Control method and system for low-temperature starting slippage of vehicle, vehicle and medium

Abstract

The invention relates to the technical field of automobile electronics, and discloses a control method and system for low-temperature starting slippage of a vehicle, the vehicle and a medium. The method comprises the steps that when a vehicle is in a starting slippage working condition, target torque of a conventional starting slippage working condition serves as an original power source torque demand, and the oil temperature of a gearbox is periodically obtained; determining the torque change capacity of the gearbox corresponding to each period based on each oil temperature; determining a target power source torque demand corresponding to each period based on the original power source torque demand and the torque change capability corresponding to each period; and determining engine target torque and motor target torque corresponding to each period based on each target power source torque demand so as to control the vehicle to start. Therefore, when the vehicle is in the starting slippage working condition, the influence of temperature on vehicle starting is reduced, and the success rate of vehicle starting is increased.

Description

Technical Field

[0001] The present application relates to the field of automotive electronic technology, and in particular to a control method, system, vehicle and medium for low-temperature starting slip of a vehicle. Background Art

[0002] For hybrid vehicles with P2 configuration, the torque capacity of the transmission clutch will change due to the influence of low temperature. For wet clutches with P2 configuration, the viscosity of the oil increases at low temperatures, which may limit the torque change of the transmission clutch and cause slow torque response. Therefore, when the vehicle is in the starting slip control condition, the temperature may easily cause the starting speed to rise unexpectedly or fly away, or cause unexpected intervention overshoot of the slip control, making it difficult for the vehicle to complete the start. In addition, the influence of engine intake and combustion at low temperatures may cause the engine's response to be delayed, which is also extremely unfavorable for hybrid vehicles with severe battery capacity attenuation at extremely low temperatures. Therefore, when the vehicle is in the starting slip condition, how to reduce the impact of temperature on the vehicle's start to increase the success rate of the vehicle's start is an urgent problem to be solved.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0005] The embodiments of the present disclosure provide a method, system, vehicle and medium for controlling low-temperature starting slip of a vehicle, so as to reduce the influence of temperature on the starting of the vehicle and improve the success rate of the starting of the vehicle when the vehicle is in a starting slip condition.

[0006] In some embodiments, a method for controlling a vehicle's low-temperature starting slip comprises: when the vehicle is in a starting slip condition, taking the target torque of a conventional starting slip condition as the original power source torque demand, and periodically acquiring the oil temperature of the transmission; determining the torque change capability of the transmission corresponding to each cycle based on each of the oil temperatures; determining the target power source torque demand corresponding to each cycle based on the original power source torque demand and the torque change capability corresponding to each cycle; determining the engine target torque and the motor target torque corresponding to each cycle based on each target power source torque demand, so as to control the vehicle starting.

[0007] In some embodiments, a control system for low-temperature starting slip of a vehicle includes: an acquisition module, which is used to use the target torque of a conventional starting slip condition as the original power source torque demand when the vehicle is in a starting slip condition, and periodically acquire the oil temperature of the transmission; a first determination module, which is used to determine the torque change capacity of the transmission corresponding to each cycle based on each of the oil temperatures; a second determination module, which is used to determine the target power source torque demand corresponding to each cycle based on the original power source torque demand and the torque change capacity corresponding to each cycle; and a control module, which is used to determine the engine target torque and the motor target torque corresponding to each cycle based on each target power source torque demand, so as to control the starting of the vehicle.

[0008] In some embodiments, a vehicle includes a processor and a memory storing program instructions, and the processor is configured to execute the vehicle low-temperature starting slip control method as described above when running the program instructions.

[0009] In some embodiments, a computer-readable storage medium is characterized in that instructions are stored in the computer-readable storage medium, and when the instructions are executed on a terminal device, the terminal device executes the vehicle low-temperature starting slip control method as described above.

[0010] The vehicle low-temperature starting slip control method, system, vehicle and medium provided by the embodiments of the present disclosure can achieve the following technical effects:

[0011] When the vehicle is in a starting slip condition, the target torque of the conventional starting slip condition is used as the original power source torque demand and the oil temperature of the gearbox is periodically obtained. Then, the torque change capability of the gearbox corresponding to each period is determined based on each oil temperature to determine the influence of temperature on the torque change capability of the gearbox. Then, the original power source torque demand is limited based on the torque change capability of each period, and the target power source torque demand corresponding to each period is determined, so as to determine the corresponding engine target torque and motor target torque, and control the vehicle starting. In this way, when the vehicle is in a starting slip condition, the increase of the starting torque is limited according to the oil temperature and torque change capability of the gearbox, which can avoid the clutch torque from being unable to follow and the unexpected rise of the speed of the power source due to the excessive increase of the starting torque of the engine and the motor, thereby reducing the influence of temperature on the vehicle starting when the vehicle is in a starting slip condition and improving the success rate of the vehicle starting.

[0012] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0014] Figure 1 is a schematic diagram of a P2 configuration provided by an embodiment of the present disclosure;

[0015] Figure 2 is a flow chart of a method for controlling low-temperature starting slippage of a vehicle provided by an embodiment of the present disclosure;

[0016] Figure 3 is a flow chart of another method for controlling low-temperature starting slippage of a vehicle provided by an embodiment of the present disclosure;

[0017] Figure 4 It is a structural schematic diagram of a control system for low-temperature starting and slipping of a vehicle provided by an embodiment of the present disclosure;

[0018] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0019] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0020] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0021] Unless otherwise stated, the term "plurality" means two or more.

[0022] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0023] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0024] The term "correspondence" may refer to an association relationship or a binding relationship. The correspondence between A and B means that there is an association relationship or a binding relationship between A and B.

[0025] The present disclosure provides a method for controlling vehicle low-temperature starting slippage, which is applied to vehicles, including but not limited to hybrid vehicles such as P2 configurations where the power source speed is not decoupled from the wheel ends. Figure 1 As shown, Figure 1 A schematic diagram of a P2 configuration is shown.

[0026] Combination Figure 2 As shown, an embodiment of the present disclosure provides a method for controlling low-temperature starting slippage of a vehicle, comprising:

[0027] Step S101, when the vehicle is in a starting slip condition, the target torque of the normal starting slip condition is used as the original power source torque demand, and the oil temperature of the gearbox is periodically obtained.

[0028] Step S102: determining the torque variation capability of the transmission corresponding to each cycle based on each oil temperature.

[0029] Specifically, based on the oil temperature, a table lookup operation is performed in a preset data table to find out the torque variation capability of the gearbox corresponding to the oil temperature. The data table stores the corresponding relationship between the oil temperature and the torque variation capability of the gearbox (TransTqGrand / Nmps). The data table is as follows:

[0030]

[0031] Step S103: determining a target power source torque requirement corresponding to each cycle based on the original power source torque requirement and the torque variation capability corresponding to each cycle.

[0032] Step S104 , determining the target torque of the engine and the target torque of the motor corresponding to each cycle based on each target power source torque demand, so as to control the vehicle to start.

[0033] The control method for low-temperature starting slip of a vehicle provided by the embodiment of the present disclosure is adopted. When the vehicle is in a starting slip condition, the target torque of the conventional starting slip condition is used as the original power source torque demand and the oil temperature of the gearbox is periodically obtained. Then, the torque change capability of the gearbox corresponding to each period is determined based on each oil temperature to determine the influence of temperature on the torque change capability of the gearbox. Then, the original power source torque demand is limited based on the torque change capability of each period, and the target power source torque demand corresponding to each period is determined, so as to determine the corresponding engine target torque and motor target torque, and control the vehicle starting. In this way, when the vehicle is in a starting slip condition, the increase of the starting torque is limited according to the oil temperature and torque change capability of the gearbox, which can avoid the clutch torque from being unable to follow and the unexpected rise of the speed of the power source due to the excessive increase of the starting torque of the engine and the motor, thereby reducing the influence of temperature on the vehicle starting when the vehicle is in a starting slip condition and improving the success rate of the vehicle starting.

[0034] Preferably, the change amount corresponding to each cycle is determined based on the torque change capacity corresponding to each cycle and the cycle duration; wherein the cycle duration represents the duration corresponding to the cycle; and the target power source torque demand corresponding to each cycle is determined based on the original power source torque demand and the change amount corresponding to each cycle.

[0035] In this way, the original power source torque demand is limited based on the torque change capability of the gearbox corresponding to each cycle to determine the corresponding target power source torque demand, so that the power source target torque can be limited and adjusted periodically, thereby avoiding unexpected increase in starting speed and unexpected intervention overshoot of slip control.

[0036] Specifically, the variation corresponding to each cycle is determined based on the torque variation capability and cycle duration corresponding to each cycle, including: multiplying the torque variation capability of each cycle by the cycle duration to obtain the product value of each cycle. For the variation of each cycle, it is less than or equal to the product value corresponding to the cycle and greater than 0.

[0037] In this way, the change amount is determined based on the torque change capability and cycle duration of the gearbox, so as to facilitate more accurate limitation of the target torque of the power source, so as to avoid an unexpected surge in engine speed due to the clutch torque being unable to follow the power source torque rising too fast, and to avoid an unexpected reduction in clutch slip due to the clutch torque being unable to follow the power source torque falling too fast, resulting in a lower starting speed and affecting the starting ability.

[0038] Specifically, the target power source torque demand corresponding to each cycle is determined based on the original power source torque demand and the change amount corresponding to each cycle, including: taking the sum of the original power source torque demand and the change amount of the first cycle as the target power source torque demand of the first cycle. The target power source demand of the i+1th cycle=the target power source demand of the i-th cycle+the change amount of the i+1th cycle, where i=1, 2...n, and n is an integer greater than 0.

[0039] In some embodiments, the cycle duration is 0.02s. For example, Abs = PTTqReqLim - PTTqReqLim_K1, Abs < = TransTqGrand (torque change capability of the gearbox) * Ts. Abs is the change amount, PTTqReqLim is the target power source torque requirement of the current cycle, PTTqReqLim_K1 is the target power source torque requirement of the previous cycle, TransTqGrand is the torque change capability of the gearbox, and Ts is the cycle duration.

[0040] Preferably, the engine target torque includes a fire circuit target torque and a gas circuit target torque; the engine target torque and the motor target torque corresponding to each cycle are determined based on each target power source torque demand, including: taking each target power source torque demand as the fire circuit target torque corresponding to each cycle; determining the gas circuit target torque corresponding to each cycle based on the original power source torque demand and the fire circuit target torque corresponding to each cycle; determining the motor target torque corresponding to each cycle based on each target power source torque demand.

[0041] In this way, the target power source torque demand PTTqReqLim is used as the fire circuit target torque EngFastTqTar of the engine, and the gas circuit target torque of the engine is determined based on the original power source demand and the fire circuit target torque, so as to achieve priority response to the starting demand at low temperature. Then, the motor target torque corresponding to each cycle is determined based on each target power source torque demand, so as to dynamically compensate for the response lag of the engine based on the motor's capacity boundary, and utilize the motor's rapid response characteristics to maximize the response rate of the power source.

[0042] It can be understood that the fire circuit target torque is also called the fast torque target torque; the gas circuit target torque is also called the slow torque target torque.

[0043] Preferably, the gas circuit target torque corresponding to each cycle is determined based on the original power source torque demand and the fire circuit target torque corresponding to each cycle, including: taking the original power source torque demand as the first gas circuit torque; determining the second gas circuit torque corresponding to each cycle based on the original power source torque demand and the fire circuit target torque corresponding to each cycle; before determining the first fire circuit target torque, taking the first gas circuit torque as the gas circuit target torque; after determining the first fire circuit target torque, taking the second gas circuit torque corresponding to each cycle as the gas circuit target torque corresponding to each cycle.

[0044] In this way, before determining the first fire circuit target torque, the original power source torque demand PTTqReqRaw is used as the gas circuit target torque EngSlowTqTar, so that the gas circuit intake can be adjusted in advance to improve the engine low temperature response rate.

[0045] Specifically, determining the second gas circuit torque corresponding to each cycle based on the original power source torque demand and the fire circuit target torque corresponding to each cycle includes: comparing the fire circuit target torque corresponding to each cycle with the original power source torque demand, and obtaining the maximum value corresponding to each cycle. The maximum value is the original power source torque demand or the fire circuit target torque. The maximum values ​​corresponding to each cycle are respectively used as the second gas circuit torque corresponding to each cycle.

[0046] For example, for each cycle, EngSlowTqTar=max(EngFastTqTar, PTTqReqRaw), wherein EngSlowTqTar is the second gas circuit torque (ie, the gas circuit target torque), PTTqReqRaw is the original power source torque requirement, and EngFastTqTar is the fire circuit target torque.

[0047] In this way, the gas circuit target torque is limited according to the fire circuit target torque and the final calculation result is output, requiring that the gas circuit torque cannot be lower than the fire circuit target torque, so as to better adjust the gas circuit intake and ensure the low-temperature response rate of the engine.

[0048] Preferably, the motor target torque corresponding to each cycle is determined based on each target power source torque demand, including: periodically obtaining the battery torque boundary and the actual torque of the engine's fire circuit; determining the motor original torque corresponding to each cycle based on each fire circuit actual torque and each target power source torque demand; determining the motor target torque corresponding to each cycle based on the battery torque boundary and the motor original torque corresponding to each cycle.

[0049] In this way, the motor target torque MotTqTarRaw is determined according to the target power source torque demand PTTqReqLim and the actual torque of the engine's fire circuit EngFastTqAct, which can fully utilize the torque response rate of the motor and compensate for the torque response of the engine.

[0050] Specifically, based on the actual torque of each fire circuit and the torque requirements of each target power source, the original torque of the motor corresponding to each cycle is determined, including: the original torque of the motor corresponding to the ath cycle = the target power source torque requirement corresponding to the ath cycle - the actual torque of the fire circuit corresponding to the ath cycle. Where a is 1, 2...n, and n is an integer greater than 0.

[0051] For example, for each cycle, MotTqTarRaw=PTTqReqLim-EngFastTqAct, where MotTqTarRaw is the raw torque of the motor, PTTqReqLim is the target power source torque requirement, and EngFastTqAct is the actual torque of the fire circuit.

[0052] Specifically, based on the battery torque boundary and the original motor torque corresponding to each cycle, the motor target torque corresponding to each cycle is determined, including: comparing the battery torque boundary with the original motor torque corresponding to each cycle, and obtaining the minimum value corresponding to each cycle. The minimum value is the battery torque boundary or the original motor torque. The minimum value corresponding to each cycle is used as the motor target torque corresponding to each cycle.

[0053] In this way, the motor raw torque MotTqTarRaw is limited according to the motor torque boundary TqMotMax so as to obtain the motor target torque MotTqTar.

[0054] For example, for each cycle, MotTqTar=min(MotTqTarRaw, TqMotMax), wherein MotTqTar is the motor target torque, MotTqTarRaw is the motor raw torque, and TqMotMax is the battery torque limit.

[0055] Preferably, periodically acquiring the battery torque boundary includes: periodically acquiring the motor speed and acquiring the battery maximum power boundary; and determining the battery torque boundary corresponding to each period based on each motor speed and battery maximum power boundary.

[0056] In this way, a more accurate battery torque limit can be obtained based on the rotation speeds of each motor and the battery maximum power limit.

[0057] Specifically, the battery torque boundary corresponding to each cycle is determined based on the motor speed and the maximum power boundary of the battery, including: TqMotMax corresponding to the b-th cycle = PBattMax*9550 / nMot corresponding to the b-th cycle. Among them, TqMotMax is the battery torque boundary, PBattMax is the battery maximum power boundary, which is estimated and issued by the BMS battery controller; nMot is the motor speed, and 9550 is a preset constant. Among them, b is 1, 2...n, and n is an integer greater than 0.

[0058] Preferably, based on the original power source torque demand and the torque change capability corresponding to each cycle, the target power source torque demand corresponding to each cycle is determined, including: determining whether the vehicle is in a target state; wherein the target state indicates that the vehicle is in an MTC control state and the corresponding current torque of the power source is in a decreasing state; if the vehicle is in the target state, responding to the torque reduction demand corresponding to the MTC control state to control the vehicle start; if the vehicle is not in the target state, determining the target power source torque demand corresponding to each cycle based on the original power source torque demand and the torque change capability corresponding to each cycle.

[0059] In this way, by determining whether the current vehicle is in the MTC (drive slip control) control state (the signal is determined and sent by the conventional slip control module); if it is in the MTC (drive slip control) control state, and it is determined that the current torque of the power source is in a decreasing state, the power source torque change is not gradient-limited, so as to fully respond to the torque reduction demand of MTC, thereby achieving the purpose of slip control of the vehicle and controlling the vehicle start. In other cases, it is necessary to use TransTqGrand (torque change capability) to limit PTTqReqRaw (original power source torque demand) to avoid unexpected engine speed increase due to the clutch torque being unable to follow the power source torque rising too fast, and to avoid unexpected strengthening of MTC (drive slip control) control. At the same time, avoid the clutch torque being unable to follow the power source torque falling too fast, resulting in unexpected reduction of clutch slip, resulting in reduced starting speed and affecting starting ability.

[0060] Combination Figure 3 As shown, the embodiment of the present disclosure provides another method for controlling the slippage of a vehicle at low temperature starting. The method includes: determining the original power source torque demand. Limiting the original power source torque demand to determine the target power source torque demand. Determining the engine's fire circuit target torque based on the target power source torque demand. Determining the engine's gas circuit target torque based on the original power source torque demand and the engine's fire circuit target torque. Determining the motor target torque based on the target power source torque demand.

[0061] Combination Figure 4As shown, an embodiment of the present disclosure provides a control system for low-temperature starting slip of a vehicle, including: an acquisition module, a first determination module, a second determination module and a control module. Among them, the acquisition module is used to use the target torque of the conventional starting slip condition as the original power source torque demand when the vehicle is in a starting slip condition, and periodically obtain the oil temperature of the gearbox. The first determination module is used to determine the torque change capacity of the gearbox corresponding to each cycle based on each oil temperature. The second determination module is used to determine the target power source torque demand corresponding to each cycle based on the original power source torque demand and the torque change capacity corresponding to each cycle. The control module is used to determine the engine target torque and the motor target torque corresponding to each cycle based on each target power source torque demand to control the start of the vehicle.

[0062] The control system for low-temperature vehicle starting slip provided by the embodiment of the present disclosure is adopted. When the vehicle is in the starting slip condition, the target torque of the conventional starting slip condition is used as the original power source torque demand and the oil temperature of the gearbox is periodically obtained. Then, the torque change capability of the gearbox corresponding to each period is determined based on each oil temperature to determine the influence of temperature on the torque change capability of the gearbox. Then, the original power source torque demand is limited based on the torque change capability of each period, and the target power source torque demand corresponding to each period is determined, so as to determine the corresponding engine target torque and motor target torque, and control the vehicle starting. In this way, when the vehicle is in the starting slip condition, the increase of the starting torque is limited according to the oil temperature and torque change capability of the gearbox, which can avoid the clutch torque from being unable to follow and the unexpected rise of the speed of the power source due to the excessive increase of the starting torque of the engine and the motor, thereby reducing the influence of temperature on the vehicle starting when the vehicle is in the starting slip condition and improving the success rate of the vehicle starting.

[0063] Preferably, the second determination module is specifically used to determine the change amount corresponding to each cycle based on the torque change capacity corresponding to each cycle and the cycle duration; wherein the cycle duration represents the duration corresponding to the cycle; and to determine the target power source torque demand corresponding to each cycle based on the original power source torque demand and the change amount corresponding to each cycle.

[0064] Preferably, the engine target torque includes a fire circuit target torque and a gas circuit target torque; the control module is specifically used to respectively use each target power source torque demand as the fire circuit target torque corresponding to each cycle; determine the gas circuit target torque corresponding to each cycle based on the original power source torque demand and the fire circuit target torque corresponding to each cycle; determine the motor target torque corresponding to each cycle based on each target power source torque demand.

[0065] Preferably, the control module is specifically used to take the original power source torque demand as the first gas circuit torque; determine the second gas circuit torque corresponding to each cycle based on the original power source torque demand and the fire circuit target torque corresponding to each cycle; before determining the first fire circuit target torque, take the first gas circuit torque as the gas circuit target torque; after determining the first fire circuit target torque, take the second gas circuit torque corresponding to each cycle as the gas circuit target torque corresponding to each cycle.

[0066] Preferably, the control module is specifically used to periodically obtain the battery torque boundary and the actual torque of the engine's fire circuit; determine the original torque of the motor corresponding to each cycle based on the actual torque of each fire circuit and the torque requirements of each target power source; determine the target torque of the motor corresponding to each cycle based on the battery torque boundary and the original torque of the motor corresponding to each cycle.

[0067] Preferably, the control module is specifically used to periodically obtain the motor speed and the battery maximum power boundary; and determine the battery torque boundary corresponding to each period based on each motor speed and the battery maximum power boundary.

[0068] Preferably, the second determination module is specifically used to determine whether the vehicle is in a target state; wherein the target state indicates that the vehicle is in an MTC control state and the corresponding current torque of the power source is in a decreasing state; if the vehicle is in the target state, it responds to the torque reduction demand corresponding to the MTC control state to control the vehicle start; if the vehicle is not in the target state, it determines the target power source torque demand corresponding to each cycle based on the original power source torque demand and the torque change capability corresponding to each cycle.

[0069] Combination Figure 5 As shown, an embodiment of the present disclosure provides a vehicle, including a processor and a memory. Optionally, the vehicle may also include a communication interface and a bus. The processor, the communication interface, and the memory may communicate with each other through the bus. The communication interface may be used for information transmission. The processor may call the logic instructions in the memory 302 to execute the vehicle low-temperature starting slip control method of the above embodiment.

[0070] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0071] The memory, as a computer-readable storage medium, can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor 301 executes the function application and data processing by running the program instructions / modules stored in the memory, that is, the control method for low-temperature starting slip of the vehicle in the above embodiment is realized.

[0072] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory may include a high-speed random access memory and may also include a non-volatile memory.

[0073] In an embodiment of the present invention, a computer-readable storage medium is provided. Instructions are stored in the computer-readable storage medium. When the instructions are executed, the method for controlling vehicle low-temperature starting slippage in the above embodiment is executed.

[0074] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0075] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned storage medium may be a non-transient storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, and other media that can store program codes, or a transient storage medium.

[0076] The above description and accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent possible changes only. Unless explicitly required, separate components and functions are optional, and the order of operation may vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method or device including the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0077] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. Technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. Technicians can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0078] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units can be only a logical function division, and there can be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0079] The flowchart and block diagram in the accompanying drawings show the possible architecture, functions and operations of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A method for controlling vehicle slippage at low temperature start, characterized in that: include: When the vehicle is in a starting slip condition, the target torque of the normal starting slip condition is used as the original power source torque demand, and the oil temperature of the transmission is periodically obtained; Determining the torque variation capability of the transmission corresponding to each cycle based on each of the oil temperatures; Determining a target power source torque demand corresponding to each cycle based on the original power source torque demand and the torque variation capability corresponding to each cycle; The target torque of the engine and the target torque of the motor corresponding to each cycle are determined based on each target power source torque demand to control the vehicle to start.

2. The method according to claim 1, characterized in that The determining of the target power source torque demand corresponding to each cycle based on the original power source torque demand and the torque variation capability corresponding to each cycle includes: Determine the change amount corresponding to each cycle based on the torque change capability and cycle duration corresponding to each cycle; wherein the cycle duration represents the duration corresponding to the cycle; The target power source torque demand corresponding to each cycle is determined based on the original power source torque demand and the change amount corresponding to each cycle.

3. The method according to claim 1, characterized in that The target torque of the engine includes a fire circuit target torque and a gas circuit target torque; the target torque of the engine and the target torque of the motor corresponding to each cycle are determined based on the torque requirements of each target power source, including: The torque requirements of each target power source are respectively used as the fire circuit target torque corresponding to each cycle; Determining the gas circuit target torque corresponding to each cycle based on the original power source torque demand and the fire circuit target torque corresponding to each cycle; The motor target torque corresponding to each cycle is determined based on each of the target power source torque requirements.

4. The method according to claim 3, characterized in that The determining of the gas circuit target torque corresponding to each cycle based on the original power source torque demand and the fire circuit target torque corresponding to each cycle includes: Taking the original power source torque requirement as the first gas path torque; Determine the second gas circuit torque corresponding to each cycle based on the original power source torque demand and the fire circuit target torque corresponding to each cycle; Before determining the first fire circuit target torque, the first gas circuit torque is used as the gas circuit target torque; after determining the first fire circuit target torque, the second gas circuit torque corresponding to each cycle is used as the gas circuit target torque corresponding to each cycle.

5. The method according to claim 3, characterized in that: The determining the motor target torque corresponding to each cycle based on each target power source torque requirement includes: Periodically obtain the battery torque boundary and the actual torque of the engine's fire path; Determining the original torque of the motor corresponding to each cycle based on the actual torque of each fire circuit and the torque requirements of each target power source; The target torque of the motor corresponding to each cycle is determined based on the battery torque boundary and the original torque of the motor corresponding to each cycle.

6. The method according to claim 5, characterized in that The periodically obtaining the battery torque boundary includes: Periodically obtain the motor speed and the battery maximum power limit; The battery torque limit corresponding to each cycle is determined based on the motor speeds and the battery maximum power limit.

7. The method according to any one of claims 1 to 6, characterized in that: The determining of the target power source torque demand corresponding to each cycle based on the original power source torque demand and the torque variation capability corresponding to each cycle includes: Determine whether the vehicle is in a target state; wherein the target state indicates that the vehicle is in an MTC control state and the current torque of the corresponding power source is in a decreasing state; If the vehicle is in the target state, responding to the torque reduction demand corresponding to the MTC control state to control the vehicle to start; If the vehicle is not in the target state, a target power source torque demand corresponding to each cycle is determined based on the original power source torque demand and the torque variation capability corresponding to each cycle.

8. A vehicle low-temperature starting slip control system, characterized in that: include: an acquisition module, for, when the vehicle is in a starting slip condition, using a target torque of a conventional starting slip condition as a torque demand of an original power source, and periodically acquiring an oil temperature of a transmission; A first determination module, configured to determine the torque variation capability of the gearbox corresponding to each cycle based on each of the oil temperatures; A second determination module is used to determine a target power source torque requirement corresponding to each cycle based on the original power source torque requirement and the torque variation capability corresponding to each cycle; The control module is used to determine the engine target torque and the motor target torque corresponding to each cycle based on each target power source torque demand, so as to control the vehicle to start.

9. A vehicle, characterized in that: The invention comprises a processor and a memory storing program instructions, wherein the processor is configured to execute the vehicle low-temperature starting slip control method according to any one of claims 1 to 7 when running the program instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the vehicle low-temperature starting slip control method according to any one of claims 1 to 7.

Images