Vehicle control method, device and equipment and computer readable storage medium

Abstract

The invention discloses a vehicle control method, device and equipment and a computer readable storage medium, and belongs to the technical field of vehicles. The method comprises the steps that running parameters of the vehicle are obtained, wherein the running parameters comprise at least one of the running speed, the accelerator pedal opening degree, engine information, the power battery remaining capacity proportion, driving motor information or the running road slope value; under the condition that it is determined that the driving mode of the vehicle changes based on the running parameters and the driving mode of the vehicle is a parallel driving mode, target torque is determined according to the running speed and the opening degree of the accelerator pedal, and the target torque is output torque when an engine of the vehicle works on an economic line; and controlling the engine to drive the wheel end of the vehicle according to the target torque. According to the method, the engine always runs in the economic area, the engine directly drives the wheel ends, energy conversion loss is reduced, and the economical efficiency of the vehicle is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle technology, and in particular to a vehicle control method, device, equipment, and computer-readable storage medium. Background Art

[0002] With the rising prices of traditional energy sources such as oil, users are increasingly demanding higher fuel economy in their vehicles. Hybrid vehicles, as a transitional model from traditional fuel vehicles to pure electric vehicles, can reduce fuel consumption to a certain extent through the coordinated operation of the fuel engine and electric drive system.

[0003] However, due to system structure limitations, traditional extended-range hybrid vehicles rely on the drive motor to provide power throughout the entire driving process. The drive motor has two sources of energy: one is the electric energy stored in the power battery, and the other is the electric energy supplied by the engine-driven generator. This means that the power generated by the engine must be converted into energy by the generator before it can be used, resulting in high energy conversion losses, which in turn leads to low transmission efficiency and poor vehicle economy. Summary of the Invention

[0004] The embodiments of the present application provide a vehicle control method, device, apparatus, and computer-readable storage medium, which can be used to solve the problems of high energy conversion loss, low transmission efficiency, and poor economic efficiency of vehicles in related technologies. The technical solution is as follows:

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

[0006] Acquiring a driving parameter of the vehicle, the driving parameter including at least one of a driving speed, an accelerator pedal opening, engine information, a percentage of remaining power in a power battery, drive motor information, or a driving road slope value;

[0007] When it is determined based on the driving parameters that the driving mode of the vehicle has changed and the driving mode of the vehicle is a parallel driving mode, a target torque is determined based on the driving speed and the accelerator pedal opening, the target torque being the output torque of the engine of the vehicle when operating at an economy line;

[0008] The engine is controlled to drive the wheel ends of the vehicle according to the target torque.

[0009] In a possible implementation, after obtaining the driving parameters of the vehicle, the method further includes:

[0010] determining, based on the driving parameters including a driving speed, that a driving mode of the vehicle has changed if the driving speed is not within a driving speed interval;

[0011] determining, based on the driving parameters including an accelerator pedal opening, a total required wheel-end torque of the vehicle according to the accelerator pedal opening, and determining that a driving mode of the vehicle has changed if the total required wheel-end torque of the vehicle is not within a torque range;

[0012] determining, based on the driving parameters including engine information, that a driving mode of the vehicle has changed if the engine information indicates a change in an engine operating state;

[0013] determining, based on the driving parameters including a remaining power battery percentage, that a driving mode of the vehicle has changed if the remaining power battery percentage is not within a remaining power percentage interval;

[0014] determining, based on the driving parameters including drive motor information, that a drive mode of the vehicle has changed if the drive motor information indicates a drive motor failure;

[0015] Based on the driving parameters including a driving road gradient value, when the driving road gradient value is greater than a gradient threshold, it is determined that the driving mode of the vehicle has changed.

[0016] In one possible implementation, determining the total required wheel-end torque of the vehicle according to the accelerator pedal opening includes:

[0017] determining an engine required torque corresponding to the accelerator pedal opening;

[0018] Obtaining a transmission speed ratio of the vehicle, a final reducer speed ratio of the vehicle, and a transmission efficiency of the vehicle;

[0019] The total required wheel-end torque of the vehicle is determined according to the transmission speed ratio of the vehicle, the final drive speed ratio of the vehicle, the transmission efficiency of the vehicle, and the engine required torque.

[0020] In a possible implementation, after obtaining the driving parameters of the vehicle, the method further includes:

[0021] When the driving speed is greater than a speed threshold, the engine is in a running state, and the remaining power ratio of the power battery is within a remaining power ratio interval, the driving mode of the vehicle is determined to be a parallel driving mode.

[0022] In a possible implementation, determining the target torque according to the driving speed and the accelerator pedal opening includes:

[0023] determining a wheel end rotational speed corresponding to the driving speed;

[0024] Determining a target speed to be matched by the engine according to the wheel end speed, the gearbox speed ratio of the vehicle, and the final reducer speed ratio of the vehicle;

[0025] determining a total required wheel-end torque of the vehicle according to the accelerator pedal opening;

[0026] The target torque is determined according to the target speed and the total required torque of the wheel ends of the vehicle.

[0027] In a possible implementation, determining the target torque according to the target speed and the total required wheel-end torque of the vehicle includes:

[0028] determining a first torque and a second torque corresponding to the target speed in an engine universal characteristic curve;

[0029] determining a first absolute value of a difference between the first torque and a total required wheel-end torque of the vehicle;

[0030] determining a second absolute value of a difference between the second torque and a total required wheel end torque of the vehicle;

[0031] The target torque is determined from among the first torque and the second torque according to the first absolute value and the second absolute value.

[0032] In one possible implementation, controlling the engine to drive the wheel ends of the vehicle according to the target torque includes:

[0033] determining a difference torque between the target torque and the total required wheel end torque of the vehicle when the total required wheel end torque of the vehicle is less than the target torque;

[0034] The engine is controlled to drive the wheel ends of the vehicle according to the total required torque of the wheel ends of the vehicle, and the engine is controlled to drive the drive motor of the vehicle according to the differential torque, so that the drive motor generates electricity and stores it in the power battery.

[0035] On the other hand, an embodiment of the present application provides a vehicle control device, the device comprising:

[0036] an acquisition module, configured to acquire a driving parameter of the vehicle, the driving parameter including at least one of a driving speed, an accelerator pedal opening, engine information, a percentage of remaining power in the power battery, drive motor information, or a driving road slope value;

[0037] a determination module, configured to determine, when it is determined based on the driving parameters that the driving mode of the vehicle has changed and the driving mode of the vehicle is a parallel driving mode, a target torque according to the driving speed and the accelerator pedal opening, the target torque being an output torque of the engine of the vehicle when operating at an economy line;

[0038] A control module is configured to control the engine to drive the wheel ends of the vehicle according to the target torque.

[0039] In a possible implementation, the determining module is further configured to determine, based on the driving parameters including a driving speed, that the driving mode of the vehicle has changed if the driving speed is not within a driving speed interval;

[0040] determining, based on the driving parameters including an accelerator pedal opening, a total required wheel-end torque of the vehicle according to the accelerator pedal opening, and determining that a driving mode of the vehicle has changed if the total required wheel-end torque of the vehicle is not within a torque range;

[0041] determining, based on the driving parameters including engine information, that a driving mode of the vehicle has changed if the engine information indicates a change in an engine operating state;

[0042] determining, based on the driving parameters including a remaining power battery percentage, that a driving mode of the vehicle has changed if the remaining power battery percentage is not within a remaining power percentage interval;

[0043] determining, based on the driving parameters including drive motor information, that a drive mode of the vehicle has changed if the drive motor information indicates a drive motor failure;

[0044] Based on the driving parameters including a driving road gradient value, when the driving road gradient value is greater than a gradient threshold, it is determined that the driving mode of the vehicle has changed.

[0045] In a possible implementation, the determining module is configured to determine an engine required torque corresponding to the accelerator pedal opening;

[0046] Obtaining a transmission speed ratio of the vehicle, a final reducer speed ratio of the vehicle, and a transmission efficiency of the vehicle;

[0047] The total required wheel-end torque of the vehicle is determined according to the transmission speed ratio of the vehicle, the final drive speed ratio of the vehicle, the transmission efficiency of the vehicle, and the engine required torque.

[0048] In a possible implementation, the determination module is further used to determine that the driving mode of the vehicle is a parallel driving mode when the driving speed is greater than a speed threshold, the engine is in a running state, and the remaining power ratio of the power battery is within a remaining power ratio interval.

[0049] In a possible implementation, the determining module is configured to determine a wheel end rotation speed corresponding to the driving speed;

[0050] Determining a target speed to be matched by the engine according to the wheel end speed, the gearbox speed ratio of the vehicle, and the final reducer speed ratio of the vehicle;

[0051] determining a total required wheel-end torque of the vehicle according to the accelerator pedal opening;

[0052] The target torque is determined according to the target speed and the total required torque of the wheel ends of the vehicle.

[0053] In a possible implementation, the determining module is configured to determine a first torque and a second torque corresponding to the target speed in an engine universal characteristic curve;

[0054] determining a first absolute value of a difference between the first torque and a total required wheel-end torque of the vehicle;

[0055] determining a second absolute value of a difference between the second torque and a total required wheel end torque of the vehicle;

[0056] The target torque is determined from among the first torque and the second torque according to the first absolute value and the second absolute value.

[0057] In a possible implementation, the determining module is further configured to determine a torque difference between the target torque and the total required wheel-end torque of the vehicle when the total required wheel-end torque of the vehicle is less than the target torque;

[0058] The control module is used to control the engine to drive the wheel ends of the vehicle according to the total required torque of the wheel ends of the vehicle, and control the engine to drive the drive motor of the vehicle according to the differential torque, so that the drive motor generates electricity and stores it in the power battery.

[0059] On the other hand, an embodiment of the present application provides a terminal device, which includes a processor and a memory, wherein the memory stores at least one program code, and the at least one program code is loaded and executed by the processor so that the terminal device implements any of the above-mentioned vehicle control methods.

[0060] On the other hand, a computer-readable storage medium is also provided, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to enable a terminal device to implement any of the above-mentioned vehicle control methods.

[0061] On the other hand, a computer program or computer program product is also provided, wherein the computer program or computer program product stores at least one computer instruction, and the at least one computer instruction is loaded and executed by a processor to enable a terminal device to implement any of the above-mentioned vehicle control methods.

[0062] The technical solutions provided by the embodiments of the present application bring at least the following beneficial effects:

[0063] The technical solution provided in the embodiments of this application accurately determines whether the vehicle's drive mode has changed by acquiring multiple driving parameters. If the vehicle's drive mode has changed, and the vehicle is in parallel drive mode, the target torque for the engine operating in the economy range is determined based on driving speed and accelerator pedal position. The engine is then controlled to drive the vehicle's wheels according to the target torque. This method ensures that the engine always operates in the economy range, with the engine directly driving the wheels, reducing energy conversion losses and effectively improving the vehicle's economy while meeting driving requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0065] Figure 1 This is a schematic diagram of an implementation environment of a vehicle control method provided in an embodiment of the present application;

[0066] Figure 2 This is a schematic structural diagram of a vehicle provided in an embodiment of the present application;

[0067] Figure 3 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0068] Figure 4 is a schematic diagram of an engine universal characteristic curve provided in an embodiment of the present application;

[0069] Figure 5 1 is a schematic diagram of a vehicle entering a parallel direct drive mode provided by an embodiment of the present application;

[0070] Figure 6This is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0071] Figure 7 This is a structural diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0072] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0073] It should be noted that the terms "first," "second," and the like in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0074] Figure 1 This is a schematic diagram of an implementation environment of a vehicle control method provided in an embodiment of the present application, such as Figure 1 As shown, the implementation environment includes: a terminal device 101, which is a device installed in a vehicle 102. The terminal device 101 is used to execute the vehicle control method provided in the embodiment of the present application.

[0075] Optionally, the terminal device 101 may be any electronic device that can interact with a user through one or more methods such as a keyboard, a touchpad, a remote control, voice interaction, or a handwriting device. For example, a PC (Personal Computer), a mobile phone, a smart phone, a PDA (Personal Digital Assistant), a wearable device, a PPC (Pocket PC), a tablet computer, a smart car computer, a smart TV, a smart speaker, a smart watch, etc.

[0076] Terminal device 101 may generally refer to one of multiple terminal devices. This embodiment uses terminal device 101 as an example. Those skilled in the art will appreciate that the number of terminal devices 101 may be greater or lesser. For example, there may be only one terminal device 101, or there may be dozens, hundreds, or even more terminal devices 101. This embodiment of the application does not limit the number or type of terminal devices 101.

[0077] like Figure 22 is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application, wherein the vehicle includes a fuel engine 201, a clutch 202, a generator 203, a gearbox 204, a drive motor 205, a dual electronic control module 206, a power battery 207 and a final reducer 208. Among them, the fuel engine 201, as a traditional power source, generates mechanical energy by burning gasoline / diesel to provide power for the vehicle or drive the generator to generate electricity. The clutch 202 controls the connection and disconnection between the fuel engine and the power transmission system (such as the generator and the gearbox) to achieve the switching of power transmission. The generator 203 converts the incoming and outgoing energy into electrical energy to charge the power battery or directly power the on-board electrical appliances and the drive motor. The gearbox 204 changes the speed and torque of the power transmission to adapt to different driving conditions (such as starting, accelerating, and high-speed cruising). The drive motor 205 converts electrical energy into mechanical energy to directly drive the vehicle (pure electric mode) or to output power in coordination with the engine (hybrid mode). The dual electronic control module 206 controls the operating status of the drive motor and the generator. The power battery 207 stores electrical energy and provides power to the drive motor and onboard electrical appliances, serving as the energy reservoir for electric / hybrid vehicles. The final reducer 208 reduces the speed of the transmission or drive motor output, further amplifying torque and changing the direction of power transmission.

[0078] Those skilled in the art should understand that the above-mentioned terminal device 101 and vehicle 102 are merely examples, and other existing or future terminal devices and vehicles, if applicable to this application, should also be included in the scope of protection of this application and are incorporated herein by reference.

[0079] The present application provides a vehicle control method which can be applied to the above Figure 1 The implementation environment shown is Figure 3 As an example, the flowchart of a vehicle control method provided by the embodiment of the present application is shown in FIG. Figure 1 The terminal device 101 in the embodiment is executed. Figure 3 As shown, the method includes the following steps 301 to 303.

[0080] In step 301, the driving parameters of the vehicle are obtained, and the driving parameters include at least one of the driving speed, the accelerator pedal opening, the engine information, the remaining power percentage of the power battery, the drive motor information or the driving road slope value.

[0081] In one possible implementation, the vehicle is a conventional extended-range hybrid vehicle. A speed sensor is installed in the vehicle to detect the vehicle's speed. If the driving parameters include speed, the terminal device obtains the vehicle's speed by interacting with the speed sensor.

[0082] The vehicle is equipped with an accelerator pedal sensor. When the driving parameters include the accelerator pedal opening, the terminal device obtains the two voltage signals output by the accelerator pedal sensor through interaction with the accelerator pedal sensor, determines the opening corresponding to each voltage signal, and averages the openings corresponding to the two voltage signals to obtain the accelerator pedal opening.

[0083] Among them, the process of determining the opening corresponding to any voltage signal is as follows: calibrate the zero position voltage and full throttle voltage of any pedal, and obtain the opening corresponding to any voltage signal through the formula (any voltage - zero position voltage) / (full throttle voltage - zero position voltage) × 100%.

[0084] When the driving parameters include engine information, the terminal device obtains the engine information through interaction with the engine. The engine information includes the engine switching from state A to state B, wherein state A and state B are different, and both state A and state B are any of the starting state, running state, and shutdown state.

[0085] When the driving parameters include the percentage of remaining power battery charge, the terminal device obtains the percentage of remaining power battery charge through interaction with the power battery. Alternatively, the terminal device obtains the remaining power battery charge and rated power charge through interaction with the power battery; and determines the percentage of remaining power battery charge based on the remaining power battery charge and rated power charge.

[0086] In the case where the driving parameters include drive motor information, the terminal device obtains the drive motor information through interaction with the drive motor. The drive motor information is used to indicate whether a fault occurs in the drive motor.

[0087] The vehicle is also equipped with a slope sensor for detecting the slope of the road the vehicle is traveling on. If the driving parameters include the road slope, the terminal device obtains the road slope by interacting with the slope sensor.

[0088] In step 302, when it is determined based on the driving parameters that the vehicle's driving mode has changed and the vehicle's driving mode is a parallel driving mode, the target torque is determined according to the driving speed and the accelerator pedal opening. The target torque is the output torque of the vehicle's engine when it operates on the economy line.

[0089] In one possible implementation, after the driving parameters are acquired in step 301, it is determined based on the driving parameters whether the vehicle's driving mode has changed. Based on the driving parameters, there are six situations for determining whether the vehicle's driving mode has changed.

[0090] Case 1: Based on the driving parameters including the driving speed, when the driving speed is not within the driving speed range, it is determined that the driving mode of the vehicle has changed.

[0091] The driving speed range is set based on experience or flexibly adjusted according to the implementation environment, and the embodiments of the present application do not limit this. For example, the driving speed range is 60 km / h-120 km / h.

[0092] Case 2: Based on driving parameters including the accelerator pedal opening, the total required wheel end torque of the vehicle is determined according to the accelerator pedal opening; when the total required wheel end torque of the vehicle is not within the torque range, it is determined that the vehicle driving mode has changed.

[0093] In one possible implementation, the process of determining the total required wheel-end torque of the vehicle based on the accelerator pedal opening includes: determining the engine required torque corresponding to the accelerator pedal opening; obtaining the vehicle's transmission speed ratio, the vehicle's final reducer speed ratio and the vehicle's transmission efficiency; and determining the vehicle's total required wheel-end torque based on the vehicle's transmission speed ratio, the vehicle's final reducer speed ratio, the vehicle's transmission efficiency and the engine required torque.

[0094] Optionally, a table of correspondences between accelerator pedal openings and engine required torques is stored in the terminal device, and the engine required torque corresponding to the accelerator pedal opening is obtained by looking up the table according to the accelerator pedal opening.

[0095] Optionally, the vehicle's transmission ratio, final drive ratio, and transmission efficiency are pre-set before the vehicle leaves the factory and are core parameters for the vehicle's powertrain design. The terminal device stores the vehicle's transmission ratio, final drive ratio, and transmission efficiency.

[0096] Exemplarily, the vehicle's gearbox speed ratio is 2.5, the vehicle's final reducer speed ratio is 3.0, and the vehicle's transmission efficiency is 0.9.

[0097] In one possible implementation, the process of determining the total wheel-end torque required of the vehicle based on the vehicle's transmission speed ratio, the vehicle's final reducer speed ratio, the vehicle's transmission efficiency and the engine's required torque includes: determining the product of the vehicle's transmission speed ratio, the vehicle's final reducer speed ratio, the vehicle's transmission efficiency and the engine's required torque as the vehicle's total wheel-end torque required.

[0098] In a possible implementation, the torque range is set based on experience, or is flexibly adjusted according to the implementation environment, which is not limited in the embodiments of the present application.

[0099] Case 3: Based on the driving parameters including engine information, when the engine information indicates that the engine operating state has changed, it is determined that the driving mode of the vehicle has changed.

[0100] Case 4: Based on driving parameters including the remaining power battery percentage, when the remaining power battery percentage is not within the remaining power percentage range, it is determined that the vehicle's driving mode has changed.

[0101] The remaining power percentage interval is set based on experience, or is flexibly adjusted according to the implementation environment, and is not limited in the present embodiment.

[0102] Case 5: Based on the driving parameters including the driving motor information, when the driving motor information indicates a driving motor failure, it is determined that the driving mode of the vehicle has changed.

[0103] Case 6: Based on the driving parameters including the driving road gradient value, when the driving road gradient value is greater than a gradient threshold, it is determined that the driving mode of the vehicle has changed.

[0104] The slope threshold is set based on experience, or is flexibly adjusted according to the implementation environment, and the embodiments of the present application do not limit this.

[0105] In the above six situations, whether the driving mode of the vehicle has changed is determined by using a single driving parameter of the vehicle, so that the determination condition of whether the driving mode of the vehicle has changed is relatively simple.

[0106] In another possible implementation, when the driving speed is within the driving speed range, the total required torque at the wheel end of the vehicle is within the torque range, the engine information indicates that the engine operating status has not changed, the remaining power percentage of the power battery is within the remaining power percentage range, the drive motor information indicates that the drive motor has not failed, and the slope value of the driving road surface is not greater than the slope threshold, it is determined that the vehicle's driving mode has not changed.

[0107] In one possible implementation, after determining that the vehicle's driving mode has changed, it is further necessary to determine whether the vehicle's driving mode is the parallel driving mode. This process includes determining that the vehicle's driving mode is the parallel driving mode when the driving speed is greater than a speed threshold, the engine is running, and the remaining power battery charge percentage is within a remaining power percentage range.

[0108] The speed threshold is set based on experience, or is flexibly adjusted according to the implementation environment, and the embodiments of the present application do not limit this.

[0109] In one possible implementation, the process of determining the target torque based on the driving speed and the accelerator pedal opening includes: determining the wheel-end speed corresponding to the driving speed; determining the target speed that the engine needs to match based on the wheel-end speed, the vehicle's transmission ratio and the vehicle's final reducer ratio; determining the vehicle's total wheel-end required torque based on the accelerator pedal opening; and determining the target torque based on the target speed and the vehicle's total wheel-end required torque.

[0110] Optionally, the process of determining the wheel end rotation speed corresponding to the driving speed includes: determining the tire circumference of the vehicle; and determining the wheel end rotation speed according to the tire circumference and the driving speed of the vehicle.

[0111] The terminal device may store the vehicle's tire radius, and the vehicle's tire circumference may be determined based on the vehicle's tire radius. Alternatively, the terminal device may store the vehicle's tire diameter, and the vehicle's tire circumference may be determined based on the vehicle's tire diameter.

[0112] In one possible implementation, the process of determining the wheel end speed based on the tire circumference and the driving speed of the vehicle includes: when the unit of the vehicle tire circumference is meter and the unit of the driving speed is meter / second, the wheel end speed is determined according to the following formula (1) based on the vehicle tire circumference and the driving speed, and the unit of the determined wheel end speed is rotation / second. When the unit of the vehicle tire circumference is meter and the unit of the driving speed is kilometer / hour, the wheel end speed is determined according to the following formula (2) based on the vehicle tire circumference and the driving speed, and the unit of the determined wheel end speed is rotation / minute.

[0113]

[0114] In the above formulas (1) and (2), n is the wheel end speed, v is the driving speed, and L is the tire circumference.

[0115] In one possible implementation, the process of determining the target speed that the engine needs to match based on the wheel-end speed, the vehicle's transmission speed ratio, and the vehicle's final reducer speed ratio includes: determining the product of the wheel-end speed, the transmission speed ratio, and the final reducer speed ratio as the target speed that the engine needs to match.

[0116] In one possible implementation, the process of determining the total required torque of the vehicle's wheel ends based on the accelerator pedal opening has been described in the above process and will not be repeated in this embodiment of the present application.

[0117] In one possible implementation, the process of determining the target torque based on the target speed and the total required torque of the vehicle's wheel ends includes: determining a first torque and a second torque corresponding to the target speed in the engine universal characteristic curve, determining a first absolute value of the difference between the first torque and the total torque of the vehicle's wheel ends; determining a second absolute value of the difference between the second torque and the total required torque of the vehicle's wheel ends; and determining the target torque from the first torque and the second torque based on the first absolute value and the second absolute value.

[0118] like Figure 4 This is a schematic diagram of an engine universal characteristic curve provided by an embodiment of the present application. The horizontal axis represents speed, and the vertical axis represents torque. The diagram includes multiple curves, each associated with a numerical value. Each numerical value represents the engine's fuel consumption rate, which indicates the mass of fuel consumed per kilowatt-hour of energy output when the engine is operating at the corresponding speed and torque. Lower values ​​indicate better fuel economy under these operating conditions.

[0119] In one possible implementation, determining the first torque and the second torque corresponding to the target speed from the engine universal characteristic curve includes: using the torque corresponding to the curve with the smallest value among the curves corresponding to the target speed as the first torque and the second torque. For example, if the target speed is 2500, the curve with the smallest value among the curves corresponding to 2500 is the curve with a value of 210, and the torques corresponding to the curve with a value of 210 are 100 and 150.

[0120] In one possible implementation, determining the target torque from the first torque and the second torque based on the first absolute value and the second absolute value includes: using the torque with the smallest absolute difference between the first torque and the second torque and the total required wheel-end torque of the vehicle as the target torque. Alternatively, using the torque corresponding to the smallest absolute value of the first absolute value and the second absolute value as the target torque.

[0121] For example, the first torque is 100, the second torque is 150, and the total required torque of the vehicle's wheel ends is 120. The first absolute value of the difference between the first torque and the total required torque of the vehicle's wheel ends is 20, and the second absolute value of the difference between the second torque and the total required torque of the vehicle's wheel ends is 30. The first absolute value is less than the second absolute value. Therefore, the first torque is determined to be the target torque.

[0122] In step 303 , the engine is controlled to drive the wheel ends of the vehicle according to the target torque.

[0123] In one possible implementation, after the target torque is determined in the above step 302, when the total required torque at the wheel end of the vehicle is equal to the target torque, the engine is controlled to drive the wheel end of the vehicle according to the target torque. At this time, the vehicle enters the parallel direct drive mode in the parallel drive mode.

[0124] For example, the target torque is 100, and the total required torque of the vehicle's wheel ends is 100, then the engine is controlled to drive the vehicle's wheel ends according to the target torque 100.

[0125] In another possible implementation, when the total required torque at the vehicle's wheel ends is greater than the target torque, since the vehicle's wheel ends cannot be driven by the engine alone to meet the total required torque at the wheel ends, it is also necessary to control the power battery to supply power to the drive motor so that the drive motor and the engine can jointly provide the vehicle's total required torque at the wheel ends. At this time, the vehicle enters the parallel assist mode in the parallel drive mode.

[0126] For example, the target torque is 100 and the total required torque of the vehicle's wheel ends is 120. The engine is controlled to drive the vehicle's wheel ends according to the target torque of 100, and the drive motor is controlled to drive the vehicle's wheel ends according to the torque of 20.

[0127] In another possible implementation, when the total required torque at the wheel ends of the vehicle is less than the target torque, the difference torque between the target torque and the total required torque at the wheel ends of the vehicle is determined; the engine is controlled to drive the wheel ends of the vehicle according to the total required torque at the wheel ends of the vehicle, and the engine is controlled to drive the drive motor of the vehicle according to the difference torque, so that the drive motor generates electricity and stores it in the power battery. At this time, the vehicle enters the parallel power generation mode in the parallel mode.

[0128] In this implementation, the vehicle's engine can not only drive the vehicle's wheel ends, but also drive the drive motor, so that the drive motor generates electrical energy and stores it in the power battery. The power of the power battery continues to increase, so that the vehicle can work more in pure electric mode, so that the vehicle's fuel consumption is reduced and the vehicle's economy is better.

[0129] like Figure 5 is a schematic diagram of a vehicle entering a parallel direct drive mode provided by an embodiment of the present application. Figure 5 A schematic diagram of the changes in different parameters of the vehicle in parallel direct drive mode is given in FIG.

[0130] This method accurately determines whether the vehicle's drive mode has changed by acquiring multiple driving parameters. If the vehicle's drive mode has changed, and the vehicle is in parallel drive mode, the method determines the target torque for the engine operating within the economy range based on driving speed and accelerator pedal position. The method then controls the engine to drive the vehicle's wheels at the target torque. This method ensures that the engine always operates within the economy range, directly driving the wheels, reducing energy conversion losses. This effectively improves vehicle economy while meeting driving requirements.

[0131] Figure 6FIG. 1 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. Figure 6 As shown, the device includes:

[0132] An acquisition module 601 is configured to acquire driving parameters of the vehicle, wherein the driving parameters include at least one of driving speed, accelerator pedal opening, engine information, remaining power percentage of the power battery, drive motor information, or driving road slope;

[0133] A determination module 602 determines a target torque based on the driving speed and the accelerator pedal opening when it is determined based on the driving parameters that the driving mode of the vehicle has changed and the driving mode of the vehicle is the parallel driving mode. The target torque is the output torque of the vehicle engine when operating at the economy line.

[0134] The control module 603 is used to control the engine to drive the wheel ends of the vehicle according to the target torque.

[0135] In one possible implementation, the determining module 602 is further configured to determine, based on the driving parameters including the driving speed, that the driving mode of the vehicle has changed if the driving speed is not within the driving speed range;

[0136] determining a total wheel-end torque requirement of the vehicle based on driving parameters including an accelerator pedal opening and the accelerator pedal opening, and determining that a driving mode of the vehicle has changed if the total wheel-end torque requirement of the vehicle is not within a torque range;

[0137] determining, based on the driving parameters including engine information, that a driving mode of the vehicle has changed if the engine information indicates a change in an engine operating state;

[0138] Based on driving parameters including a remaining power battery percentage, determining that a driving mode of the vehicle has changed when the remaining power battery percentage is not within a remaining power percentage range;

[0139] determining, based on the driving parameters including the drive motor information, that a drive mode of the vehicle has changed if the drive motor information indicates a drive motor failure;

[0140] Based on the driving parameters including the driving road gradient value, when the driving road gradient value is greater than a gradient threshold, it is determined that the driving mode of the vehicle has changed.

[0141] In one possible implementation, the determination module 602 is configured to determine the engine required torque corresponding to the accelerator pedal opening;

[0142] Obtaining the vehicle's gearbox speed ratio, the vehicle's final reducer speed ratio, and the vehicle's transmission efficiency;

[0143] The total required wheel-end torque of the vehicle is determined based on the vehicle's transmission speed ratio, the vehicle's final drive speed ratio, the vehicle's transmission efficiency, and the engine's required torque.

[0144] In one possible implementation, the determination module 602 is further used to determine that the vehicle's driving mode is a parallel driving mode when the driving speed is greater than a speed threshold, the engine is in a running state, and the remaining power ratio of the power battery is within a remaining power ratio range.

[0145] In one possible implementation, the determination module 602 is configured to determine a wheel end rotation speed corresponding to the driving speed;

[0146] Determine the target speed that the engine needs to match based on the wheel end speed, the vehicle's transmission speed ratio, and the vehicle's final drive speed ratio;

[0147] Determine the total required torque at the vehicle's wheel end according to the accelerator pedal opening;

[0148] The target torque is determined based on the target speed and the total required torque at the wheel ends of the vehicle.

[0149] In one possible implementation, the determination module 602 is configured to determine a first torque and a second torque corresponding to a target speed in an engine universal characteristic curve;

[0150] determining a first absolute value of a difference between the first torque and a total required wheel-end torque of the vehicle;

[0151] determining a second absolute value of a difference between the second torque and a total required wheel end torque of the vehicle;

[0152] According to the first absolute value and the second absolute value, the target torque is determined among the first torque and the second torque.

[0153] In one possible implementation, the determination module 602 is further configured to determine a torque difference between the target torque and the total required wheel-end torque of the vehicle when the total required wheel-end torque of the vehicle is less than the target torque;

[0154] The control module 603 is used to control the engine to drive the vehicle's wheel ends according to the total required torque of the vehicle's wheel ends, and control the engine to drive the vehicle's drive motor according to the differential torque, so that the drive motor generates electricity and stores it in the power battery.

[0155] The device acquires multiple vehicle driving parameters to accurately determine whether the vehicle's drive mode has changed. If the vehicle's drive mode has changed, and the vehicle is in parallel drive mode, it determines the target torque for the engine operating in the economy range based on driving speed and accelerator pedal position. It then controls the engine to drive the vehicle's wheels at the target torque. This ensures that the engine always operates in the economy range, directly driving the wheels, reducing energy conversion losses and effectively improving vehicle economy while meeting driving requirements.

[0156] It should be understood that the above-mentioned device is merely an example of the division of the above-mentioned functional modules when implementing its functions. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiments are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0157] Figure 7 The following is a block diagram of a terminal device 700 provided in accordance with an exemplary embodiment of the present application. The terminal device 700 may be any electronic device capable of human-computer interaction with a user through one or more methods, such as a keyboard, touchpad, remote control, voice interaction, or handwriting device. Examples include a PC (Personal Computer), mobile phone, smartphone, PDA (Personal Digital Assistant), wearable device, Pocket PC (PPC), tablet computer, smart car computer, smart TV, smart speaker, smart watch, and the like.

[0158] Typically, the terminal device 700 includes a processor 701 and a memory 702 .

[0159] The processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 701 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 701 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0160] Memory 702 may include one or more computer-readable storage media, which may be non-transitory. Memory 702 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in memory 702 is used to store at least one instruction, which is executed by processor 701 to implement the vehicle control method provided in the method embodiment of the present application.

[0161] In some embodiments, terminal device 700 may optionally include a peripheral device interface 703 and at least one peripheral device. The processor 701, memory 702, and peripheral device interface 703 may be connected via a bus or signal lines. Each peripheral device may be connected to peripheral device interface 703 via a bus, signal lines, or circuit boards. Specifically, the peripheral device may include at least one of a radio frequency circuit 704, a display screen 705, a camera assembly 706, an audio circuit 707, and a power supply 708.

[0162] The peripheral device interface 703 can be used to connect at least one I / O (Input / Output)-related peripheral device to the processor 701 and the memory 702. In some embodiments, the processor 701, the memory 702, and the peripheral device interface 703 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 701, the memory 702, and the peripheral device interface 703 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0163] The RF circuit 704 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 704 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 704 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the RF circuit 704 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. The RF circuit 704 can communicate with other terminal devices via at least one wireless communication protocol. Such wireless communication protocols include, but are not limited to, the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 704 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0164] Display screen 705 is used to display a user interface (UI). This UI may include graphics, text, icons, videos, or any combination thereof. When display screen 705 is a touchscreen display, it is also capable of collecting touch signals on or above the surface of display screen 705. These touch signals can be input as control signals to processor 701 for processing. Display screen 705 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there can be one display screen 705, located on the front panel of terminal device 700. In other embodiments, there can be at least two display screens 705, located on different surfaces of terminal device 700 or in a foldable design. In still other embodiments, display screen 705 can be a flexible display, located on a curved or foldable surface of terminal device 700. Display screen 705 can also be configured as a non-rectangular, irregular shape, also known as a special-shaped screen. Display screen 705 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0165] The camera assembly 706 is used to capture images or videos. Optionally, the camera assembly 706 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the terminal device 700, and the rear camera is arranged on the back of the terminal device 700. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 706 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0166] The audio circuit 707 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 701 for processing, or input them into the radio frequency circuit 704 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there can be multiple microphones, which are respectively arranged in different parts of the terminal device 700. The microphone can also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signals from the processor 701 or the radio frequency circuit 704 into sound waves. The speaker can be a traditional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signals into sound waves audible to humans, but also convert the electrical signals into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 707 may also include a headphone jack.

[0167] Power supply 708 is used to power various components in terminal device 700. Power supply 708 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 708 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is charged via a wired line, while a wireless rechargeable battery is charged via a wireless coil. The rechargeable battery can also support fast charging technology.

[0168] In some embodiments, the terminal device 700 further includes one or more sensors 709 , including but not limited to: an acceleration sensor 710 , a gyroscope sensor 711 , a pressure sensor 712 , an optical sensor 713 , and a proximity sensor 714 .

[0169] The accelerometer 710 can detect the magnitude of acceleration along the three coordinate axes of the coordinate system established by the terminal device 700. For example, the accelerometer 710 can be used to detect the components of gravity acceleration along the three coordinate axes. The processor 701 can control the display screen 705 to display the user interface in a landscape or portrait view based on the gravity acceleration signal collected by the accelerometer 710. The accelerometer 710 can also be used to collect game or user motion data.

[0170] The gyroscope sensor 711 can detect the body orientation and rotation angle of the terminal device 700. The gyroscope sensor 711 can work with the accelerometer 710 to collect the user's 3D movements of the terminal device 700. Based on the data collected by the gyroscope sensor 711, the processor 701 can implement the following functions: motion sensing (such as changing the UI based on the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0171] The pressure sensor 712 can be set on the side frame of the terminal device 700 and / or the lower layer of the display screen 705. When the pressure sensor 712 is set on the side frame of the terminal device 700, it can detect the user's grip signal of the terminal device 700, and the processor 701 performs left and right hand recognition or shortcut operations based on the grip signal collected by the pressure sensor 712. When the pressure sensor 712 is set on the lower layer of the display screen 705, the processor 701 controls the operable controls on the UI interface based on the user's pressure operation on the display screen 705. The operable controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0172] The optical sensor 713 is used to detect ambient light intensity. In one embodiment, the processor 701 can control the display brightness of the display screen 705 based on the ambient light intensity detected by the optical sensor 713. Specifically, when the ambient light intensity is high, the display brightness of the display screen 705 is increased; when the ambient light intensity is low, the display brightness of the display screen 705 is decreased. In another embodiment, the processor 701 can also dynamically adjust the shooting parameters of the camera assembly 706 based on the ambient light intensity detected by the optical sensor 713.

[0173] The proximity sensor 714, also known as a distance sensor, is typically located on the front panel of the terminal device 700. The proximity sensor 714 is used to detect the distance between the user and the front of the terminal device 700. In one embodiment, when the proximity sensor 714 detects that the distance between the user and the front of the terminal device 700 is gradually decreasing, the processor 701 controls the display screen 705 to switch from the screen-on state to the screen-off state. When the proximity sensor 714 detects that the distance between the user and the front of the terminal device 700 is gradually increasing, the processor 701 controls the display screen 705 to switch from the screen-off state to the screen-on state.

[0174] Those skilled in the art will understand that Figure 7 The structure shown in the figure does not constitute a limitation on the terminal device 700, and the terminal device 700 may include more or fewer components than shown in the figure, or combine certain components, or adopt a different component arrangement.

[0175] In an exemplary embodiment, a computer-readable storage medium is further provided, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to enable a terminal device to implement any of the above-mentioned vehicle control methods.

[0176] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, or the like.

[0177] In an exemplary embodiment, a computer program or a computer program product is also provided, in which at least one computer instruction is stored. The at least one computer instruction is loaded and executed by a processor to enable a terminal device to implement any of the above-mentioned vehicle control methods.

[0178] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions.

[0179] It should be understood that the term "plurality" used herein refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0180] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0181] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquiring a driving parameter of the vehicle, the driving parameter including at least one of a driving speed, an accelerator pedal opening, engine information, a percentage of remaining power in a power battery, drive motor information, or a driving road slope value; When it is determined based on the driving parameters that the driving mode of the vehicle has changed and the driving mode of the vehicle is a parallel driving mode, a target torque is determined based on the driving speed and the accelerator pedal opening, the target torque being the output torque of the engine of the vehicle when operating at an economy line; The engine is controlled to drive the wheel ends of the vehicle according to the target torque.

2. The method according to claim 1, characterized in that After obtaining the driving parameters of the vehicle, the method further includes: determining, based on the driving parameters including a driving speed, that a driving mode of the vehicle has changed if the driving speed is not within a driving speed interval; determining, based on the driving parameters including an accelerator pedal opening, a total required wheel-end torque of the vehicle according to the accelerator pedal opening, and determining that a driving mode of the vehicle has changed if the total required wheel-end torque of the vehicle is not within a torque range; determining, based on the driving parameters including engine information, that a driving mode of the vehicle has changed if the engine information indicates a change in an engine operating state; determining, based on the driving parameters including a remaining power battery percentage, that a driving mode of the vehicle has changed if the remaining power battery percentage is not within a remaining power percentage interval; determining, based on the driving parameters including drive motor information, that a drive mode of the vehicle has changed if the drive motor information indicates a drive motor failure; Based on the driving parameters including a driving road gradient value, when the driving road gradient value is greater than a gradient threshold, it is determined that the driving mode of the vehicle has changed.

3. The method according to claim 2, characterized in that Determining the total required wheel-end torque of the vehicle according to the accelerator pedal opening includes: determining an engine required torque corresponding to the accelerator pedal opening; Obtaining a transmission speed ratio of the vehicle, a final reducer speed ratio of the vehicle, and a transmission efficiency of the vehicle; The total required wheel-end torque of the vehicle is determined according to the transmission speed ratio of the vehicle, the final drive speed ratio of the vehicle, the transmission efficiency of the vehicle, and the engine required torque.

4. The method according to claim 1, wherein After obtaining the driving parameters of the vehicle, the method further includes: When the driving speed is greater than a speed threshold, the engine is in a running state, and the remaining power ratio of the power battery is within a remaining power ratio interval, the driving mode of the vehicle is determined to be a parallel driving mode.

5. The method according to any one of claims 1 to 4, characterized in that: The determining of the target torque according to the driving speed and the accelerator pedal opening includes: determining a wheel end rotational speed corresponding to the driving speed; Determining a target speed to be matched by the engine according to the wheel end speed, the gearbox speed ratio of the vehicle, and the final reducer speed ratio of the vehicle; determining a total required wheel-end torque of the vehicle according to the accelerator pedal opening; The target torque is determined according to the target speed and the total required torque of the wheel ends of the vehicle.

6. The method according to claim 5, characterized in that The determining the target torque according to the target speed and the total required wheel-end torque of the vehicle includes: determining a first torque and a second torque corresponding to the target speed in an engine universal characteristic curve; determining a first absolute value of a difference between the first torque and a total required wheel-end torque of the vehicle; determining a second absolute value of a difference between the second torque and a total required wheel end torque of the vehicle; The target torque is determined from among the first torque and the second torque according to the first absolute value and the second absolute value.

7. The method according to any one of claims 1 to 4, characterized in that: The controlling the engine to drive the wheel ends of the vehicle according to the target torque includes: determining a difference torque between the target torque and the total required wheel end torque of the vehicle when the total required wheel end torque of the vehicle is less than the target torque; The engine is controlled to drive the wheel ends of the vehicle according to the total required torque of the wheel ends of the vehicle, and the engine is controlled to drive the drive motor of the vehicle according to the differential torque, so that the drive motor generates electricity and stores it in the power battery.

8. A vehicle control device, characterized in that: The device comprises: an acquisition module, configured to acquire a driving parameter of the vehicle, the driving parameter including at least one of a driving speed, an accelerator pedal opening, engine information, a percentage of remaining power in the power battery, drive motor information, or a driving road slope value; a determination module, configured to determine, when it is determined based on the driving parameters that the driving mode of the vehicle has changed and the driving mode of the vehicle is a parallel driving mode, a target torque according to the driving speed and the accelerator pedal opening, the target torque being an output torque of the engine of the vehicle when operating at an economy line; A control module is configured to control the engine to drive the wheel ends of the vehicle according to the target torque.

9. A terminal device, characterized in that: The terminal device includes a processor and a memory, wherein the memory stores at least one program code, and the at least one program code is loaded and executed by the processor so that the terminal device implements the vehicle control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one program code, and the at least one program code is loaded and executed by the processor so that the terminal device implements the vehicle control method according to any one of claims 1 to 7.

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