Vehicle control method and device, electronic equipment, vehicle and storage medium

Abstract

The invention discloses a vehicle control method and device, electronic equipment, a vehicle and a storage medium, and the method comprises the steps: obtaining a driving mode of the vehicle in a vehicle driving process; determining a first rotating speed threshold value corresponding to the motor rotating speed of the vehicle according to the driving mode of the vehicle; under the condition that the current rotating speed of the motor is smaller than the first rotating speed threshold value, the first torque limiting value of the motor is adjusted, and a second torque limiting value is obtained; according to the second torque limit value, target torque output by the motor is determined, the target torque is a positive number, the motor is connected with an engine of the vehicle, the motor drives the engine to rotate forwards under the condition that the target torque is the positive number, and in the process, the target torque output by the motor is determined by changing the torque limit value, and the target torque is the positive number; the engine is driven to rotate in the forward direction under the condition that motor output is positive, reverse rotation of the engine is effectively prevented, and extra cost does not need to be increased.

Description

Technical Field

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

[0002] At present, hybrid vehicles are a combination of traditional gasoline vehicles and pure electric vehicles. Their power sources include both engines and motors, and they can use a variety of driving modes, including pure electric, series, parallel modes, etc.

[0003] In some cases, such as when the vehicle engine is started, an abnormal situation of reverse rotation may occur. Once the engine reverses, if it is not controlled in time, it will cause engine damage. In the existing technology, a planetary carrier is locked to prevent the engine from reversing, and an additional mechanical structure is required to realize the locking function of the planetary carrier. The above method requires additional costs and is relatively costly. Summary of the Invention

[0004] Embodiments of the present application provide a vehicle control method, device, electronic device, vehicle, and storage medium, which determine the output torque of a motor by changing a torque limit value so that the output of the motor is a positive value, thereby preventing the engine from reversing without incurring additional costs.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising:

[0006] During the driving of the vehicle, obtaining a driving mode of the vehicle;

[0007] determining a first speed threshold corresponding to a motor speed of the vehicle according to a driving mode of the vehicle;

[0008] When the current rotation speed of the motor is less than the first rotation speed threshold, adjusting the first torque limit of the motor to obtain a second torque limit;

[0009] The target torque output by the motor is determined according to the second torque limit. The target torque is a positive number. The motor is connected to the engine of the vehicle. When the target torque is a positive number, the motor drives the engine to rotate in the forward direction.

[0010] In one embodiment of the present application, determining a first speed threshold corresponding to a motor speed of the vehicle according to a driving mode of the vehicle includes:

[0011] When the driving mode is the parallel mode or the pure electric mode, determining a preset minimum speed value of the motor as a first speed threshold value of the motor;

[0012] When the driving mode is a series mode, the first speed threshold of the motor is determined according to the control mode of the motor, wherein the control mode includes a torque mode and a speed mode, the torque mode is used to control the torque of the motor, and the speed mode is used to control the speed of the motor.

[0013] In one embodiment of the present application, when the driving mode is the series mode, determining the first speed threshold of the motor according to the control mode of the motor includes:

[0014] When the driving mode is the series mode and the motor is in the torque mode, determining a preset minimum idle speed of the motor as a first speed threshold of the motor;

[0015] When the driving mode is the series mode and the motor is in the speed mode, a preset minimum speed of the motor is determined as the first speed threshold of the motor.

[0016] In one embodiment of the present application, the first torque limit value includes a lower torque limit value and an upper torque limit value;

[0017] When the current speed of the motor is less than the first speed threshold, adjusting the first torque limit of the motor to obtain a second torque limit includes:

[0018] When the current speed of the motor is less than the first speed threshold, adjusting the lower torque limit of the motor to a first preset value, where the first preset value is greater than or equal to 0 and less than the upper torque limit;

[0019] The first preset value and the torque upper limit value are used as the second torque limit value.

[0020] In one embodiment of the present application, obtaining the driving mode of the vehicle while the vehicle is traveling includes:

[0021] When the vehicle is powered on, verifying the zero position of the motor to obtain a verification result;

[0022] If the verification result indicates that the verification is passed, detecting the bus signal of the vehicle to obtain a detection result;

[0023] If the detection result indicates that the bus signal is normal, the driving mode of the vehicle is obtained during the driving of the vehicle.

[0024] In one embodiment of the present application, when the verification result indicates that the verification is passed, the bus signal of the vehicle is detected. After obtaining the detection result, the method further includes:

[0025] If the detection result indicates that the bus signal is abnormal, adjusting the speed of the motor to a second preset value or adjusting the torque of the motor to a third preset value through a transmission controller;

[0026] or,

[0027] If the detection result indicates that the bus signal is abnormal, receiving a shutdown request sent by an engine controller of the vehicle, the shutdown request being used to request the engine to shut down;

[0028] The engine is controlled according to the shutdown request.

[0029] In a second aspect, an embodiment of the present application provides a vehicle control device, the device comprising:

[0030] an acquisition module, configured to acquire a driving mode of the vehicle during driving of the vehicle;

[0031] a first determining module, configured to determine a first speed threshold corresponding to a motor speed of the vehicle according to a driving mode of the vehicle;

[0032] an adjusting module, configured to adjust the first torque limit of the motor to obtain a second torque limit when the current speed of the motor is less than the first speed threshold;

[0033] The second determination module is used to determine a target torque output by the motor according to the second torque limit, where the target torque is a positive number, the motor is connected to the engine of the vehicle, and when the target torque is a positive number, the motor drives the engine to rotate in a forward direction.

[0034] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions;

[0035] When the processor executes the computer program instructions, the vehicle control method as described in the first aspect is implemented.

[0036] In a fourth aspect, an embodiment of the present application provides a vehicle comprising the electronic device as described in the third aspect.

[0037] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the vehicle control method as described in the first aspect is implemented.

[0038] In a sixth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the vehicle control method as described in the first aspect.

[0039] The vehicle control method, device, electronic device, vehicle and storage medium of the embodiments of the present application obtain the driving mode of the vehicle during the driving process of the vehicle; determine the first speed threshold corresponding to the motor speed of the vehicle based on the driving mode of the vehicle; when the current speed of the motor is less than the first speed threshold, adjust the first torque limit of the motor to obtain a second torque limit; based on the second torque limit, determine the target torque output by the motor, the target torque is a positive number, the motor is connected to the engine of the vehicle, and when the target torque is a positive number, the motor drives the engine to rotate forward. In the above process, the target torque output of the motor is determined by changing the torque limit, the target torque is a positive number, and when the motor output is positive, the engine is driven to rotate forward, effectively preventing the engine from reversing without adding additional costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1 This is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0042] Figure 2 Schematic diagram of the dual-motor hybrid system structure of a vehicle provided in an embodiment of the present application;

[0043] Figure 3 1 is a schematic diagram of a series mode of a vehicle provided in an embodiment of the present application;

[0044] Figure 4 1 is a schematic diagram of a parallel mode of vehicles provided in an embodiment of the present application;

[0045] Figure 5 is another flow chart of the vehicle control method provided in an embodiment of the present application;

[0046] Figure 6 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0047] Figure 7 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0049] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0050] In order to solve the problems of the prior art, the embodiments of the present application provide a vehicle control method, device, electronic device, vehicle and storage medium. The vehicle control method provided by the embodiments of the present application is first introduced below.

[0051] Figure 1 FIG. 1 shows a flow chart of a vehicle control method provided by an embodiment of the present application. Figure 1 As shown, the vehicle control method provided in the embodiment of the present application is applied to an electronic device and includes the following steps 101 to 104, wherein:

[0052] Step 101: Acquire the driving mode of the vehicle while the vehicle is traveling.

[0053] In this embodiment, the driving mode of the vehicle is obtained during the driving process of the vehicle, and the driving modes include series mode, parallel mode and pure electric mode.

[0054] See also Figure 2 , Figure 2This is a schematic diagram of the vehicle's dual-motor hybrid system, including the engine (ENG), battery (Battery), clutch (C0), powertrain (Powertrain System), P1 motor, and P2 motor. The engine generates power by burning fuel, providing propulsion for the vehicle. The P1 motor is generally used for auxiliary functions such as starting the engine and generating electricity. The P2 motor can output power in conjunction with the engine to assist in vehicle acceleration, and can also recover energy during braking. The battery stores electrical energy to power the motor and also recover electrical energy generated by the motor during braking. CO is the clutch, which controls the connection and disconnection of power between the engine and powertrain. By engaging and disengaging the clutch, different operating modes can be achieved, including engine-only drive, motor-only drive, or a combination of both. The powertrain is responsible for transmitting the power generated by the engine and motor to the wheels, enabling the vehicle to move.

[0055] When the vehicle is in pure electric mode, the C0 clutch is disconnected, the engine does not work, and it relies on battery power. The battery releases electrical energy to supply the P2 motor, which converts electrical energy into mechanical energy and drives the wheels through the transmission system.

[0056] See also Figure 3 , Figure 3 Schematic diagram of the vehicle in series mode. When the vehicle is in series mode, the engine starts, and the P1 motor (generator) converts mechanical energy into electrical energy. Some of this energy is directly supplied to the P2 motor (drive motor) to drive the wheels, while the remainder is stored in the battery. The C0 clutch is disengaged, resulting in no direct mechanical connection between the engine and the drive wheels; energy is transferred solely through electrical transmission.

[0057] See also Figure 4 , Figure 4 Schematic diagram of a vehicle in parallel mode. In parallel mode of a dual-motor hybrid system, the P1 motor typically functions as a generator / starter, while the P2 motor typically functions as a drive motor. When the vehicle is in parallel mode, the C0 clutch engages, and the engine directly drives the wheels through mechanical transmission. The P2 motor assists as needed (such as during sudden acceleration) or acts as a generator to recover braking energy (regenerative mode). The battery provides power to the motor or stores recovered energy.

[0058] Step 102 : Determine a first speed threshold corresponding to a motor speed of the vehicle according to the driving mode of the vehicle.

[0059] In this embodiment, different speed thresholds are pre-set according to different driving modes, and the first speed threshold corresponding to the vehicle's motor speed is determined according to the vehicle's current driving mode. The motor refers to the motor connected to the engine, that is, the above-mentioned P1 motor.

[0060] Step 103 : When the current rotation speed of the motor is less than the first rotation speed threshold, adjust the first torque limit of the motor to obtain a second torque limit.

[0061] In this embodiment, when the current speed of the motor is greater than or equal to the first speed threshold, there is no need to adjust the first torque limit of the motor, and the first speed threshold can be set to 100; when the current speed of the motor is less than the first speed threshold, the first torque limit of the motor is adjusted, mainly the lower torque limit is adjusted to obtain the adjusted second torque limit, and the motor refers to the P1 motor, that is, the motor connected to the engine.

[0062] Step 104 : determining a target torque output by the motor according to the second torque limit, wherein the target torque is a positive number, the motor is connected to the engine of the vehicle, and the motor drives the engine to rotate in a forward direction when the target torque is a positive number.

[0063] In this embodiment, the second torque limit is used to limit the output of the motor. The target torque of the motor output is determined based on the second torque limit. The target torque is a positive number. Negative torque is not allowed. Negative torque will cause the motor to reverse. The motor refers to the P1 motor, that is, the motor connected to the engine. Since the motor is connected to the engine, the reversal of the motor will also drive the engine to reverse.

[0064] In this embodiment, during vehicle driving, the vehicle's driving mode is obtained, and a first speed threshold corresponding to the vehicle's motor speed is determined based on the vehicle's driving mode. When the current speed of the motor is less than the first speed threshold, the first torque limit of the motor is adjusted to obtain a second torque limit, and the target torque output by the motor is determined based on the second torque limit. In the above process, the target torque output of the motor is determined by changing the torque limit. The target torque is a positive number, and when the motor output is positive, the engine is driven to rotate forward, effectively preventing the engine from reversing without incurring additional costs.

[0065] In one embodiment of the present application, determining a first speed threshold corresponding to a motor speed of the vehicle according to a driving mode of the vehicle includes:

[0066] When the driving mode is the parallel mode or the pure electric mode, determining a preset minimum speed value of the motor as a first speed threshold value of the motor;

[0067] When the driving mode is a series mode, the first speed threshold of the motor is determined according to the control mode of the motor, wherein the control mode includes a torque mode and a speed mode, the torque mode is used to control the torque of the motor, and the speed mode is used to control the speed of the motor.

[0068] In this embodiment, the first speed threshold value is set differently according to the driving mode. When the driving mode is the parallel mode, the preset minimum speed value of the motor is determined as the first speed threshold of the motor; when the driving mode is the parallel mode, the clutch is controlled to disengage to disconnect the mechanical connection of the engine, thereby protecting the engine.

[0069] When the driving mode is pure electric mode, the clutch is disengaged, and the preset minimum value of the motor is determined as the first speed threshold of the motor. When the current speed of the motor is less than the first speed threshold, the motor is not allowed to have negative torque. Negative torque in the motor will cause the engine to reverse, so the motor output is positive.

[0070] When the driving mode is the series mode, it is necessary to determine the first speed threshold of the motor according to the control mode of the motor. The control mode includes a torque mode and a speed mode, wherein the torque mode is used to control the torque of the motor and the speed mode is used to control the speed of the motor.

[0071] Torque mode (also called torque mode): The goal is to control the motor output torque. After the target torque is set, the motor output torque basically maintains the set value, and the speed changes with the external load.

[0072] Speed ​​mode (also called speed mode): controls the motor speed. After setting the target speed, the motor tries to maintain that speed. The output torque will change with the load.

[0073] Setting different speed thresholds according to different driving modes can adapt to different working conditions, prevent engine reversal, and improve vehicle reliability and safety.

[0074] In one embodiment of the present application, when the driving mode is the series mode, determining the first speed threshold of the motor according to the control mode of the motor includes:

[0075] When the driving mode is the series mode and the control mode of the motor is the torque mode, determining a preset minimum idle speed of the motor as a first speed threshold of the motor;

[0076] When the driving mode is the series mode and the control mode of the motor is the speed mode, a preset minimum speed of the motor is determined as the first speed threshold of the motor.

[0077] In series mode, the motor and engine are rigidly connected. The engine controller (ECM) requests the P1 motor to operate in speed mode, adjusting the P1 motor's torque to control engine speed. The goal of speed regulation is to smoothly control the actual speed to the target speed without overshoot or fluctuation. If the ECM requests a negative speed, there is a risk of engine reverse rotation if no correction is made.

[0078] In this embodiment, when the driving mode is the series mode and the control mode of the motor is the torque mode, the preset minimum idle speed of the motor is determined as the first speed threshold of the motor; when the driving mode is the series mode and the control mode of the motor is the speed mode, the preset minimum speed of the motor is determined as the first speed threshold of the motor. The control methods of the torque mode and the speed mode are different.

[0079] When the driving mode is series mode and the motor is in speed mode, the minimum target speed limit of the P1 motor is set according to the minimum idle target speed of the engine. The target speed is compared with the actual speed, that is, the difference between the target speed and the actual speed is calculated, and the PI torque is calculated according to the difference. The speed control torque is calculated according to the feedforward torque and the PI torque, wherein the feedforward = actual engine torque × (-1). The speed control torque is output to the torque management module, and the torque management module is used to set the anti-reverse torque limit according to the speed control torque: when the motor is in speed mode, when the motor speed is below the calibrated value, negative torque is not allowed.

[0080] According to different driving modes and control modes, different speed thresholds are set to adapt to different working conditions and prevent engine reversal.

[0081] In one embodiment of the present application, the first torque limit value includes a lower torque limit value and an upper torque limit value;

[0082] When the current speed of the motor is less than the first speed threshold, adjusting the first torque limit of the motor to obtain a second torque limit includes:

[0083] When the current speed of the motor is less than the first speed threshold, adjusting the lower torque limit of the motor to a first preset value, where the first preset value is greater than or equal to 0 and less than the upper torque limit;

[0084] The first preset value and the torque upper limit value are used as the second torque limit value.

[0085] In this embodiment, the first torque limit includes a torque upper limit and a torque lower limit. The torque lower limit of the first torque limit is a value less than 0. When the current speed of the motor is less than the first speed threshold, the torque lower limit of the motor is adjusted to a first preset value. The first preset value is a value greater than 0, or equal to 0, and the first preset value is less than the torque upper limit. Further, the first preset value is used as the torque lower limit of the second torque limit, and the torque upper limit of the first torque limit is used as the torque upper limit of the second torque limit, that is, the first preset value and the torque upper limit are used as the second torque limit.

[0086] By adjusting the torque limit, the target torque output by the motor is determined according to the adjusted torque limit to ensure that the motor does not have negative torque, thereby preventing the engine from reversing.

[0087] In one embodiment of the present application, obtaining the driving mode of the vehicle while the vehicle is traveling includes:

[0088] When the vehicle is powered on, verifying the zero position of the motor to obtain a verification result;

[0089] If the verification result indicates that the verification is passed, detecting the bus signal of the vehicle to obtain a detection result;

[0090] If the detection result indicates that the bus signal is normal, the driving mode of the vehicle is obtained during the driving of the vehicle.

[0091] In this embodiment, when the vehicle is powered on, the zero position of the motor is checked. Specifically, the value of the motor is read and compared with the preset zero position value. If the value of the motor is consistent with the preset zero position value, the check result is check passed; if the value of the motor is inconsistent with the preset zero position value, the check result is check failed.

[0092] If the verification result indicates that the verification has failed, the reporting logic is triggered, that is, an alarm is triggered, and the motor torque limit is set to zero. If the verification result indicates that the verification has passed, the vehicle bus signal is tested. Specifically, the bus may include Chassis CAN, which is the chassis control CAN bus. The bus is tested to determine whether it is normal. If the bus signal is lost, that is, the bus signal is abnormal, the reporting logic is triggered. If the bus signal is not lost, that is, the bus signal is normal, the vehicle drive mode is obtained during driving. The bus can also include other buses, not limited to the chassis control CAN bus.

[0093] Adding zero-position verification can ensure the accuracy of mechanical movement; adding a signal loss judgment mechanism to the CAN bus communication system can significantly improve the system's reliability, stability and fault handling capabilities.

[0094] In one embodiment of the present application, when the verification result indicates that the verification is passed, the bus signal of the vehicle is detected. After obtaining the detection result, the method further includes:

[0095] If the detection result indicates that the bus signal is abnormal, adjusting the speed of the motor to a second preset value or adjusting the torque of the motor to a third preset value through a transmission controller;

[0096] or,

[0097] If the detection result indicates that the bus signal is abnormal, receiving a shutdown request sent by an engine controller of the vehicle, the shutdown request being used to request the engine to shut down;

[0098] The engine is controlled according to the shutdown request.

[0099] In this embodiment, if the detection result indicates that the bus signal is abnormal, the engine speed is adjusted to a second preset value through the transmission controller, wherein the second preset value can be set to 0, or the engine speed is adjusted to a third preset value through the transmission control, wherein the third preset value can be set to 0.

[0100] Alternatively, if the detection result indicates that the bus signal is abnormal, a shutdown request sent by the vehicle's engine control is received, where the shutdown request is used to request engine shutdown, and the vehicle controls the engine to shut down according to the shutdown situation, or the vehicle controls the engine to shut down through the engine controller according to the shutdown request.

[0101] If an abnormality is detected, the motor is adjusted to prevent the engine from reversing; or the engine is directly controlled to stop to ensure vehicle safety.

[0102] The following is an example of the vehicle control method provided in the embodiments of the present application. Figure 5 This is another flowchart of the vehicle control method provided in an embodiment of the present application.

[0103] Step 501: Determine whether the zero position check of the motor passes.

[0104] In this embodiment, the zero position of the motor is checked to determine whether the zero position check of the motor passes (ie, the zero position of the motor is checked to obtain a check result as described above).

[0105] Step 502: If not, report a fault code.

[0106] In this embodiment, if the zero position check of the motor fails, it means that there is a problem with the motor, a fault number is reported, and a fault prompt message is generated based on the fault code. The vehicle outputs the fault prompt message, such as outputting the prompt message in the vehicle computer, or broadcasting the prompt message, to remind the user that there is a problem with the motor and that it needs to be reported for repair.

[0107] Step 503: If yes, determine whether the CAN bus signal is lost.

[0108] In this embodiment, if the zero position check of the motor passes, it means that there is no problem with the motor, then it is determined whether the CAN bus signal is lost (that is, when the check result indicates that the check is passed, the bus signal of the vehicle is tested to obtain the test result). The CAN bus can include the Chassis CAN bus and the Prop CAN bus.

[0109] Step 504: If yes, adjust the speed / torque of the motor to 0.

[0110] In this embodiment, if the CAN bus signal is lost, indicating that the bus is abnormal, the speed / torque of the motor is adjusted to 0, and the speed / torque of the motor is adjusted to 0 through the transmission (that is, if the detection result above indicates that the bus signal is abnormal, the speed of the motor is adjusted to the second preset value through the transmission controller).

[0111] Step 505: If not, obtain the driving mode of the vehicle.

[0112] In this embodiment, if the CAN bus signal is not lost, it means that the CAN bus is normal. During the driving process of the vehicle, the driving mode of the vehicle is obtained, and the driving modes include series mode, parallel mode and pure electric mode.

[0113] Step 506 : Determine a first speed threshold corresponding to the motor speed of the vehicle according to the driving mode of the vehicle.

[0114] In this embodiment, different rotation speed thresholds are pre-set according to different driving modes, and a first rotation speed threshold corresponding to the motor rotation speed of the vehicle is determined according to the current driving mode of the vehicle.

[0115] Step 507: When the current speed of the motor is less than the first speed threshold, adjust the first torque limit of the motor to obtain a second torque limit;

[0116] In this embodiment, when the current speed of the motor is greater than or equal to the first speed threshold, there is no need to adjust the first torque limit of the motor, and the first speed threshold can be set to 100; when the current speed of the motor is less than the first speed threshold, the first torque limit of the motor is adjusted, mainly the lower torque limit is adjusted to obtain the adjusted second torque limit.

[0117] Step 508 : Determine a target torque output by the motor based on the second torque limit. The target torque is a positive number. The motor is connected to the engine of the vehicle. When the target torque is a positive number, the motor drives the engine to rotate in a forward direction.

[0118] In this embodiment, the second torque limit is used to limit the output of the motor. The target torque of the motor output is determined based on the second torque limit. The target torque is a positive number, and negative torque is not allowed. Negative torque will cause the motor to reverse. Since the motor is connected to the engine, the reversal of the motor will also drive the engine to reverse.

[0119] Once the engine reverses, speed control will lose control, causing the engine to soar and emit large amounts of white smoke from the intake. In the worst-case scenario, unfiltered air will draw dust and impurities from the exhaust pipe, exacerbating wear on the cylinder liner, piston, and valve train. This can also cause smoke and contamination in the intake manifold, leading to heavy soot buildup and burn damage. If not promptly controlled, the engine could be rendered useless. By adjusting the torque limit to determine the motor's target torque output, a positive target torque drives the engine forward when the motor output is positive, effectively preventing engine reverse rotation without incurring additional costs.

[0120] Figure 6 FIG1 shows a structural diagram of a vehicle control device provided in an embodiment of the present application. Figure 6 As shown, the vehicle control device 600 includes:

[0121] An acquisition module 601 is configured to acquire a driving mode of the vehicle during driving of the vehicle;

[0122] A first determining module 602 is configured to determine a first speed threshold corresponding to a motor speed of the vehicle according to a driving mode of the vehicle;

[0123] an adjusting module 603, configured to adjust the first torque limit of the motor to obtain a second torque limit when the current speed of the motor is less than the first speed threshold;

[0124] The second determination module 604 is used to determine the target torque output by the motor according to the second torque limit, where the target torque is a positive number. The motor is connected to the engine of the vehicle, and when the target torque is a positive number, the motor drives the engine to rotate forward.

[0125] In an embodiment of the present application, the first determining module 602 includes a first determining submodule and a second determining submodule;

[0126] a first determining submodule, configured to determine, when the driving mode is the parallel mode or the pure electric mode, a preset minimum speed value of the motor as a first speed threshold of the motor;

[0127] The second determination submodule is used to determine the first speed threshold of the motor according to the control mode of the motor when the driving mode is the series mode, wherein the control mode includes a torque mode and a speed mode, the torque mode is used to control the torque of the motor, and the speed mode is used to control the speed of the motor.

[0128] In one embodiment of the present application, the second determination submodule is specifically used to, when the driving mode is the series mode and the motor is in the torque mode, determine the preset minimum idle speed of the motor as the first speed threshold of the motor; when the driving mode is the series mode and the motor is in the speed mode, determine the preset minimum speed of the motor as the first speed threshold of the motor.

[0129] In an embodiment of the present application, the second determination module 604 includes an adjustment submodule and a third determination submodule;

[0130] The adjustment submodule is configured to, when the current speed of the motor is less than the first speed threshold, adjust the lower torque limit of the motor to a first preset value, where the first preset value is greater than or equal to 0 and less than the upper torque limit;

[0131] The third determining submodule is configured to use the first preset value and the torque upper limit value as the second torque limit value.

[0132] In one embodiment of the present application, the acquisition module 601 includes a verification submodule, a detection submodule, and an acquisition submodule;

[0133] A check submodule, configured to check the zero position of the motor when the vehicle is powered on, and obtain a check result;

[0134] a detection submodule, configured to detect the bus signal of the vehicle and obtain a detection result when the verification result indicates that the verification has passed;

[0135] The acquisition submodule is configured to acquire the driving mode of the vehicle during the driving of the vehicle if the detection result indicates that the bus signal is normal.

[0136] In one embodiment of the present application, the vehicle control device further includes a control module;

[0137] A control module is configured to adjust the speed of the motor to a second preset value or the torque of the motor to a third preset value through a transmission controller if the detection result indicates that the bus signal is abnormal; receive a shutdown request sent by an engine controller of the vehicle if the detection result indicates that the bus signal is abnormal, the shutdown request being used to request the engine to shut down; and control the engine according to the shutdown request.

[0138] The vehicle control device provided in the embodiment of the present application can implement the various processes implemented in the aforementioned vehicle control method embodiment and achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0139] Figure 7 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0140] The electronic device may include a processor 701 and a memory 702 storing computer program instructions.

[0141] Specifically, the processor 701 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0142] The memory 702 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 702 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 702 may include removable or non-removable (or fixed) media. Where appropriate, the memory 702 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 702 is a non-volatile solid-state memory.

[0143] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to the first aspect or the second aspect of the present disclosure.

[0144] The processor 701 implements any one of the above methods in the above embodiments by reading and executing computer program instructions stored in the memory 702 .

[0145] In one example, the electronic device may further include a communication interface 703 and a bus 710. Figure 7 As shown, the processor 701, the memory 702, and the communication interface 703 are connected via a bus 710 and communicate with each other.

[0146] The communication interface 703 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0147] Bus 710 comprises hardware, software or both, and the parts of method as above or electronic equipment are coupled to each other.For example, and not limitation, bus can comprise accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more above these combinations.In suitable cases, bus 710 can comprise one or more buses.Although the present application embodiment describes and shows specific bus, the application considers any suitable bus or interconnection.

[0148] In addition, an embodiment of the present application provides a vehicle, which includes the above-mentioned electronic device.

[0149] In addition, the embodiments of the present application may be implemented by providing a computer storage medium having computer program instructions stored thereon; when the computer program instructions are executed by a processor, any one of the vehicle control methods in the above embodiments is implemented.

[0150] In addition, the embodiments of the present application may be implemented by providing a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device implements any one of the vehicle control methods in the above embodiments.

[0151] It should be understood that the present application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described as examples. However, the method process of the present application is not limited to the specific steps described. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0152] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0153] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0154] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0155] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A vehicle control method, characterized in that: The method is applied to a vehicle, and comprises: During the driving of the vehicle, obtaining a driving mode of the vehicle; determining a first speed threshold corresponding to a motor speed of the vehicle according to a driving mode of the vehicle; When the current rotation speed of the motor is less than the first rotation speed threshold, adjusting the first torque limit of the motor to obtain a second torque limit; The target torque output by the motor is determined according to the second torque limit. The target torque is a positive number. The motor is connected to the engine of the vehicle. When the target torque is a positive number, the motor drives the engine to rotate in the forward direction.

2. The vehicle control method according to claim 1, characterized in that: Determining a first speed threshold corresponding to a motor speed of the vehicle according to the driving mode of the vehicle includes: When the driving mode is the parallel mode or the pure electric mode, determining a preset minimum speed value of the motor as a first speed threshold value of the motor; When the driving mode is a series mode, the first speed threshold of the motor is determined according to the control mode of the motor, wherein the control mode includes a torque mode and a speed mode, the torque mode is used to control the torque of the motor, and the speed mode is used to control the speed of the motor.

3. The vehicle control method according to claim 2, characterized in that: When the driving mode is the series mode, determining the first speed threshold of the motor according to the control mode of the motor includes: When the driving mode is the series mode and the control mode of the motor is the torque mode, determining a preset minimum idle speed of the motor as a first speed threshold of the motor; When the driving mode is the series mode and the control mode of the motor is the speed mode, a preset minimum speed of the motor is determined as the first speed threshold of the motor.

4. The vehicle control method according to claim 1, wherein: The first torque limit value includes a lower torque limit value and an upper torque limit value; When the current speed of the motor is less than the first speed threshold, adjusting the first torque limit of the motor to obtain a second torque limit includes: When the current speed of the motor is less than the first speed threshold, adjusting the lower torque limit of the motor to a first preset value, where the first preset value is greater than or equal to 0 and less than the upper torque limit; The first preset value and the torque upper limit value are used as the second torque limit value.

5. The vehicle control method according to claim 1, characterized in that: The step of obtaining the driving mode of the vehicle during the vehicle driving process includes: When the vehicle is powered on, verifying the zero position of the motor to obtain a verification result; If the verification result indicates that the verification is passed, detecting the bus signal of the vehicle to obtain a detection result; If the detection result indicates that the bus signal is normal, the driving mode of the vehicle is obtained during the driving of the vehicle.

6. The vehicle control method according to claim 5, characterized in that: If the verification result indicates that the verification is passed, the bus signal of the vehicle is detected. After obtaining the detection result, the method further includes: If the detection result indicates that the bus signal is abnormal, adjusting the speed of the motor to a second preset value or adjusting the torque of the motor to a third preset value through a transmission controller; or, If the detection result indicates that the bus signal is abnormal, receiving a shutdown request sent by an engine controller of the vehicle, the shutdown request being used to request the engine to shut down; The engine is controlled according to the shutdown request.

7. A vehicle control device, characterized in that: The device is used for a vehicle, and comprises: an acquisition module, configured to acquire a driving mode of the vehicle during driving of the vehicle; a first determining module, configured to determine a first speed threshold corresponding to a motor speed of the vehicle according to a driving mode of the vehicle; an adjusting module, configured to adjust the first torque limit of the motor to obtain a second torque limit when the current speed of the motor is less than the first speed threshold; The second determination module is used to determine a target torque output by the motor according to the second torque limit, where the target torque is a positive number, the motor is connected to the engine of the vehicle, and when the target torque is a positive number, the motor drives the engine to rotate in a forward direction.

8. An electronic device, characterized in that: include: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the vehicle control method according to any one of claims 1 to 6 is implemented.

9. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the vehicle control method according to any one of claims 1 to 6.

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