Vehicle auxiliary heating control method, electronic equipment and vehicle

Abstract

The invention discloses a vehicle auxiliary heating control method, electronic equipment and a vehicle, and belongs to the technical field of vehicles. The method comprises the following steps: controlling the directions of output torques of at least part of motor operation to be different so as to carry out auxiliary heating based on heat generated in the motor operation process. According to the embodiment of the invention, the output torque directions of at least part of the motors are controlled to be different, so that more electric energy is converted into heat energy in the process that the motors provide power for the vehicle, more heat is generated, the heat can be used for auxiliary heating, the problem of insufficient heat supply of a heat management system in related technologies is reduced, and the service life of the vehicle is prolonged. And the heating efficiency is improved, so that the heat supply requirement is met.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicles, and particularly relates to a vehicle auxiliary heating control method, an electronic device, and a vehicle. BACKGROUND

[0002] With the rapid development of automobile technology, the vehicle thermal management system is particularly important in coping with the heating needs of the cabin and the battery. In particular, in cold environments, heating the cabin can improve the comfort of the driver and passenger, and heating the battery can enable the battery to work at an appropriate temperature, thereby prolonging the service life of the battery and improving the endurance.

[0003] In the thermal management system, the related art usually uses heat pump technology, PTC (Positive Temperature Coefficient) heater, etc. to heat the cabin and the battery. However, in a high heating demand scenario, the efficiency of heating by these means is low, and the problem of insufficient heating may occur. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application proposes a vehicle auxiliary heating control method, an electronic device, and a vehicle to improve the heating efficiency and thus meet the heating demand.

[0005] In a first aspect, the present application provides a vehicle auxiliary heating control method, the vehicle comprising a plurality of motors, the method comprising:

[0006] controlling the directions of the output torques of at least part of the motors to be different to perform auxiliary heating based on the heat generated during the operation of the motors.

[0007] According to the vehicle auxiliary heating control method of the present application, the directions of the output torques of at least part of the motors are controlled to be different to perform auxiliary heating based on the heat generated during the operation of the motors. According to the embodiments of the present application, by controlling the directions of the output torques of at least part of the motors to be different, more electrical energy is converted into heat energy during the process of the motors providing power for the vehicle, thereby generating more heat. These heat can be used for auxiliary heating, reducing the problem of insufficient heating of the thermal management system in the related art, improving the heating efficiency, and thus meeting the heating demand.

[0008] According to one embodiment of the present application, the method further comprises:

[0009] determining the demand torque of the driver;

[0010] allocating output torques to the plurality of motors based on the demand torque.

[0011] In this embodiment, the output torque of the plurality of electric machines is reasonably distributed by determining the demand torque of the driver, so that the power output of the vehicle meets the driving demand, and because the output torque directions of at least part of the plurality of electric machines are different, more electric energy is converted into heat energy, thereby generating more heat and improving the heating efficiency to meet the heating demand.

[0012] According to an embodiment of the present application, the sum of the output torques of the plurality of electric machines is equal to the demand torque of the driver.

[0013] In this embodiment, by controlling the torque output of each electric machine, the vehicle can convert the excess heat generated during the operation of the electric machine into auxiliary heating energy without affecting the driving experience, thereby reducing the energy allocation conflict between the vehicle power and heating demand and improving the resource utilization rate.

[0014] According to an embodiment of the present application, the determination of the demand torque of the driver comprises:

[0015] Obtaining the vehicle speed, accelerator pedal opening degree and brake pedal opening degree of the vehicle;

[0016] Determining the demand torque of the driver according to the vehicle speed, accelerator pedal opening degree and brake pedal opening degree.

[0017] In this embodiment, by obtaining the vehicle speed, accelerator pedal opening degree and brake pedal opening degree of the vehicle and determining the demand torque of the driver according to these parameters, the intention of the driver can be more comprehensively reflected, so that the required power output can be accurately calculated.

[0018] According to an embodiment of the present application, the distribution of the output torque of the plurality of electric machines based on the demand torque comprises:

[0019] Obtaining the rotational speed of the target electric machine;

[0020] Distributing the output torque of the plurality of electric machines according to the rotational speed and the demand torque.

[0021] In this embodiment, considering that the heating power, torque and other parameters of the electric machine are also related to the rotational speed of the electric machine, by combining the rotational speed and the demand torque for distribution, not only the power demand of the vehicle can be met, but also the electric machine can generate an appropriate amount of heat during operation for auxiliary heating, thereby improving the energy utilization efficiency.

[0022] According to an embodiment of the present application, the distribution of the output torque of the plurality of electric machines according to the rotational speed and the demand torque comprises:

[0023] The rotation speed and the required torque are matched with the output torque of each motor as a state signal from a preset torque distribution table in which a corresponding relationship between different state signals and the output torque of each motor is stored.

[0024] In this embodiment, by pre-establishing the torque distribution table in which the corresponding relationship between different state signals and the output torque of each motor is stored, the output torque of each motor can be quickly distributed through the torque distribution table after the rotation speed and the required torque are obtained, and the control efficiency of auxiliary heating is improved.

[0025] According to an embodiment of the present application, the torque distribution table is established with the minimization of the torque fluctuation of the target motor and the maximization of the total heating power of the plurality of motors as the optimization target.

[0026] In this embodiment, by minimizing the torque fluctuation of the target motor, mechanical impact and energy loss caused by torque change during the operation of the motor can be reduced, the stability and comfort of vehicle driving are improved, the total heating power of the plurality of motors is maximized, the motor can generate more heat during operation, auxiliary heating is provided for key components such as the cabin and the battery of the vehicle, and the heating efficiency is improved, thereby meeting the heating demand.

[0027] According to an embodiment of the present application, the torque distribution table is established according to the following manner:

[0028] The required torque and the rotation speed of the target motor are taken as state variables, the output torque of the target motor is taken as a control variable, the total heating power of the plurality of motors and the output torque fluctuation of the target motor are taken as factors, and a value function of a stochastic dynamic programming is constructed;

[0029] The value function of the stochastic dynamic programming is solved with the minimization of the torque fluctuation of the target motor and the maximization of the total heating power of the plurality of motors as the optimization target, and the output torque of each motor under different states is obtained.

[0030] The output torque of each motor corresponding to different states is associated and stored to obtain the torque distribution table.

[0031] In this embodiment, by taking the required torque and the rotation speed of the target motor as state variables, taking the output torque of the target motor as a control variable, and comprehensively considering the two key factors of the total heating power of the plurality of motors and the output torque fluctuation of the target motor, the optimal control strategy is solved through the optimization algorithm of the stochastic dynamic programming, and appropriate output torque can be distributed to each motor under different working conditions. Not only can the torque fluctuation of the target motor be reduced, the stability and comfort of vehicle driving be improved, but also the total heating power of the plurality of motors can be maximized, and more efficient auxiliary heating can be provided for key components such as the cabin and the battery of the vehicle, thereby further optimizing the energy utilization efficiency.

[0032] According to one embodiment of the present application, the value function of the stochastic dynamic programming is solved according to the formula:

[0033]

[0034]

[0035] constructing a value function of the stochastic dynamic programming;

[0036] wherein J π represents the value function of the stochastic dynamic programming, u represents the state at the current time, J π (u * ) represents the state u * at the next time, Q(u, T R ) represents the value function considering both the heating power of the motors and the fluctuation of the target motor output torque, λ∈(0, 1) represents a discount factor, P uu* represents the transition probability of the vehicle from the state u to the state u * , P H represents the total heating power of the plurality of motors, θ represents a weighting coefficient, and ‖T R ‖ represents the variation amplitude of the output torque of the target motor.

[0037] According to one embodiment of the present application, the value function of the stochastic dynamic programming is solved with the optimization target of minimizing the torque fluctuation of the target motor and maximizing the total heating power of the plurality of motors, to obtain the output torque of each motor under different states, including:

[0038] constructing a constraint condition; the constraint condition at least includes that the sum of the output torques of the plurality of motors is equal to the demand torque, and the direction of the output torque of at least one motor is different from the direction of the output torque of the target motor;

[0039] under the constraint of the constraint condition, the value function of the stochastic dynamic programming is solved based on the optimization target, to obtain the output torque of each motor under different states.

[0040] In this embodiment, by constructing the constraint condition, the sum of the output torques of the plurality of motors is equal to the demand torque, and the direction of the output torque of at least one motor is different from the direction of the output torque of the target motor. This constraint condition not only meets the power demand of the vehicle, but also converts more electric energy into heat energy through the torque distribution in different directions, further optimizing the heating power of the motors.

[0041] According to one embodiment of the present application, the output torques of the plurality of motors are allocated according to the rotational speed and the demand torque, including:

[0042] The rotation speed and the required torque are substituted into a pre-constructed value function of a stochastic dynamic programming, and the value function of the stochastic dynamic programming is solved with a minimum torque fluctuation of the target motor and a maximum total heating power of the plurality of motors as optimization objectives to obtain the output torque of each motor.

[0043] In this embodiment, the total heating power of the plurality of motors and the output torque fluctuation of the target motor are comprehensively considered, and the optimal control strategy is solved by the optimization algorithm of the stochastic dynamic programming, so that appropriate output torque can be allocated to each motor under different working conditions, the torque fluctuation of the target motor can be reduced, the stability and comfort of vehicle driving can be improved, the total heating power of the plurality of motors can be maximized, the key components such as the cabin and the battery of the vehicle can be provided with more efficient auxiliary heating, and the energy utilization efficiency is further optimized.

[0044] According to an embodiment of the present application, the method further comprises:

[0045] obtaining an ambient temperature;

[0046] in a case where the ambient temperature is less than an ambient temperature threshold, controlling the direction of the output torque of at least part of the motors to be different.

[0047] In this embodiment, by introducing an ambient temperature detection mechanism, it is determined whether to control the direction of the output torque of at least part of the motors to be different according to the high or low of the ambient temperature, so that more heat is generated by the motors for auxiliary heating, the problem of energy waste caused by auxiliary heating in a case where the ambient temperature is too high is reduced, and the overall energy efficiency of the vehicle is improved.

[0048] According to an embodiment of the present application, the method further comprises:

[0049] obtaining a cabin temperature and a battery temperature;

[0050] in a case where the cabin temperature is less than a cabin temperature threshold and / or the battery temperature is less than a battery temperature threshold, controlling the direction of the output torque of at least part of the motors to be different.

[0051] In this embodiment, by obtaining the cabin temperature and the battery temperature, the heating demand of the vehicle can be determined, and in a case where the cabin temperature is lower than the cabin temperature threshold or the battery temperature is lower than the battery temperature threshold, the direction of the output torque of at least part of the motors is controlled to be different to make the motors generate more heat for auxiliary heating, the problem of poor heating effect of the traditional thermal management system in a low-temperature environment is reduced, unnecessary energy waste is reduced by monitoring the actual temperature demand of the cabin and the battery, and the overall energy efficiency of the vehicle is improved.

[0052] According to an embodiment of the present application, the method further comprises:

[0053] In response to the start instruction of the auxiliary heating function, the direction of the output torque of the at least partial motor operation is controlled to be different, so as to perform auxiliary heating based on the heat generated in the motor operation process.

[0054] In this embodiment, by controlling the direction of the output torque of the at least partial motor operation to be different after receiving the start instruction of the auxiliary heating function, so as to perform auxiliary heating based on the heat generated in the motor operation process, the start of the auxiliary heating function can be controlled according to the actual auxiliary heating demand, unnecessary energy waste can be reduced, and the overall energy efficiency of the vehicle can be improved.

[0055] In a second aspect, the present application provides a vehicle auxiliary heating control device, the vehicle comprising a plurality of motors, and the device comprising:

[0056] A control module is configured to control the direction of the output torque of the at least partial motor operation to be different, so as to perform auxiliary heating based on the heat generated in the motor operation process.

[0057] According to the vehicle auxiliary heating control device of the present application, the direction of the output torque of the at least partial motor operation is controlled to be different, so as to perform auxiliary heating based on the heat generated in the motor operation process. In the embodiments of the present application, by controlling the direction of the output torque of the at least partial motor operation to be different, more electric energy is converted into heat energy during the process of the motor providing power for the vehicle, so as to generate more heat, which can be used for auxiliary heating. The problem of insufficient heating of the heat management system in the related art is solved, the heating efficiency is improved, and the heating demand is met.

[0058] In a third aspect, the present application provides an electronic device comprising a processor and a memory connected to the processor, wherein the memory stores a computer program capable of running on the processor, and the processor implements the vehicle auxiliary heating control method of the first aspect when executing the computer program.

[0059] In a fourth aspect, the present application provides a vehicle comprising a plurality of motors and a controller.

[0060] The controller is configured to execute the vehicle auxiliary heating control method of the first aspect.

[0061] In a fifth aspect, the present application provides a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the vehicle auxiliary heating control method of the first aspect.

[0062] In a sixth aspect, the present application provides a chip, comprising a processor and a communication interface, the communication interface being coupled with the processor, and the processor being configured to run programs or instructions to implement the vehicle auxiliary heating control method according to the first aspect.

[0063] In a seventh aspect, the present application provides a computer program product, comprising a computer program configured to implement the vehicle auxiliary heating control method according to the first aspect when executed by a processor.

[0064] The one or more technical solutions described above in the embodiments of the present application have at least one of the following technical effects:

[0065] According to the vehicle auxiliary heating control method of the present application, the direction of the output torque of at least part of the electric machines is controlled to be different, so that the heat generated during the operation of the electric machines is used for auxiliary heating. In the embodiments of the present application, the direction of the output torque of at least part of the electric machines is controlled to be different, so that more electric energy is converted into heat energy during the process of the electric machines providing power for the vehicle, thereby generating more heat. These heat can be used for auxiliary heating, which reduces the problem of insufficient heating of the heat management system in the related art, improves the heating efficiency, and thus meets the heating demand.

[0066] Further, in some embodiments, the output torque of the plurality of electric machines is reasonably allocated by determining the demand torque of the driver, so that the power output of the vehicle meets the driving demand, and since the direction of the output torque of at least part of the plurality of electric machines is different, more electric energy is converted into heat energy, thereby generating more heat, improving the heating efficiency, and thus meeting the heating demand.

[0067] Further, in some embodiments, the vehicle speed, the accelerator pedal opening degree and the brake pedal opening degree are obtained, and the demand torque of the driver is determined according to these parameters, which can more comprehensively reflect the intention of the driver, so as to accurately calculate the required power output.

[0068] Further, in some embodiments, considering that the heat generation power, torque and other parameters of the electric machine are also related to the speed of the electric machine, the speed and the demand torque are combined for allocation, which not only meets the power demand of the vehicle, but also reasonably allocates the torque, so that the electric machine generates an appropriate amount of heat during operation for auxiliary heating, thereby improving the energy utilization efficiency.

[0069] Further, in some embodiments, a torque allocation table in which the corresponding relationship between different state signals and the output torque of each electric machine is stored is established in advance, and after the speed and the demand torque are obtained, the output torque of each electric machine can be allocated quickly through the torque allocation table, thereby improving the control efficiency of auxiliary heating.

[0070] Further, in some embodiments, by minimizing the torque fluctuation of the target motor, mechanical impact and energy loss caused by torque changes during operation of the motor can be reduced, the smoothness and comfort of vehicle driving can be improved, the total heating power of multiple motors can be maximized, the motor can generate more heat during operation to provide auxiliary heating for key components such as the cabin and battery of the vehicle, and the heating efficiency is improved to meet the heating demand.

[0071] Further, in some embodiments, by taking the demand torque and the speed of the target motor as state variables, and taking the output torque of the target motor as the control variable, both the total heating power of multiple motors and the output torque fluctuation of the target motor are considered, and the optimal control strategy is solved by a stochastic dynamic programming optimization algorithm, which can allocate appropriate output torque to each motor under different working conditions, not only reducing the torque fluctuation of the target motor and improving the smoothness and comfort of vehicle driving, but also maximizing the total heating power of multiple motors to provide more efficient auxiliary heating for key components such as the cabin and battery of the vehicle, and further optimizing energy utilization efficiency.

[0072] Further, in some embodiments, by constructing a constraint condition that the sum of the output torques of multiple motors is equal to the demand torque, and at least one motor has an output torque direction different from that of the target motor, this constraint condition not only meets the power demand of the vehicle, but also through torque distribution in different directions, more electric energy is converted into heat energy, further optimizing the heating power of the motor.

[0073] Further, in some embodiments, by considering both the total heating power of multiple motors and the output torque fluctuation of the target motor, the optimal control strategy is solved by a stochastic dynamic programming optimization algorithm, which can allocate appropriate output torque to each motor under different working conditions, not only reducing the torque fluctuation of the target motor and improving the smoothness and comfort of vehicle driving, but also maximizing the total heating power of multiple motors to provide more efficient auxiliary heating for key components such as the cabin and battery of the vehicle, and further optimizing energy utilization efficiency.

[0074] Further, in some embodiments, by introducing an ambient temperature detection mechanism, it is determined whether to control the direction of the output torque of at least part of the motor to be different according to the ambient temperature, so that the motor generates more heat for auxiliary heating, which can reduce the problem of energy waste caused by auxiliary heating when the ambient temperature is too high, and improve the overall energy efficiency of the vehicle.

[0075] Further, in some embodiments, by acquiring the temperature in the cabin and the battery temperature, the heating demand of the vehicle can be determined, and when the temperature in the cabin is lower than the cabin temperature threshold or the battery temperature is lower than the battery temperature threshold, the direction of the output torque of the at least part of the motor is controlled to be different so that the motor generates more heat for auxiliary heating, which can reduce the problem that the traditional thermal management system has poor heating effect in low temperature environment. By monitoring the actual temperature demand of the cabin and the battery, unnecessary energy waste can also be reduced, and the overall energy efficiency of the vehicle can be improved.

[0076] Further, in some embodiments, by controlling the direction of the output torque of the at least part of the motor to be different after receiving the opening instruction of the auxiliary heating function, auxiliary heating is performed based on the heat generated during the operation of the motor, which can control the opening of the auxiliary heating function according to the actual auxiliary heating demand, reduce unnecessary energy waste, and improve the overall energy efficiency of the vehicle.

[0077] Additional aspects and advantages of the application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0078] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0079] Figure 1 is a flowchart of the vehicle auxiliary heating control method provided by the embodiments of the application;

[0080] Figure 2 is a schematic diagram of a scenario example provided by the embodiments of the application;

[0081] Figure 3 is a flowchart of the value iteration algorithm provided by the embodiments of the application;

[0082] Figure 4 is a structural schematic diagram of the vehicle auxiliary heating control device provided by the embodiments of the application;

[0083] Figure 5 is a structural schematic diagram of the electronic device provided by the embodiments of the application. DETAILED DESCRIPTION

[0084] With reference to the drawings, the technical solutions in the embodiments of the present application will be clearly described below. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art belong to the range of protection of the present application.

[0085] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a category, and are not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally represents that the front and rear associated objects are in a "or" relationship.

[0086] The vehicle auxiliary heating control method, the electronic device and the vehicle provided by the embodiments of the present application will be described in detail below with reference to the drawings and specific embodiments and application scenarios.

[0087] The vehicle auxiliary heating control method can be applied to a terminal, and can be executed by hardware or software in the terminal.

[0088] Optionally, the terminal includes, but is not limited to, a portable communication device such as a mobile phone or a tablet computer having a touch-sensitive surface (for example, a touchscreen display and / or a touchpad). It should also be understood that in some embodiments, the terminal can not be a portable communication device, but a desktop computer having a touch-sensitive surface (for example, a touchscreen display and / or a touchpad). In some embodiments, the terminal can also be a light receiver, a fiber switch, etc. with a processor.

[0089] However, it should be understood that the terminal can include one or more other physical user interface devices such as physical keyboards, mice, and joysticks.

[0090] The vehicle auxiliary heating control method provided by the embodiments of the present application, the execution subject of the vehicle auxiliary heating control method can be an electronic device or a function module or function entity capable of realizing the vehicle auxiliary heating control method in the electronic device, the electronic device mentioned in the embodiments of the present application can include but not limited to a server, an ECU (Electronic Control Unit), an MCU (Microcontroller Unit) or other controllers, etc., the vehicle auxiliary heating control method provided by the embodiments of the present application will be described below taking the electronic device as an execution subject.

[0091] As shown in Figure 1 The vehicle auxiliary heating control method includes step 110.

[0092] Step 110, control the direction of the output torque of at least part of the motor to run differently to assist heating based on the heat generated during the motor running process.

[0093] In the embodiments of the present application, the vehicle can be a new energy vehicle, such as an electric vehicle, a hybrid vehicle, etc. The vehicle can include components such as a thermal management system, a motor, a battery, etc. The thermal management system can be used for temperature regulation in the vehicle, such as regulating the temperature of the battery, the motor and the cabin.

[0094] The thermal management system can include components such as a coolant circulating device, a radiator, a heater, etc. to maintain a better working temperature of the vehicle under various working conditions.

[0095] The motor is one of the core components of the vehicle driving system, which is used to convert the electrical energy provided by the battery into mechanical energy to drive the vehicle. The vehicle can be equipped with multiple motors to provide higher power output and better driving performance. For example, the vehicle can adopt a front and rear dual-motor layout, with the front motor driving the front wheels and the rear motor driving the rear wheels, thereby realizing four-wheel drive and improving the stability and maneuverability of the vehicle. Of course, the vehicle can also be equipped with three motors or even more motors to achieve precise control of different vehicle torques, further optimizing power output and improving the maneuverability of the vehicle, and the number of motors equipped by the vehicle is not limited in the embodiments of the present application.

[0096] In the embodiments of the present application, the vehicle is a multi-motor driven vehicle, and multiple motors work together to meet the power output requirements of the vehicle. This configuration not only provides higher power performance, but also enables more efficient energy utilization and better driving experience through flexible torque distribution. For example, by precisely controlling the output torque of the motor, more sensitive power adjustment can be achieved to improve the comfort and safety of driving.

[0097] During the operation of the motor, factors such as electromagnetic induction loss and mechanical friction loss inside the motor will cause energy loss, and this part of the energy loss will be converted into heat, causing the temperature of the motor to rise. That is, during the operation of the motor, part of the electrical energy is converted into mechanical energy for the rotation of the motor, and another part of the electrical energy is converted into heat, causing the temperature of the motor to rise.

[0098] In a cold environment, the heat management system may use heat pump technology and PTC heater to provide heat for the cabin and the battery, and a problem of insufficient heating may occur. In the embodiment of the present application, the directions of the output torques of at least part of the plurality of motors are controlled to be different, so that more electric energy is converted into heat during operation of the motors.

[0099] The direction of the output torque of the motor can include a positive torque direction and a negative torque direction. When the motor operates in the positive torque direction, the current passes through the motor winding in a specific direction, and under the action of electromagnetic force, the rotor rotates in a certain fixed direction. At this time, the output torque of the motor can push the vehicle to move forward, and in the normal driving condition of the vehicle, most of the motors operate in the positive torque direction to efficiently convert electric energy into mechanical energy to drive the vehicle forward. When the motor operates in the negative torque direction, by changing the direction of the current in the motor winding, the direction of the electromagnetic force changes, so that the rotation direction of the rotor is opposite to the positive torque direction. At this time, the output torque of the motor is opposite to the forward direction of the vehicle. Usually, during vehicle braking energy recovery, the motor works in the negative torque direction to convert the kinetic energy of the vehicle into electric energy and recover it to the battery.

[0100] When the directions of the output torques of at least part of the motors are controlled to be different, the working mode of the motor changes. Specifically, when the directions of the output torques of the motors in the vehicle are the same, the motors mainly convert electric energy into mechanical energy to efficiently drive the vehicle. However, when part of the motors output negative torque and work together with other motors outputting positive torque, the motors will generate resistance to each other, increasing the electromagnetic loss and mechanical friction inside the motor. This resistance makes the motor consume more electric energy to overcome the resistance during work, and the additional consumed electric energy cannot be fully converted into mechanical energy, but a large amount of energy is dissipated in the form of heat, thereby significantly increasing the heat generated by the motor and providing more heat sources for auxiliary heating.

[0101] In some embodiments, the output torque can be distributed in any manner. For example, in a vehicle including two motors, the output torque direction of one of the motors can be controlled to be a positive torque direction, and the output torque direction of the other motor can be controlled to be a negative torque direction. In a vehicle including three or more motors, the output torque direction of at least one motor can be controlled to be a positive torque direction, and the output torque direction of at least one motor can be controlled to be a negative torque direction. For example, in a vehicle including three or more motors, the output torque direction of one motor can be controlled to be a positive torque direction, and the output torque direction of one motor can be controlled to be a negative torque direction. The output torque directions of the other motors can be positive torque or negative torque, or the motors can be temporarily stopped, and the present application is not limited in this regard.

[0102] In some embodiments, a heat exchange system can be arranged around the motor, so that the heat generated by the motor operation can be used for auxiliary heating. For example, the heat exchange system can include a heat-conducting component and a cooling liquid circulation pipeline. The heat-conducting component can absorb the heat generated by the motor and transfer the heat to the cooling liquid. The cooling liquid flows through the cabin heater, the battery thermal management module, etc. under the drive of the circulation pump. At the cabin heater, the heat is transferred to the air, which is blown by the fan into the cabin to improve the comfort of the driver and passengers. At the battery thermal management module, the cooling liquid transfers the heat to the battery to keep the battery at an appropriate working temperature and ensure the performance and service life of the battery. In this way, auxiliary heating using motor waste heat can be achieved.

[0103] According to the vehicle auxiliary heating control method of the present application, the direction of the output torque of at least part of the motor operation is controlled to be different, so that auxiliary heating is performed based on the heat generated during the motor operation. In the embodiments of the present application, the direction of the output torque of at least part of the motor operation is controlled to be different, so that more electrical energy is converted into heat energy during the process of the motor providing power for the vehicle, thereby generating more heat. These heat can be used for auxiliary heating, which reduces the problem of insufficient heating of the heat management system in the related art and improves the heating efficiency, thereby meeting the heating demand.

[0104] In some embodiments, the method further comprises:

[0105] determining the demand torque of the driver;

[0106] allocating the output torque to the plurality of motors based on the demand torque.

[0107] In this embodiment, the demand torque refers to the demand of the driver for the power output of the vehicle during driving, i.e., the torque size that the driver needs the motor to output. The driver can express the desired torque by operating the control devices such as the accelerator pedal and the brake pedal of the vehicle. According to the intention of the driver and the current operating state of the vehicle, the torque size that the driver needs the motor to output can be calculated. For example, when the driver wants to accelerate the vehicle, the driver will step on the accelerator pedal. The size of the demand torque can be determined according to the opening degree of the accelerator pedal.

[0108] In one example, the driver expresses the demand for the power of the vehicle by stepping on the accelerator pedal. The position signal of the accelerator pedal can be collected, which can be a voltage value or a current value. The size of the position signal is proportional to the opening degree of the accelerator pedal. For example, when the accelerator pedal is completely released, the signal value of the position signal can be 0, and when the accelerator pedal is fully depressed, the signal value of the position signal can reach the maximum value. The collected position signal of the accelerator pedal can be converted and calibrated, and the position signal of the accelerator pedal can be converted into the corresponding demand torque value according to the pre-set mapping relationship.

[0109] In some embodiments, in addition to considering the opening degree of the accelerator pedal, the current operating state of the vehicle, such as vehicle speed, battery power, motor temperature, and the like, can also be considered in determining the demand torque. For example, in a low power mode, the demand torque can be appropriately reduced to extend the cruising range of the vehicle; when driving at high speed, the calculation of the demand torque can be limited by the vehicle speed to prevent the vehicle from exceeding the speed limit.

[0110] In this embodiment, after determining the demand torque, the output torque of each motor can be allocated so that the total output torque of the motors can meet the demand torque of the driver, and the output torque of at least part of the motors is in different directions.

[0111] In this embodiment, by determining the demand torque of the driver, the output torque of the multiple motors is reasonably allocated, so that the power output of the vehicle meets the driving demand, and because the output torque of at least part of the multiple motors is in different directions, more electrical energy is converted into heat energy, thereby generating more heat and improving the heating efficiency to meet the heating demand.

[0112] In some embodiments, the sum of the output torques of the multiple motors is equal to the demand torque of the driver.

[0113] In this embodiment, the sum of the output torques of the multiple motors is a vector sum, for example, the output torque of motor A is in the positive torque direction and the output torque is 600 N·m; the output torque of motor B is in the negative torque direction and the output torque is -400 N·m. Therefore, the sum of the output torques of motor A and motor B is 600 N·m+(-400 N·m)=200 N·m. Therefore, if the vehicle includes two motors, in the case of a demand torque of 200 N·m, one motor can be allocated an output torque of 600 N·m in the positive torque direction and an output torque of -400 N·m in the negative torque direction; or one motor can be allocated an output torque of 400 N·m in the positive torque direction and an output torque of -200 N·m in the negative torque direction, which is not limited in the embodiments of the present application.

[0114] In this embodiment, by controlling the torque output of each motor, the vehicle can convert the excess heat generated during motor operation into auxiliary heating energy without affecting the driving experience, thereby reducing the energy allocation conflict between vehicle power and heating demand and improving resource utilization.

[0115] In some embodiments, determining the demand torque of the driver includes:

[0116] Obtaining the vehicle speed, accelerator pedal opening degree, and brake pedal opening degree of the vehicle;

[0117] Determining the demand torque of the driver according to the vehicle speed, accelerator pedal opening degree, and brake pedal opening degree.

[0118] In this embodiment, after obtaining the vehicle speed, the accelerator pedal opening degree, the brake pedal opening degree and other parameters of the vehicle, the demand torque can be determined according to these parameters. For example, when the vehicle speed is low and the accelerator pedal opening degree is large, the vehicle needs a large torque to accelerate, and a large demand torque can be determined. When the vehicle speed is high, even if the accelerator pedal opening degree is large, the demand torque will be limited to prevent the vehicle from overspeeding. The vehicle speed and the accelerator pedal opening degree can be converted into a preliminary demand torque value according to a pre-set mapping relationship.

[0119] After the preliminary demand torque is calculated, the influence of the brake pedal opening degree needs to be considered. If the brake pedal is stepped on by the driver, even if the accelerator pedal has a certain opening degree, the demand torque of the vehicle needs to be adjusted accordingly. For example, when the vehicle needs to decelerate, stepping on the brake pedal will trigger the braking system of the vehicle, and the demand torque will be reduced to reduce the problem of power conflict during braking of the vehicle.

[0120] In this embodiment, by obtaining the vehicle speed, the accelerator pedal opening degree and the brake pedal opening degree, and determining the demand torque of the driver according to these parameters, the intention of the driver can be more comprehensively reflected, so that the required power output can be accurately calculated.

[0121] In some embodiments, the output torque is allocated to the plurality of electric machines based on the demand torque, comprising:

[0122] Obtaining the speed of the target electric machine;

[0123] Allocating the output torque to the plurality of electric machines according to the speed and the demand torque.

[0124] In this embodiment, the target electric machine can be any one of the plurality of electric machines, or an electric machine outputting positive torque among the plurality of electric machines.

[0125] In this embodiment, since the speed of the electric machine affects the heat generation power of the electric machine, in general, the electric machine generates more heat at high speed. The output torque is allocated to the plurality of electric machines in combination with the speed, which can adjust the effect of auxiliary heating of the electric machine.

[0126] Specifically, when the speed of the target electric machine is high, and the demand for auxiliary heating is large, a larger output torque can be allocated to the target electric machine to generate more heat. For example, during vehicle acceleration, the speed of the front electric machine can be high, and more demand torque can be allocated to the front electric machine, so that the front electric machine outputs a larger torque at high speed, thereby generating more heat for auxiliary heating.

[0127] In this embodiment, considering that the heat generation power, torque and other parameters of the motor are also related to the speed of the motor, by combining the speed and the required torque for distribution, not only the power demand of the vehicle can be met, but also the motor can generate appropriate heat during operation to assist heating, thereby improving energy utilization efficiency.

[0128] In some embodiments, the output torque of the plurality of motors is distributed according to the speed and the required torque, comprising:

[0129] The speed and the required torque are taken as state signals to match the output torque of each motor from a preset torque distribution table; the torque distribution table stores the corresponding relationship between different state signals and the output torque of each motor.

[0130] In this embodiment, the speed reflects the actual running speed of the motor, and the required torque reflects the power level that the driver hopes the vehicle to provide. Combining the speed and the required torque can form a state signal, which is used for subsequent torque distribution decision. For example, the state signal can be [T req , ω], where T req represents the required torque, and ω represents the speed of the target motor.

[0131] In some embodiments, the torque distribution table stores the corresponding relationship between different state signals and the output torque of each motor, and defines the torque value that each motor should output in different states. The torque distribution table can be a data structure, which can take the state signal as an index to store the output torque of each motor in different states.

[0132] When the state signal including the speed and the required torque is obtained, the output torque value of each motor that matches the state signal can be found in the torque distribution table. For example, if the current state signal shows that the motor speed is 3000 rpm and the required torque is 200 N·m, the corresponding output torque value is found in the torque distribution table, for example, the front motor should output a torque of 220 N·m, and the rear motor should output a torque of -20 N·m.

[0133] In some embodiments, the torque distribution table can be designed according to various factors. For example, the torque distribution table can be designed based on the performance curve of the motor, the dynamic response of the vehicle, the driving mode selection, and the safety limit, etc. For example, in the economy mode, the torque distribution table can predefine to allocate more torque to the motor with higher efficiency; in the sports mode, more attention is paid to the fast response of power, and more torque can be allocated to the motor that can quickly increase the speed of the vehicle; in the mode with auxiliary heating demand, more torque can be allocated to the motor that can generate a large amount of heat, or the torque can be evenly distributed to make the total heat generated by each motor the most, etc.

[0134] In this embodiment, by pre-establishing a torque distribution table storing the correspondence between different state signals and the output torque of each motor, the output torque of each motor can be quickly distributed through the torque distribution table after the rotation speed and the required torque are obtained, thereby improving the control efficiency of auxiliary heating.

[0135] In some embodiments, the torque distribution table is established with the optimization target of minimizing the torque fluctuation of the target motor and maximizing the total heating power of the plurality of motors.

[0136] In this embodiment, the optimization target of establishing the torque distribution table is minimizing the torque fluctuation of the target motor and maximizing the total heating power of the plurality of motors. Frequent fluctuation of the torque output of the motor not only affects the power performance and driving comfort of the vehicle, but also can cause excessive wear and energy loss of the motor. With the optimization target of minimizing the torque fluctuation of the target motor, the vehicle can operate in a relatively stable state, thereby improving the overall performance and reliability of the vehicle.

[0137] With the optimization target of maximizing the total heating power of the plurality of motors, the motor can generate more heat for auxiliary heating when the function of auxiliary heating by the motor is enabled, thereby improving the energy utilization efficiency of the vehicle. The heating power, torque fluctuation, etc. of the motor are related to the current state of the vehicle, i.e. related to the rotation speed and required torque of the target motor, so the optimal output torque distribution scheme of each motor under different states (i.e. different rotation speeds and required torques) of the vehicle can be determined through algorithms and experimental data.

[0138] For example, the heating power, efficiency curve of the motor under different rotation speeds and torques, and the power demand of the vehicle under different working conditions, etc. can be collected through simulation experiments. With the optimization target of minimizing the torque fluctuation of the target motor and maximizing the total heating power of the plurality of motors, the optimal output torque of each motor under different states is calculated through mathematical models and optimization algorithms. The different states and the corresponding output torque of each motor are associated and stored to obtain the torque distribution table.

[0139] In this embodiment, by minimizing the torque fluctuation of the target motor, the mechanical impact and energy loss caused by torque change during the operation of the motor can be reduced, the stability and comfort of the vehicle during driving are improved, the total heating power of the plurality of motors is maximized, the motor can generate more heat during operation, and auxiliary heating is provided for key components such as the cabin and the battery of the vehicle, thereby improving the heating efficiency and meeting the heating demand.

[0140] In some embodiments, the torque distribution table is established according to the following manner:

[0141] The demand torque and the target motor speed are taken as state variables, the output torque of the target motor is taken as a control variable, the total heat generation power of the plurality of motors and the output torque fluctuation of the target motor are taken as factors, and a value function of stochastic dynamic programming is constructed;

[0142] The value function of stochastic dynamic programming is solved with the minimization of the torque fluctuation of the target motor and the maximization of the total heat generation power of the plurality of motors as optimization objectives, to obtain the output torque of each motor in different states;

[0143] The output torque of each motor corresponding to different states is associated and stored to obtain a torque distribution table.

[0144] In this embodiment, the state variable is a parameter describing the current running state of the system, and the control variable is a parameter that can be adjusted by the system to achieve the optimization objective.

[0145] The demand torque reflects the driver's demand for vehicle power and is one of the inputs of the vehicle control system; the speed of the target motor directly reflects the current running state of the motor and is a factor affecting the heat generation power and output efficiency of the motor. Therefore, the demand torque and the speed of the target motor together describe the power demand of the vehicle and the running state of the motor at a certain time, and can be used as state variables.

[0146] By adjusting the output torque of the target motor, the running state of the motor can be affected, not only to meet the power demand of the vehicle, but also to change the running of the motor to affect the heat generation power and achieve the optimization objective. Therefore, the output torque of the target motor can be taken as a control variable.

[0147] Stochastic dynamic programming is an optimization method for handling multi-stage decision problems, and is particularly suitable for handling systems with uncertainty and dynamic changes. The value function is the core of stochastic dynamic programming, representing the maximum value (or minimum cost) that can be obtained in a certain state through the optimal control strategy. In this embodiment, the value function needs to consider two key factors: the total heat generation power of the plurality of motors and the output torque fluctuation of the target motor. These factors can be incorporated into a unified optimization framework through mathematical modeling. For example, a weighted objective function can be defined, where the weight coefficients can be adjusted according to actual requirements to balance the importance of the total heat generation power and the output torque fluctuation.

[0148] After the value function of the stochastic dynamic programming is constructed, the value function needs to be solved by an optimization method to achieve the optimization goal. For example, by means of a numerical method and computer simulation, the optimal solution can be gradually approached by iterative calculation. In each step of iteration, the optimal control variable (the output torque of the target motor) can be calculated according to the current state variable (the demand torque and the speed of the target motor), and the value function is updated. According to the solution result, the output torque of each motor corresponding to different states can be associated and stored to obtain a torque distribution table.

[0149] The construction process of the torque distribution table will be introduced below by taking a scenario example. In the scenario example, the vehicle is equipped with double motors, wherein the front motor is used to drive the front wheels of the vehicle, and the rear motor is used to drive the rear wheels of the vehicle. As shown in FIG. 2, the scenario example can include steps 201, 202 and 203. Figure 2

[0150] Step 201, a two-dimensional Markov model is established for the demand torque of the driver.

[0151] The two-dimensional Markov model is a mathematical model used to describe and analyze the probability of the transition of a system between different states. According to the two-dimensional Markov model, the demand torque T req (t+1) of the vehicle at the next time is only related to the demand torque T req (t) at the current time and the motor speed ω(t) at the current time, and is irrelevant to the previous state. According to the historical driving data of the vehicle, the demand torque of the driver in the actual driving condition can be obtained by using the maximum likelihood estimation method, and the demand torque probability transition matrix under different motor speeds can be obtained.

[0152] The sum of the output torque of the front motor and the output torque of the rear motor T R (t) satisfies the demand torque T req (t) of the driver:

[0153] T req (t) = T F (t) + T R (t)

[0154] Suppose that the demand torque T req (t) is a finite set:

[0155]

[0156] Wherein, N T represents the number of demand torques of the driver.

[0157] The motor speed ω(t) is discretized into a finite set:

[0158] ​

[0159] wherein N ω represents the number of motor speeds.

[0160] At the motor speed ω(t) = m, the probability transition matrix Q N,m is:

[0161]

[0162] wherein the transition probability P ij represents the probability that the demand torque at time t is and the demand torque at t+1 is at the motor speed ω(t) = m, and the expression is:

[0163]

[0164] Step 202, taking the demand torque and the motor speed as state variables, and taking the output torque of the rear motor as a control variable, a value function of a stochastic dynamic programming is constructed, which takes into account the total heating power of the motor and the fluctuation of the output torque of the rear motor.

[0165] The transition probability of the demand torque of the driver is different under different motor harnesses, so the demand torque T req (t) of the driver and the current motor speed ω(t) are selected as state variables u of the vehicle power system:

[0166] u = [T req , ω]

[0167] In this scenario example, the rear motor is taken as an example for illustration. The output torque T R (t) of the rear motor is selected as a control variable, the control variable is discretized and processed, and is set to n states, and the following can be obtained:

[0168] T R (t) ∈ A = {T R1 , T R2 , …, T Rn}

[0169] In order to improve the total heating power of multiple motors during driving and reduce the fluctuation of the output torque of the rear motor, the current state variable u0 = u, and the rear motor torque T R are set. The corresponding value function is Q(u0), and the state variable u i at the subsequent time corresponds to the value function Q(u i ), i = 1, 2, …, and accordingly the value function J π of the vehicle stochastic dynamic programming is constructed:

[0170] J π(u0) = E[R(u0) | u0 = u, T R ]

[0171] = E[Q(u0) + λQ(u1) + λ 2 Q(u2) + … | u0 = u, T R ]

[0172] = E[Q(u0) + λR(u1) | u0 = u, T R ]

[0173] = E[Q(u0) + λJ π (u1) | u0 = u, T R ]

[0174] That is,

[0175]

[0176] wherein:

[0177]

[0178] wherein, J π represents the value function of the stochastic dynamic programming, used to evaluate the sum of expected returns that can be obtained from a specific state under a given policy. u represents the state at the current time, and J π (u * ) represents the state u * at the next time, the value of the stochastic dynamic programming. J π (u0) represents the value of the stochastic dynamic programming at the current state variable u0 = u.

[0179] Q(u, T R ) represents the value function that takes into account both the motor heating power and the target motor output torque fluctuation, used to evaluate the expected return that can be obtained under the state u by using the control action T R In this embodiment, the expected return includes the total heating power P H of multiple motors and the amplitude of the output torque variation ||T R || of the target motor; θ represents the weighting coefficient, used to balance the importance of the total heating power and the output torque fluctuation.

[0180] λ ∈ (0, 1) represents the discount coefficient, representing the proportion of long-term expectations in the future in the value function J π P uu* represents the transition probability of the vehicle from the state u to the state u * .

[0181] The value function Q(u0) represents the expected return that can be obtained by taking a certain action from the state u0, Q(u i) represents the expected return that can be obtained from state u i starting to take some action. R(u0) represents the immediate return obtained by taking some action in state u0, R(u i ) represents the immediate return obtained by taking some action in state u i .

[0182] In some embodiments, the corresponding heat generation power of the front motor and the rear motor at different output torques and different rotating speeds can be obtained respectively through motor bench tests. At the same rotating speed, if the output torque of the front motor is T Fi (i = 1, 2, … n), the corresponding heat generation power is P Fi , the output torque of the rear motor is T Ri (i = 1, 2, … n), and the corresponding heat generation power is P Ri , then the relationship function between the output torque and the heat generation power at different rotating speeds can be obtained through Lagrange interpolation function fitting:

[0183]

[0184]

[0185] , where P F (T F ) is the heat generation power of the front motor at a certain rotating speed when the output torque is T F , and P R (T R ) is the heat generation power of the rear motor at a certain rotating speed when the output torque is T R .

[0186] In step 203, the value iteration algorithm is adopted to improve the value function by constantly iterating and updating the Bellman equation, so as to obtain the output torque of each motor at different states.

[0187] In the scene example, for a double-motor four-wheel drive electric vehicle, the solution target of the stochastic dynamic programming is to calculate an optimal control strategy that minimizes the total expected cost value at the current and future time, that is, the torque fluctuation of the target motor is minimized, and the total heat generation power of the multiple motors is maximized. Therefore, the optimization problem of the stochastic dynamic programming can be described as:

[0188]

[0189] In some embodiments, a constraint condition can be constructed, and the constraint condition at least includes that the sum of the output torques of the multiple motors is equal to the demand torque, and the direction of the output torque of at least one motor is different from the direction of the output torque of the target motor;

[0190] Under the constraints of the constraints, the value function of the stochastic dynamic programming based on the optimization target is solved, and the output torque of each motor in different states is obtained.

[0191] Of course, in some embodiments, in addition to the constraint that the sum of the output torques of the plurality of motors is equal to the demand torque and the direction of the output torque of at least one motor is different from the direction of the output torque of the target motor, other constraints can also be included. For example, the constraint can be:

[0192]

[0193] Wherein, T μF represents the torque limit value converted by the front wheel adhesion, T μR represents the torque limit value converted by the rear wheel adhesion, T μF and T μR The constraints of and can reduce the situation of slipping of the front wheel and the rear wheel, limit the output torque of the front motor to be less than or equal to 0, and limit the output torque of the rear motor to be greater than or equal to 0, so that the directions of the output torques of the front motor and the rear motor are different; T Fmax represents the maximum output torque allowed by the front motor, T Rmax represents the maximum output torque allowed by the rear motor.

[0194] In this embodiment, by constructing the constraint that the sum of the output torques of the plurality of motors is equal to the demand torque and the direction of the output torque of at least one motor is different from the direction of the output torque of the target motor, the power demand of the vehicle is not only met, but also more electric energy is converted into heat energy through the distribution of torques in different directions, further optimizing the heat generation power of the motor.

[0195] In the scene example, the solving process of step 203 can include steps 301-304 as shown in Figure 3 .

[0196] Step 301, initialize J 0 (u), given ε>0, and set n=0.

[0197] Step 302, for each state variable u, calculate:

[0198]

[0199] Step 303, if the formula:

[0200]

[0201] is established, execute step 304, if not, return to step 302.

[0202] Step 304, for each state variable u, take:

[0203]

[0204] The algorithm stops, π n+1 The corresponding control variable T R That is, the optimal solution for the current state u.

[0205] Finally, different states, i.e., different demand torques T req and motor speeds ω, are obtained, so that the front motor output torque T F and the rear motor output torque T R minimize the torque fluctuation of the rear motor and maximize the total heating power of the multiple motors, and the different states and the output torques of each motor are stored in the form of a table.

[0206] In this embodiment, by taking the demand torque and the speed of the target motor as the state variable and the output torque of the target motor as the control variable, both the total heating power of the multiple motors and the output torque fluctuation of the target motor are considered comprehensively, and the optimal control strategy is solved by the optimization algorithm of stochastic dynamic programming, which can allocate appropriate output torques to each motor under different working conditions, not only reduces the torque fluctuation of the target motor, improves the stability and comfort of vehicle driving, but also maximizes the total heating power of the multiple motors, provides more efficient auxiliary heating for the key components such as the cabin and the battery of the vehicle, and further optimizes the energy utilization efficiency.

[0207] In some embodiments, allocating the output torques to the multiple motors according to the speed and the demand torque comprises:

[0208] Substituting the speed and the demand torque into the pre-constructed value function of stochastic dynamic programming, and solving the value function of stochastic dynamic programming with the optimization objective of minimizing the torque fluctuation of the target motor and maximizing the total heating power of the multiple motors, to obtain the output torques of each motor.

[0209] In this embodiment, since it is difficult to exhaust all combinations of different states in the torque allocation table, in order to improve the accuracy of the output torque allocation, the allocation can be performed in real time.

[0210] In this embodiment, the total heat generation power of multiple motors and the output torque fluctuation of the target motor are comprehensively considered, and the optimal control strategy is solved by a random dynamic programming optimization algorithm, so that appropriate output torque can be allocated to each motor under different working conditions, which not only reduces the torque fluctuation of the target motor and improves the stability and comfort of vehicle driving, but also maximizes the total heat generation power of multiple motors, provides more efficient auxiliary heating for the cabin and battery of the vehicle and other key components, and further optimizes the energy utilization efficiency.

[0211] In some embodiments, the method further comprises:

[0212] obtaining an ambient temperature;

[0213] in a case where the ambient temperature is less than an ambient temperature threshold, controlling the direction of the output torque of the at least part of the motors to be different.

[0214] In this embodiment, the current ambient temperature can be collected by a temperature sensor, and the ambient temperature is compared with a preset ambient temperature threshold.

[0215] The ambient temperature threshold is a reference value preset according to the performance and demand of the vehicle thermal management system. If the current ambient temperature is lower than the ambient temperature threshold, it indicates that the external ambient temperature is low, and additional heat may be needed to maintain the comfort of the vehicle and the performance of the battery. The direction of the output torque of the at least part of the motors can be controlled to be different to generate more heat for auxiliary heating according to the heat generated by the operation of multiple motors.

[0216] In this embodiment, by introducing an ambient temperature detection mechanism, it is determined whether to control the direction of the output torque of the at least part of the motors to be different according to the high and low of the ambient temperature, so that more heat can be generated by the motor for auxiliary heating, which can reduce the problem of energy waste caused by auxiliary heating when the ambient temperature is too high, and improve the overall energy efficiency of the vehicle.

[0217] In some embodiments, the method further comprises:

[0218] obtaining a cabin temperature and a battery temperature;

[0219] in a case where the cabin temperature is less than a cabin temperature threshold and / or the battery temperature is less than a battery temperature threshold, controlling the direction of the output torque of the at least part of the motors to be different.

[0220] In this embodiment, the cabin temperature and the battery temperature can be collected by temperature sensors. When the cabin temperature is less than the cabin temperature threshold or the battery temperature is less than the battery temperature threshold, or the cabin temperature is less than the cabin temperature threshold and the battery temperature is less than the battery temperature threshold, the direction of the output torque of the at least part of the motors is controlled to be different to generate heat for auxiliary heating according to the heat generated by the operation of multiple motors.

[0221] In this embodiment, by acquiring the cabin temperature and the battery temperature, the heating demand of the vehicle can be determined, and the direction of the output torque of the at least partial motor operation is controlled to be different to make the motor generate more heat for auxiliary heating when the cabin temperature is lower than the cabin temperature threshold or the battery temperature is lower than the battery temperature threshold, which can reduce the problem that the traditional thermal management system has poor heating effect in a low temperature environment. By monitoring the actual temperature demand of the cabin and the battery, unnecessary energy waste can also be reduced, and the overall energy efficiency of the vehicle can be improved.

[0222] In some embodiments, the method further comprises: in response to an opening instruction of the auxiliary heating function, controlling the direction of the output torque of the at least partial motor operation to be different to perform auxiliary heating based on the heat generated during the motor operation.

[0223] In this embodiment, the opening instruction of the auxiliary heating function of the vehicle can be sent by the driver, such as the driver manually sending the opening instruction of the auxiliary heating function through the control panel or the button of the vehicle.

[0224] The opening instruction of the auxiliary heating function of the vehicle can also be automatically sent when a certain trigger condition is detected, such as automatically triggering the auxiliary heating instruction according to environmental temperature, battery temperature or cabin temperature and other factors.

[0225] In this embodiment, by controlling the direction of the output torque of the at least partial motor operation to be different to perform auxiliary heating based on the heat generated during the motor operation after receiving the opening instruction of the auxiliary heating function, the opening of the auxiliary heating function can be controlled according to the actual auxiliary heating demand, unnecessary energy waste can be reduced, and the overall energy efficiency of the vehicle can be improved.

[0226] The vehicle auxiliary heating control method provided in the embodiments of the present application can be executed by a vehicle auxiliary heating control device. In the embodiments of the present application, the vehicle auxiliary heating control method is executed by the vehicle auxiliary heating control device, and the vehicle auxiliary heating control device provided in the embodiments of the present application is described. The embodiments of the present application also provide a vehicle auxiliary heating control device.

[0227] As shown in Figure 4 The vehicle auxiliary heating control device comprises:

[0228] The control module 410 is configured to control the direction of the output torque of the at least partial motor operation to be different to perform auxiliary heating based on the heat generated during the motor operation.

[0229] The vehicle auxiliary heating control device according to the application controls the direction of the output torque of at least part of the motor operation to be different, so as to perform auxiliary heating based on the heat generated during the motor operation. The embodiments of the application control the direction of the output torque of at least part of the motor operation to be different, so that more electric energy is converted into heat energy during the process of the motor providing power for the vehicle, thereby generating more heat, which can be used for auxiliary heating. The problem of insufficient heating of the heat management system in the related art is solved, the heating efficiency is improved, and the heating demand is met.

[0230] In some embodiments, the control module 410 is further configured to:

[0231] determine the demand torque of the driver;

[0232] allocate the output torque to the plurality of motors based on the demand torque.

[0233] In some embodiments, the control module 410 is further configured to:

[0234] obtain the rotational speed of the target motor;

[0235] allocate the output torque to the plurality of motors according to the rotational speed and the demand torque.

[0236] In some embodiments, the control module 410 is further configured to:

[0237] match the output torque of each motor with the state signal of the rotational speed and the demand torque from a preset torque allocation table; the torque allocation table stores a corresponding relationship between different state signals and the output torque of each motor.

[0238] In some embodiments, the control module 410 is further configured to:

[0239] obtain the ambient temperature;

[0240] control the direction of the output torque of at least part of the motor operation to be different in a case where the ambient temperature is less than an ambient temperature threshold.

[0241] In some embodiments, the control module 410 is further configured to:

[0242] obtain the temperature in the cabin and the battery temperature;

[0243] control the direction of the output torque of at least part of the motor operation to be different in a case where the temperature in the cabin is less than a cabin temperature threshold and / or the battery temperature is less than a battery temperature threshold.

[0244] In some embodiments, the control module 410 is further configured to:

[0245] obtain the vehicle speed, the accelerator pedal opening degree, and the brake pedal opening degree of the vehicle;

[0246] The driver's required torque is determined based on vehicle speed, accelerator pedal opening, and brake pedal opening.

[0247] In some embodiments, the control module 410 is further configured to: in response to a start instruction of the auxiliary heating function, control the direction of the output torque of at least part of the motor to be different, so as to perform auxiliary heating based on the heat generated during the operation of the motor.

[0248] The vehicle auxiliary heating control device in the embodiment of the present application can be an electronic device or a component of an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other device other than a terminal. For example, the electronic device can be an in-vehicle electronic device, a mobile internet device (MID), a robot, an ultra-mobile personal computer (UMPC), an ECU (Electronic Control Unit), an MCU (Microcontroller Unit) or other controller, etc. It can also be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), an ATM or a self-service machine, etc., and the embodiment of the present application does not specifically limit it.

[0249] The vehicle auxiliary heating control device in the embodiment of the present application may be a device having an operating system. The operating system may be a Microsoft (Windows) operating system, an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0250] In some embodiments, as Figure 5 As shown, an embodiment of the present application also provides an electronic device 500, including a processor 501, the processor 501 is connected to a memory 502, and the memory 502 stores a computer program that can be run on the processor 501. When the program is executed by the processor 501, the various processes of the above-mentioned vehicle auxiliary heating control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0251] It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0252] An embodiment of the present application also provides a vehicle, which includes multiple motors and a controller.

[0253] a controller configured to execute the vehicle auxiliary heating control method.

[0254] The controller can be the electronic device.

[0255] The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement each process of the vehicle auxiliary heating control method and achieve the same technical effects. To avoid repetition, details are not described herein.

[0256] The processor is the processor in the electronic device in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0257] The computer program product includes a computer program, and the computer program is executed by the processor to implement the vehicle auxiliary heating control method.

[0258] The processor is the processor in the electronic device in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0259] The chip includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is configured to run a program or an instruction to implement each process of the vehicle auxiliary heating control method and achieve the same technical effects. To avoid repetition, details are not described herein.

[0260] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0261] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprising", or "comprises" does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element. Additionally, it should be noted that the terms "one embodiment", "some embodiments", "certain embodiments", "certain examples", or "some examples" as used in the present document are intended to refer to one or more embodiments or examples that do not necessarily have to cover all embodiments or examples of the present application. In other words, use of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0262] From the above description of the embodiments, it is apparent that the above-described method of the embodiments can be realized by means of software and general-purpose hardware platforms, of course, but in many cases, the former is a better embodiment. Based on such an understanding, the technical solutions of the present application can be embodied in the form of a computer software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) and includes a plurality of instructions for causing a terminal (which can be a mobile phone, a computer, a server, or a network device) to perform the methods described in the various embodiments of the present application.

[0263] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the specific embodiments described above, which are merely illustrative rather than restrictive, and a person of ordinary skill in the art can make many forms without departing from the scope of the present application and the protection scope of the claims.

[0264] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "certain embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in any one or more embodiments or examples.

[0265] While the embodiments of the application have been shown and described, it is to be understood that the embodiments can be varied, modified, substituted and changed by those skilled in the art without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A vehicle auxiliary heating control method, characterized in that: The vehicle includes a plurality of electric machines, and the method includes: The output torque of at least part of the motor is controlled to have different directions so as to perform auxiliary heating based on the heat generated during the operation of the motor.

2. The method according to claim 1, characterized in that The method further comprises: Determine the driver's demand torque; Output torque is distributed to the plurality of electric machines based on the required torque.

3. The method according to claim 1 or 2, characterized in that The sum of the output torques of the plurality of motors is equal to the driver's demand torque.

4. The method according to claim 2 or 3, characterized in that The determining of the driver's required torque includes: Obtaining the vehicle speed, accelerator pedal opening, and brake pedal opening of the vehicle; The driver's required torque is determined according to the vehicle speed, the accelerator pedal opening, and the brake pedal opening.

5. The method according to any one of claims 2 to 4, characterized in that: Allocating output torque to the plurality of motors based on the required torque includes: Get the speed of the target motor; Output torque is distributed to the plurality of motors according to the rotational speed and the required torque.

6. The method according to claim 5, characterized in that The allocating output torque to the plurality of motors according to the rotational speed and the required torque includes: The rotational speed and the required torque are used as state signals to match the output torque of each of the motors from a preset torque distribution table; the torque distribution table stores the corresponding relationship between different state signals and the output torque of each of the motors.

7. The method according to claim 6, characterized in that The torque distribution table is established with the optimization goals of minimizing the torque fluctuation of the target motor and maximizing the total heating power of the multiple motors.

8. The method according to claim 6 or 7, characterized in that The torque distribution table is established in the following manner: The cost function of stochastic dynamic programming is constructed by taking the required torque and the speed of the target motor as state variables, the output torque of the target motor as the control variable, and the total heat power of the plurality of motors and the output torque fluctuation of the target motor as factors; Solving the cost function of the stochastic dynamic programming with the optimization objectives of minimizing the torque fluctuation of the target motor and maximizing the total heat generation power of the plurality of motors to obtain the output torque of each motor under different states; The output torques of the motors corresponding to different states are associated and stored to obtain a torque distribution table.

9. The method according to claim 8, characterized in that According to the formula: Construct the value function of stochastic dynamic programming; Among them, J π represents the value function of random dynamic programming, u represents the current state, J π (u * ) represents the state u at the next moment * The value of random dynamic programming, Q(u,T R ) represents the value function that takes into account both the motor heating power and the target motor output torque fluctuation, λ∈(0,1) represents the discount coefficient, P uu* Indicates that the vehicle moves from state u to state u * The transition probability, P H represents the total heating power of the plurality of motors, θ represents the weighting coefficient, ‖T R ‖ represents the output torque variation of the target motor.

10. The method according to claim 8 or 9, characterized in that The cost function of the stochastic dynamic programming is solved with the optimization objectives of minimizing the torque fluctuation of the target motor and maximizing the total heat generation power of the multiple motors to obtain the output torque of each motor under different states, including: Constructing constraints; the constraints at least include: the sum of the output torques of the plurality of motors is equal to the required torque, and the direction of the output torque of at least one motor is different from the direction of the output torque of the target motor; Under the constraints of the constraints, the value function of the stochastic dynamic programming is solved based on the optimization objective to obtain the output torque of each motor under different states.

11. The method according to any one of claims 5 to 10, characterized in that: The allocating output torque to the plurality of motors according to the rotational speed and the required torque includes: The rotational speed and the required torque are substituted into a pre-constructed value function of a random dynamic programming, and the value function of the random dynamic programming is solved with the optimization objectives of minimizing the torque fluctuation of the target motor and maximizing the total heating power of the multiple motors to obtain the output torque of each motor.

12. The method according to any one of claims 1 to 11, characterized in that The method further comprises: Get the ambient temperature; When the ambient temperature is lower than the ambient temperature threshold, the directions of the output torques of at least part of the motors are controlled to be different.

13. The method according to any one of claims 1 to 12, characterized in that The method further comprises: Get cabin temperature and battery temperature; When the cabin temperature is lower than a cabin temperature threshold and / or the battery temperature is lower than a battery temperature threshold, directions of output torques of at least part of the motors are controlled to be different.

14. The method according to any one of claims 1 to 13, characterized in that The method further comprises: In response to a start instruction of the auxiliary heating function, the direction of the output torque of at least part of the motor is controlled to be different, so as to perform auxiliary heating based on the heat generated during the operation of the motor.

15. An electronic device comprising a processor, wherein the processor is connected to a memory, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the program, the method according to any one of claims 1 to 14 is implemented.

16. A vehicle, characterized in that: Including multiple motors and controllers; The controller is used to execute the method according to any one of claims 1 to 14.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

18. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 14 is implemented.

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