Vehicle control method, device and equipment and storage medium

Abstract

The invention discloses a vehicle control method and device, equipment and a storage medium. The method comprises the steps that a vehicle control device determines a first electric quantity threshold value of a vehicle according to a first operation parameter of the vehicle, the first operation parameter comprises an energy supplement parameter and / or a temperature parameter, the energy supplement parameter is used for indicating the energy supplement frequency and / or the energy supplement amount of the vehicle, and the temperature parameter is used for indicating the energy supplement frequency and / or the energy supplement amount of the vehicle; the temperature parameter is used for indicating the temperature when the vehicle runs; and when the battery electric quantity of the vehicle is smaller than the first electric quantity threshold value, a power generation device of the vehicle is controlled to generate power. The intelligent adjustment of the electric quantity threshold value of the vehicle is realized.

Description

Vehicle control method, device, equipment and storage medium Technical Field

[0001] The present application relates to the field of mechanical and electronic technology, and in particular to a vehicle control method, device, equipment, and storage medium. Background Art

[0002] Extended-range vehicles are also called series hybrid electric vehicles. They rely on a generator to provide electricity for the electric motor to drive the vehicle, and rely on the engine output power to drive the generator to generate electricity, so that the battery level of the extended-range vehicle is maintained at a battery threshold (or battery maintenance value) to increase the vehicle's cruising range, that is, to achieve vehicle range extension.

[0003] In related technologies, the battery threshold that triggers the vehicle's range-extending control is fixed, making it impossible to flexibly control the timing of the vehicle's range-extending control based on changing application scenarios. Setting a higher battery threshold affects vehicle economy, while setting a lower battery threshold affects vehicle power performance. Therefore, intelligently adjusting the vehicle's battery threshold to ensure that the vehicle's power performance and economy meet user needs or are suitable for the current driving environment is a pressing issue.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a vehicle control method, device, equipment, and storage medium to achieve intelligent adjustment of the vehicle's power performance and vehicle economy.

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising: determining a first power threshold of the vehicle based on a first operating parameter of the vehicle, the first operating parameter comprising an energy replenishment parameter and / or a temperature parameter, the energy replenishment parameter being used to indicate the energy replenishment frequency and / or energy replenishment amount of the vehicle, and the temperature parameter being used to indicate the temperature of the vehicle during operation; when the battery power of the vehicle is less than the first power threshold, controlling the vehicle's power generation device to generate power.

[0007] Through the vehicle control method provided in the first aspect, intelligent adjustment of the vehicle's power threshold is achieved by determining the first power threshold based on the first operating parameter.

[0008] In one possible embodiment, the energy replenishment parameter includes a power replenishment parameter, and the first power threshold is negatively correlated with the power replenishment parameter of the vehicle; and / or, the energy replenishment parameter includes a fuel replenishment parameter, and the first power threshold is positively correlated with the fuel replenishment parameter of the vehicle.

[0009] Through the vehicle control method provided by this embodiment, the higher the power replenishment frequency or the power replenishment amount, the more likely the user is to use the vehicle's pure electric range to improve the vehicle's economy, or the more convenient it is for the user to charge the vehicle. In this case, regardless of the user's demand for vehicle economy or the user's vehicle usage habits, the first power threshold is negatively correlated with the power replenishment frequency, which can improve the vehicle's economy and achieve extended-range control that matches the user.

[0010] In a possible implementation, the first power threshold is negatively correlated with the temperature parameter.

[0011] Through the vehicle control method provided by this embodiment, a higher fuel replenishment frequency or fuel replenishment amount indicates that the user tends to use the vehicle's fuel range, or has higher requirements for the vehicle's power performance. In this case, considering the user's vehicle usage habits and the vehicle's power performance, the first power threshold is positively correlated with the fuel replenishment frequency, which can improve the vehicle's power performance and achieve extended-range control that matches the user.

[0012] In one possible embodiment, determining a first power threshold of the vehicle based on a first operating parameter of the vehicle includes: determining a first power threshold of a second adjustment stage based on an energy replenishment parameter of the vehicle in a first adjustment stage, the second adjustment stage being later than the first adjustment stage; the vehicle performing at least one of the following in the first adjustment stage: traveling a first preset mileage; or, operating for a first preset duration; or, N driving cycles, where N is a positive integer.

[0013] The vehicle control method provided by this embodiment adjusts the power threshold in stages, which saves the cost of the control device and improves processing efficiency.

[0014] In one possible embodiment, the energy replenishment parameter includes the energy replenishment parameter of the first adjustment stage; based on the energy replenishment parameter of the vehicle in the first adjustment stage, the first power threshold of the second adjustment stage is determined, including: based on the energy replenishment parameter of the first adjustment stage, determining the first power threshold of the second adjustment stage from a first corresponding relationship, the first corresponding relationship being the corresponding relationship between the first power threshold and the energy replenishment parameter; wherein, the energy replenishment parameter includes a power replenishment parameter, and the first power threshold in the first corresponding relationship is negatively correlated with the power replenishment parameter; and / or, the energy replenishment parameter includes a fuel replenishment parameter, and the first power threshold in the first corresponding relationship is positively correlated with the fuel replenishment parameter.

[0015] Through the vehicle control method provided by this embodiment, the first power threshold of the second adjustment stage is determined based on the energy replenishment parameter of the first adjustment stage in the first corresponding relationship, which improves the processing efficiency of determining the first power threshold and reduces the overhead of the control device.

[0016] In one possible implementation, the pure electric cruising range of the vehicle at the power replenishment frequency or power replenishment amount in the first adjustment stage is greater than the first mileage and the difference between the pure electric cruising range and the first mileage is greater than a first preset value, and the first power threshold of the second adjustment stage is less than the first power threshold of the first adjustment stage; or, the pure electric cruising range of the vehicle at the power replenishment frequency or power replenishment amount in the first adjustment stage is less than the first mileage and the difference between the pure electric cruising range and the first mileage is greater than the first preset value, and the first power threshold of the second adjustment stage is greater than the first power threshold of the first adjustment stage; or, the pure electric cruising range of the vehicle at the power replenishment frequency or power replenishment amount in the first adjustment stage is equal to the first mileage or the difference between the pure electric cruising range and the first mileage is less than the first preset value, and the first power threshold of the second adjustment stage is equal to the first power threshold of the first adjustment stage; wherein, the vehicle travels the first preset mileage in the first adjustment stage, and the first mileage is the first preset mileage; or, the operating time of the vehicle in the first adjustment stage is the first preset time, and the first mileage is a predicted value of the mileage of the vehicle in the first adjustment stage based on the first preset time.

[0017] Through the vehicle control method provided by this embodiment, the pure electric range reflected by the battery replenishment frequency or the battery replenishment amount can accurately reflect the battery replenishment status of the vehicle, so as to accurately identify the user's vehicle usage habits and thus determine the accurate first battery threshold.

[0018] In one possible embodiment, the fuel cruising range of the vehicle at the fuel replenishment frequency or fuel replenishment amount in the first adjustment stage is greater than the first mileage and the difference between the fuel cruising range and the first mileage is greater than a second preset value, and the power maintenance value in the second adjustment stage is greater than the power maintenance value in the first adjustment stage; or, the fuel cruising range of the vehicle at the fuel replenishment frequency or fuel replenishment amount in the first adjustment stage is less than the first mileage and the difference between the fuel cruising range and the first mileage is greater than the second preset value, and the first power threshold in the second adjustment stage is less than the power maintenance value in the first adjustment stage; or, the fuel cruising range of the vehicle at the fuel replenishment frequency or fuel replenishment amount in the first adjustment stage is equal to the first mileage or the difference between the fuel cruising range and the first mileage is less than the second preset value, and the first power threshold in the second adjustment stage is equal to the first power threshold in the first adjustment stage; wherein, the vehicle travels the first preset mileage in the first adjustment stage, and the first mileage is the first preset mileage; or, the running time of the vehicle in the first adjustment stage is the first preset time length, and the first mileage is a predicted value of the mileage of the vehicle in the first adjustment stage based on the first preset time length.

[0019] Through the vehicle control method provided by this embodiment, the pure electric range reflected by the fuel replenishment frequency or fuel replenishment amount can accurately reflect the vehicle's fuel replenishment situation, so as to accurately identify the user's vehicle usage habits and thus determine the accurate first power threshold.

[0020] In one possible embodiment, the first power threshold of the second adjustment stage is determined according to the energy replenishment parameters of the vehicle in the first adjustment stage, including: determining the first power threshold of the second adjustment stage according to the first frequency interval in which the energy replenishment frequency of the vehicle in the first adjustment stage is located; or, determining the first power threshold of the second adjustment stage according to the first energy interval in which the energy replenishment amount of the vehicle in the first adjustment stage is located; or, determining the first alternative threshold according to the first frequency interval in which the energy replenishment frequency of the vehicle in the first adjustment stage is located, and determining the second alternative threshold according to the first energy interval in which the energy replenishment amount of the vehicle in the first adjustment stage is located, and then determining the first power threshold according to the first alternative threshold and the second alternative threshold; wherein the first frequency interval includes M1 preset frequency intervals, M1 is a positive integer, and the M1 preset frequency intervals correspond one-to-one to the M1 preset thresholds, respectively, and the first energy interval includes M2 preset energy intervals, M2 is a positive integer, and the M2 preset frequency intervals correspond one-to-one to the M2 preset thresholds, respectively.

[0021] Through the vehicle control method provided by this embodiment, each preset interval (including a preset frequency interval and / or a preset energy interval) corresponds to a first power threshold, and the first power threshold can be determined according to the interval in which the energy replenishment parameter is located, thereby improving processing efficiency.

[0022] In one possible embodiment, the first power threshold value of the second adjustment stage is determined according to the energy replenishment parameter of the vehicle in the first adjustment stage, including: determining the power maintenance adjustment amount of the second adjustment stage according to the second frequency interval of the energy replenishment frequency of the vehicle in the first adjustment stage; or determining the power maintenance adjustment amount of the second adjustment stage according to the second energy interval of the energy replenishment amount of the vehicle in the first adjustment stage; or determining the first power maintenance adjustment amount according to the second frequency interval of the energy replenishment frequency of the vehicle in the first adjustment stage, and determining the first power maintenance adjustment amount according to the second energy interval of the energy replenishment amount of the vehicle in the first adjustment stage. During the adjustment, the second power maintenance adjustment amount is determined, and the power maintenance adjustment amount of the second adjustment stage is determined according to the first power maintenance adjustment amount and the second power maintenance adjustment amount; wherein, the second frequency interval is included in M3 preset frequency intervals, M3 is a positive integer, and the M3 preset frequency intervals respectively correspond to the M3 power maintenance adjustment amounts, and the second energy interval is included in M4 preset energy intervals, M4 is a positive integer, and the M4 preset frequency intervals respectively correspond to the M4 power maintenance adjustment amounts; according to the power maintenance adjustment amount of the second adjustment stage, the first power threshold of the first adjustment stage is adjusted to obtain the first power threshold of the second adjustment stage.

[0023] Through the vehicle control method provided by this embodiment, each preset interval (including a preset frequency interval and / or a preset energy interval) corresponds to a first power threshold, and the first power threshold can be determined according to the interval in which the energy replenishment parameter is located, thereby improving processing efficiency.

[0024] In a possible embodiment, the method further includes: determining the total number of energy replenishment times of the vehicle in the first adjustment stage when the energy replenishment duration is greater than or equal to the preset energy replenishment duration as the energy replenishment frequency of the vehicle in the first adjustment stage.

[0025] Through the vehicle control method provided by this embodiment, the number of energy replenishments is accumulated when the energy replenishment duration is greater than the preset energy replenishment duration, avoiding identifying some energy replenishment processes with too short a time as one energy replenishment, realizing noise filtering, and improving the accuracy of user preference recognition.

[0026] In one possible embodiment, determining a first battery charge threshold of the vehicle based on a first operating parameter of the vehicle includes: determining the first battery charge threshold of the vehicle based on a first temperature range within which the lowest ambient temperature of the vehicle is located when operating in the first detection interval; or determining the first battery charge threshold of the vehicle based on a second temperature range within which the lowest battery temperature of the vehicle is located when operating in the first detection interval; or determining a third alternative threshold based on the first temperature range within which the lowest ambient temperature of the vehicle is located when operating in the first detection interval, and determining a fourth alternative threshold based on the second temperature range within which the lowest battery temperature of the vehicle is located when operating in the first detection interval, and then determining the first battery charge threshold of the vehicle based on the third alternative threshold and the fourth alternative threshold; wherein the vehicle operates N driving cycles in the first detection interval or the operating duration of the vehicle in the first detection interval is a second preset duration, N is a positive integer, the first temperature range and the second temperature range are both included in L preset temperature ranges, L is a positive integer, and the L preset temperature ranges correspond one-to-one to the L first battery charge thresholds, respectively.

[0027] The vehicle control method provided by this embodiment determines the corresponding power threshold based on the temperature range of the temperature parameter, avoiding setting a power threshold for each temperature, saving storage space, and improving processing efficiency.

[0028] In one possible implementation, the first power threshold is greater than or equal to a first battery power, which is the minimum power required for the battery to provide a first discharge power at the first temperature of the vehicle, and the first discharge power has the ability to drive the vehicle.

[0029] Through the vehicle control method provided in this embodiment, the first power threshold can meet the minimum power requirement for driving the vehicle, avoiding affecting the vehicle's power performance.

[0030] In a possible implementation manner, a difference between detection times of the lowest temperature or the lowest ambient temperature in any two adjacent driving cycles in the N driving cycles is less than or equal to a preset time difference.

[0031] The vehicle control method provided by this embodiment avoids using the previously recorded ambient temperature or battery temperature to determine the first power threshold, as the ambient temperature may change significantly over time, thereby improving the accuracy of the first power threshold.

[0032] In one possible embodiment, the first power threshold of the vehicle is determined based on the first operating parameter of the vehicle, including: determining the fifth alternative threshold of the vehicle based on the energy replenishment parameter of the vehicle, and determining the sixth alternative threshold of the vehicle based on the temperature parameter; determining the first power threshold of the vehicle based on the fifth alternative threshold and the sixth alternative threshold.

[0033] The vehicle control method provided by this embodiment determines the first power threshold based on the energy replenishment parameter and the temperature parameter, so that the determined first power threshold adapts to the user's vehicle usage habits and driving environment.

[0034] In a possible implementation manner, the first power threshold of the vehicle is the maximum value between the fifth alternative threshold and the sixth alternative threshold.

[0035] Through the vehicle control method provided by this embodiment, the first power threshold is not less than any one of the fifth alternative threshold and the sixth alternative threshold, which can ensure the economy of vehicle use while avoiding affecting the vehicle's power performance.

[0036] In a possible implementation, the frequency of replenishing the power of the vehicle is determined based on the battery power of the vehicle.

[0037] Through the vehicle control method provided by this embodiment, the control device can determine whether the vehicle is charged based on the battery power, thereby determining the power replenishment frequency, avoiding errors in the detection of the power replenishment frequency caused by invalid charging.

[0038] In one possible embodiment, the battery power of the vehicle is equal to the second power threshold of the vehicle, or the difference between the battery power of the vehicle and the second power threshold is less than or equal to a first preset value, the battery replenishment frequency of the vehicle is 0, and the second power threshold is the battery threshold of the vehicle in the battery replenishment frequency detection stage.

[0039] Through the vehicle control method provided by this embodiment, when the difference between the battery power and the vehicle's current power threshold is always small (that is, less than or equal to the first preset value), it indicates that the vehicle has not been replenished, that is, the power replenishment frequency is 0, thereby achieving accurate detection of the power replenishment frequency.

[0040] In a second aspect, an embodiment of the present application provides a vehicle control method, which further includes: obtaining a second operating parameter of the vehicle, the second operating parameter including at least one of an energy replenishment parameter, a driving frequency, and a temperature parameter, the energy replenishment parameter being used to indicate the energy replenishment frequency and / or energy replenishment amount of the vehicle, and the temperature parameter being used to indicate the temperature of the vehicle during operation; according to the second operating parameter, controlling the vehicle to push mode switching information, the mode switching information being used to prompt the user to switch to a first mode, and the first power threshold of the vehicle in the first mode being determined based on the energy replenishment parameter and / or temperature parameter of the vehicle.

[0041] Through the vehicle control method provided in the second aspect, automatic switching to the first mode is achieved based on at least one of the energy replenishment parameters, driving frequency, and temperature parameters, so that the first power threshold of the vehicle can be dynamically adjusted to match user needs or driving environment.

[0042] In one possible embodiment, the current mode is the second mode, the battery threshold of the vehicle in the second mode is a first value, the first value is greater than or equal to the first battery threshold of the vehicle in the first mode, and the energy replenishment parameter includes a battery replenishment parameter and / or a fuel replenishment parameter; the energy replenishment parameter of the vehicle satisfies at least one of the following, and the mode switching information is used to prompt the user to switch the second mode to the first mode: the battery replenishment frequency of the vehicle is greater than or equal to the preset battery replenishment frequency; the fuel replenishment frequency of the vehicle is less than or equal to the preset fuel replenishment frequency; the temperature parameter is greater than or equal to the preset temperature.

[0043] With the vehicle control method provided in this embodiment, a higher frequency of battery recharges indicates a user's preference for improved vehicle economy; a lower frequency of fuel recharges indicates a user's preference for improved vehicle economy. When the temperature parameter is greater than a preset temperature, low temperatures (e.g., extreme cold below -10°C) will not affect the vehicle's power performance. In either case, if the battery threshold for the second mode doesn't match the user's driving habits, a mode switch message can be pushed to prompt the user to switch from the second mode to the first mode to improve vehicle economy.

[0044] In one possible embodiment, the driving frequency includes the number of times the vehicle is driven in the third mode, the battery threshold of the vehicle in the third mode is a second value, and the second value is less than or equal to the first battery threshold of the vehicle in the first mode; the number of times the vehicle is driven in the third mode is greater than or equal to a preset number of times, and the mode switching information is used to prompt the user to switch the third mode to the first mode.

[0045] Through the vehicle control method provided by this embodiment, when the number of driving times is large, it is considered that the user may always drive the vehicle in the initial mode due to not understanding the mode. In this case, the mode switching information is pushed to the user to facilitate the user to select the first mode to achieve intelligent adjustment of the vehicle's economy and power performance.

[0046] In one possible implementation, the battery power of the vehicle in the current driving cycle is less than or equal to a first preset battery power.

[0047] Through the vehicle control method provided by this embodiment, in the case where the vehicle's battery power is always low, if the vehicle continues to travel in the third mode, it will have a greater impact on the vehicle's power performance. Therefore, it is recommended that the user switch to the first mode to improve the vehicle's power performance by intelligently adjusting the power threshold.

[0048] In a possible implementation, the current mode is the third mode; the temperature parameter is less than or equal to the preset temperature and the duration is greater than or equal to the third preset duration, and the mode switching information is used to prompt the user to switch from the third mode to the first mode.

[0049] The vehicle control method provided by this embodiment can avoid the low temperature environment from having a significant impact on the vehicle's power performance. Switching the third mode to the first mode can intelligently adjust the power threshold in the first mode to improve the vehicle's power performance.

[0050] In one possible embodiment, the temperature parameter is less than or equal to the preset temperature and the duration is greater than or equal to a third preset time duration, and the battery power of the vehicle is less than or equal to the second preset battery power, and the mode switching information is used to prompt the user to switch from the third mode to the first mode.

[0051] Through the vehicle control method provided by this embodiment, when the vehicle is traveling in a low-temperature environment and with a low battery charge, the third mode is switched to the first mode to improve the power performance of the vehicle.

[0052] In a possible implementation, the frequency of replenishing the power of the vehicle is determined based on the battery power of the vehicle.

[0053] In one possible embodiment, the battery power of the vehicle is equal to the third power threshold of the vehicle, or the difference between the battery power of the vehicle and the third power threshold of the vehicle is less than or equal to a second preset value, the battery replenishment frequency of the vehicle is 0, and the third power threshold is the battery threshold of the vehicle in the battery replenishment frequency detection stage.

[0054] In a third aspect, an embodiment of the present application provides a vehicle control device, comprising: a threshold determination module for determining a first power threshold of the vehicle based on a first operating parameter of the vehicle, the first operating parameter including an energy replenishment parameter and / or a temperature parameter, the energy replenishment parameter being used to indicate the energy replenishment frequency and / or energy replenishment amount of the vehicle, and the temperature parameter being used to indicate the temperature of the vehicle during operation; and an extended-range control module for controlling the vehicle's power generation device to generate power when the vehicle's battery power is less than the first power threshold.

[0055] In one possible embodiment, the energy replenishment parameter includes a power replenishment parameter, and the first power threshold is negatively correlated with the power replenishment parameter of the vehicle; and / or, the energy replenishment parameter includes a fuel replenishment parameter, and the first power threshold is positively correlated with the fuel replenishment parameter of the vehicle.

[0056] In a possible implementation, the first power threshold is negatively correlated with the temperature parameter.

[0057] In one possible implementation, the threshold determination module is specifically configured to: determine a first power threshold for a second adjustment stage based on an energy replenishment parameter of the vehicle in the first adjustment stage, where the second adjustment stage is later than the first adjustment stage; and the vehicle performs at least one of the following in the first adjustment stage: driving a first preset mileage; or, operating for a first preset duration; or, performing N driving cycles, where N is a positive integer.

[0058] In one possible embodiment, the energy replenishment parameter includes the energy replenishment parameter of the first adjustment stage; the threshold determination module is specifically used to: determine the first power threshold of the second adjustment stage from a first corresponding relationship based on the energy replenishment parameter of the first adjustment stage, and the first corresponding relationship is the corresponding relationship between the first power threshold and the energy replenishment parameter; wherein, the energy replenishment parameter includes a power replenishment parameter, and the first power threshold in the first corresponding relationship is negatively correlated with the power replenishment parameter; and / or, the energy replenishment parameter includes a fuel replenishment parameter, and the first power threshold in the first corresponding relationship is positively correlated with the fuel replenishment parameter.

[0059] In one possible implementation, the pure electric cruising range of the vehicle at the power replenishment frequency or power replenishment amount in the first adjustment stage is greater than the first mileage and the difference between the pure electric cruising range and the first mileage is greater than a first preset value, and the first power threshold of the second adjustment stage is less than the first power threshold of the first adjustment stage; or, the pure electric cruising range of the vehicle at the power replenishment frequency or power replenishment amount in the first adjustment stage is less than the first mileage and the difference between the pure electric cruising range and the first mileage is greater than the first preset value, and the first power threshold of the second adjustment stage is greater than the first power threshold of the first adjustment stage; or, the pure electric cruising range of the vehicle at the power replenishment frequency or power replenishment amount in the first adjustment stage is equal to the first mileage or the difference between the pure electric cruising range and the first mileage is less than the first preset value, and the first power threshold of the second adjustment stage is equal to the first power threshold of the first adjustment stage; wherein, the vehicle travels the first preset mileage in the first adjustment stage, and the first mileage is the first preset mileage; or, the operating time of the vehicle in the first adjustment stage is the first preset time, and the first mileage is a predicted value of the mileage of the vehicle in the first adjustment stage based on the first preset time.

[0060] In one possible embodiment, the fuel cruising range of the vehicle at the fuel replenishment frequency or fuel replenishment amount in the first adjustment stage is greater than the first mileage and the difference between the fuel cruising range and the first mileage is greater than a second preset value, and the power maintenance value in the second adjustment stage is greater than the power maintenance value in the first adjustment stage; or, the fuel cruising range of the vehicle at the fuel replenishment frequency or fuel replenishment amount in the first adjustment stage is less than the first mileage and the difference between the fuel cruising range and the first mileage is greater than the second preset value, and the first power threshold in the second adjustment stage is less than the power maintenance value in the first adjustment stage; or, the fuel cruising range of the vehicle at the fuel replenishment frequency or fuel replenishment amount in the first adjustment stage is equal to the first mileage or the difference between the fuel cruising range and the first mileage is less than the second preset value, and the first power threshold in the second adjustment stage is equal to the first power threshold in the first adjustment stage; wherein, the vehicle travels the first preset mileage in the first adjustment stage, and the first mileage is the first preset mileage; or, the running time of the vehicle in the first adjustment stage is the first preset time length, and the first mileage is a predicted value of the mileage of the vehicle in the first adjustment stage based on the first preset time length.

[0061] In one possible embodiment, the threshold determination module is specifically used to: determine the first power threshold of the second adjustment stage according to the first frequency interval in which the energy replenishment frequency of the vehicle in the first adjustment stage is located; or, determine the first power threshold of the second adjustment stage according to the first energy interval in which the energy replenishment amount of the vehicle in the first adjustment stage is located; or, determine the first alternative threshold according to the first frequency interval in which the energy replenishment frequency of the vehicle in the first adjustment stage is located, and determine the second alternative threshold according to the first energy interval in which the energy replenishment amount of the vehicle in the first adjustment stage is located, and then determine the first power threshold according to the first alternative threshold and the second alternative threshold; wherein, the first frequency interval includes M1 preset frequency intervals, M1 is a positive integer, and the M1 preset frequency intervals correspond one-to-one to the M1 preset thresholds respectively, and the first energy interval includes M2 preset energy intervals, M2 is a positive integer, and the M2 preset frequency intervals correspond one-to-one to the M2 preset thresholds respectively.

[0062] In one possible implementation, the threshold determination module is specifically used to: determine the power maintenance adjustment amount of the second adjustment stage according to the second frequency interval in which the energy replenishment frequency of the vehicle in the first adjustment stage is located; or determine the power maintenance adjustment amount of the second adjustment stage according to the second energy interval in which the energy replenishment amount of the vehicle in the first adjustment stage is located; or determine the first power maintenance adjustment amount according to the second frequency interval in which the energy replenishment frequency of the vehicle in the first adjustment stage is located, and determine the second power maintenance adjustment amount according to the second energy interval in which the energy replenishment amount of the vehicle in the first adjustment stage is located, and The power maintenance adjustment amount of the second adjustment stage is determined based on the first power maintenance adjustment amount and the second power maintenance adjustment amount; wherein, the second frequency interval includes M3 preset frequency intervals, M3 is a positive integer, and the M3 preset frequency intervals correspond one-to-one to the M3 power maintenance adjustment amounts, respectively; the second energy interval includes M4 preset energy intervals, M4 is a positive integer, and the M4 preset frequency intervals correspond one-to-one to the M4 power maintenance adjustment amounts, respectively; according to the power maintenance adjustment amount of the second adjustment stage, the first power threshold of the first adjustment stage is adjusted to obtain the first power threshold of the second adjustment stage.

[0063] In a possible embodiment, the threshold determination module is also used to: determine the total number of energy replenishment times of the vehicle in the first adjustment stage when the energy replenishment duration is greater than or equal to the preset energy replenishment duration as the energy replenishment frequency of the vehicle in the first adjustment stage.

[0064] In one possible embodiment, the threshold determination module is specifically configured to: determine the first battery threshold of the vehicle based on a first temperature range within which the lowest ambient temperature of the vehicle is located when the vehicle is operating in the first detection interval; or determine the first battery threshold of the vehicle based on a second temperature range within which the lowest battery temperature of the vehicle is located when the vehicle is operating in the first detection interval; or determine a third alternative threshold based on the first temperature range within which the lowest ambient temperature of the vehicle is located when the vehicle is operating in the first detection interval, and determine a fourth alternative threshold based on the second temperature range within which the lowest battery temperature of the vehicle is located when the vehicle is operating in the first detection interval, and then determine the first battery threshold of the vehicle based on the third alternative threshold and the fourth alternative threshold; wherein, the vehicle operates N driving cycles in the first detection interval or the operating time of the vehicle in the first detection interval is a second preset time, N is a positive integer, the first temperature range and the second temperature range are both included in L preset temperature ranges, L is a positive integer, and the L preset temperature ranges correspond one-to-one to the L first battery thresholds, respectively.

[0065] In one possible implementation, the first power threshold is greater than or equal to a first battery power, which is the minimum power required for the battery to provide a first discharge power at the first temperature of the vehicle, and the first discharge power has the ability to drive the vehicle.

[0066] In a possible implementation manner, a difference between detection times of the lowest temperature or the lowest ambient temperature in any two adjacent driving cycles in the N driving cycles is less than or equal to a preset time difference.

[0067] In one possible embodiment, the threshold determination module is specifically used to: determine the fifth alternative threshold of the vehicle based on the energy replenishment parameter of the vehicle, and determine the sixth alternative threshold of the vehicle based on the temperature parameter; determine the first power threshold of the vehicle based on the fifth alternative threshold and the sixth alternative threshold.

[0068] In a possible implementation manner, the first power threshold of the vehicle is the maximum value between the fifth alternative threshold and the sixth alternative threshold.

[0069] In a possible implementation, the frequency of replenishing the power of the vehicle is determined based on the battery power of the vehicle.

[0070] In one possible embodiment, the battery power of the vehicle is equal to the second power threshold of the vehicle, or the difference between the battery power of the vehicle and the second power threshold is less than or equal to a first preset value, the battery replenishment frequency of the vehicle is 0, and the second power threshold is the battery threshold of the vehicle in the battery replenishment frequency detection stage.

[0071] The beneficial effects of the vehicle control device provided by the third aspect and its possible implementation methods can be found in the beneficial effects brought about by the first aspect and its possible implementation methods, and will not be repeated here.

[0072] In a fourth aspect, an embodiment of the present application provides a vehicle control device, comprising: an acquisition module for acquiring a second operating parameter of the vehicle, the second operating parameter including at least one of an energy replenishment parameter, a driving frequency, and a temperature parameter, the energy replenishment parameter being used to indicate the energy replenishment frequency and / or energy replenishment amount of the vehicle, and the temperature parameter being used to indicate the temperature of the vehicle during operation; a mode switching control module for controlling the vehicle to push mode switching information according to the second operating parameter, the mode switching information being used to prompt the user to switch to a first mode, wherein the first power threshold of the vehicle in the first mode is determined based on the energy replenishment parameter and / or temperature parameter of the vehicle.

[0073] In one possible embodiment, the current mode is the second mode, the battery threshold of the vehicle in the second mode is a first value, the first value is greater than or equal to the first battery threshold of the vehicle in the first mode, and the energy replenishment parameter includes a battery replenishment parameter and / or a fuel replenishment parameter; the energy replenishment parameter of the vehicle satisfies at least one of the following, and the mode switching information is used to prompt the user to switch the second mode to the first mode: the battery replenishment frequency of the vehicle is greater than or equal to the preset battery replenishment frequency; the fuel replenishment frequency of the vehicle is less than or equal to the preset fuel replenishment frequency; the temperature parameter is greater than or equal to the preset temperature.

[0074] In one possible embodiment, the driving frequency includes the number of times the vehicle is driven in the third mode, the battery threshold of the vehicle in the third mode is a second value, and the second value is less than or equal to the first battery threshold of the vehicle in the first mode; the number of times the vehicle is driven in the third mode is greater than or equal to a preset number of times, and the mode switching information is used to prompt the user to switch the third mode to the first mode.

[0075] In one possible implementation, the battery power of the vehicle in the current driving cycle is less than or equal to a first preset battery power.

[0076] In a possible implementation, the current mode is the third mode; the temperature parameter is less than or equal to the preset temperature and the duration is greater than or equal to the third preset duration, and the mode switching information is used to prompt the user to switch from the third mode to the first mode.

[0077] In one possible embodiment, the temperature parameter is less than or equal to the preset temperature and the duration is greater than or equal to a third preset time duration, and the battery power of the vehicle is less than or equal to the second preset battery power, and the mode switching information is used to prompt the user to switch from the third mode to the first mode.

[0078] In a possible implementation, the frequency of replenishing the power of the vehicle is determined based on the battery power of the vehicle.

[0079] In one possible embodiment, the battery power of the vehicle is equal to the third power threshold of the vehicle, or the difference between the battery power of the vehicle and the third power threshold of the vehicle is less than or equal to a second preset value, the battery replenishment frequency of the vehicle is 0, and the third power threshold is the battery threshold of the vehicle in the battery replenishment frequency detection stage.

[0080] The beneficial effects of the vehicle control device provided by the fourth aspect and its possible implementation methods can be found in the beneficial effects brought about by the second aspect and its possible implementation methods, and will not be repeated here.

[0081] In a fifth aspect, an embodiment of the present application provides a vehicle, comprising a vehicle control device as in the third aspect, the fourth aspect, or each possible implementation.

[0082] In a sixth aspect, an embodiment of the present application provides a chip, comprising: a processor for calling and executing computer instructions from a memory, so that a device equipped with the chip executes a method as in the first aspect, the second aspect, or each possible implementation.

[0083] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium for storing computer program instructions, wherein the computer program enables a computer to execute the method in the first aspect, the second aspect, or each possible implementation manner.

[0084] In an eighth aspect, an embodiment of the present application provides a computer program product, comprising computer program instructions, which enable a computer to execute the method in the first aspect, the second aspect, or each possible implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] FIG1 is a schematic diagram of the hardware structure of a vehicle provided in an embodiment of the present application;

[0086] FIG2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0087] FIG3a is a schematic diagram showing how a power threshold value varies with a temperature parameter, provided in an embodiment of the present application;

[0088] FIG3 b is a schematic diagram of a staged adjustment of a power threshold value provided by an embodiment of the present application;

[0089] FIG4 a is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0090] FIG4 b is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0091] FIG4c is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0092] FIG4 d is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0093] FIG5 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0094] FIG6 a is a schematic diagram of a display interface provided in an embodiment of the present application;

[0095] FIG6 b is a schematic diagram of another display interface provided in an embodiment of the present application;

[0096] FIG7 is a schematic block diagram of a vehicle control device provided in an embodiment of the present application;

[0097] FIG8 is another schematic block diagram of a vehicle control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0098] To facilitate understanding of this application, the extended-range vehicle and related terms are first explained.

[0099] Extended-range vehicles rely on batteries to provide electricity for the electric motor to drive the vehicle. The difference between them and ordinary electric vehicles is that in addition to charging the extended-range vehicles through the power grid system, users can also replenish the battery through extended-range control while the vehicle is running, so that the battery can continue to power the electric motor, increase the vehicle's cruising range, and achieve extended vehicle range.

[0100] When the extended-range control is not activated, the mileage that an extended-range vehicle can travel is the pure electric range; after the extended-range control is activated, the mileage that an extended-range vehicle can travel is the fuel range.

[0101] Among them, range-extended control refers to the use of fuel (such as oil, gas, etc.) by the engine to generate driving force to drive the generator to generate electricity, replenish the battery, and maintain the battery power at a power threshold. For example, when the remaining power of the battery (state of charge, SOC) is less than the preset power threshold, the above-mentioned range-extended control can be triggered. When the power threshold is high, the entire vehicle maintains a higher battery power state, and the vehicle has better power performance; when the power threshold is low, the vehicle's pure electric cruising range is longer, and the vehicle has better vehicle economy. In the embodiments of the present application, the battery power and the battery SOC have the same meaning.

[0102] The battery threshold may be pre-set in the vehicle or may be set by the user. Currently, in one implementation of the related art, the battery threshold may be input by the user through an interface operation or selected from multiple alternative battery thresholds in the interface, and the vehicle performs range-extending control based on the battery threshold. In another implementation of the related art, different pre-set modes may correspond to different battery thresholds. The user selects a mode from at least two modes through an interface operation, and the vehicle performs range-extending control based on the battery threshold corresponding to the mode.

[0103] However, no matter which method is used to set the power threshold, the power threshold cannot be flexibly adjusted, making it difficult to adjust the vehicle's power performance and vehicle economy as user needs or driving environment changes, reducing the user experience.

[0104] In response to the problem that the above-mentioned power threshold cannot be flexibly adjusted, this application dynamically adjusts the first power threshold based on operating parameters that can reflect the user's car usage habits or the vehicle's driving environment, so that the vehicle's power performance and vehicle economy can meet user needs or match the current driving environment.

[0105] The above modes may include, but are not limited to, at least one of a pure electric priority mode, a fuel priority mode, and a hybrid electric mode. In pure electric priority mode, the battery threshold is lower; in fuel priority mode, the battery threshold is higher; and in hybrid electric mode, the battery threshold may be higher than that in pure electric priority mode and lower than that in fuel priority mode.

[0106] The above-mentioned power threshold may also be referred to as SOC threshold, power maintenance value, etc., which is not limited in this application.

[0107] This application does not limit the nomenclature of extended-range vehicles. For example, extended-range vehicles can also be called extended-range vehicles, extended-range electric vehicles, series hybrid electric vehicles, etc. As long as the vehicle can achieve the relevant extended-range control, it falls within the scope of protection of this application. For the sake of simplicity, extended-range vehicles will be collectively referred to as vehicles below.

[0108] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0109] Figure 1 is a schematic diagram of the hardware architecture of a vehicle provided in an embodiment of the present application. As shown in Figure 1 , vehicle 100 includes, but is not limited to, a vehicle control system 110, a range extender system 120, a battery management system 130, and a cabin control system 140, some or all of which may be connected. Vehicle control system 110 may be connected to range extender system 120, battery management system 130, and cabin control system 140, respectively.

[0110] The range extender system 120 can receive control commands from the vehicle control system 110 and initiate range extension control in response to the control commands. The range extender system 120 can include an engine controller 121 and a generator controller 122. When the range extender system 120 initiates range extension control, the engine controller 121 controls the engine 1201 to provide driving force, and the generator controller 122 controls the generator 1202 to generate electricity under the drive of the engine 1201 to replenish the battery power, allowing the electric motor to draw on the battery power to drive the vehicle.

[0111] The battery management system 130 may be used to obtain the SOC of the battery of the vehicle, for example, to calculate the SOC of the battery based on the output voltage and output current of the battery.

[0112] The cockpit control system 140 may include at least a display system 141 and an audio-visual entertainment system 142. The display system 141 may provide a human-computer interaction interface, while the audio-visual entertainment system 142 may connect to the vehicle's audio, microphone, ambient lighting, seats, and other components to enable sensory interaction with the user. For example, the cockpit control system 140 may receive user input through the display system 141 to generate user commands, or display information (such as vehicle status or mode switching information described below) through the display system 141. For another example, the audio-visual entertainment system 142 may receive user voice input to generate user commands, or push information to the user through the audio-visual entertainment system 142 via sensory interaction, such as playing the mode switching information described below.

[0113] In addition, the cockpit control system 140 can also be connected to sensors deployed in the vehicle, such as temperature sensors, air quality sensors, image sensors (such as cameras), etc.

[0114] For example, the vehicle control system 110 can obtain the SOC of the vehicle's battery by interacting with the battery management system 130. Furthermore, the vehicle control system 110 can compare the SOC of the battery with a power threshold. When the SOC of the vehicle's battery is less than the power threshold, a control instruction is sent to the range extender system 120 to control the range extender system to start range extension control.

[0115] Exemplarily, the vehicle control system 110 interacts with the cockpit control system 140, and the vehicle control system 110 may obtain user instructions through the cockpit control system 140, or push information through the cockpit control system 140. For example, the vehicle control system 110 may display a range extension setting interface to the user through the cockpit control system 140, where the user may set a battery threshold. The cockpit control system 140 generates a user instruction based on the user's operation, and the user instruction carries the battery threshold. The vehicle control system 110 obtains the user instruction sent by the cockpit control system 140 and determines whether to enable range extension based on the battery threshold set by the user.

[0116] In some embodiments, the cockpit control system 140 can, without responding to the control of the vehicle control system 110, determine and push information to the user, such as displaying the range-extended device interface. In other words, both the cockpit control system 140 and the vehicle control system 110 can be responsible for determining and executing information push, as illustrated below with examples.

[0117] The vehicle control method provided in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0118] The following is only for the purpose of ease of understanding and explanation, and the method provided in the embodiment of the present application is described with a vehicle control device as the execution body. The vehicle control device may be, for example, the vehicle control system 110 in FIG. 1 above.

[0119] In some embodiments, the vehicle control device may also be the cockpit control system 140 in FIG. 1 .

[0120] The vehicle control device can be implemented as a component in the vehicle, such as a chip, a chip system or other functional module that can call and execute a program. As long as it can implement the method provided by the embodiment of the present application by running a program that records the code of the method provided by the embodiment of the present application, it can serve as the execution subject of the method provided by the embodiment of the present application.

[0121] FIG2 is a flow chart of a vehicle control method 200 provided in an embodiment of the present application. As shown in FIG2 , the method 200 may include the following steps S210 and S220.

[0122] S210, determining a first battery threshold of the vehicle based on a first operating parameter of the vehicle;

[0123] S220: When the battery power of the vehicle is less than a first power threshold, control the power generation device of the vehicle to generate power.

[0124] The first operating parameter includes at least one of an energy replenishment parameter and a temperature parameter.

[0125] Energy replenishment parameters can be used to indicate parameters related to vehicle energy replenishment, such as at least one of the vehicle's energy replenishment frequency and energy replenishment amount. It should be noted that energy replenishment may include, but is not limited to, power replenishment and / or fuel replenishment. Power replenishment refers to replenishing the vehicle's energy through the power grid, excluding power replenishment achieved by the engine-driven generator under range-extended control. Fuel replenishment, for example, may be fuel oil or methane in a range-extended vehicle.

[0126] When the energy replenishment is electric power replenishment, the energy replenishment parameter includes an electric power replenishment parameter, which is used to indicate at least one of the vehicle's electric power replenishment frequency and electric power replenishment amount; when the energy replenishment is fuel replenishment, the energy replenishment parameter includes a fuel replenishment parameter, which is used to indicate at least one of the vehicle's fuel replenishment frequency and fuel replenishment amount.

[0127] The energy replenishment frequency in the energy replenishment parameter can be any period of time or multiple discontinuous periods of time, any period of mileage or multiple discontinuous mileages, or the energy replenishment frequency in any N continuous or discontinuous driving cycles during the driving process before the current moment, where N is a positive integer. In order to make the accuracy of the first power threshold determined based on the energy replenishment frequency higher, the energy replenishment frequency can be determined based on historical records close to the current moment. For example, the energy replenishment frequency can be the energy replenishment frequency a week before the current moment, the energy replenishment frequency in the last 500 kilometers, or the energy replenishment frequency in the last N consecutive driving cycles. Of course, this application does not rule out that the energy replenishment frequency is determined based on the number of energy replenishments in all historical records before the current moment. The energy replenishment amount threshold is similar and will not be repeated here. Among them, a driving cycle can refer to the process of a vehicle from ignition, operation to shutdown, or a driving cycle can refer to the process of a vehicle from power on to power off.

[0128] The energy replenishment parameter is a reflection of the user's vehicle usage behavior. The first power threshold is determined based on the energy replenishment parameter, so that the first power threshold can change with the change of the user's vehicle usage behavior, avoiding the use of a fixed power threshold for extended range control, which makes it difficult for the vehicle's power performance and vehicle economy to match the user's needs.

[0129] The temperature parameter is used to indicate the temperature of the vehicle during operation, such as the ambient temperature detected by a temperature sensor during operation of the vehicle, or the battery (eg, battery cell) temperature detected by a temperature sensor.

[0130] Similar to the energy replenishment parameter, the temperature parameter can also be used to indicate the ambient temperature and / or battery temperature detected by the vehicle during any period of time or multiple discontinuous periods of time, any period of mileage or multiple discontinuous mileages, or any N continuous or discontinuous driving cycles that the vehicle has driven before the current moment. In order to increase the accuracy of the first power threshold determined based on the temperature parameter, the temperature parameter used can be a historical record that is closer to the current moment. For example, the temperature parameter can be a temperature parameter one week before the current moment, a temperature parameter within the last 300 kilometers, or a temperature parameter within the last N continuous driving cycles. Of course, this application does not exclude the possibility that the temperature parameter is determined based on the ambient temperature and / or battery temperature of all historical records before the current moment.

[0131] The temperature parameter is a reflection of the vehicle's driving environment. The first power threshold is determined based on the temperature parameter, so that the first power threshold can change with changes in the driving environment, avoiding extended range control through a fixed power threshold, which makes it difficult for the vehicle's power performance and vehicle economy to match the driving environment.

[0132] In S210 above, the vehicle control device may determine a first battery threshold value for the vehicle within each interval, i.e., the determined first battery threshold value is effective within the current interval, thereby dynamically adjusting the battery threshold value for the vehicle. The interval may be a time interval, such as 10 minutes, 1 day, 1 week, 15 days, etc.; or a mileage interval, such as 10 kilometers, 100 kilometers, 500 kilometers, etc.; or the interval may be N' driving cycles, where N' is a positive integer.

[0133] In the above-mentioned S220, the vehicle's power generation device may be, for example, the engine and generator shown in FIG1 . As shown in FIG1 , when the vehicle's battery charge is less than a first charge threshold, the vehicle control system 110 may send a control instruction to the range extender system 120, and the range extender system 120 may control the engine to drive the generator to generate electricity based on the control instruction, so as to maintain the battery charge at the first charge threshold. Alternatively, the vehicle control system 110 may send a control instruction to the range extender system 120, the control instruction including the battery charge and the first charge threshold, and the range extender system 120 may control the vehicle's power generation device to generate electricity when the battery charge is less than the first charge threshold.

[0134] Therefore, in the embodiment of the present application, the vehicle's power threshold is adjusted by reflecting the user's car usage habits or the operating parameters of the vehicle's driving environment, so that the vehicle's power performance and vehicle economy meet user needs or match the current driving environment.

[0135] As mentioned above, energy replenishment may include: power replenishment and / or fuel replenishment, and accordingly, energy replenishment parameters include: power replenishment parameters and / or fuel replenishment parameters.

[0136] For ease of understanding, the negative correlation and positive correlation in the following text are first explained.

[0137] Negative correlation refers to two variables changing in different directions. When one variable changes from large to small (or from small to large), the other variable changes from small to large (or from large to small). For example, the first power threshold is negatively correlated with the vehicle's power replenishment parameter below, which means that the larger the vehicle's power replenishment parameter, the smaller the corresponding first power threshold.

[0138] In contrast, a positive correlation means that two variables change in the same direction: when one variable changes from large to small (or from small to large), the other variable also changes from large to small (or from small to large). For example, in the following text, the first power threshold is positively correlated with the vehicle's fuel replenishment parameter, meaning that the higher the vehicle's fuel replenishment parameter, the higher the corresponding first power threshold.

[0139] In the first optional example, the first battery threshold is negatively correlated with the vehicle's battery replenishment parameter. It should be noted that a higher battery replenishment frequency indicates a user's preference for using the vehicle's all-electric range to improve vehicle economy, or that it's convenient for the user to charge the vehicle. In this case, regardless of the user's need for vehicle economy or their driving habits, the first battery threshold is negatively correlated with the battery replenishment frequency, which can improve vehicle economy and achieve user-friendly extended range control. For the same reason, the battery replenishment amount is negatively correlated with the first battery threshold.

[0140] In the second optional example, the first battery threshold is positively correlated with the vehicle's fuel refueling parameters. It should be noted that a higher refueling frequency indicates a user's preference for maximum fuel range, or a higher demand for the vehicle's power performance. In this case, based on user driving habits and vehicle power performance, a positive correlation between the first battery threshold and refueling frequency can improve vehicle power performance and achieve range-extended control that matches the user's needs. For the same reason, the fuel refueling amount is positively correlated with the first battery threshold.

[0141] In a third optional example, the first power threshold is negatively correlated with the temperature parameter of the vehicle. As shown in FIG3a , between -20 degrees Celsius and 20 degrees Celsius, the first power threshold decreases with increasing ambient temperature or battery temperature. Compared to the case where the power threshold is a fixed power threshold, the first power threshold in this application may decrease with increasing temperature. It should be noted that the lower the ambient temperature and / or battery temperature of the vehicle, the more power the vehicle needs to consume to resist the low temperature. If the first power threshold is set low, the vehicle's power performance will be greatly affected. Therefore, the lower the temperature, the higher the first power threshold, which can match the vehicle's current driving environment.

[0142] The above three optional examples can be combined to determine the first power threshold. For example, a weighted operation is performed on the power replenishment parameter, the fuel replenishment parameter, and the temperature replenishment parameter to determine the corresponding first power threshold.

[0143] In any of the above embodiments, the first operating parameter may be an operating parameter of the vehicle in the first adjustment phase, the interval for which the determined first power threshold is applicable may be the second adjustment phase, the first adjustment phase may be earlier than the second adjustment phase, and the first adjustment phase and the second adjustment phase may be continuous or discontinuous, which is not limited in this application. The vehicle may travel a first preset mileage in the first adjustment phase, or the vehicle may travel a first preset duration in the first adjustment phase, or the vehicle may perform N driving cycles in the first adjustment phase.

[0144] In one example of S210 described above, the vehicle control device may determine a first power threshold for the second adjustment phase based on the energy replenishment parameters of the vehicle in the first adjustment phase, and perform range extension control in the second adjustment phase based on the first power threshold. The second adjustment phase may have the same mileage, driving duration, or number of driving cycles as the first adjustment phase, but this application is not limited thereto. The second adjustment phase may be a completely different adjustment phase from the first adjustment phase, such as having a shorter driving duration or a longer mileage than the first adjustment phase.

[0145] The following describes three possible ways of determining the first power threshold, namely, the first operating parameter includes an energy replenishment parameter, the first operating parameter includes a temperature parameter, and the first operating parameter includes both an energy replenishment parameter and a temperature parameter.

[0146] In a first manner, the vehicle control device determines a first power threshold value according to an energy replenishment parameter of the vehicle.

[0147] In the first method, in order to reduce the processing efficiency of determining the first power threshold and simplify the processing process, the vehicle's driving process can be divided into multiple adjustment stages (such as the above-mentioned first adjustment stage and second adjustment stage), and the power threshold of the current adjustment stage (such as the second adjustment stage) can be determined based on the operating parameters of the previous adjustment stage (such as the first adjustment stage).

[0148] Exemplarily, the vehicle control device may determine the first power threshold of the second adjustment stage from a first corresponding relationship based on the energy replenishment parameter of the first adjustment stage, where the first corresponding relationship is a corresponding relationship between the power threshold and the value of the energy replenishment parameter.

[0149] As a first example of the first correspondence, multiple power thresholds correspond one-to-one to multiple power replenishment parameter values. The vehicle control device can search the first correspondence for the power threshold corresponding to the power replenishment parameter value in the first adjustment phase, i.e., the first power threshold in the second adjustment phase. Optionally, in the first correspondence, the power thresholds and power replenishment parameters can be set in a negatively correlated relationship, i.e., a larger power replenishment parameter corresponds to a smaller corresponding power threshold.

[0150] As a second example of the first correspondence, multiple power thresholds correspond one-to-one with multiple fuel replenishment parameters. The vehicle control device may search the first correspondence for the power threshold corresponding to the fuel replenishment parameter in the first adjustment phase, i.e., the first power threshold in the second adjustment phase. Alternatively, in the first correspondence, the power thresholds and fuel replenishment parameters may be set in a positively correlated relationship, i.e., a larger fuel replenishment parameter corresponds to a smaller power threshold.

[0151] As a third example of the first correspondence, each of the multiple power thresholds corresponds to a power replenishment parameter and a fuel replenishment parameter. The vehicle control device can search for the power threshold corresponding to both the power replenishment parameter and the fuel replenishment parameter of the first adjustment stage in the first correspondence, that is, the first power threshold of the second adjustment stage.

[0152] On the basis of the above three first correspondences, the correspondence between the energy replenishment parameter and the power threshold in the first correspondence can be replaced by the correspondence between the interval (such as frequency interval and / or energy interval) and the power threshold.

[0153] In Example 1, the vehicle control device determines a first power threshold for the second adjustment phase based on the first frequency interval in which the vehicle's energy replenishment frequency falls during the first adjustment phase. The first frequency interval is included in M1 preset frequency intervals, where M1 is a positive integer and each of the M1 preset frequency intervals corresponds to the M1 preset thresholds.

[0154] In Example 2, the vehicle control device determines a first power threshold for the second adjustment phase based on the first energy interval in which the vehicle's energy replenishment amount during the first adjustment phase falls. The M2 preset energy intervals include the first energy interval, M2 is a positive integer, and the M2 preset frequency intervals correspond one-to-one to the M2 preset thresholds.

[0155] In Example 3, the vehicle control device determines a first alternative threshold value based on a first frequency interval within which the vehicle's energy replenishment frequency falls during the first adjustment phase, determines a second alternative threshold value based on a first energy interval within which the vehicle's energy replenishment amount falls during the first adjustment phase, and then determines a first power threshold value based on the first alternative threshold value and the second alternative threshold value. For example, the larger of the first alternative threshold value and the second alternative threshold value may be determined as the first power threshold value, the smaller of the first alternative threshold value and the second alternative threshold value may be determined as the first power threshold value, or the first power threshold value may be obtained by performing a weighted operation on the first alternative threshold value and the second alternative threshold value.

[0156] In the following examples 4 and 5, the vehicle control device may first determine the power maintenance adjustment amount for the second adjustment stage based on the capacity supplement parameter of the first adjustment stage, and then adjust the first power threshold of the first adjustment stage based on the power maintenance adjustment amount of the second adjustment stage to obtain the first power threshold of the second adjustment stage. For example, the sum (or product) of the first power threshold of the first adjustment stage and the power maintenance adjustment amount is determined as the first power threshold. The power maintenance adjustment amount can be a positive or negative value.

[0157] In Example 4, the vehicle control device determines a charge maintenance adjustment amount for the second adjustment phase based on the second frequency interval within which the vehicle's energy replenishment frequency falls during the first adjustment phase. The M3 preset frequency intervals include the second frequency interval, M3 is a positive integer, and the M3 preset frequency intervals correspond one-to-one to the M3 charge maintenance adjustment amounts.

[0158] In Example 5, the vehicle control device determines a charge maintenance adjustment amount for the second adjustment phase based on the second energy interval in which the vehicle's energy replenishment amount during the first adjustment phase falls. The M4 preset energy intervals include the second energy interval, M4 is a positive integer, and the M4 preset frequency intervals correspond one-to-one to the M4 charge maintenance adjustment amounts.

[0159] Example 6: The vehicle control device determines a first power maintenance adjustment amount based on the second frequency interval in which the energy replenishment frequency of the vehicle in the first adjustment stage is located, determines a second power maintenance adjustment amount based on the second energy interval in which the energy replenishment amount of the vehicle in the first adjustment stage is located, and determines the power maintenance adjustment amount for the second adjustment stage based on the first power maintenance adjustment amount and the second power maintenance adjustment amount. For example, the larger value of the first power maintenance adjustment amount and the second power maintenance adjustment amount is determined as the power maintenance adjustment amount for the second adjustment stage, the smaller value of the first power maintenance adjustment amount and the second power maintenance adjustment amount is determined as the power maintenance adjustment amount for the second adjustment stage, or a weighted operation is performed on the first power maintenance adjustment amount and the second power maintenance adjustment amount to obtain the power maintenance adjustment amount for the second adjustment stage.

[0160] The first power threshold can be expressed as a ratio, representing the proportion of the vehicle's required battery capacity to the battery capacity. For example, a first power threshold of 50% indicates that when the vehicle's battery capacity is less than 50%, the vehicle's power generation device is controlled to generate electricity. Similarly, the power maintenance adjustment amount can also be expressed as a ratio. For example, if the power threshold in the first adjustment phase is 50% and the power maintenance adjustment amount is 5%, the first power threshold in the second adjustment phase will be 55%.

[0161] For example, assuming that an adjustment stage is divided according to the mileage of every 200 kilometers (which can be replaced by 100 kilometers, 500 kilometers, 1000 kilometers, etc.), the vehicle's power replenishment frequency in the first adjustment stage is 0 charging times for 200 kilometers, then the first power maintenance adjustment amount in the second adjustment stage is determined to be 3%; the vehicle's power replenishment frequency in the first adjustment stage is 1-3 charging times for 200 kilometers, then the first power maintenance adjustment amount in the second adjustment stage is determined to be 0; the vehicle's power replenishment frequency in the first adjustment stage is 4-5 charging times for 200 kilometers, then the first power maintenance adjustment amount in the second adjustment stage is determined to be -3%; the vehicle's power replenishment frequency in the first adjustment stage is more than 5 charging times for 200 kilometers, then the first power maintenance adjustment amount in the second adjustment stage is determined to be -6%.

[0162] As shown in Figure 3b, the vehicle achieves extended range control with a power threshold of 50% within 0-200km; if the vehicle is charged 0 times within 0-200km, the power threshold is adjusted to 53% within 200km-400km, and extended range control is achieved with a power threshold of 53%; if the vehicle is charged 1-3 times within 200km-400km, the power threshold remains unchanged within 400km-600km, and extended range control is still achieved with a power threshold of 53%; if the vehicle is charged more than 5 times within 400km-600km, the power threshold is 47% within 600km-800km.

[0163] Still taking the example of dividing an adjustment phase into 200 kilometers of driving mileage, referring to FIG4 a , after the vehicle is started, the vehicle control device detects whether the vehicle's subtotal mileage reaches 200 kilometers. When the vehicle's sub-metered mileage reaches 200 kilometers, the number of times the vehicle has been charged within the 200-kilometer mileage is determined. For example, if the vehicle has been charged 0 times, the battery maintenance adjustment amount of the vehicle in the next adjustment stage is 3%; if the vehicle has been charged 1-3 times, the battery maintenance adjustment amount of the vehicle in the next adjustment stage is 0; if the vehicle has been charged 4-5 times, the battery maintenance adjustment amount of the vehicle in the next adjustment stage is -3%; if the vehicle has been charged more than 5 times, the battery maintenance adjustment amount of the vehicle in the next adjustment stage is -6%. The battery maintenance value for the next adjustment stage is then determined based on the battery adjustment amount, and the vehicle control device clears the sub-metered mileage and the number of charges. Further, the control device continues to detect whether the vehicle's sub-metered mileage has reached 200 kilometers and repeats the above-mentioned battery maintenance value adjustment process. When the vehicle's sub-metered mileage has not reached 200 kilometers, the number of charges of the vehicle is detected. For example, when it is determined that the vehicle is in a charging state and the charging time is greater than or equal to 15 minutes, the number of charges is accumulated once. Otherwise, the number of charges remains unchanged, and the control device continues to detect whether the vehicle's sub-metered mileage has reached 200 kilometers.

[0164] Referring to FIG4b , after the vehicle is started, the vehicle control device detects whether the vehicle's sub-metered mileage has reached 1000 kilometers. When the vehicle's sub-metered mileage reaches 1000 kilometers, the vehicle determines the number of refuelings the vehicle has made within the 1000-kilometer mileage. For example, if the vehicle has refueled 0 times, the vehicle's battery charge maintenance adjustment for the next adjustment phase is -3%. If the vehicle has refueled once, the battery charge maintenance adjustment for the next adjustment phase is 0. If the vehicle has refueled twice, the battery charge maintenance adjustment for the next adjustment phase is 3%. If the vehicle has refueled more than twice, the battery charge maintenance adjustment for the next adjustment phase is 6%. The battery charge maintenance value for the next adjustment phase is then determined based on the battery charge adjustment. The vehicle control device resets the sub-metered mileage and the number of refuelings to zero. Further, the vehicle continues to detect whether the vehicle's sub-metered mileage has reached 1000 kilometers, repeating the aforementioned battery charge maintenance value adjustment process. If the vehicle's sub-metered mileage has not reached 1000 kilometers, the vehicle is refueled for testing. For example, if the vehicle is determined to be refueled, the number of refuelings is incremented. Otherwise, the number of refuelings remains unchanged, and the vehicle continues to detect whether the vehicle's sub-metered mileage has reached 1000 kilometers.

[0165] Referring to FIG4c, after the vehicle is started, the vehicle control device detects whether the vehicle's subtotal mileage reaches 200 kilometers within two weeks or 10 driving cycles. When the subtotal mileage reaches 200 kilometers within two weeks or 10 driving cycles, the number of times the vehicle's battery power increases within the 200-kilometer mileage is determined. For example, if the battery power increases 0 times, the battery power maintenance adjustment amount of the vehicle in the next adjustment stage is 3%. If the battery power increases 1-3 times, the battery power maintenance adjustment amount of the vehicle in the next adjustment stage is 0. If the battery power increases 4-5 times, the battery power maintenance adjustment amount of the vehicle in the next adjustment stage is -3%. If the battery power increases more than 5 times, the battery power maintenance adjustment amount of the vehicle in the next adjustment stage is -6%. Then, the battery power maintenance value of the next adjustment stage is determined based on the battery power adjustment amount, and the vehicle control device clears the subtotal mileage and the number of battery power increases. Further, the detection continues. Whether the vehicle's subtotal mileage reaches 200 kilometers within two weeks or 10 driving cycles, the above-mentioned power maintenance value adjustment process is repeated; when the subtotal mileage within two weeks or 10 driving cycles does not reach 200 kilometers, the vehicle control device determines whether the difference between the vehicle's current power and the first power maintenance value (or the lowest power in the current driving cycle) is greater than a preset power difference (such as 10%). If the difference between the vehicle's current power and the first power maintenance value (or the lowest power in the current driving cycle) is greater than the preset power difference (such as 10%), the power increase times are accumulated once; otherwise, the power increase times remain unchanged, and the vehicle continues to detect whether the subtotal mileage within two weeks or 10 driving cycles reaches 200 kilometers.

[0166] Therefore, the embodiments provided in this application can improve the flexibility and accuracy of the method for adjusting the power maintenance value, and better meet the requirements of users' car usage habits.

[0167] In some embodiments of the first manner described above, the vehicle control device may adjust the first power threshold value of the second adjustment stage based on the pure electric cruising range or fuel cruising range of the vehicle under the energy replenishment parameters of the first adjustment stage. It should be noted that the pure electric cruising range of the vehicle under the energy replenishment parameters of the first adjustment stage may refer to the pure electric cruising range of the vehicle at the power replenishment frequency of the first adjustment stage, such as the pure electric cruising range of the vehicle after being charged twice in the first adjustment stage, or may refer to the pure electric cruising range of the vehicle at the power replenishment amount in the first adjustment stage, or may be the fuel cruising range of the vehicle at the fuel replenishment frequency of the first adjustment stage, or may be the fuel cruising range of the vehicle at the fuel replenishment amount in the first adjustment stage.

[0168] For example, the pure electric range of the vehicle under the power replenishment frequency or power replenishment amount in the first adjustment stage is greater than the first mileage and the difference with the first mileage is greater than the preset mileage. In this case, the user is more inclined to use the pure electric range of the vehicle to improve the economy of the vehicle, or it is convenient for the user to charge the vehicle. In order to match the user, the first power threshold of the second adjustment stage can be smaller than the power threshold of the first adjustment stage, that is, the power threshold of the first adjustment stage is adjusted to be smaller, and the first power threshold of the second adjustment stage is obtained.

[0169] The first mileage may be the first preset mileage in the aforementioned example, or may be a predicted value of the vehicle's mileage within a first preset time period.

[0170] The first mileage may be preset or configured based on user input. Configuring based on user input increases configuration flexibility and is more tailored to user needs.

[0171] Corresponding to the above example, the fuel range of the vehicle at the fuel replenishment frequency or fuel replenishment amount in the first adjustment stage is less than the first mileage and the difference with the first mileage is greater than the preset mileage, and the first power threshold of the second adjustment stage is less than the power maintenance value of the first adjustment stage.

[0172] Exemplarily, the vehicle's pure electric range at the battery replenishment frequency or battery replenishment amount in the first adjustment stage is equal to the first mileage or the difference with the first mileage is less than the preset mileage. In this case, the first battery threshold of the second adjustment stage is consistent with the battery threshold of the first adjustment stage.

[0173] Correspondingly, the fuel range of the vehicle at the fuel replenishment frequency or fuel replenishment amount in the first adjustment stage is equal to the first mileage or the difference with the first mileage is less than the second preset value, and the first power threshold of the second adjustment stage is equal to the first power threshold of the first adjustment stage.

[0174] For example, the vehicle's pure electric range at the battery replenishment frequency or battery replenishment amount in the first adjustment stage is less than the first mileage and the difference with the first mileage is greater than the preset battery. In this case, the user is not inclined to use the vehicle's pure electric range, or it is inconvenient for the user to charge the vehicle. In order to avoid the impact of low battery on the vehicle's dynamic performance, the first battery threshold of the second adjustment stage is greater than the battery threshold of the first adjustment stage.

[0175] Correspondingly, the fuel range of the vehicle at the fuel replenishment frequency or fuel replenishment amount in the first adjustment stage is greater than the first mileage and the difference with the first mileage is greater than the second preset value, and the power maintenance value in the second adjustment stage is greater than the power maintenance value in the first adjustment stage.

[0176] It should be noted that the energy replenishment frequency can be detected by the vehicle control device. For example, in the first adjustment phase, the vehicle control device detects whether the vehicle is in an energy replenishment state (such as a charging state or a refueling state) and detects the duration of the vehicle in the energy replenishment state (i.e., the energy replenishment duration). If the energy replenishment duration is greater than a preset energy replenishment duration (such as 10 minutes, 15 minutes, 30 minutes, 1 hour, etc.), the number of energy replenishments is accumulated by one.

[0177] When the recharge duration exceeds the preset recharge duration, the number of recharges is accumulated to prevent short recharges from being identified as a single recharge, thus filtering out noise and improving the accuracy of user preference recognition. Optionally, the recharge frequency is initialized in the next adjustment phase to facilitate detection of the recharge frequency in the next adjustment phase.

[0178] In some embodiments, the vehicle's battery replenishment frequency can be determined based on the vehicle's battery charge. For example, if the vehicle's battery charge remains at a second charge threshold (e.g., 20%) during the battery replenishment frequency detection phase (or is less than the second charge threshold, or the difference between the second charge threshold and the second charge threshold is less than or equal to a first preset value), then this indicates that the vehicle was not charged during the battery replenishment frequency detection phase, and the vehicle's battery replenishment frequency is determined to be zero. This battery replenishment frequency detection phase can be the first adjustment phase described above.

[0179] The above example takes the detection of energy replenishment frequency in the first adjustment stage as an example, but the above detection process is not limited to being applicable only to the scenario of segmented adjustment, and is also applicable to the process of real-time dynamic adjustment.

[0180] In the second manner, the vehicle control device determines the first power threshold value according to the temperature parameter.

[0181] In the second method, the temperature parameter can detect the temperature of the vehicle during operation within a first detection interval. The first detection interval can be an interval in which the vehicle has run N driving cycles, where N is a positive integer, or an interval in which the vehicle has run for a second predetermined time period.

[0182] For example, the temperature parameter may be the lowest ambient temperature or the lowest battery (e.g., cell) temperature when the vehicle is operating within the first detection interval. Of course, this application is not limited to this. For example, the temperature parameter may also be the average or maximum value of the ambient temperature or battery temperature when the vehicle is operating within the first detection interval. In some embodiments, the temperature parameter of the first detection interval may also be the lower value, the higher value, or the average of the lowest ambient temperature and the lowest battery temperature, respectively.

[0183] For example, the vehicle control device may detect the ambient temperature or battery temperature during vehicle operation in each driving cycle and record the lowest ambient temperature or lowest battery temperature during that driving cycle. Assuming that the vehicle runs five driving cycles in the first detection interval, the vehicle control device may use the lowest ambient temperature or lowest battery temperature recorded in the five driving cycles as the value of the temperature parameter of the first detection interval.

[0184] In one implementation of the second method, the vehicle control device can determine the first power threshold from the second correspondence based on the temperature parameter of the first detection interval. The second correspondence is a correspondence between the temperature parameter and the power threshold. For example, in the second correspondence, multiple temperature parameter values ​​correspond one-to-one to multiple power thresholds. The vehicle control device can search for the power threshold corresponding to the value of the temperature parameter of the first detection interval in the second correspondence, that is, the first power threshold. Optionally, in the second correspondence, the power threshold corresponding to the value of the temperature parameter can be greater than or equal to the first battery power. The first battery power can be the minimum power required for the battery to provide a first discharge power at the value of the temperature parameter (such as the first temperature), and the first discharge power has the ability to drive the vehicle. The minimum power (i.e., the first discharge power) for the battery to drive the vehicle at the first temperature can be determined with reference to the Worldwide Light-duty Test Procedure (WLTP).

[0185] In another implementation of the second method, the vehicle control device may determine the first power threshold of the vehicle based on the first temperature range of the lowest ambient temperature when the vehicle is operating in the first detection interval; or, the vehicle control device may determine the first power threshold of the vehicle based on the second temperature range of the lowest battery temperature when the vehicle is operating in the first detection interval; or, the vehicle control device may determine the third alternative threshold based on the first temperature range of the lowest ambient temperature when the vehicle is operating in the first detection interval, and determine the fourth alternative threshold based on the second temperature range of the lowest battery temperature when the vehicle is operating in the first detection interval, and then determine the first power threshold of the vehicle based on the third alternative threshold and the fourth alternative threshold. Wherein, the first temperature range and the second temperature range are both included in L preset temperature ranges, L is a positive integer, and the L preset temperature ranges correspond one-to-one to the L first power thresholds respectively. The first temperature range and the second temperature range may be the same or different, and this application does not limit this.

[0186] Optionally, the vehicle control device may use the larger of the third alternative threshold and the fourth alternative threshold as the first power threshold, or use the smaller of the third alternative threshold and the fourth alternative threshold as the first power threshold, or perform a weighted operation on the third alternative threshold and the fourth alternative threshold to obtain the first power threshold.

[0187] In the second approach described above, the difference between the detection times of the lowest temperature or lowest ambient temperature in any two adjacent driving cycles among the N driving cycles is less than or equal to a preset time difference, which may be, for example, 5 days, 10 days, or 30 days. Because ambient temperature may vary significantly over time, using previously recorded ambient temperature or battery temperature to determine the first battery charge threshold will affect the accuracy of the first battery charge threshold.

[0188] In some embodiments, if the value of the temperature parameter recorded in the last driving cycle is greater than a preset time difference from the current time, the vehicle control device uses the current temperature as the temperature recorded in the first driving cycle, stores the time of the current recorded temperature, and restores the temperatures recorded in the remaining four driving cycles to an invalid value (such as 100 degrees Celsius).

[0189] In a third manner, the vehicle control device determines the first power threshold value according to the energy replenishment parameter and the temperature parameter.

[0190] In the second method, the vehicle control device determines the fifth alternative threshold of the vehicle based on the vehicle's energy replenishment parameters, and determines the sixth alternative threshold of the vehicle based on the temperature parameters; further, the first power threshold of the vehicle is determined based on the fifth alternative threshold and the sixth alternative threshold.

[0191] For example, the first battery threshold of the vehicle may be the maximum value of the fifth alternative threshold and the sixth alternative threshold. Of course, this application does not limit this. For example, the first battery threshold may be the minimum value of the fifth alternative threshold and the sixth alternative threshold, or the first battery threshold may be the weighted sum of the fifth alternative threshold and the sixth alternative threshold.

[0192] For example, referring to FIG4d, when the vehicle is started and the speed is greater than or equal to the preset speed (such as 3 kilometers per hour (k / h)), the vehicle control device determines whether the time from the current time to the last recorded temperature parameter is less than or equal to the preset time (such as 10 days). When the time from the current time to the last recorded temperature parameter is less than or equal to the preset time, the lowest battery cell temperature (or lowest ambient temperature) under this driving cycle is recorded; when the time from the current time to the last recorded temperature parameter is greater than the preset time, the previously recorded temperature parameter data is cleared, and the lowest battery cell temperature (or lowest ambient temperature) under this driving cycle is recorded again. Further, the lowest temperature parameter among the temperature parameters recorded under the last five driving cycles is determined, and a table is looked up based on the lowest temperature parameter to determine the power maintenance value that meets basic driving needs, and then the larger value of the fifth alternative threshold value determined based on the energy replenishment parameter and the sixth alternative threshold value determined based on the temperature parameter is used as the first power maintenance value.

[0193] The above-mentioned solution of adjusting the first power threshold based on the first operating parameter of the vehicle can be implemented as a mode, such as the first mode below, which can be called the intelligent range-extending mode in some examples. In this first mode, the vehicle control device can dynamically adjust the first power threshold based on the first operating parameter, and then perform range-extending control according to the dynamic first power threshold; while in the second mode (such as the fuel priority mode) or the third mode (such as the pure electric priority mode), the vehicle control device still performs range-extending control according to the fixed power threshold. In order to make the vehicle's power performance and vehicle economy match the user's knowledge of the vehicle usage environment, an embodiment of the present application provides an intelligent switching solution for a mode. An exemplary explanation is given below in conjunction with Figure 5.

[0194] FIG5 is a flow chart of a vehicle control method provided by an embodiment of the present application. As shown in FIG5 , the method 300 includes:

[0195] S310, obtaining a second operating parameter of the vehicle, the second operating parameter including at least one of an energy replenishment parameter, a driving frequency, and a temperature parameter, the energy replenishment parameter being used to indicate the energy replenishment frequency and / or energy replenishment amount of the vehicle, and the temperature parameter being used to indicate the temperature at which the vehicle is running;

[0196] S320: Control the vehicle to push mode switching information according to the second operating parameter, where the mode switching information is used to prompt the user to switch to the first mode.

[0197] It should be noted that no matter what mode the vehicle is currently in, the vehicle control device can continue to execute the process of determining the first power threshold based on the first operating parameter in any of the aforementioned embodiments, except that in non-first modes, the first power threshold is not used for the execution of extended-range control.

[0198] The energy replenishment parameter in the second operating parameter and the energy replenishment parameter in the first operating parameter may be determined in different time intervals, or in different mileage intervals, or in different driving cycles. Of course, it does not rule out that the energy replenishment parameter in the second operating parameter and the energy replenishment parameter in the first operating parameter may be determined in the same time interval, mileage interval, and the same driving cycle.

[0199] Among them, the method of obtaining the energy replenishment parameter and the temperature parameter has been explained in the above embodiments and will not be repeated here.

[0200] The driving frequency can be determined by the vehicle control device using wheel speed sensors deployed in the vehicle. For example, if the vehicle control device detects that the vehicle is in motion and the vehicle's speed is greater than a preset speed (such as 3 km / h or 10 km / h), the vehicle control device accumulates the number of consecutive driving times to calculate the vehicle's driving frequency within a certain interval.

[0201] The above-mentioned second operating parameter can reflect the user's driving habits or the vehicle's driving environment, and can therefore be used to determine whether the current mode matches the user's driving habits or the vehicle's driving environment. If it does not match, the vehicle control device can control the vehicle to push mode switching information. For example, the vehicle control system obtains the second operating parameter and, when it determines based on the second operating parameter that the current mode does not match the user's driving habits or the vehicle's driving environment, sends a push instruction to the cockpit control system. The push instruction is used to instruct the push of mode switching information. The cockpit control system controls the audio-visual entertainment system and / or display system to push the mode switching information according to the push instruction, such as displaying the mode switching information through the display system, playing the mode switching information through the audio-visual entertainment system, etc.

[0202] Referring to FIG6a , the display interface presenting the mode switching information may include a switch control. In response to a user selecting the switch control, the vehicle control device may switch the current mode (e.g., the third mode) to the first mode. The display interface may also include a cancel control. In response to a user selecting the cancel control, the vehicle control device maintains the current mode. In the example shown in FIG6a , the mode switching information is used to recommend a mode switch to the user. The user determines whether to switch based on their needs. In this case, the mode switching information may also be referred to as mode switching recommendation information.

[0203] Referring to Figure 6b, the display interface presenting the mode switching information may include information text (such as "Switch to the smart mode according to your driving habits to improve the economy of the vehicle") or an image, which is used to display that the vehicle control device has switched the current mode (such as the second mode) to the first mode.

[0204] The battery threshold of the vehicle in the second mode is a first value, which is greater than or equal to the first battery threshold of the vehicle in the first mode. For example, the battery threshold in the second mode may be 70%. The battery threshold of the vehicle in the third mode is a second value, which is less than or equal to the first battery threshold of the vehicle in the first mode. For example, the second value may be 20%.

[0205] When the current mode is the second mode, the embodiment of the present application can determine whether to switch to the first mode based on the energy replenishment parameter. For example, if the vehicle's energy replenishment parameter satisfies at least one of the following, the vehicle control device determines that the second mode needs to be switched to the first mode, and the mode switching information is used to prompt the user to switch from the second mode to the first mode:

[0206] The vehicle's battery replenishment frequency is greater than or equal to the preset battery replenishment frequency;

[0207] The vehicle's fuel refueling frequency is less than or equal to the preset fuel refueling frequency;

[0208] The temperature parameter is greater than or equal to the preset temperature.

[0209] The vehicle's battery recharge frequency can be the number of battery recharges counted since the vehicle activated the second mode until the current time. A higher battery recharge frequency indicates that the user prefers to improve vehicle economy. If the battery threshold for the second mode does not match the user's driving habits, a mode switch message can be pushed to prompt the user to switch from the second mode to the first mode to improve vehicle economy. For example, the audio and video entertainment system can play a voice message saying, "Based on your driving habits, we recommend switching to smart mode to improve vehicle economy."

[0210] The vehicle's fuel replenishment frequency can also be the number of power replenishments counted from the time the vehicle turns on the second mode to the current time. The lower the fuel replenishment frequency, the more likely the user is to improve the economy of using the vehicle. The power threshold of the second mode does not match the user's vehicle usage habits, so the mode switching information can be pushed to prompt the user to switch from the second mode to the first mode to improve the economy of using the vehicle.

[0211] The temperature parameter can also be statistics from the time the vehicle turns on the second mode to the current time. When the value of the temperature parameter is greater than the preset temperature, the vehicle's power performance will not be affected by the low temperature environment (such as an extremely cold environment below -10 degrees Celsius), so the second mode can be switched to the first mode.

[0212] The aforementioned battery replenishment frequency, fuel replenishment frequency, and temperature parameter can be combined to determine mode switching information. For example, if the battery replenishment frequency is greater than or equal to 2 times since the second mode was activated and the temperature parameter is greater than or equal to -10 degrees Celsius, the mode switching information indicates switching from the second mode to the first mode.

[0213] When the current mode is the third mode, the embodiment of the present application can determine whether to switch to the first mode based on the driving frequency. Exemplarily, when the number of times the vehicle has been driven in the third mode is greater than or equal to the preset number of times (such as 5 times, 10 times, etc.), the mode switching information is used to prompt the user to switch the third mode to the first mode. The vehicle's preset mode may be the third mode (such as the pure electric priority mode). When the vehicle has been driven in the initial mode for more than the preset number of times, it indicates that the user may have been driving the vehicle in the initial mode due to not understanding the mode. In this case, the mode switching information is pushed to the user to facilitate the user to select the first mode to achieve intelligent adjustment of the vehicle's economy and power performance.

[0214] Continuing with the above example, the vehicle control device can determine the mode switching information in combination with the battery power of the vehicle. For example, the number of times the vehicle has traveled in the third mode is greater than or equal to the preset number of times (such as 5 times, 10 times, etc.), and the battery power of the vehicle is always less than the first preset battery power (such as 20%, 30%, etc.) in the current driving cycle (the current driving cycle can be replaced with the third mode, a period of time, a mileage, etc.), and the mode switching information is used to prompt the user to switch the third mode to the first mode. The battery power of the vehicle is always low, which means that the user does not charge frequently. Then, continuing to drive the vehicle in the third mode will have a greater impact on the vehicle's power performance. Therefore, recommending the user to switch to the first mode can improve the vehicle's power performance by intelligently adjusting the power threshold.

[0215] When the current mode is the third mode, the embodiment of the present application can determine whether to switch to the first mode based on the temperature parameter. Exemplarily, the temperature parameter is less than or equal to the preset temperature (such as -10 degrees Celsius, -5 degrees Celsius, etc.) and the low temperature duration is greater than or equal to the third preset duration (such as 20s, 60s, etc.). The mode switching information is used to prompt the user to switch from the third mode to the first mode. The low temperature environment has a greater impact on the power performance of the vehicle. Therefore, prompting the user to switch from the third mode to the first mode can improve the power performance of the vehicle by intelligently adjusting the power threshold in the first mode.

[0216] Continuing with the above example, the vehicle control device can determine whether to switch to the first mode based on the battery power. For example, if the temperature parameter is less than or equal to the preset temperature and the duration is greater than or equal to a third preset duration, and the vehicle's battery power is less than or equal to a second preset battery power (e.g., 25%), the mode switching information is used to prompt the user to switch from the third mode to the first mode. As mentioned above, both low temperature environments and continuously low battery power will affect the vehicle's power performance. In this case, switching to the first mode will help improve the vehicle's power performance.

[0217] Similar to the first operating parameter, the battery replenishment frequency in the second operating parameter can be determined based on the vehicle's battery charge. For example, if the vehicle's battery charge remains at a third charge threshold (e.g., 20%) during the battery replenishment frequency detection phase (or is less than the third charge threshold, or the difference between the third charge threshold and the third charge threshold is less than or equal to a first preset value), then this indicates that the vehicle was not charged during the battery replenishment frequency detection phase, and the vehicle's battery replenishment frequency is determined to be zero.

[0218] Optionally, the vehicle control device sends mode switching information to the audio and video entertainment system only once in the current driving cycle to avoid repeated prompts and reduce user experience.

[0219] Optionally, in the first mode, the adjustment range of the first power threshold can be between a first value and a second value. Assuming that the first value is 70% and the second value is 20%, the first power threshold is greater than or equal to 20% and less than or equal to 70%.

[0220] FIG7 is a schematic block diagram of a vehicle control device according to an embodiment of the present application. As shown in FIG7 , the vehicle control device 400 includes a threshold determination module 410 and a range-extending control module 420 .

[0221] Among them, the threshold determination module 410 can be used to determine the first power threshold of the vehicle based on the first operating parameter of the vehicle, and the first operating parameter includes an energy replenishment parameter and / or a temperature parameter. The energy replenishment parameter is used to indicate the energy replenishment frequency and / or energy replenishment amount of the vehicle, and the temperature parameter is used to indicate the temperature of the vehicle during operation; the extended-range control module 420 can be used to control the vehicle's power generation device to generate electricity when the vehicle's battery power is less than the first power threshold.

[0222] The specific process of each module executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0223] FIG8 is another schematic block diagram of a vehicle control device according to an embodiment of the present application. As shown in FIG8 , the vehicle control device 500 includes: an acquisition module 510 and a mode switching control module 520 .

[0224] Among them, the acquisition module 510 can be used to obtain the second operating parameter of the vehicle, which includes at least one of an energy replenishment parameter, a driving frequency, and a temperature parameter. The energy replenishment parameter is used to indicate the energy replenishment frequency and / or energy replenishment amount of the vehicle, and the temperature parameter is used to indicate the temperature of the vehicle during operation; the mode switching control module 520 can be used to control the vehicle to push mode switching information based on the second operating parameter, and the mode switching information is used to prompt the user to switch to the first mode, and the first power threshold of the vehicle in the first mode is determined based on the energy replenishment parameter and / or temperature parameter of the vehicle.

[0225] The specific process of each module executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0226] The division of the modules in the above devices 400 and 500 is merely a division of logical functions, and in actual implementation, they may be fully or partially integrated into one physical entity, or they may be physically separated.

[0227] The processor of the embodiment of the present application may be an integrated circuit chip with data processing capabilities. During implementation, each step of the above method embodiment can be completed by hardware integrated logic circuits in the processor or software instructions. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiment of the present application can be directly implemented as a hardware decoding processor, or can be implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0228] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0229] The above-mentioned memories are exemplary but not restrictive. For example, the memories in the embodiments of the present application may also be static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM RAM (DR RAM). In other words, the memories in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

[0230] An embodiment of the present application also provides an electronic device, which can be implemented as a vehicle control device in an embodiment of the present application, including: a processor and a memory, the memory is used to store computer programs, the processor is used to call and run the computer programs stored in the memory, and execute the corresponding processes in the various methods of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0231] An embodiment of the present application also provides a computer-readable storage medium for storing a computer program.

[0232] In some embodiments, the computer-readable storage medium can be applied to the vehicle control device in the embodiments of the present application, and the computer program enables the computer to execute the corresponding processes in the various methods in the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0233] An embodiment of the present application also provides a computer program product, including computer program instructions.

[0234] In some embodiments, the computer program product can be applied to the vehicle control device in the embodiments of the present application, and the computer program instructions enable the computer to execute the corresponding processes in the various methods in the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0235] The embodiment of the present application also provides a computer program.

[0236] In some embodiments, the computer program can be applied to the vehicle control device in the embodiments of the present application. When the computer program runs on a computer, the computer executes the corresponding processes in the various methods in the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0237] An embodiment of the present application also provides a vehicle.

[0238] In some embodiments, the vehicle includes the vehicle control device in the embodiments of the present application.

[0239] Those skilled in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0240] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: determining a first power threshold of the vehicle according to a first operating parameter of the vehicle, the first operating parameter including an energy replenishment parameter and / or a temperature parameter, the energy replenishment parameter being used to indicate an energy replenishment frequency and / or energy replenishment amount of the vehicle, and the temperature parameter being used to indicate a temperature at which the vehicle is operated; When the battery power of the vehicle is less than the first power threshold, the power generation device of the vehicle is controlled to generate power.

2. The method according to claim 1, characterized in that The energy replenishment parameter includes a power replenishment parameter, and the first power threshold is negatively correlated with the power replenishment parameter of the vehicle; and / or, The energy replenishment parameter includes a fuel replenishment parameter, and the first power threshold is positively correlated with the fuel replenishment parameter of the vehicle.

3. The method according to claim 1 or 2, characterized in that The first power threshold is negatively correlated with the temperature parameter.

4. The method according to claim 1 or 2, characterized in that Determining a first power threshold of the vehicle according to a first operating parameter of the vehicle includes: Determining a first power threshold for a second adjustment phase based on an energy replenishment parameter of the vehicle in the first adjustment phase, the second adjustment phase being later than the first adjustment phase; and performing at least one of the following in the first adjustment phase: Travel the first mile; or The running time is the first time; or, Complete N driving cycles, where N is a positive integer.

5. The method according to claim 4, characterized in that The energy replenishment parameters include the energy replenishment parameters of the first adjustment stage; Determining a first power threshold value in the second adjustment stage according to the energy replenishment parameter of the vehicle in the first adjustment stage includes: According to the energy replenishment parameter of the first adjustment stage, the first power threshold of the second adjustment stage is determined from the first corresponding relationship, where the first corresponding relationship is the corresponding relationship between the first power threshold and the energy replenishment parameter; wherein, The energy replenishment parameter includes a power replenishment parameter, and the first power threshold in the first corresponding relationship is negatively correlated with the power replenishment parameter; and / or, The energy replenishment parameter includes a fuel replenishment parameter, and the first power threshold in the first corresponding relationship is positively correlated with the fuel replenishment parameter.

6. The method according to claim 4 or 5, characterized in that Determining a first power threshold value in the second adjustment stage according to the energy replenishment parameter of the vehicle in the first adjustment stage includes: determining a first power threshold value for the second adjustment stage according to a first frequency interval of the energy replenishment frequency of the vehicle in the first adjustment stage; or determining a first power threshold value for the second adjustment stage according to a first energy interval of the energy replenishment amount of the vehicle in the first adjustment stage; or Determining a first candidate threshold value based on a first frequency interval of an energy replenishment frequency of the vehicle in the first adjustment phase, determining a second candidate threshold value based on a first energy interval of an energy replenishment amount of the vehicle in the first adjustment phase, and further determining the first power threshold value based on the first candidate threshold value and the second candidate threshold value; Among them, the first frequency interval includes M1 preset frequency intervals, M1 is a positive integer, and the M1 preset frequency intervals correspond one-to-one to M1 preset thresholds respectively; the first energy interval includes M2 preset energy intervals, M2 is a positive integer, and the M2 preset frequency intervals correspond one-to-one to M2 preset thresholds respectively.

7. The method according to claim 4 or 5, characterized in that Determining a first power threshold value in the second adjustment stage according to the energy replenishment parameter of the vehicle in the first adjustment stage includes: determining the power maintenance adjustment amount in the second adjustment phase according to the second frequency range of the energy replenishment frequency of the vehicle in the first adjustment phase; or determining the power maintenance adjustment amount in the second adjustment phase according to the second energy interval of the energy replenishment amount of the vehicle in the first adjustment phase; or Determining a first charge maintenance adjustment amount based on a second frequency interval within which the energy replenishment frequency of the vehicle during the first adjustment phase falls, determining a second charge maintenance adjustment amount based on a second energy interval within which the energy replenishment amount of the vehicle during the first adjustment phase falls, and determining a charge maintenance adjustment amount for the second adjustment phase based on the first charge maintenance adjustment amount and the second charge maintenance adjustment amount; The second frequency interval includes M3 preset frequency intervals, M3 is a positive integer, and the M3 preset frequency intervals correspond one-to-one to M3 power maintenance adjustment amounts, and the second energy interval includes M4 preset energy intervals, M4 is a positive integer, and the M4 preset frequency intervals correspond one-to-one to M4 power maintenance adjustment amounts; The first power threshold of the first adjustment stage is adjusted according to the power maintenance adjustment amount of the second adjustment stage to obtain the first power threshold of the second adjustment stage.

8. The method according to any one of claims 4 to 7, characterized in that The method further comprises: The total number of energy replenishment times of the vehicle in the first adjustment stage, in which the energy replenishment duration is greater than or equal to the preset energy replenishment duration, is determined as the energy replenishment frequency of the vehicle in the first adjustment stage.

9. The method according to claim 1 or 3, characterized in that Determining a first power threshold of the vehicle according to a first operating parameter of the vehicle includes: determining a first power threshold of the vehicle according to a first temperature range in which the lowest ambient temperature of the vehicle when the vehicle is operating in the first detection range is within; or determining a first battery threshold of the vehicle according to a second temperature range in which the lowest battery temperature of the vehicle when the vehicle is operating in the first detection range is located; or determining a third alternative threshold value based on a first temperature range within which the lowest ambient temperature of the vehicle is located when the vehicle is operating in the first detection range, determining a fourth alternative threshold value based on a second temperature range within which the lowest battery temperature of the vehicle is located when the vehicle is operating in the first detection range, and further determining a first battery level threshold value of the vehicle based on the third and fourth alternative threshold values; In which, the vehicle runs N driving cycles in the first detection interval or the vehicle runs for a second preset time in the first detection interval, N is a positive integer, the first temperature interval and the second temperature interval are both included in L preset temperature intervals, L is a positive integer, and the L preset temperature intervals correspond one-to-one to L first power thresholds respectively.

10. The method according to claim 9, characterized in that The first power threshold is greater than or equal to a first battery power, and the first battery power is the minimum power required for the battery to provide a first discharge power at the first temperature of the vehicle, and the first discharge power has the ability to drive the vehicle.

11. The method according to claim 9 or 10, characterized in that A difference in detection time of the lowest temperature or the lowest ambient temperature in any two adjacent driving cycles in the N driving cycles is less than or equal to a preset time difference.

12. The method according to any one of claims 1 to 3, characterized in that Determining a first power threshold of the vehicle according to a first operating parameter of the vehicle includes: determining a fifth candidate threshold value for the vehicle based on an energy replenishment parameter of the vehicle, and determining a sixth candidate threshold value for the vehicle based on the temperature parameter; A first power threshold of the vehicle is determined according to the fifth alternative threshold and the sixth alternative threshold.

13. The method according to claim 12, characterized in that The first power threshold of the vehicle is the maximum value of the fifth alternative threshold and the sixth alternative threshold.

14. The method according to any one of claims 1 to 13, characterized in that The frequency of replenishing the power of the vehicle is determined based on the battery power of the vehicle.

15. The method according to claim 14, characterized in that The battery power of the vehicle is equal to the second power threshold of the vehicle, or the difference between the battery power of the vehicle and the second power threshold is less than or equal to a first preset value, the battery replenishment frequency of the vehicle is 0, and the second power threshold is the battery threshold of the vehicle in the battery replenishment frequency detection stage.

16. A vehicle control method, characterized in that: The method further comprises: Acquiring a second operating parameter of the vehicle, the second operating parameter including at least one of an energy replenishment parameter, a driving frequency, and a temperature parameter, the energy replenishment parameter being used to indicate the energy replenishment frequency and / or energy replenishment amount of the vehicle, and the temperature parameter being used to indicate the temperature at which the vehicle is running; According to the second operating parameter, the vehicle is controlled to push mode switching information, and the mode switching information is used to prompt the user to switch to the first mode. The first power threshold of the vehicle in the first mode is determined based on the energy replenishment parameter and / or temperature parameter of the vehicle.

17. The method according to claim 16, characterized in that The current mode is the second mode, the power threshold of the vehicle in the second mode is a first value, the first value is greater than or equal to the first power threshold of the vehicle in the first mode, and the energy replenishment parameter includes a power replenishment parameter and / or a fuel replenishment parameter; The energy replenishment parameter of the vehicle satisfies at least one of the following, and the mode switching information is used to prompt the user to switch from the second mode to the first mode: The vehicle's battery replenishment frequency is greater than or equal to a preset battery replenishment frequency; The fuel replenishment frequency of the vehicle is less than or equal to a preset fuel replenishment frequency; The temperature parameter is greater than or equal to a preset temperature.

18. The method according to claim 16, characterized in that The driving frequency includes the number of times the vehicle is driven in the third mode, the battery threshold of the vehicle in the third mode is a second value, and the second value is less than or equal to the first battery threshold of the vehicle in the first mode; The number of times the vehicle has been driven in the third mode is greater than or equal to a preset number of times, and the mode switching information is used to prompt the user to switch the third mode to the first mode.

19. The method according to claim 18, characterized in that The battery power of the vehicle in the current driving cycle is less than or equal to a first preset battery power.

20. The method according to claim 16, wherein The current mode is the third mode; The temperature parameter is less than or equal to the preset temperature and the duration is greater than or equal to a third preset duration, and the mode switching information is used to prompt the user to switch from the third mode to the first mode.

21. The method according to claim 20, characterized in that The temperature parameter is less than or equal to the preset temperature and the duration is greater than or equal to a third preset duration, and the battery power of the vehicle is less than or equal to a second preset battery power. The mode switching information is used to prompt the user to switch from the third mode to the first mode.

22. The method according to any one of claims 16 to 21, characterized in that The frequency of replenishing the power of the vehicle is determined based on the battery power of the vehicle.

23. The method according to claim 22, characterized in that The battery power of the vehicle is equal to the third power threshold of the vehicle, or the difference between the battery power of the vehicle and the third power threshold of the vehicle is less than or equal to a second preset value, the power replenishment frequency of the vehicle is 0, and the third power threshold is the power threshold of the vehicle in the power replenishment frequency detection stage.

24. A vehicle control device, characterized in that: include: Module for performing the method of any one of claims 1 to 23.

25. A vehicle, characterized in that: include: A vehicle control device, configured to execute the method according to any one of claims 1 to 23.

26. A computer-readable storage medium, characterized in that Used to store computer program instructions, wherein the computer program causes a computer to execute the method according to any one of claims 1 to 23.

27. A computer program product, characterized in that The method comprises computer program instructions which cause a computer to execute the method according to any one of claims 1 to 23.

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