Control method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of vehicles, and discloses a control method which comprises the steps that current release energy of multiple driving components of a hybrid power vehicle is obtained, the multiple driving components comprise an engine, a generator, a first driving motor and a second driving motor, the current released energy of the driving part is energy released by the driving part under the corresponding condition of the driving part, and the corresponding condition of the driving part is that the temperature of the driving part rises to the limiting temperature of the driving part from the current temperature of the driving part after a preset duration from the current moment; according to the current released energy of the multiple driving parts, the power of the generator and the power of the first driving motor are adjusted, through the technical scheme, the problem that in the related technology, the driving parts are difficult to operate normally when reaching the limiting temperature is solved, great reduction of the output power of the driving parts at the limiting temperature is avoided, and the service life of the driving parts is prolonged. And normal operation of a driving part at the limiting temperature is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically to control methods, devices, computer equipment, and storage media. Background Technology

[0002] In related technologies, when the drive components of a hybrid vehicle operate at the extreme temperature they can withstand, the output power of the entire vehicle's power system is limited to a fixed power, resulting in a significant drop in the power system's output and making it difficult to adjust the output power of the generator and drive motor. Summary of the Invention

[0003] In view of this, the present invention provides a control method, apparatus, computer equipment, and storage medium to solve the problem that it is difficult to maximize the total energy released when the power system reaches its operating limit.

[0004] In a first aspect, the present invention provides a control method, the method comprising:

[0005] The current released energy of multiple drive components of a hybrid vehicle is obtained. The multiple drive components include an engine, a generator, a first drive motor, and a second drive motor. The current released energy of the drive components is the energy released by the drive components under the corresponding conditions. The corresponding conditions of the drive components are that after a preset time period from the current moment, the temperature of the drive components rises from the current temperature of the drive components to the limit temperature of the drive components.

[0006] The power of the generator and the power of the first drive motor are adjusted based on the current energy released by multiple drive components.

[0007] By utilizing the energy released when the generator, engine, and drive motor of a hybrid vehicle reach their extreme temperatures, the performance of the generator and drive motor is dynamically adjusted, ensuring the normal operation of the drive components at extreme temperatures.

[0008] In one alternative implementation, adjusting the generator power based on the current released energy of the plurality of drive components includes:

[0009] The first released energy is determined from the current released energy of the engine and the current released energy of the generator;

[0010] The first candidate power is determined based on the first released energy, the upper limit of the energy released when the generator continues to generate electricity for a preset duration, and the basic performance guarantee power of the generator.

[0011] The first candidate power or the peak power of the generator is determined as the second candidate power based on whether the rated energy released by the generator is less than the first energy released.

[0012] The target power of the generator is determined based on the second candidate power.

[0013] Adjust the generator's power to the generator's target power.

[0014] This implementation uses the energy released by the generator and engine at their extreme temperatures as the input to the control system. Based on the upper limit of energy released during a preset continuous power generation period, the generator's basic performance guarantee power, and the generator's calibrated release energy as constraints, the target power of the generator is obtained. This achieves power regulation of the generator based on the current released energy of the engine and generator, ensuring full power release when the current released energy is high, operating at the basic performance guarantee power when the current released energy is low, and dynamically limiting the power generation when the current released energy is moderate, thus achieving continuous energy release by the generator. This enables regulation of the generator's output power at extreme temperatures, ensuring the normal operation of the drive components at these temperatures.

[0015] In one alternative implementation, determining the first released energy from the current released energy of the engine and the current released energy of the generator includes:

[0016] Based on whether the engine currently has maximum heat dissipation capacity, the current energy released by the engine or generator is determined as the first released energy.

[0017] In this embodiment, by utilizing whether the engine is in a state of full cooling, the first released energy is provided as data preparation for determining the first candidate power.

[0018] In one optional implementation, the first candidate power is determined based on the first released energy, the upper limit of energy released during a preset duration of continuous power generation by the generator, and the basic performance guarantee power of the generator, including:

[0019] Determine the minimum value between the first released energy and the upper limit value of the energy released during the preset duration of continuous power generation by the generator;

[0020] The maximum value among the candidate power corresponding to the minimum value and the basic performance guarantee power of the generator is determined as the first candidate power.

[0021] In this embodiment, based on the upper limit of energy released during the preset duration of continuous power generation by the generator and the basic performance guarantee power of the generator, the first candidate power is determined by using the judgment result of whether the first released energy meets the constraint conditions, thus providing a selectable first candidate power for the target power of the generator.

[0022] In one alternative implementation, adjusting the power of the first drive motor based on the current released energy of the plurality of drive components includes:

[0023] The third candidate power is determined based on the current energy released by the first drive motor, the current energy released by the second drive motor, and the total power required for driving the hybrid vehicle.

[0024] The maximum value among the third candidate power and the basic performance guarantee power of the first drive motor is determined as the fourth candidate power;

[0025] Based on whether the calibrated release energy of the first drive motor is less than the current release energy of the first drive motor, the fourth candidate power or the peak power of the first drive motor is determined as the fifth candidate power.

[0026] The target power of the first drive motor is determined based on the fifth candidate power.

[0027] Adjust the power of the first drive motor to the target power of the first drive motor.

[0028] In this embodiment, the power of the first drive motor is adjusted based on the constraints formed by the current released energy of the first drive motor and the second drive motor, the calibrated released energy of the first drive motor, the total driving power required by the hybrid vehicle, and the basic performance guarantee power of the first drive motor, thereby realizing the power regulation of the first drive motor at extreme temperatures.

[0029] In one optional implementation, the third candidate power is determined based on the current energy released by the first drive motor, the current energy released by the second drive motor, and the total power required for the hybrid vehicle's drive, including:

[0030] Determine the sum of the current released energy of the first drive motor and the current released energy of the second drive motor;

[0031] Divide the current released energy of the first drive motor by the sum to obtain the target ratio;

[0032] The product of the total driving demand power and the target ratio is determined as the third candidate power.

[0033] In this embodiment, based on the total power required for the hybrid vehicle's drive and the ratio of the current energy released by the first drive motor to the total energy released by the first drive motor and the second drive motor, a third candidate power is determined, providing data preparation for determining the fourth candidate power, which is an option for the target power of the first drive motor.

[0034] In a second aspect, the present invention provides a control device, the device comprising:

[0035] The acquisition module is used to acquire the current released energy of multiple drive components of the hybrid vehicle. The multiple drive components include: an engine, a generator, a first drive motor, and a second drive motor. The current released energy of the drive component is the energy released by the drive component under the corresponding conditions. The corresponding conditions of the drive component are that after a preset time period from the current moment, the temperature of the drive component rises from the current temperature of the drive component to the limit temperature of the drive component.

[0036] The adjustment module is used to adjust the power of the generator and the power of the first drive motor based on the current released energy of multiple drive components.

[0037] Thirdly, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the control method described in the first aspect or any corresponding embodiment thereof.

[0038] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the control method described in the first aspect or any corresponding embodiment thereof.

[0039] Fifthly, the present invention provides a computer program product, including computer instructions for causing a computer to execute the control method described in the first aspect or any corresponding embodiment thereof. Attached Figure Description

[0040] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of a hybrid vehicle with engine direct drive capability according to an embodiment of the present invention;

[0042] Figure 2 This is a flowchart of a control method according to an embodiment of the present invention;

[0043] Figure 3 This is a flowchart of a method for controlling generator power according to an embodiment of the present invention;

[0044] Figure 4 This is a flowchart of a method for controlling the power of a drive motor according to an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of a control method for adjusting generator power based on the current released energy of the engine and generator according to an embodiment of the present invention;

[0046] Figure 6 This is a schematic diagram of a control method for adjusting the power of a first drive motor based on the current released energy of the drive motor, according to an embodiment of the present invention.

[0047] Figure 7 This is a structural block diagram of a control device according to an embodiment of the present invention;

[0048] Figure 8 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] As the automotive industry develops in new energy technologies and intelligentization, the number of components using electric power is increasing, leading to greater power consumption demands. Hybrid vehicles with multiple energy supply capabilities are gradually gaining market acceptance. Simultaneously, with the development of new energy technologies and changes in the market environment, mid-to-high-end models integrating multiple technologies are becoming more popular. In the face of intense market competition, integrating the high-rate charging and high-performance driving technologies of pure electric vehicles into hybrid vehicles with multiple energy supply capabilities is becoming a technological breakthrough in a specific segment of the new energy vehicle market.

[0051] In related technologies, when high-rate charging technology is integrated with high-drive performance technology, the output power of the drive components of a hybrid vehicle is limited when the drive components operate at extreme temperatures, resulting in a significant drop in the output of the entire vehicle's power system and making it difficult to adjust the output power of the generator and drive motor.

[0052] Therefore, when the vehicle's power system reaches its operating limit temperature, how to adjust the output power of the generator and drive motor when the operating temperature of the drive components reaches the limit temperature that the components can withstand has become an urgent problem to be solved.

[0053] The technical solution of this invention can be applied to hybrid vehicles and range-extended vehicles. More specifically, it can be applied to scenarios where the engine directly drives the wheels or the engine is only used for range extension.

[0054] Figure 1 This is a schematic diagram of a hybrid vehicle with engine direct drive capability according to an embodiment of the present invention. Figure 1 As shown, the powertrain of this hybrid vehicle includes a battery pack, a generator P1, an engine ICE, a front drive motor P3, and a rear drive motor P4.

[0055] By controlling the power of the front drive motor P3, the power distribution between the front and rear wheels can be dynamically adjusted, and the power of the rear drive motor P4 can compensate for the limitations of the front drive motor P3.

[0056] According to an embodiment of the present invention, a control method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0057] This embodiment provides a control method that can be used in the aforementioned hybrid vehicle or range-extended vehicle. Figure 2 This is a flowchart of a control method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0058] Step S201: Obtain the current released energy of multiple drive components of the hybrid vehicle. The multiple drive components include: engine, generator, first drive motor and second drive motor. The current released energy of the drive component is the energy released by the drive component under the corresponding conditions. The corresponding conditions of the drive component are that after a preset time period from the current moment, the temperature of the drive component rises from the current temperature of the drive component to the limit temperature of the drive component.

[0059] Specifically, the multiple drive components of a hybrid vehicle include an engine, a generator, a first drive motor, and a second drive motor. The limiting temperature of a drive component refers to the highest temperature it can withstand during operation. For example, the engine's coolant temperature is 100 degrees Celsius, while the limiting temperature for the drive motor and generator is 60 degrees Celsius. The generator is... Figure 1 The generator P1 in the middle, the first drive motor is Figure 1 The front drive motor P3 is the second drive motor. Figure 1 The rear drive motor P4 is used. Starting from the current moment, after a preset time, if the current temperature of the drive component rises to the limit temperature of the drive component, the current released energy of multiple drive components under this condition is calculated or collected.

[0060] In one example of this embodiment, the current released energy of the driving component can be obtained by the following method:

[0061] The generator's temperature T1, real-time power Pwr1, and inlet water temperature CooltT1 are collected in real time. The estimated actual heat output of the generator over the past 60 seconds from the current moment can be expressed as HtrPwrP1 as follows:

[0062]

[0063] The estimated heat absorption (HtrEgyP1) due to the increase in generator temperature over the past 60 seconds:

[0064] HtrEgyP1=(T1 当前时刻 -T1 当前时刻-60s m1c1 / 3600

[0065] Among them, T1 当前时刻 T1 represents the generator temperature value collected at the current moment. 当前时刻-60s This represents the generator's temperature 60 seconds back from the current moment. m1 represents the generator's mass, and c1 represents the generator's equivalent specific heat capacity.

[0066] The generator's heat dissipation capacity, KP1, can be obtained by evaluating the actual temperature rise performance obtained by balancing heat generation prediction and cooling capacity.

[0067]

[0068] The temperature T3 of the first drive motor, the real-time power Pwr3 of the first drive motor, and the inlet water temperature CooltT3 of the first drive motor are collected in real time. The estimated value of the actual heat generated by the first drive motor in the past 60 seconds, HtrPwrP3, is as follows:

[0069]

[0070] The estimated heat absorption (HtrEgyP3) due to the temperature rise of the first drive motor over the past 60 seconds is:

[0071] HtrEgyP3=(T3 当前时刻 -T3 当前时刻-60s m3c3 / 3600

[0072] Among them, T3 当前时刻 T3 represents the temperature value of the first drive motor collected at the current moment. 当前时刻-60s This represents the temperature value of the first drive motor 60 seconds back from the current moment, where m3 represents the mass of the first drive motor and c3 represents the equivalent specific heat capacity of the first drive motor.

[0073] The heat dissipation capacity of the motor can be evaluated by balancing the estimated heat generation with the actual temperature rise obtained from the cooling capacity. The heat dissipation KP3 of the first drive motor can be expressed by the following formula:

[0074]

[0075] The temperature T4 of the second drive motor, the real-time power Pwr4 of the second drive motor, and the inlet water temperature CooltT4 of the second drive motor are collected in real time.

[0076] The estimated actual heat generation of the second drive motor within the past 60 seconds at the current moment, HtrPwrP4, can be expressed by the following formula:

[0077]

[0078] The estimated heat absorption HtrEgyP4 due to the temperature rise of the second drive motor over the past 60 seconds can be expressed by the following formula:

[0079] HtrEgyP4=(T4 当前时刻 -T4 当前时刻-60s m4c4 / 3600

[0080] Among them, T4 当前时刻 T4 represents the temperature value of the second drive motor collected at the current moment. 当前时刻-60s This indicates the temperature value of the second drive motor 60 seconds back from the current moment. m4 represents the mass of the second drive motor, and c4 represents the equivalent specific heat capacity of the second drive motor.

[0081] The heat dissipation capacity of the second drive motor is evaluated by balancing the estimated heat generation with the actual temperature rise, and can be expressed by the following formula: KP4 of the second drive motor.

[0082]

[0083] The engine coolant temperature ICECooltT and the mid-temperature radiator outlet temperature CooltTRad are collected in real time. In this embodiment, the engine drives the generator but does not participate in driving the vehicle's movement; therefore, it is assumed that the engine's heat generation power to power generation power is 1:1. The actual heat generation prediction HtrPwrPICE of the engine in the past 60 seconds can be expressed by the following formula:

[0084]

[0085] The estimated heat absorption (HtrEgyICE) due to the engine coolant temperature rise over the past 60 seconds can be expressed by the following formula:

[0086] HtrEgyICE=(ICECooltT 当前时刻 -ICECooltT 当前时刻-60s )m ICE c ICE / 3600

[0087] The motor's heat dissipation capacity is evaluated by balancing the predicted heat generation with the actual temperature rise, and the engine's heat dissipation KICE is expressed by the following formula:

[0088]

[0089] Optionally, this example uses 180 seconds as the preset duration. Based on the calculated heat dissipation coefficients of each component, the energy released when the generator, each drive motor, and the engine reach their respective temperature limits is calculated in real time. The temperature limits of the motors and the engine are the extreme temperatures of each component, and these extreme temperatures are constant values. In the following formula, HtrLimAtTimeFuP1 is the temperature limit of the generator, HtrLimAtTimeFuP3 is the temperature limit of the first drive motor, HtrLimAtTimeFuP4 is the temperature limit of the second drive motor, and HtrLimAtTimeFuICE is the temperature limit of the engine coolant temperature.

[0090] The energy released by the generator when it reaches the temperature limit is calculated using the following formula, which is the current energy released by the generator, HtrFuPwrP1T180:

[0091]

[0092] The energy released when the first drive motor reaches the temperature limit is calculated using the following formula, which is the current released energy HtrFuPwrP3T180 of the first drive motor:

[0093]

[0094] The energy released when the second drive motor reaches the temperature limit is calculated using the following formula, which is the current released energy of the second drive motor, HtrFuPwrP4T180:

[0095]

[0096] The energy released when the engine reaches its temperature limit is calculated using the following formula, which is the current energy released by the engine, HtrFuPwrICET180:

[0097]

[0098] Step S202: Adjust the power of the generator and the power of the first drive motor based on the current released energy of the multiple drive components.

[0099] After obtaining the current released energy of multiple drive components of the hybrid vehicle, the power of the generator and the power of the first drive motor can be determined by comparing the released energy of the engine, generator, first drive motor and second drive motor after a preset time and judging the constraints set in the power control process. By dynamically adjusting the performance of the generator and drive motor at the extreme temperature of the drive components, a significant drop in the output of the vehicle's power system is avoided, and the normal operation of the drive components at extreme temperatures is ensured.

[0100] This embodiment provides a vehicle control method, which can be used in the aforementioned hybrid vehicle or range-extended vehicle. Figure 3 This is a flowchart of a method for controlling generator power according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps:

[0101] Step S301: Obtain the current released energy of multiple drive components of the hybrid vehicle. The multiple drive components include: engine, generator, first drive motor and second drive motor. The current released energy of the drive component is the energy released by the drive component under the corresponding conditions. The corresponding conditions of the drive component are that after a preset time period from the current moment, the temperature of the drive component rises from the current temperature of the drive component to the limit temperature of the drive component.

[0102] Please see details Figure 2 Step S201 of the illustrated embodiment will not be described again here.

[0103] Step S302: Adjust the power of the generator and the power of the first drive motor based on the current released energy of the multiple drive components.

[0104] Specifically, adjusting the generator power based on the current released energy of multiple drive components in step S302 above includes:

[0105] Step S3021: Determine the first released energy from the current released energy of the engine and the current released energy of the generator.

[0106] Specifically, the first released energy refers to the minimum energy released by either the generator or the engine under conditions of sustained engine overheating and timeout. The first released energy is determined from the current released energy of the engine and the current released energy of the generator, depending on whether the engine is in a sustained overheating state and has timed out. If the engine times out under sustained overheating conditions, the smaller of the current released energy of the engine and the current released energy of the generator is used as the first released energy. If the engine is in an overheating state but has not timed out, or if the engine is not overheating, the current released energy of the generator is used as the first released energy.

[0107] Step S3022: Determine the first candidate power based on the first released energy, the upper limit of energy released when the generator continues to generate electricity for a preset duration, and the basic performance guarantee power of the generator.

[0108] Specifically, the upper limit of energy released during the preset duration of continuous power generation by the generator and the generator's basic performance guarantee power are parameters calibrated for vehicles in the laboratory, used to determine the level of the first released energy. The first candidate power refers to the operating power set for the generator when the current released energy is less than the remaining usable energy during the preset duration of normal full-performance operation, i.e., when the generator's released energy is insufficient. Based on the relationship between the first released energy and the upper limit of energy released during the preset duration of continuous power generation, it can be determined whether the first released energy has exceeded the remaining usable energy during the preset duration of normal full-performance operation. If it has exceeded, it indicates that the generator's remaining usable energy is insufficient, and the generator can operate at peak power. If the limit is not exceeded, the sustainable operating power of the generator needs to be determined by combining the upper limit of energy released during the preset continuous power generation period and the generator's basic performance guarantee power. In determining this sustainable operating power, firstly, the upper limit of the generator's output during the preset period is determined by the remaining battery charge. The more remaining charge, the lower the upper limit; the less remaining charge, the higher the upper limit. The smaller of this upper limit and the first released energy is converted to a power dimension and compared with the generator's basic performance guarantee power. The larger value is taken as the first candidate power, serving as the candidate power for generator power adjustment. When the generator's current released energy is lower than the remaining usable energy for the preset full-performance operation period, i.e., when the generator's current released energy is low, the first candidate power provides a candidate power for adjusting the generator's power.

[0109] Step S3023: Based on whether the generator's rated release energy is less than the first release energy, determine the first candidate power or the generator's peak power as the second candidate power.

[0110] Specifically, the second candidate power refers to the input power corresponding to the output value of the power slack filter when the target power is used. The generator's rated release energy, i.e., the remaining usable energy after a preset period of normal full-performance operation, is compared with the first release energy. Based on the comparison result, either the first candidate power or the generator's peak power is used as the second candidate power. Optionally, if the generator's rated release energy is less than the first release energy, it means the first release energy is greater than the remaining usable energy after a preset period of normal full-performance operation, i.e., the first release energy has not yet reached the upper limit of energy achievable by the generator operating at full performance for that preset period. Therefore, the generator's peak power is used as the second candidate power. Conversely, if the generator's rated release energy is greater than the first release energy, i.e., the first release energy is less than the remaining usable energy after a preset period of normal full-performance operation, then the first candidate power is used as the second candidate power.

[0111] Step S3024: Determine the target power of the generator based on the second candidate power.

[0112] The second candidate power is subjected to power reduction filtering. For example, by setting a fixed time window, the curve of the second candidate power changing over time is subjected to mean filtering to obtain the target power that changes smoothly over time.

[0113] Step S3025: Adjust the generator power to the generator's target power.

[0114] After obtaining the target power of the generator, the power of the generator is set to the target power through the control algorithm, so as to obtain the maximum energy output of the generator running at peak power, or the cumulative maximum energy output for a longer period of time at lower power.

[0115] This embodiment provides a vehicle control method, which can be used in the aforementioned hybrid vehicle or range-extended vehicle. Figure 4 This is a flowchart of a method for controlling the power of a drive motor according to an embodiment of the present invention, such as... Figure 4 As shown, the process includes the following steps:

[0116] Step S401: Obtain the current released energy of multiple drive components of the hybrid vehicle. The multiple drive components include: engine, generator, first drive motor and second drive motor. The current released energy of the drive component is the energy released by the drive component under the corresponding conditions. The corresponding conditions of the drive component are that after a preset time period from the current moment, the temperature of the drive component rises from the current temperature of the drive component to the limit temperature of the drive component.

[0117] Please see details Figure 2 Step S201 of the illustrated embodiment will not be described again here.

[0118] Step S402: Adjust the power of the generator and the power of the first drive motor based on the current released energy of the multiple drive components.

[0119] Specifically, in step S402 above, adjusting the power of the first drive motor based on the current released energy of multiple drive components includes:

[0120] Step S4021: Determine the third candidate power based on the current released energy of the first drive motor, the current released energy of the second drive motor, and the total power required for driving the hybrid vehicle.

[0121] Specifically, in the current released energy of the first drive motor and the second drive motor, the proportion of the current released energy of the first drive motor in the total current released energy of the first drive motor and the second drive motor is determined, and the smaller of the power value corresponding to this proportion in the total power of the hybrid vehicle's driving demand and the power value corresponding to the current released energy of the first drive motor is taken as the third candidate power.

[0122] Step S4022: The maximum value among the third candidate power and the basic performance guarantee power of the first drive motor is determined as the fourth candidate power.

[0123] Specifically, the larger of the third candidate power and the basic performance guarantee power of the first drive motor is taken as the fourth candidate power. The fourth candidate power represents the power value of the first drive motor before filtering the candidate power value of the target power adjustment when the current released energy of the first drive motor is less than the remaining available energy of the first drive motor during the preset full-performance operation period.

[0124] Step S4023: Based on whether the calibrated release energy of the first drive motor is less than the current release energy of the first drive motor, the fourth candidate power or the peak power of the first drive motor is determined as the fifth candidate power.

[0125] Specifically, the fifth candidate power is the power of the first drive motor before power reduction filtering, applied to the target power. When the rated release energy of the first drive motor is less than its current release energy (i.e., the energy that the first drive motor can release when it reaches its temperature limit within a preset time is higher than the remaining usable energy after a preset time of normal full-performance operation), the first drive motor can operate at peak power to maximize energy release. Conversely, when the rated release energy of the first drive motor is greater than its current release energy (i.e., the energy that the first drive motor can release when it reaches its temperature limit within a preset time is lower than the remaining usable energy after a preset time of normal full-performance operation), the first drive motor uses the fourth candidate power as the fifth candidate power.

[0126] Step S4024: Determine the target power of the first drive motor based on the fifth candidate power.

[0127] The fifth candidate power is subjected to power reduction filtering. Optionally, the filtering method is the same as that for the second candidate power. For example, by setting a fixed time window, the curve of the fifth candidate power changing with time is subjected to mean filtering to obtain the target power that changes smoothly with time.

[0128] Step S4025: Adjust the power of the first drive motor to the target power of the first drive motor.

[0129] After obtaining the target power of the first drive motor, the power of the first drive motor is set to the target power through the control algorithm, so as to obtain the maximum energy output of the first drive motor running at peak power, or the cumulative maximum energy output for a longer period of time at a lower power.

[0130] In some optional implementations, step S3021 above includes:

[0131] Step a1: Determine the current released energy of the engine or generator as the first released energy based on whether the engine currently has maximum heat dissipation capacity.

[0132] Specifically, the determination of whether the engine currently possesses maximum heat dissipation capacity refers to whether the engine is in a state of intense heat exchange or has fully commenced heat dissipation. Optionally, the full opening value of the electronic or mechanical thermostat can be used as the criterion. For example, a coolant temperature >100°C for 60 seconds can be used as the condition for determining whether the engine possesses maximum heat dissipation capacity. When the engine currently possesses maximum heat dissipation capacity, the smaller of the current energy released by the engine and the current energy released by the generator is taken as the first energy released. When the engine has not yet reached maximum heat dissipation capacity, the current energy released by the generator is taken as the first energy released.

[0133] In some optional implementations, step S3022 above includes:

[0134] Step b1: Determine the minimum value between the first released energy and the upper limit value of the energy released during the preset duration of continuous power generation by the generator.

[0135] Specifically, based on the state of charge of the power battery pack, when the power battery pack has a high remaining charge, in order to limit the power of the generator, the minimum value between the first released energy and the upper limit of the energy released when the generator continues to generate electricity for a preset period of time is determined, so as to prepare for determining the first candidate power.

[0136] Step b2: Determine the maximum value among the candidate power corresponding to the minimum value and the basic performance guarantee power of the generator as the first candidate power.

[0137] Specifically, the maximum value between the candidate power corresponding to the minimum value obtained in step b1 above and the generator's basic performance guarantee power is used as the first candidate power, thus limiting the generator's power when the power battery pack has sufficient remaining charge. However, when the power battery pack has insufficient remaining charge, no power limit is imposed on the generator.

[0138] In some optional implementations, step S4021 above includes:

[0139] Step c1: Determine the sum of the current released energy of the first drive motor and the current released energy of the second drive motor.

[0140] Step c2: Divide the current released energy of the first drive motor by the sum to obtain the target ratio.

[0141] Step c3: The product of the total driving power demand and the target ratio is determined as the third candidate power.

[0142] Specifically, the proportion of the current released energy of the first drive motor to the total released energy of all drive motors is obtained by dividing the current released energy of the first drive motor by the sum of the current released energy of both the first and second drive motors. Based on the total power required for vehicle driving and this proportion, the power allocated to the first drive motor, i.e., the third candidate power, can be determined. This achieves a reasonable power allocation between the two drive motors when they operate at tolerable extreme temperatures.

[0143] Figure 5 This is a schematic diagram illustrating a control method for adjusting generator power based on the current energy released by the engine and generator, according to an embodiment of the present invention. (In conjunction with the foregoing...) Figure 3 Each step and Figure 4 The first released energy is determined by whether the engine meets the conditions of the coolant temperature exceeding the water temperature threshold and maintaining this state for more than a preset time threshold.

[0144] Optionally, when the engine meets the condition that the coolant temperature exceeds the water temperature threshold and the state is maintained for more than a preset time threshold, the current energy released by the engine is compared with the current energy released by the generator, and the smaller one is taken as the first energy released.

[0145] Optionally, when the engine does not meet the requirements of the coolant temperature exceeding the water temperature threshold and maintaining this state for more than the preset time threshold, the current energy released by the generator is directly used as the first energy released.

[0146] After obtaining the first released energy, the first released energy is compared with the upper limit of the energy generated by generator P1 continuously for 180 seconds, and the smaller of the two is taken as the comparison result. This comparison result is converted from an energy value into a power value, and compared with the basic performance guarantee power of generator P1. The larger of the two power values ​​is taken as the first candidate power.

[0147] Optionally, the upper limit of the energy generated by generator P1 for 180 seconds can be a value set by the experience of engineers in the field, or a mapping relationship can be constructed by using a large amount of experimental data, such as the remaining power battery pack's State of Charge (SOC), the generator's current released energy HtrFuPwrP1T180, and the upper limit of generator P1's energy for 180 seconds of continuous power generation. For example, by fitting a mathematical model between SOC, HtrFuPwrP1T180, and P1map using a regression algorithm, after obtaining the current SOC of the power battery pack and the current released energy HtrFuPwrP1T180 of generator P1, the corresponding upper limit of generator P1's energy for 180 seconds of continuous power generation can be obtained using the above mathematical model.

[0148] Determine whether the remaining usable energy of generator P1 after 180 seconds is less than the first released energy. If so, use the peak power of generator P1 as the second candidate power. By filtering the second candidate power, the target power of the generator after limitation, P1PwrLimit, is obtained.

[0149] It should be noted that the engine is currently operating in series-connected power generation mode and does not participate in driving. The upper limit of energy generated by generator P1 for 180 seconds, the estimated remaining usable energy of generator P1 for 180 seconds, the basic performance guarantee power of generator P1, and the peak power of generator P1 are all calibrated values. They should be determined according to the vehicle's calibration conditions.

[0150] In one example of this embodiment, if the engine coolant temperature exceeds 100 degrees Celsius and remains in this state for more than 60 seconds, it is determined that the engine thermostat is fully open, indicating that the engine has entered its maximum heat dissipation capacity state. Therefore, the estimated value of the energy released (HtrFuPwrICET180) over 180 seconds when the engine reaches its limit temperature is accurate and can be compared with the energy released (HtrFuPwrP1T180) over 180 seconds when the generator reaches its limit temperature. The smaller of the two values ​​is taken as the first released energy.

[0151] If the engine coolant temperature does not exceed 100 degrees Celsius or exceeds 100 degrees Celsius but remains in that state for no more than 60 seconds, then the power of the first drive motor is determined using only HtrFuPwrP1T180.

[0152] The first released energy is compared with the remaining usable energy of P1 after 180 seconds of normal full-performance. If the remaining usable energy of P1 after 180 seconds of normal full-performance is less than the first released energy, it means that the power of generator P1 does not need to be limited at this time, and the first released energy is a larger value. It can operate at full power, that is, generator P1 operates at peak power.

[0153] If the remaining usable energy of P1 at full capacity for 180 seconds is greater than or equal to the first released energy, it indicates that the cumulative released energy of HtrFuPwrP1T180 corresponding to the first released energy is too small. Simultaneously, the first released energy is lower than the maximum energy limit of generator P1 for continuous power generation for 180 seconds, and the power corresponding to HtrFuPwrP1T180 is lower than the basic performance guarantee power of generator P1, indicating that the first released energy is a relatively small value. Therefore, it is considered that the power limit of generator P1 is too large at this time and cannot meet the basic on-board power demand; it needs to operate according to the basic performance guarantee power of generator P1.

[0154] If the remaining usable energy of P1 at full capacity for 180 seconds is greater than or equal to the first released energy, and the first released energy is less than the maximum energy of generator P1 for continuous power generation for 180 seconds, and the power corresponding to the first released energy is greater than the basic performance guarantee power of generator P1, then the first released energy is an intermediate value relative to the aforementioned value. In this case, the power of generator P1 can be dynamically limited. Considering the characteristics of hybrid vehicles, based on the state of charge (SOC) of the power battery pack, higher SOCs are subject to greater limitations, while lower SOCs are left largely unrestricted.

[0155] For example, when the current SOC of the power battery pack is 80% of its rated capacity, the upper limit of the energy released by the generator is 3000Wh (60kW continuous release for 180 seconds). When the current SOC of the power battery pack is less than 35% of its rated capacity, the upper limit of the energy released by the generator is 4000Wh (i.e., the threshold of "P1 normal full performance 180 seconds remaining usable energy"). For other ranges of power battery pack SOC, appropriate adjustments are made according to the power battery pack's charge level to achieve uniform heat dissipation during long-term high-power operation.

[0156] A slow-down filter is added to the working power of the generator P1 in the final dynamic adjustment to prevent the generator P1 from working too fast, which may cause a sense of jerking or other control problems.

[0157] In this implementation, by judging the continuous overheating state of the engine and setting parameters such as the upper limit of generator P1's power generation for 180 seconds, the peak power of generator P1, the estimated remaining usable energy of generator P1 for 180 seconds, and the basic performance guarantee power of generator P1, dynamic limits are used to prevent overheating when the engine or generator is expected to overheat. This maximizes the cumulative power generation capacity when the engine or generator is operating at its limit temperature.

[0158] Figure 6 This is a schematic diagram illustrating a control method for adjusting the power of a first drive motor based on the current released energy of the drive motor, according to an embodiment of the present invention. (In conjunction with...) Figure 4 Each step and Figure 6 As shown, by setting the total power required for driving, the basic performance guarantee power of the first drive motor, the peak power of the first drive motor, and the estimated remaining available energy of the first drive motor for 180 seconds, the power of the first drive motor can be controlled when the drive motor is operating at its extreme temperature, thereby maximizing the energy released by the drive motor.

[0159] In one example of this embodiment, the cumulative energy released by the first drive motor and the first drive motor when they reach their temperature limits after 180 seconds (current energy released) are HtrFuPwrP3T180 and HtrFuPwrP4T180, respectively. Assuming the first drive motor continuously releases 80kW of power, the corresponding HtrFuPwrP3T180 = 80kW * 180s * 1000 / 3600 = 4000kW·h. Assuming the second drive motor continuously releases 160kW of power, the corresponding HtrFuPwrP4T180 = 160kW * 180s * 1000 / 3600 = 8000kW·h. Under normal off-road conditions or other aggressive driving, a front-to-rear axle drive ratio close to 5:5 ensures good traction and safety. Because the rear axle experiences greater downforce during extreme acceleration, the power configuration often prioritizes the performance of the second drive motor at the rear over the first drive motor at the front. Therefore, with a 5:5 power release ratio, the workload of the front and rear motors differs, making the second drive motor more likely to reach its temperature limit. First, calculate the expected energy release ratio of the front and rear drive motors after 180 seconds to assess whether a limit is needed. Based on HtrFuPwrP3T180 = 4000 kW·h (the cumulative energy released from 80 kW over 180 seconds) and HtrFuPwrP4T180 = 8000 kW·h (the cumulative energy released from 160 kW over 180 seconds), the energy release ratio of the front and rear drive motors is 1:2. If the overall vehicle drive power requirement is 300 kW, the ratio is 300 kW * [1 / (1+2)] = 100 kW. This requirement is still insufficient to meet the 80 kW constraint, so the smaller value is taken. That is, the constraint is 80kW; and it is compared with the threshold of "P3's remaining usable energy after 180 seconds of normal full performance", which in this example is 5000kW·h (100kW continuously for 180 seconds); if the full performance release threshold is not reached, the power release of the first drive motor P3 is limited to 80kW calculated by HtrFuPwrP3T180; the remaining drive demand is released by the second drive motor P4, i.e., 300kW - 80kW = 220kW. At this time, if the cumulative energy released by HtrFuPwrP3T180 is large, for example, greater than 5000kW·h (100kW continuously released for 180 seconds) and meets the threshold of "P3's remaining usable energy after 180 seconds of normal full performance", then it is considered that the power of generator P1 does not need to be limited at this time and can work at full power, i.e., it works at full power.

[0160] If the cumulative energy released by HtrFuPwrP1T180 is too small, for example, if HtrFuPwrP1T180 is less than 1500kW·h (30kW continuously released for 180 seconds), and the threshold judgment of "P3 basic performance guarantee power" is met, then it is considered that the power limit of the first drive motor P3 is too large at this time, and it cannot meet the basic vehicle power demand. It needs to work according to the basic performance guarantee power.

[0161] Finally, a gradual reduction filter is added to the dynamically adjusted P3 limit power of the first drive motor to prevent excessively high P3 limit power rates from causing jerking or other control problems. This also ensures that both drive motors in the drive system maintain maximum overall energy output.

[0162] It should be noted that, Figure 5 and Figure 6 The control method can be carried out simultaneously, thereby enabling the normal operation of the drive components when any one of the components, such as the engine, generator, first drive motor, and second drive motor, reaches its limit temperature.

[0163] This embodiment also provides a control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0164] This embodiment provides a control device, such as... Figure 7 As shown, it includes:

[0165] The acquisition module 701 is used to acquire the current released energy of multiple drive components of the hybrid vehicle. The multiple drive components include: an engine, a generator, a first drive motor, and a second drive motor. The current released energy of the drive component is the energy released by the drive component under the corresponding conditions. The corresponding conditions of the drive component are that after a preset time period from the current moment, the temperature of the drive component rises from the current temperature of the drive component to the limit temperature of the drive component.

[0166] The adjustment module 702 is used to adjust the power of the generator and the power of the first drive motor based on the current released energy of multiple drive components.

[0167] In some alternative implementations, the adjustment module 702 includes:

[0168] The first released energy determining unit is used to determine the first released energy from the current released energy of the engine and the current released energy of the generator;

[0169] The first candidate power determination unit is used to determine the first candidate power based on the first released energy, the upper limit of the energy released when the generator continues to generate electricity for a preset time, and the basic performance guarantee power of the generator.

[0170] The second candidate power determination unit is used to determine the first candidate power or the peak power of the generator as the second candidate power based on whether the generator's rated release energy is less than the first release energy.

[0171] The generator target power determination unit is used to determine the generator target power based on the second candidate power.

[0172] The generator power adjustment unit is used to adjust the generator power to the generator's target power.

[0173] In some optional implementations, the first released energy determining unit includes:

[0174] The first released energy determination subunit is used to determine the current released energy of the engine or generator as the first released energy based on whether the engine currently has maximum heat dissipation capacity.

[0175] In some optional implementations, the first candidate power determination unit includes:

[0176] The minimum value determination subunit is used to determine the minimum value between the first released energy and the upper limit value of the energy released when the generator continues to generate electricity for a preset duration;

[0177] The maximum value determination subunit is used to determine the maximum value among the candidate power corresponding to the minimum value and the basic performance guarantee power of the generator as the first candidate power.

[0178] In some alternative implementations, the adjustment module 702 further includes:

[0179] The third candidate power determination unit is used to determine the third candidate power based on the current released energy of the first drive motor, the current released energy of the second drive motor, and the total power required for driving the hybrid vehicle.

[0180] The fourth candidate power determination unit is used to determine the maximum value among the third candidate power and the basic performance guarantee power of the first drive motor as the fourth candidate power;

[0181] The fifth candidate power determination unit is used to determine the fourth candidate power or the peak power of the first drive motor as the fifth candidate power based on whether the calibrated release energy of the first drive motor is less than the current release energy of the first drive motor.

[0182] The drive motor target power determination unit is used to determine the target power of the first drive motor based on the fifth candidate power;

[0183] The drive motor power adjustment unit is used to adjust the power of the first drive motor to the target power of the first drive motor.

[0184] In some optional implementations, the third candidate power determination unit includes:

[0185] The summation subunit is used to determine the sum of the current released energy of the first drive motor and the current released energy of the second drive motor;

[0186] The proportional subunit is used to divide the current released energy of the first drive motor by the sum to obtain the target ratio;

[0187] The product sub-unit determines the third candidate power by multiplying the total driving power demand by the target ratio.

[0188] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0189] In this embodiment, the control device is presented in the form of a functional unit. Here, a unit refers to an application-specific integrated circuit (ASIC) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0190] This invention also provides a computer device having the above-described features. Figure 7 The control device shown.

[0191] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 8 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 8 Take a processor 10 as an example.

[0192] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0193] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0194] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0195] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0196] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 8 Taking the example of a connection between China and Israel via a bus.

[0197] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0198] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0199] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0200] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A control method, characterized in that, The method includes: The current released energy of multiple drive components of a hybrid vehicle is obtained. The multiple drive components include an engine, a generator, a first drive motor, and a second drive motor. The current released energy of the drive component is the energy released by the drive component under the corresponding conditions. The corresponding conditions of the drive component are that after a preset time period from the current moment, the temperature of the drive component rises from the current temperature of the drive component to the limit temperature of the drive component. The power of the generator and the power of the first drive motor are adjusted based on the current released energy of the plurality of drive components.

2. The method according to claim 1, characterized in that, Adjusting the power of the generator based on the current released energy of the plurality of drive components includes: The first released energy is determined from the current released energy of the engine and the current released energy of the generator; The first candidate power is determined based on the first released energy, the upper limit of the energy released when the generator continues to generate electricity for a preset time, and the basic performance guarantee power of the generator; Based on whether the rated release energy of the generator is less than the first release energy, the first candidate power or the peak power of the generator is determined as the second candidate power; The target power of the generator is determined based on the second candidate power. Adjust the power of the generator to the target power of the generator.

3. The method according to claim 2, characterized in that, Determining the first released energy from the current released energy of the engine and the current released energy of the generator includes: Based on whether the engine currently has maximum heat dissipation capacity, the current released energy of the engine or the generator is determined as the first released energy.

4. The method according to claim 2, characterized in that, Based on the first released energy, the upper limit of energy released when the generator continuously generates electricity for a preset duration, and the basic performance guarantee power of the generator, the first candidate power is determined to include: Determine the minimum value between the first released energy and the upper limit value of the energy released when the generator continues to generate electricity for a preset duration; The maximum value among the candidate power corresponding to the minimum value and the basic performance guarantee power of the generator is determined as the first candidate power.

5. The method according to claim 1, characterized in that, Adjusting the power of the first drive motor based on the current released energy of the plurality of drive components includes: The third candidate power is determined based on the current energy released by the first drive motor, the current energy released by the second drive motor, and the total power required for driving the hybrid vehicle. The maximum value among the third candidate power and the basic performance guarantee power of the first drive motor is determined as the fourth candidate power; Based on whether the calibrated release energy of the first drive motor is less than the current release energy of the first drive motor, the fourth candidate power or the peak power of the first drive motor is determined as the fifth candidate power. Based on the fifth candidate power, the target power of the first drive motor is determined; Adjust the power of the first drive motor to the target power of the first drive motor.

6. The method according to claim 5, characterized in that, Based on the current energy released by the first drive motor, the current energy released by the second drive motor, and the total power required for driving the hybrid vehicle, the third candidate power is determined to include: Determine the sum of the current released energy of the first drive motor and the current released energy of the second drive motor; Divide the current released energy of the first drive motor by the sum to obtain the target ratio; The product of the total driving power demand and the target ratio is determined as the third candidate power.

7. A control device, characterized in that, The device includes: The acquisition module is used to acquire the current released energy of multiple drive components of the hybrid vehicle. The multiple drive components include: an engine, a generator, a first drive motor, and a second drive motor. The current released energy of the drive component is the energy released by the drive component under the corresponding conditions. The corresponding conditions of the drive component are that after a preset time period from the current moment, the temperature of the drive component rises from the current temperature of the drive component to the limit temperature of the drive component. An adjustment module is used to adjust the power of the generator and the power of the first drive motor based on the current released energy of multiple drive components.

8. A computer device, characterized in that, include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the control method of any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the control method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes computer instructions for causing a computer to perform the control method according to any one of claims 1 to 6.

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