0020] Determine the reversal start time of the reversal signal according to the reversal signal;

[0021] Determining a first interpolation range interval from the speed-time coordinate system based on the reversal start time;

[0022] Performing speed interpolation processing on the signal in the first interpolation range to obtain a first speed interpolation curve;

[0023] The time corresponding to the lowest point in the first rotation speed interpolation curve is determined as the first integration start time.

[0024] According to an embodiment of the present application, the engine crankshaft stop positioning method further includes:

[0025] In the case where the steering signal does not include the reversal signal, determining a second integration time interval from the speed-time coordinate system;

[0026] Determining a second target speed signal corresponding to the second integration time interval from the first speed signal;

[0027] The second target speed signal is integrated to obtain a second target integral value, wherein the second target integral value represents a stop position of the engine crankshaft when the engine is not reversed.

[0028] According to an embodiment of the present application, determining the second integral time interval from the above speed-time coordinate system includes:

[0029] Determining a second integration end time from the above speed-time coordinate system based on the shutdown duration threshold;

[0030] Based on the second integral end time, determining the second integral start time from the speed-time coordinate system;

[0031] The second integration time interval is determined according to the second integration start time and the second integration end time.

[0032] According to an embodiment of the present application, based on the second integral end time, determining the second integral start time from the speed-time coordinate system includes:

[0033] Determining a second interpolation range interval from the speed-time coordinate system based on the second integral end time;

[0034] Performing speed interpolation processing on the signal in the second interpolation range to obtain a second speed interpolation curve;

[0035] The time corresponding to the lowest point in the second rotation speed interpolation curve is determined as the second integration start time.

[0036] According to an embodiment of the present application, the first target speed signal includes a corresponding measured speed signal at each moment.

[0037] According to an embodiment of the present application, performing integration processing on the first target speed signal to obtain a first target integral value includes:

[0038] Determine the rotation coefficient at each moment according to the above turning signal;

[0039] Based on the above rotation coefficient, the measured rotation speed signal at different times is integrated to obtain the above first target integral value.

[0040] According to an embodiment of the present application, the measured rotation speed signal includes a forward rotation speed signal or a reverse rotation speed signal, and the rotation coefficient includes a forward rotation coefficient or a reverse rotation coefficient.

[0041] The first target integral value is obtained by integrating the measured speed signal at different times based on the rotation coefficient, including:

[0042] At each moment, a first value is generated according to the forward rotation speed signal and the forward rotation coefficient; or a second value is generated according to the reverse rotation speed signal and the reverse rotation coefficient;

[0043] The first target integrated value is generated based on the plurality of first numerical values ​​and / or the plurality of second numerical values ​​at a plurality of moments.

[0044] Another aspect of the present application provides an engine crankshaft stop positioning device, comprising:

[0045] an acquisition module, configured to acquire, when the engine of the hybrid vehicle is stopped, a first speed signal of the hybrid vehicle and a steering signal of the generator, wherein the first speed signal represents the speed information of the engine and / or the generator at the acquisition time, and the steering signal represents the rotation direction of the generator, wherein the rotation direction includes forward rotation and / or reverse rotation opposite to the forward rotation direction;

[0046] An establishing module, used for establishing a speed-time coordinate system based on the acquisition time and the first speed signal;

[0047] a first determining module, configured to determine a first integral time interval from the speed-time coordinate system based on the reversal signal when the turning signal includes a reversal signal, wherein the reversal signal represents the reverse rotation;

[0048] A second determination module, configured to determine a first target speed signal corresponding to the first integration time interval from the first speed signal;

[0049] The positioning module is used to perform integration processing on the first target speed signal to obtain a first target integral value, wherein the first target integral value represents the stop position of the engine crankshaft when the engine is in reverse rotation.

[0050] Another aspect of the present application provides an electronic device, comprising:

[0051] one or more processors;

[0052] a memory for storing one or more programs,

[0053] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described above.

[0054] Another aspect of the present application provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the method described above when executed.

[0055] Another aspect of the present application provides a computer program product, which includes computer executable instructions, and the instructions are used to implement the method as described above when executed.

[0056] According to an embodiment of the present application, by collecting the first speed signal of the hybrid vehicle and the steering signal of the generator when the engine is stopped, a speed-time coordinate system is established based on the collection time of the first speed signal and the first speed signal, and when the steering signal includes a reversal signal, a first integral time interval and a first target speed signal corresponding to the first integral time interval are determined from the speed-time coordinate system based on the reversal signal, and the first target speed signal is integrated to obtain a first target integral value representing the stop position of the engine crankshaft when the engine is reversed. By considering the first target speed signal that is reversed when the engine is stopped, integrating the first target speed signal can obtain a more accurate stop position of the engine crankshaft, thereby improving the positioning accuracy of the engine crankshaft, and thereby reducing the dragging time and dragging energy consumption of the next engine start. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The above and other objects, features and advantages of the present application will become more apparent through the following description of the embodiments of the present application with reference to the accompanying drawings, in which:

[0058] Figure 1 An exemplary system architecture to which the engine crankshaft stop positioning method according to an embodiment of the present application can be applied is shown;

[0059] Figure 2 A flow chart of an engine crankshaft stop positioning method according to an embodiment of the present application is shown;

[0060] Figure 3 A schematic diagram of a rotation speed-time coordinate system according to an embodiment of the present application is shown;

[0061] Figure 4 A block diagram of an engine crankshaft stop positioning device according to an embodiment of the present application is shown;

[0062] Figure 5A block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0063] Below, embodiments of the present application will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present application. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present application. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present application.

[0064] The terms used herein are only for describing specific embodiments and are not intended to limit the present application. The terms "include", "comprising", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0065] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0066] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0067] The engine shutdown behavior is the process of dissipating the residual kinetic energy of the engine's moving components (piston-connecting rod-crankshaft-flywheel system) under the action of friction and gas force in the cylinder. During the dissipation process, the engine's shutdown behavior follows the shutdown characteristics of "forward-reverse-forward again". Because the pressure, temperature and piston speed in the cylinder are random during the shutdown process, the shutdown position is not fixed, and the shutdown crankshaft position can only be accurately known through measurement or estimation.

[0068] At present, the engine uses a traditional single magnetoelectric or Hall-type crankshaft position sensor to measure the crankshaft position and speed, but both cannot measure the direction of rotation. The engine will reverse during the shutdown process. If the speed is directly integrated after the reversal, it will cause a large position measurement error. The reversal of the shutdown process can also be solved by using multiple position sensors or a new speed sensor with steering measurement, but this often means an increase in cost and complexity. In addition, the magnetoelectric sensor has an insufficient frequency response lower limit and cannot accurately calculate the speed signal at low speed, which will introduce a larger error when estimating the shutdown position.

[0069] In view of this, an embodiment of the present application provides an engine crankshaft shutdown positioning method and an engine crankshaft shutdown positioning device, the method comprising obtaining a first speed signal of a hybrid vehicle and a steering signal of a generator when the engine of the hybrid vehicle is shut down, wherein the first speed signal represents the speed information of the engine and / or the generator at the acquisition time, and the steering signal represents the rotation direction of the generator, and the rotation direction includes forward rotation and / or reverse rotation opposite to the forward rotation direction; establishing a speed-time coordinate system based on the acquisition time and the first speed signal; in the case where the steering signal includes a reversal signal, determining a first integral time interval from the speed-time coordinate system based on the reversal signal, wherein the reversal signal represents reverse rotation; determining a first target speed signal corresponding to the first integral time interval from the first speed signal; integrating the first target speed signal to obtain a first target integral value, wherein the first target integral value represents the shutdown position of the engine crankshaft when the engine is reversed.

[0070] In the embodiments of this application, the collection, updating, analysis, processing, use, transmission, provision, disclosure, storage, etc. of the data involved (for example, including but not limited to user personal information) are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information and network security.

[0071] Figure 1 An exemplary system architecture 100 to which the engine crankshaft stop positioning method according to an embodiment of the present application can be applied is shown. It should be noted that: Figure 1 What is shown is merely an example of a system architecture to which the embodiments of the present application can be applied, in order to help those skilled in the art understand the technical content of the present application, but it does not mean that the embodiments of the present application cannot be used in other devices, systems, environments or scenarios.

[0072] like Figure 1As shown, the system architecture 100 according to this embodiment may include a first terminal device 101, a second terminal device 102, a third terminal device 103, a network 104 and / or a server 105. The network 104 is used to provide a medium for a communication link between the first terminal device 101, the second terminal device 102, the third terminal device 103 and the server 105. The network 104 may include various connection types and protocols, such as wired and / or wireless communication links, CAN, CANFD, vehicle Ethernet, etc.

[0073] The user can use the first terminal device 101, the second terminal device 102, and the third terminal device 103 to interact with each other through the network 104, and / or interact with the server 105 to receive or send messages, etc. Various control programs can be installed on the first terminal device 101, the second terminal device 102, and the third terminal device 103, such as an engine control program, a gearbox control program, a motor control program, etc. (only as an example).

[0074] The first terminal device 101, the second terminal device 102, and the third terminal device 103 can be various electronic devices such as various vehicle controllers, maintenance diagnostic equipment, etc., including but not limited to engine controllers (EMS), transmission controllers (TCU), motor controllers (MCU), intelligent driving controllers, vehicle controllers (VCU), fault detectors, smart phones, etc.

[0075] The server 105 may be a server that provides various services or data processing, such as providing accurate parking locations (only as an example) to the first terminal device 101, the second terminal device 102, and the third terminal device 103. The background management server may analyze and process the received user request and other data, and feed back the processing results (such as information or data obtained or generated according to the user request) to the terminal device.

[0076] It should be noted that the engine crankshaft stop positioning method provided in the embodiment of the present application can be executed by the server 105. Accordingly, the engine crankshaft stop positioning device provided in the embodiment of the present application can be arranged in the server 105. The engine crankshaft stop positioning method provided in the embodiment of the present application can also be executed by a server or server cluster different from the server 105 and capable of communicating with the first terminal device 101, the second terminal device 102, the third terminal device 103 and / or the server 105. Correspondingly, the engine crankshaft stop positioning device provided in the embodiment of the present application can also be arranged in a server or server cluster different from the server 105 and capable of communicating with the first terminal device 101, the second terminal device 102, the third terminal device 103 and / or the server 105. Alternatively, the engine crankshaft stop positioning method provided in the embodiment of the present application can also be executed by the first terminal device 101, the second terminal device 102 or the third terminal device 103, or can also be executed by other terminal devices different from the first terminal device 101, the second terminal device 102 or the third terminal device 103. Correspondingly, the engine crankshaft stop positioning device provided in the embodiment of the present application can also be set in the first terminal device 101, the second terminal device 102 or the third terminal device 103, or in other terminal devices different from the first terminal device 101, the second terminal device 102 or the third terminal device 103.

[0077] It should be understood that Figure 1 The number of terminal devices, networks and servers in the embodiment is only an example. According to the implementation requirements, there can be any number of terminal devices, networks and servers.

[0078] Figure 2 A flow chart of an engine crankshaft stop positioning method according to an embodiment of the present application is shown. Figure 3 A schematic diagram of a rotation speed-time coordinate system according to an embodiment of the present application is shown.

[0079] like Figure 2 As shown, the engine crankshaft stop positioning method applied to a hybrid vehicle includes operations S201-S205.

[0080] In operation S201, when the engine of the hybrid vehicle is stopped, a first speed signal of the hybrid vehicle and a steering signal of the generator are acquired, wherein the first speed signal represents the speed information of the engine and / or the generator at the acquisition time, and the steering signal represents the rotation direction of the generator, and the rotation direction includes forward rotation and / or reverse rotation opposite to the forward rotation direction.

[0081] In operation S202 , a speed-time coordinate system is established based on the acquisition time and the first speed signal.

[0082] In operation S203 , when the turning signal includes a reverse rotation signal, a first integration time interval is determined from a rotation speed-time coordinate system based on the reverse rotation signal, wherein the reverse rotation signal represents reverse rotation.

[0083] In operation S204 , a first target speed signal corresponding to a first integration time interval is determined from the first speed signal.

[0084] In operation S205, the first target speed signal is integrated to obtain a first target integral value, wherein the first target integral value represents a stop position of the engine crankshaft when the engine is in reverse rotation.

[0085] According to an embodiment of the present application, when a hybrid vehicle is traveling in a fuel drive mode, if it is necessary to switch the fuel drive mode to an electric drive mode or disconnect the fuel drive mode, the on-board computer will cut off the fuel supply to stop the engine. At this time, during the engine shutdown process, the first speed signal of the engine or the generator connected to the engine by mechanical transmission can be collected in real time during the shutdown process, and the steering signal of the generator can be collected at the same time. The steering signal of the generator can be used to determine whether the engine continues to rotate forward during the shutdown process or whether there is reverse rotation during the forward rotation.

[0086] According to the embodiment of the present application, since the first speed signal is closely related to the acquisition time, the first speed signal acquired can be converted into the following: Figure 3 The speed-time coordinate system shown, from which the specific value of the engine speed at any time can be seen. Figure 3 The unit of the horizontal axis is time t, and the unit of the vertical axis is speed r / min.

[0087] According to an embodiment of the present application, if there is a reverse signal of the generator's reverse rotation in the generator's steering signal, the first integral time interval can be determined from the speed-time coordinate system based on the reverse signal, and the first target speed signal corresponding to the first integral time interval can be determined from the speed-time coordinate system, and the first target speed signal is integrated to obtain a first target integral value, which represents the stop position of the engine crankshaft when the engine is reversed. For example, when the first target integral value is 10, it means that the stop position is the position where the engine crankshaft is 10° past the top dead center.

[0088] It should be noted that the top dead center of the crankshaft refers to the position where the top of the piston reaches the highest point when the engine piston moves in the cylinder, that is, the maximum distance between the top of the piston and the center of the crankshaft. This top dead center is the highest point of the piston stroke and the position when the cylinder volume is the smallest.

[0089] According to an embodiment of the present application, by collecting the first speed signal of the hybrid vehicle and the steering signal of the generator when the engine is stopped, a speed-time coordinate system is established based on the collection time of the first speed signal and the first speed signal. When the steering signal includes a reversal signal, the first integral time interval and the first target speed signal corresponding to the first integral time interval are determined from the speed-time coordinate system based on the reversal signal, and the first target speed signal is integrated to obtain a first target integral value representing the stop position of the engine crankshaft when the engine is reversed. By considering the first target speed signal that is reversed when the engine is stopped, integrating the first target speed signal can obtain a more accurate stop position of the engine crankshaft, thereby improving the positioning accuracy of the engine crankshaft, thereby reducing the drag time and drag energy consumption of the next engine start, and improving NVH performance.

[0090] According to an embodiment of the present application, the engine crankshaft stop positioning method further includes the following operations:

[0091] A second speed signal is acquired during the engine shutdown process, wherein the second speed signal includes a second speed sub-signal related to the timing sequence. A first speed signal is determined from a plurality of second speed sub-signals, wherein the first speed signal includes a plurality of first speed sub-signals determined based on a shutdown speed threshold.

[0092] According to an embodiment of the present application, the shutdown speed threshold can be specifically set according to actual conditions, for example, it can be 400 revolutions per minute.

[0093] According to an embodiment of the present application, during the engine shutdown process, the engine and / or generator can continue to output a second speed signal related to time, for example, the second speed sub-signal in the first second after shutdown is 1500 revolutions per minute (r / min), the second speed sub-signal in the second second is 1000 revolutions per minute, until the second speed sub-signal at the final shutdown moment is 0 revolutions per minute.

[0094] According to an embodiment of the present application, the engine speed is less than the shutdown speed threshold until it is completely shut down (e.g. Figure 3 The speed sub-signal between the position where the first integration end time is located in the rotation speed sub-signal is determined as the first speed sub-signal, so that the first speed signal can be obtained based on the multiple first speed sub-signals.

[0095] According to an embodiment of the present application, by determining a first speed signal from multiple speed sub-signals from the start of engine shutdown to the completion of shutdown through a shutdown speed threshold, the amount of data for integral processing can be reduced, thereby improving the calculation efficiency of engine crankshaft shutdown positioning.

[0096] According to an embodiment of the present application, determining the first integral time interval from the speed-time coordinate system includes the following operations:

[0097] The first integration start time is determined from the speed-time coordinate system based on the reversal signal. The first integration end time is determined from the speed-time coordinate system based on the shutdown time threshold. The first integration time interval is determined according to the first integration start time and the first integration end time.

[0098] According to an embodiment of the present application, the shutdown time threshold refers to the maximum duration that the engine or motor speed is continuously set to 0 revolutions per minute, which can be specifically set according to actual conditions, for example, it can be set to 5 seconds, 10 seconds, etc.

[0099] According to an embodiment of the present application, when there is a reversal signal in the turn signal, the first integral start time is determined from the speed-time coordinate system based on the reversal signal, and then the specific time when the speed is 0 rpm is determined in the speed-time coordinate system. If the speed continues to be 0 rpm for a period of time that reaches the stop time threshold, the time point when the speed finally continues to the stop time threshold can be determined as the first integral end time, such as Figure 3 As shown, the time interval between the first integration start time and the first integration end time is determined as the first integration time interval.

[0100] According to an embodiment of the present application, determining the first integration start time from the speed-time coordinate system based on the reversal signal includes the following operations:

[0101] The inversion start time of the inversion signal is determined according to the inversion signal. A first interpolation range interval is determined from the speed-time coordinate system based on the inversion start time. The signal in the first interpolation range interval is subjected to speed interpolation processing to obtain a first speed interpolation curve. The time corresponding to the lowest point in the first speed interpolation curve is determined as the first integration start time.

[0102] According to an embodiment of the present application, the rotation speed interpolation method may be a cubic spline interpolation, an ideal band-limited interpolation, an FFT (Fast Fourier Transform)-based interpolation method, or the like.

[0103] According to an embodiment of the present application, the reversal start time of the reversal signal is determined from the speed-time coordinate system, and then a time period of a V-shaped waveform before the reversal start time is determined as a first interpolation range interval in the speed-time coordinate system, such as Figure 3 As shown, the peaks in the waveform are the peaks of the previous and next two waveforms, and there are troughs in the waveform.

[0104] According to an embodiment of the present application, the speed interpolation processing is performed on the signal of the V-shaped waveform in the first interpolation range to obtain a relatively smooth first speed interpolation curve, thereby determining the time corresponding to the lowest point in the first speed interpolation curve as the first integration start time.

[0105] In a specific embodiment, in the process of determining the first interpolation range interval, the reversal start time can be used as a reference and the rearward x° crankshaft angle can be used as an end point, that is, the peak at the rear of the V-shaped waveform can be determined, such as Figure 3 The vertical straight line on the right side of the "first interpolation range interval" in the figure is taken as the starting point for the crankshaft angle y° backward, that is, the peak of the V-shaped waveform that is closer in time to the front is determined, such as Figure 3 The vertical straight line on the left side of the "first interpolation range interval", where x° is preferably a crankshaft angle in a first angle range, for example, a crankshaft angle in the first angle range of 80°-100°, and y° is preferably a crankshaft angle in a second angle range, for example, a crankshaft angle in the second angle range of 260°-280°.

[0106] According to the embodiment of the present application, the above-mentioned crankshaft angle angular range is determined because: the engine reverses because when the engine is about to reach the compression top dead center for the last time, its remaining kinetic energy can no longer overcome the pressure energy and friction process work accumulated in the remaining compression stroke cylinder. Specifically, as the piston moves upward, the gas pressure in the cylinder in the compression stroke becomes larger and larger. When the remaining kinetic energy of the engine is completely exhausted, it still has not reached the top dead center. At this time, the pressure in the cylinder is greater than the friction force, which will cause the engine to reverse. It can be seen that the engine is close to the top dead center but does not cross the top dead center before reversing, that is, it is close to 180° crankshaft angle away from the last top dead center, but does not exceed 180°.

[0107] According to an embodiment of the present application, the engine crankshaft stop positioning method further includes the following operations:

[0108] In the case where the steering signal does not include a reversal signal, a second integral time interval is determined from the speed-time coordinate system. A second target speed signal corresponding to the second integral time interval is determined from the first speed signal. The second target speed signal is integrated to obtain a second target integral value, wherein the second target integral value represents a stop position of the engine crankshaft when the engine is not reversed.

[0109] According to an embodiment of the present application, during the engine shutdown process, the engine may continue to rotate forward and will not rotate in the reverse direction. At this time, the second integral time interval is determined from the established speed-time coordinate system, and then the first speed signal within the second integral time interval is determined as the second target speed signal. After that, the second target speed signal is integrated to obtain a second target integral value representing the shutdown position of the engine crankshaft when the engine is not reversed.

[0110] According to an embodiment of the present application, determining the second integral time interval from the speed-time coordinate system includes the following operations: determining the second integral end time from the speed-time coordinate system based on the shutdown duration threshold. Based on the second integral end time, determining the second integral start time from the speed-time coordinate system. Determining the second integral time interval according to the second integral start time and the second integral end time.

[0111] According to an embodiment of the present application, in accordance with the method of determining the end time of the first integration, the second integration end time is determined from the speed-time coordinate system based on the downtime duration threshold, and then based on the determined second integration end time, the second integration start time is determined from the speed-time coordinate system, thereby determining the time between the second integration start time and the second integration end time as the second integration time interval.

[0112] According to an embodiment of the present application, based on the second integral end time, determining the second integral start time from the speed-time coordinate system includes the following operations: determining a second interpolation range interval from the speed-time coordinate system based on the second integral end time. Performing speed interpolation processing on the signal in the second interpolation range interval to obtain a second speed interpolation curve. Determining the time corresponding to the lowest point in the second speed interpolation curve as the second integral start time.

[0113] According to an embodiment of the present application, after determining the end time of the second integration, the time range corresponding to a V-shaped waveform before the end time of the second integration can be determined as the second interpolation range interval, the peak and valley of the V-shaped waveform that is closer to the front in time is a peak and valley of the previous waveform, and the waveform after the peak and valley of the V-shaped waveform that is closer to the back in time is not V-shaped. At this time, the signal in the second interpolation range interval can be processed by speed interpolation to obtain a smoother second speed interpolation curve, and the time corresponding to the lowest point in the second speed interpolation curve is determined as the start time of the second integration.

[0114] According to an embodiment of the present application, when a non-reversal shutdown occurs, the piston eventually stops between two extreme positions, which is less than 180° crankshaft angle from the previous top dead center position. Therefore, in the V-shaped waveform corresponding to the second interpolation range interval, the position of the peak and valley that are closer in time can be 180° crankshaft angle forward based on the moment when the speed becomes 0 rpm during shutdown, but should not exceed 270° crankshaft angle.

[0115] According to an embodiment of the present application, the first target speed signal includes a measured speed signal corresponding to each moment.

[0116] According to an embodiment of the present application, integrating the first target speed signal to obtain the first target integral value includes the following operations: determining the rotation coefficient at each moment according to the steering signal. Integrating the measured speed signal at different moments based on the rotation coefficient to obtain the first target integral value.

[0117] According to an embodiment of the present application, the rotation coefficient can be specifically set according to actual needs. For example, the rotation coefficient of the forward signal can be set to 1, and the rotation coefficient of the reverse signal can be set to -1.

[0118] According to an embodiment of the present application, the first target speed signal and the second target speed signal can be integrated and calculated in the following manner: the measured speed signal at each moment is integrated based on the rotation coefficient at that moment, so as to obtain the target integral value (first target integral value or second target integral value) within the integral time interval (first integral time interval or second integral time interval).

[0119] According to an embodiment of the present application, the measured rotation speed signal includes a forward rotation speed signal or a reverse rotation speed signal, and the rotation coefficient includes a forward rotation coefficient or a reverse rotation coefficient.

[0120] According to an embodiment of the present application, integrating the measured speed signal at different moments based on the rotation coefficient to obtain a first target integral value includes the following operations: for each moment, generating a first value based on the forward rotation speed signal and the forward rotation coefficient; or generating a second value based on the reverse rotation speed signal and the reverse rotation coefficient. Generating the first target integral value based on multiple first values ​​and / or multiple second values ​​at multiple moments.

[0121] According to an embodiment of the present application, for each acquisition time of the speed signal, it is first determined whether the steering signal at the acquisition time (i.e., the moment mentioned above) is a forward signal or a reverse signal. If it is a forward signal, the measured speed signal at the acquisition time can be multiplied by the corresponding rotation coefficient to obtain the integral value at the acquisition time. The integral values ​​corresponding to each acquisition time in the integral time interval (the first integral time interval or the second integral time interval) are accumulated to obtain the target integral value (the first target integral value or the second target integral value).

[0122] It should be noted that the integration start time in the integration time interval is the time when the piston is compressed to the top dead center, and its crankshaft angle is 0°CA. The target integral value obtained based on the above integration processing is the final stop position of the engine crankshaft.

[0123] Figure 4 A block diagram of an engine crankshaft stop positioning device according to an embodiment of the present application is shown.

[0124] like Figure 4 As shown, the engine crankshaft stop positioning device 400 includes an acquisition module 410 , an establishment module 420 , a first determination module 430 , a second determination module 440 , and a positioning module 450 .

[0125] The acquisition module 410 is used to acquire a first speed signal of the hybrid vehicle and a steering signal of the generator when the engine of the hybrid vehicle is stopped, wherein the first speed signal represents the speed information of the engine and / or the generator at the acquisition time, and the steering signal represents the rotation direction of the generator, and the rotation direction includes forward rotation and / or reverse rotation opposite to the forward rotation direction.

[0126] The establishing module 420 is used to establish a speed-time coordinate system based on the acquisition time and the first speed signal.

[0127] The first determination module 430 is configured to determine a first integration time interval from a rotation speed-time coordinate system based on the reversal signal when the turning signal includes a reversal signal, wherein the reversal signal represents reverse rotation.

[0128] The second determination module 440 is configured to determine a first target speed signal corresponding to a first integration time interval from the first speed signal.

[0129] The positioning module 450 is used to perform integration processing on the first target speed signal to obtain a first target integral value, wherein the first target integral value represents the stop position of the engine crankshaft when the engine is in reverse rotation.

[0130] According to an embodiment of the present application, by collecting the first speed signal of the hybrid vehicle and the steering signal of the generator when the engine is stopped, a speed-time coordinate system is established based on the collection time of the first speed signal and the first speed signal. When the steering signal includes a reversal signal, the first integral time interval and the first target speed signal corresponding to the first integral time interval are determined from the speed-time coordinate system based on the reversal signal, and the first target speed signal is integrated to obtain a first target integral value representing the stop position of the engine crankshaft when the engine is reversed. By considering the first target speed signal that is reversed when the engine is stopped, integrating the first target speed signal can obtain a more accurate stop position of the engine crankshaft, thereby improving the positioning accuracy of the engine crankshaft, thereby reducing the drag time and drag energy consumption of the next engine start, and improving the start-up NVH performance.

[0131] According to an embodiment of the present application, the engine crankshaft stop positioning device 400 further includes a second acquisition module and a third determination module.

[0132] The second acquisition module is used to acquire a second speed signal during the engine shutdown process, wherein the second speed signal includes a second speed sub-signal related to the timing.

[0133] The third determination module is used to determine a first speed signal from a plurality of speed sub-signals, wherein the first speed signal includes a plurality of first speed sub-signals determined based on a shutdown speed threshold.

[0134] According to an embodiment of the present application, the first determination module 430 includes a first determination unit, a second determination unit, and a third determination unit.

[0135] The first determination unit is used to determine a first integration start time from a rotation speed-time coordinate system based on the reversal signal.

[0136] The second determination unit is used to determine a first integration end time from a rotation speed-time coordinate system based on the stop time threshold.

[0137] The third determining unit is used to determine the first integration time interval according to the first integration start time and the first integration end time.

[0138] According to an embodiment of the present application, the first determining unit includes a first determining subunit, a second determining subunit, an obtaining subunit, and a third determining subunit.

[0139] The first determining subunit is used to determine the inversion start time of the inversion signal according to the inversion signal.

[0140] The second determining subunit is used to determine a first interpolation range interval from a rotation speed-time coordinate system based on the reverse start time.

[0141] The obtaining subunit is used to perform speed interpolation processing on the signal in the first interpolation range to obtain a first speed interpolation curve.

[0142] The third determining subunit is used to determine the time corresponding to the lowest point in the first rotation speed interpolation curve as the first integration start time.

[0143] According to an embodiment of the present application, the engine crankshaft stop positioning device 400 further includes a fourth determination module, a fifth determination module, and a second positioning module.

[0144] The fourth determination module is used to determine a second integration time interval from a rotation speed-time coordinate system when the turn signal does not include a reversal signal.

[0145] The fifth determination module is used to determine a second target speed signal corresponding to a second integration time interval from the first speed signal.

[0146] The second positioning module is used to perform integration processing on the second target speed signal to obtain a second target integral value, wherein the second target integral value represents the stop position of the engine crankshaft when the engine is not reversed.

[0147] According to an embodiment of the present application, the fourth determination module includes a fourth determination unit, a fifth determination unit, and a sixth determination unit.

[0148] The fourth determination unit is used to determine the second integration end time from the rotation speed-time coordinate system based on the stop time threshold.

[0149] The fifth determination unit is used to determine the second integration start time from the rotation speed-time coordinate system based on the second integration end time.

[0150] The sixth determining unit is used to determine the second integration time interval according to the second integration start time and the second integration end time.

[0151] According to an embodiment of the present application, the fifth determining unit includes a fourth determining subunit, a second obtaining subunit, and a fifth determining subunit.

[0152] The fourth determining subunit is used to determine a second interpolation range interval from a rotation speed-time coordinate system based on the second integration end time.

[0153] The second obtaining subunit is used to perform speed interpolation processing on the signal in the second interpolation range to obtain a second speed interpolation curve.

[0154] The fifth determining subunit is used to determine the time corresponding to the lowest point in the second rotation speed interpolation curve as the second integration start time.

[0155] According to an embodiment of the present application, the first target speed signal includes a measured speed signal corresponding to each moment.

[0156] According to an embodiment of the present application, the positioning module 440 includes a seventh determination unit and an integration unit.

[0157] The seventh determination unit is used to determine the rotation coefficient at each moment according to the turn signal.

[0158] The integration unit is used to perform integration processing on the measured rotation speed signal at different times based on the rotation coefficient to obtain a first target integral value.

[0159] According to an embodiment of the present application, the measured rotation speed signal includes a forward rotation speed signal or a reverse rotation speed signal, and the rotation coefficient includes a forward rotation coefficient or a reverse rotation coefficient.

[0160] According to an embodiment of the present application, the integration unit includes a first generation subunit and a second generation subunit.

[0161] The first generating subunit is used to generate a first value according to the forward rotation speed signal and the forward rotation coefficient at each moment; or to generate a second value according to the reverse rotation speed signal and the reverse rotation coefficient.

[0162] The second generating subunit is used to generate a first target integral value according to a plurality of first numerical values ​​and / or a plurality of second numerical values ​​at a plurality of moments.

[0163] According to the embodiments of the present application, any one or more of the modules, submodules, units, and subunits, or at least part of the functions of any one of them can be implemented in one module. According to the embodiments of the present application, any one or more of the modules, submodules, units, and subunits can be split into multiple modules for implementation. According to the embodiments of the present application, any one or more of the modules, submodules, units, and subunits can be at least partially implemented as hardware circuits, such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), systems on chips, systems on substrates, systems on packages, application specific integrated circuits (ASICs), or can be implemented by hardware or firmware in any other reasonable way of integrating or packaging the circuit, or in any one of the three implementation methods of software, hardware, and firmware, or in any appropriate combination of any of them. Alternatively, according to the embodiments of the present application, one or more of the modules, submodules, units, and subunits can be at least partially implemented as computer program modules, and when the computer program modules are run, the corresponding functions can be executed.

[0164] For example, any of the acquisition module 410, the establishment module 420, the first determination module 430, the second determination module 440, and the positioning module 450 can be combined in one module / unit / sub-unit for implementation, or any of the modules / units / sub-units can be split into multiple modules / units / sub-units. Alternatively, at least part of the functions of one or more of these modules / units / sub-units can be combined with at least part of the functions of other modules / units / sub-units and implemented in one module / unit / sub-unit. According to an embodiment of the present application, at least one of the acquisition module 410, the establishment module 420, the first determination module 430, the second determination module 440, and the positioning module 450 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or by any one of the three implementation methods of software, hardware, and firmware, or by a suitable combination of any of them. Alternatively, at least one of the acquisition module 410, the establishment module 420, the first determination module 430, the second determination module 440, and the positioning module 450 may be at least partially implemented as a computer program module, which may perform corresponding functions when executed.

[0165] It should be noted that the engine crankshaft shutdown positioning device part in the embodiment of the present application corresponds to the engine crankshaft shutdown positioning method part in the embodiment of the present application. The description of the engine crankshaft shutdown positioning device part specifically refers to the engine crankshaft shutdown positioning method part, which will not be repeated here.

[0166] Figure 5 A block diagram of an electronic device suitable for implementing the method described above according to an embodiment of the present application is shown. Figure 5 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0167] like Figure 5As shown, the electronic device 500 according to an embodiment of the present application includes a processor 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage part 508 to a random access memory (RAM) 503. The processor 501 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (for example, an application-specific integrated circuit (ASIC)), etc. The processor 501 may also include an onboard memory for caching purposes. The processor 501 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present application.

[0168] In RAM 503, various programs and data required for the operation of electronic device 500 are stored. Processor 501, ROM 502 and RAM 503 are connected to each other via bus 504. Processor 501 performs various operations of the method flow according to the embodiment of the present application by executing the program in ROM 502 and / or RAM 503. It should be noted that the program can also be stored in one or more memories other than ROM 502 and RAM 503. Processor 501 can also perform various operations of the method flow according to the embodiment of the present application by executing the program stored in the one or more memories.

[0169] According to an embodiment of the present application, the electronic device 500 may further include an input / output (I / O) interface 505, which is also connected to the bus 504. The electronic device 500 may further include one or more of the following components connected to the input / output (I / O) interface 505: an input portion 506 including a keyboard, a mouse, etc.; an output portion 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 508 including a hard disk, etc.; and a communication portion 509 including a network interface card such as a LAN card, a modem, etc. The communication portion 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the input / output (I / O) interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed, so that a computer program read therefrom is installed into the storage portion 508 as needed.

[0170] According to an embodiment of the present application, the method flow according to the embodiment of the present application can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 509, and / or installed from the removable medium 511. When the computer program is executed by the processor 501, the above-mentioned functions defined in the system of the embodiment of the present application are executed. According to an embodiment of the present application, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0171] The present application also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present application is implemented.

[0172] According to an embodiment of the present application, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include, but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device.

[0173] For example, according to an embodiment of the present application, the computer-readable storage medium may include the ROM 502 and / or the RAM 503 described above and / or one or more memories other than the ROM 502 and the RAM 503 .

[0174] An embodiment of the present application also includes a computer program product, which includes a computer program, which contains program code for executing the method provided by the embodiment of the present application. When the computer program product runs on an electronic device, the program code is used to enable the electronic device to implement the method provided by the embodiment of the present application.

[0175] When the computer program is executed by the processor 501, the above functions defined in the system / device of the embodiment of the present application are executed. According to the embodiment of the present application, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0176] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 509, and / or installed from the removable medium 511. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0177] According to an embodiment of the present application, the program code for executing the computer program provided by the embodiment of the present application can be written in any combination of one or more programming languages, and specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, such as Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or completely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0178] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It will be appreciated by those skilled in the art that the features recorded in the various embodiments of the present application can be combined and / or combined in a variety of ways, even if such a combination or combination is not clearly recorded in the present application. In particular, without departing from the spirit and teachings of the present application, the features described in the various embodiments of the present application may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present application.

[0179] The embodiments of the present application are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present application. Although each embodiment is described above, this does not mean that the measures in each embodiment cannot be used in combination advantageously. The present application does not depart from the scope of the present application, and those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present application.

Claims

1. An engine crankshaft stop positioning method, applied to a hybrid vehicle, characterized in that: The method comprises: When the engine of the hybrid vehicle is stopped, acquiring a first speed signal of the hybrid vehicle and a steering signal of the generator, wherein the first speed signal represents the speed information of the engine and / or the generator at the acquisition time, and the steering signal represents the rotation direction of the generator, and the rotation direction includes forward rotation and / or reverse rotation opposite to the forward rotation direction; Establishing a speed-time coordinate system based on the acquisition time and the first speed signal; In the case where the steering signal includes a reversal signal, determining a first integration time interval from the speed-time coordinate system based on the reversal signal, wherein the reversal signal represents the reverse rotation; determining a first target speed signal corresponding to the first integration time interval from the first speed signal; Integrating the first target speed signal to obtain a first target integral value, wherein the first target integral value represents a stop position of the engine crankshaft when the engine is in reverse rotation; Wherein, determining the first integral time interval from the speed-time coordinate system includes: determining a first integration start time from the speed-time coordinate system based on the reversal signal; Determining a first integration end time from the speed-time coordinate system based on a stop duration threshold; Determine the first integration time interval according to the first integration start time and the first integration end time; Wherein, determining the first integration start time from the speed-time coordinate system based on the reversal signal includes: Determining a reversal start time of the reversal signal according to the reversal signal; Based on the reversal start time, determine a first interpolation range interval from a time period of a V-shaped waveform before the reversal start time in the speed-time coordinate system; Performing speed interpolation processing on the signal in the first interpolation range to obtain a first speed interpolation curve; The time corresponding to the lowest point in the first rotation speed interpolation curve is determined as the first integration start time.

2. The method according to claim 1, characterized in that Also includes: Acquire a second speed signal during the engine shutdown process, wherein the second speed signal includes a second speed sub-signal related to the timing; The first speed signal is determined from a plurality of the second speed sub-signals, wherein the first speed signal includes a plurality of first speed sub-signals determined based on a shutdown speed threshold.

3. The method according to claim 1, characterized in that Also includes: In a case where the steering signal does not include the reversal signal, determining a second integration time interval from the speed-time coordinate system; determining a second target speed signal corresponding to the second integration time interval from the first speed signal; The second target speed signal is integrated to obtain a second target integral value, wherein the second target integral value represents a stop position of the engine crankshaft when the engine is not reversed.

4. The method according to claim 3, characterized in that Determining a second integration time interval from the speed-time coordinate system includes: Determining a second integration end time from the speed-time coordinate system based on the stop time threshold; Based on the second integration end time, determining a second integration start time from the speed-time coordinate system; The second integration time interval is determined according to the second integration start time and the second integration end time.

5. The method according to claim 4, characterized in that Based on the second integration end time, determining the second integration start time from the speed-time coordinate system includes: Based on the second integral end time, determine a second interpolation range interval from the speed-time coordinate system by taking a time range corresponding to a V-shaped waveform before the second integral end time; Performing speed interpolation processing on the signal in the second interpolation range to obtain a second speed interpolation curve; The time corresponding to the lowest point in the second rotation speed interpolation curve is determined as the second integration start time.

6. The method according to claim 1, characterized in that The first target speed signal includes a measured speed signal corresponding to each moment; The first target speed signal is integrated to obtain a first target integral value, including: Determine the rotation coefficient at each moment according to the steering signal; The measured rotation speed signal at different times is integrated based on the rotation coefficient to obtain the first target integral value.

7. The method according to claim 6, characterized in that The measured speed signal includes a forward speed signal or a reverse speed signal, and the rotation coefficient includes a forward rotation coefficient or a reverse rotation coefficient; The step of integrating the measured speed signals at different times based on the rotation coefficient to obtain the first target integral value includes: At each moment, a first value is generated according to the forward rotation speed signal and the forward rotation coefficient; or a second value is generated according to the reverse rotation speed signal and the reverse rotation coefficient; The first target integrated value is generated according to a plurality of the first numerical values ​​and / or a plurality of the second numerical values ​​at a plurality of moments.

8. An engine crankshaft stop positioning device, characterized in that: include: an acquisition module, configured to acquire, when the engine of the hybrid vehicle is stopped, a first speed signal of the hybrid vehicle and a steering signal of the generator, wherein the first speed signal represents the speed information of the engine and / or the generator at the acquisition time, and the steering signal represents the rotation direction of the generator, wherein the rotation direction includes forward rotation and / or reverse rotation opposite to the forward rotation direction; An establishing module, configured to establish a speed-time coordinate system based on the acquisition time and the first speed signal; a first determining module, configured to determine a first integral time interval from the speed-time coordinate system based on the reversal signal when the turning signal includes a reversal signal, wherein the reversal signal represents the reverse rotation; a second determination module, configured to determine a first target speed signal corresponding to the first integration time interval from the first speed signal; a positioning module, configured to perform integration processing on the first target speed signal to obtain a first target integral value, wherein the first target integral value represents a stop position of the engine crankshaft when the engine is in reverse rotation; Wherein, the first determination module includes a first determination unit, a second determination unit, and a third determination unit; The first determination unit is used to determine a first integration start time from a rotation speed-time coordinate system based on the reversal signal; The second determination unit is used to determine the first integration end time from the speed-time coordinate system based on the shutdown time threshold; The third determining unit is used to determine the first integration time interval according to the first integration start time and the first integration end time; Wherein, the first determining unit includes a first determining subunit, a second determining subunit, an obtaining subunit, and a third determining subunit; The first determining subunit is used to determine the inversion start time of the inversion signal according to the inversion signal; The second determining subunit is used to determine a first interpolation range interval based on the reverse start time from a time period of a V-shaped waveform before the reverse start time in the speed-time coordinate system; The obtaining subunit is used to perform speed interpolation processing on the signal in the first interpolation range to obtain a first speed interpolation curve; The third determining subunit is used to determine the time corresponding to the lowest point in the first rotation speed interpolation curve as the first integration start time.

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