Hybrid vehicle control method and device and vehicle

Abstract

The invention discloses a hybrid vehicle control method and device and a vehicle. The method comprises the steps that the motor rotating speed difference, the current vehicle speed, the motor rotating speed and the current required torque of a motor of the hybrid vehicle are obtained, and the motor rotating speed difference is obtained through calculation based on the motor rotating speed and the current vehicle speed; when the enabling condition is met, the compensation torque of the motor is determined according to the motor rotating speed difference; the demand torque is compensated based on the compensation torque, and the compensated demand torque is obtained; and controlling the hybrid vehicle to output the compensated demand torque. While the power request of a driver is met, the torque and rotating speed vibration phenomenon in a transmission system is effectively restrained, the driving smoothness and the control stability of the whole vehicle are improved, and then the driving experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a hybrid vehicle control method, device and vehicle. BACKGROUND

[0002] Part of the hybrid vehicle due to the existence of transmission system gap and lack of sufficient damping, in the process of acceleration or deceleration prone to jitter. At the same time, the motor torque response speed is fast, and the rapid change of torque will further aggravate this jitter, affecting the driving comfort.

[0003] In the prior art, PI (Proportional Integral) control calculation is usually performed based on the current motor speed and initial output torque to obtain a compensation torque and superimposed on the initial output to suppress the torsional vibration.

[0004] However, this method only takes the motor speed as a single reference, without fully considering the limitations of the compensation torque under different working conditions, resulting in suboptimal control effect. In addition, this method does not consider the overall delay problem in the whole control system, thereby weakening the effect of torsional vibration control, making it difficult to achieve the expected vibration suppression target, and further reducing the driving performance. SUMMARY

[0005] The present application aims to at least solve one of the technical problems existing in the prior art.

[0006] To this end, one object of the present application is to propose a hybrid vehicle control method which ensures that the torque and speed vibration phenomenon in the transmission system is effectively suppressed while meeting the driver's power request, improving the driving smoothness and handling stability of the whole vehicle, and further improving the driving experience.

[0007] To this end, a second object of the present application is to propose a hybrid vehicle control device.

[0008] To this end, a third object of the present application is to propose a vehicle.

[0009] To achieve the above object, the first aspect of the present application discloses a hybrid vehicle control method, comprising: obtaining the motor speed difference, the current vehicle speed, the motor speed and the current demand torque of the hybrid vehicle, the motor speed difference being calculated based on the motor speed and the current vehicle speed; when the enabling condition is met, determining the compensation torque of the motor according to the motor speed difference; compensating the demand torque based on the compensation torque to obtain the compensated demand torque; controlling the hybrid vehicle to output the compensated demand torque.

[0010] According to the hybrid vehicle control method provided in the embodiments of the present application, the current vehicle speed, the motor speed and the current demand torque of the motor of the hybrid vehicle are obtained, and after the motor speed difference is calculated based on the motor speed and the current vehicle speed, it is determined whether the hybrid vehicle satisfies the enabling condition. When it is determined that the hybrid vehicle satisfies the enabling condition, the compensation torque of the motor is determined according to the motor speed difference, and then the current demand torque of the motor is compensated according to the compensation torque, so as to determine the correction amount required for torque suppression, thereby obtaining the compensated demand torque, and the hybrid vehicle is controlled to output the compensated demand torque, so as to ensure that the driver's power request is satisfied while effectively suppressing the torque and speed vibration phenomenon in the transmission system, improve the driving smoothness and handling stability of the vehicle, and further improve the driving experience.

[0011] In addition, the hybrid vehicle control method provided in the embodiments of the present application can further have the following additional technical features. In some embodiments, the motor speed difference of the hybrid vehicle is obtained, including: filtering the motor speed to obtain a filtered motor speed; obtaining a tire radius of the hybrid vehicle; determining a theoretical motor speed according to the current vehicle speed, a reduction ratio and the tire radius, wherein the reduction ratio is a known quantity; and determining the motor speed difference according to the difference between the filtered motor speed and the theoretical motor speed.

[0012] In some embodiments, the compensation torque of the motor is determined according to the motor speed difference, including: based on the motor speed difference, the compensation torque is obtained by using a PD (Proportional Derivative) adjustment control algorithm; and the PD adjustment control algorithm includes:

[0013] wherein Tq is the compensation torque, Spd is the motor speed difference, Kp n is a proportional coefficient under different vehicle conditions, Kd n is a differential coefficient under different vehicle conditions, and J1 is the total moment of inertia of the motor and the engine of the hybrid vehicle, and the proportional coefficient, the differential coefficient and the motor speed difference have a pre-calibrated corresponding relationship.

[0014] In some embodiments, compensating the demand torque based on the compensation torque comprises: when the compensation torque is greater than a first preset torque threshold, determining a phase offset in the power operating mode according to a delay time corresponding to the power operating mode in which the hybrid vehicle is currently located, wherein the delay time is a time required from obtaining the motor speed difference to performing the process of compensating the demand torque based on the compensation torque by the hybrid vehicle; correcting the compensation torque according to the phase offset to obtain a corrected compensation torque; and compensating the demand torque according to the corrected compensation torque.

[0015] In some embodiments, compensating the demand torque based on the corrected compensation torque comprises: determining a maximum compensation torque value and a minimum compensation torque value of the compensation torque according to the current vehicle speed and the demand torque; when the corrected compensation torque is greater than the maximum compensation torque value, taking the maximum compensation torque value as the corrected compensation torque and compensating the demand torque according to the maximum compensation torque value; when the corrected compensation torque is less than the minimum compensation torque value, taking the minimum compensation torque value as the corrected compensation torque and compensating the demand torque according to the minimum compensation torque value; and when the corrected compensation torque is greater than or equal to the minimum compensation torque value and less than or equal to the maximum compensation torque value, compensating the demand torque according to the corrected compensation torque.

[0016] In some embodiments, compensating the demand torque based on the compensation torque further comprises: when the compensation torque is less than or equal to a first preset torque threshold and / or the motor speed difference is less than or equal to a preset speed threshold, limiting the compensation torque to zero.

[0017] In some embodiments, compensating the demand torque based on the compensation torque to obtain a compensated demand torque comprises: when the hybrid vehicle is in the driving operating mode, taking a sum of the demand torque and the compensation torque as the compensated demand torque; and when the hybrid vehicle is in the feedback operating mode, taking a difference between the demand torque and the compensation torque as the compensated demand torque.

[0018] In some embodiments, the enabling condition comprises: a brake stability system control function is not in an activated state, a current vehicle speed of the hybrid vehicle exceeds a preset vehicle speed threshold, the demand torque is greater than a second preset torque threshold, a gear of the hybrid vehicle is not in a neutral gear or a park gear, a cruise control function is not in an activated state, and the hybrid vehicle is not in a gear shifting process.

[0019] To achieve the above object, the embodiment of the second aspect of the present application discloses a hybrid vehicle control device, comprising: an acquisition module configured to acquire a motor speed difference of the hybrid vehicle and a current demand torque of a motor, the motor speed difference being calculated based on a motor speed and a current vehicle speed of the vehicle; a determination module configured to determine a compensation torque of the motor according to the motor speed difference when an enabling condition is met; a compensation module configured to compensate the demand torque based on the compensation torque to obtain a compensated demand torque; and a control module configured to control the vehicle to output the compensated demand torque.

[0020] According to the hybrid vehicle control device of the embodiment of the present application, the acquisition module acquires the current vehicle speed, the motor speed and the current demand torque of the motor, and then calculates the motor speed difference based on the motor speed and the current vehicle speed, and the determination module determines whether the hybrid vehicle meets the enabling condition, and when it is determined that the hybrid vehicle meets the enabling condition, the compensation torque of the motor is determined according to the motor speed difference, and then the compensation module compensates the current demand torque of the motor according to the compensation torque to determine the correction amount required for torque suppression, thereby obtaining the compensated demand torque, and the control module controls the hybrid vehicle to output the compensated demand torque, which ensures that the driver's power request is met while effectively suppressing the torque and speed vibration phenomenon in the transmission system, improves the driving smoothness and handling stability of the vehicle, and further improves the driving experience.

[0021] To achieve the above object, the embodiment of the third aspect of the present application discloses a vehicle, comprising: the hybrid vehicle control device according to the embodiment of the second aspect of the present application, or a processor, a memory, and a hybrid vehicle control program stored in the memory and executable on the processor, and when the hybrid vehicle control program is executed by the processor, the hybrid vehicle control method according to any one of the embodiments of the first aspect of the present application is implemented.

[0022] According to the vehicle of the embodiment of the present application, the current vehicle speed, the motor speed and the current demand torque of the motor are acquired, and then the motor speed difference is calculated based on the motor speed and the current vehicle speed, and it is determined whether the hybrid vehicle meets the enabling condition, and when it is determined that the hybrid vehicle meets the enabling condition, the compensation torque of the motor is determined according to the motor speed difference, and then the current demand torque of the motor is compensated according to the compensation torque to determine the correction amount required for torque suppression, thereby obtaining the compensated demand torque, and the hybrid vehicle is controlled to output the compensated demand torque, which ensures that the driver's power request is met while effectively suppressing the torque and speed vibration phenomenon in the transmission system, improves the driving smoothness and handling stability of the vehicle, and further improves the driving experience.

[0023] Additional aspects and advantages of the present application will be made apparent from the following description. Attached Figure Description

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of a hybrid vehicle control system according to an embodiment of the present invention; Figure 2 This is a flowchart of a hybrid vehicle control method according to an embodiment of the present invention; Figure 3 This is a structural block diagram of a hybrid vehicle control device according to an embodiment of the present invention; Figure 4 This is a structural block diagram of a vehicle according to an embodiment of the present invention; Figure 5 This is a structural block diagram of a vehicle according to another embodiment of the present invention. Detailed Implementation

[0025] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0026] In a specific embodiment, such as Figure 1 As shown, the motor and wheels are connected by torsion springs, forming a power transmission chain. Here, J1 represents the total moment of inertia of the motor and engine, Spd' is the motor speed, and V is the current vehicle speed, determined based on the wheel speed.

[0027] The hybrid controller calculates the required torque Tr of the motor based on the current operating conditions and adjusts it to the target torque Tr΄ of the motor using a PD adjustment control algorithm, which is the compensated required torque. To suppress torque and speed vibrations in the transmission system, the control system calculates the compensation torque Tq using a PD adjustment control algorithm based on the difference between the filtered motor speed and the speed estimated by the motor speed model. Depending on the vehicle's operating conditions, this compensation torque is added to the required torque (i.e., Tq + Tr = Tr΄) or subtracted from it (i.e., Tr - Tq = Tr΄), and sent as the final target torque command to the motor controller to achieve dynamic correction of the actual motor torque Tm, so that the motor controller outputs the compensated required torque Tr΄.

[0028] In the power transmission process, the actual torque Tm of the motor is transmitted to the wheels through the torsional spring, which is converted into the wheel end torque Tw, and then drives the vehicle to move forward or backward. Due to the existence of the torsional spring, there is a certain elastic coupling relationship between the motor and the wheels, which may cause phase difference and energy fluctuation in transient response, thereby causing torque and speed vibration phenomenon. Therefore, by introducing the compensation torque Tq, the vibration effect can be effectively offset to ensure the smoothness and efficiency of power transmission.

[0029] Reference will now be made to Figure 2 A hybrid vehicle control method according to an embodiment of the application is described.

[0030] Figure 2 is a flowchart of a hybrid vehicle control method according to an embodiment of the application. As Figure 2 shown, the method includes at least steps S1-S4.

[0031] In step S1, the motor speed difference of the hybrid vehicle, the current vehicle speed, the motor speed and the current demand torque of the motor are obtained, and the motor speed difference is calculated based on the motor speed and the current vehicle speed.

[0032] In the embodiment, the actual motor speed, the current vehicle speed of the hybrid vehicle and the current demand torque of the motor are obtained by the motor controller, for example, the actual motor speed and the current vehicle speed information are input into the motor speed model to calculate the motor speed difference, so as to reflect the transmission system vibration trend that may be caused in the motor output process according to the running state of the vehicle and the working state of the motor, which can accurately capture the interaction between the motor and the vehicle dynamics, thereby optimizing the driving smoothness of the whole vehicle and the stability of the power system.

[0033] In step S2, when the enabling condition is met, the compensation torque of the motor is determined according to the motor speed difference.

[0034] In the embodiment, when the enabling condition of torque vibration control is met, the vibration trend of the current transmission system is identified by analyzing the motor speed difference between the actual motor speed and the motor speed model output value, and then the motor speed difference is processed to calculate the compensation torque for suppressing torque and speed vibration, so as to offset the torque and speed vibration caused by power system mismatch or load mutation based on the compensation torque, thereby improving the driving smoothness of the whole vehicle and the system stability.

[0035] In step S3, the demand torque is compensated based on the compensation torque to obtain the compensated demand torque.

[0036] In the embodiment, after the compensation torque of the motor is calculated, the compensation torque is superimposed or subtracted from the current demand torque of the motor according to the current working condition of the vehicle, so as to dynamically compensate the demand torque, thereby obtaining the compensated demand torque. The compensated demand torque comprehensively considers the power request of the driver or the whole vehicle control system and the correction amount required for torque and speed suppression, so as to ensure that the power output requirement is met while effectively suppressing the torque and speed vibration of the transmission system, thereby improving the smoothness and driving comfort of the vehicle.

[0037] In step S4, the hybrid vehicle outputs the compensated demand torque.

[0038] In the embodiment, after the compensated demand torque is calculated and determined, the compensated demand torque is issued as a target torque instruction to the motor controller, and the motor controller controls the motor output according to the compensated demand torque, so that the vehicle responds to the compensated demand torque. Through this process, the hybrid vehicle can meet the power request of the driver while effectively suppressing the torque and speed vibration in the transmission system, thereby improving the driving smoothness, handling stability and energy utilization efficiency of the whole vehicle.

[0039] Therefore, in the embodiment of the application, the current speed of the hybrid vehicle, the motor speed and the current demand torque of the motor are obtained, the motor speed difference is calculated based on the motor speed and the current speed, and it is determined whether the hybrid vehicle meets the enabling condition. When it is determined that the hybrid vehicle meets the enabling condition, the compensation torque of the motor is determined according to the motor speed difference, and then the current demand torque of the motor is compensated according to the compensation torque to determine the correction amount required for torque and speed suppression, thereby obtaining the compensated demand torque. The hybrid vehicle outputs the compensated demand torque, so as to ensure that the power request of the driver is met while effectively suppressing the torque and speed vibration in the transmission system, thereby improving the driving smoothness and handling stability of the whole vehicle, and further improving the driving experience.

[0040] In one embodiment of the application, the motor speed difference of the hybrid vehicle is obtained by: filtering the motor speed to obtain a filtered motor speed; obtaining the tire radius of the hybrid vehicle; determining the theoretical motor speed according to the current speed, the reduction ratio and the tire radius, wherein the reduction ratio is a known quantity; and determining the motor speed difference according to the difference between the filtered motor speed and the theoretical motor speed.

[0041] For example, the tire radius is denoted as R (m), the reduction ratio is denoted as ig, the theoretical motor speed is denoted as Spd, the motor speed is denoted as Spd', the current speed is denoted as V, and the motor speed difference is denoted as Spd (rpm / min).

[0042] The reduction ratio is the fixed transmission ratio of the transmission system.

[0043] In an embodiment, the motor speed collected by the motor actual speed sensor is filtered to remove noise and interference, and a more stable and accurate filtered motor speed is obtained; then, the system obtains the tire radius R from the vehicle parameters; then, based on the current vehicle speed V, the known reduction ratio ig, and the tire radius R, the theoretical motor speed Spd corresponding to the current driving state is calculated through the motor speed model, i.e.: Spd= .

[0044] Finally, the filtered actual motor speed Spd' and the theoretical motor speed Spd are compared, and the difference between the two is calculated to obtain the motor speed difference Spd. The motor speed difference Spd reflects the deviation between the actual output speed of the motor and the expected ideal speed, and is used to judge the vibration trend of the transmission system and generate a compensation torque to effectively suppress the torque and speed vibration phenomenon, and improve the driving safety and smoothness.

[0045] In a specific embodiment, the actual motor speed is obtained in real time and is subjected to second-order high-pass filtering and second-order low-pass filtering to obtain a more stable and accurate filtered motor speed. The reason for using a second-order high-pass filter is that the wheel speed signal has a large delay relative to the motor speed signal, and in the case of constant vehicle deceleration, this will cause the wheel speed measurement value to be higher than the actual value. In order to correct this error, a second-order high-pass filter is used for processing. Its transfer function is F1(s) = where is the damping coefficient, is the cutoff frequency, and A=1 is the system gain. Wherein, = , = where T is the electromechanical time constant, k is the open-loop gain, and s is a known quantity.

[0046] For the second-order low-pass filter, its transfer function is F2(s) = where is the damping coefficient, is the cutoff frequency, and A=1 is the system gain. Wherein, = , = , T is the electromechanical time constant, k is the open-loop gain, and s is a known quantity.

[0047] Taking the above factors into consideration, the damping coefficient =0.7 and the cutoff frequency ​Second order low pass filter configuration with a cutoff frequency of 100 Hz and a selection of damping coefficient Second order low pass filter configuration with a cutoff frequency of 0.7 Hz Second order high pass filter configuration with a cutoff frequency of 1 Hz to ensure that while effectively suppressing high and low frequency noise, signal delay is minimized and good system response characteristics are maintained. This ensures both data accuracy and optimal system dynamic performance.

[0048] In an embodiment of the present application, the compensation torque of the motor is determined according to the motor speed difference, comprising: based on the motor speed difference, the compensation torque is obtained by using a PD regulation control algorithm; the PD regulation control algorithm comprises:

[0049] Wherein, Tq is the compensation torque, Spd is the motor speed difference, Kp n is the proportional coefficient under different vehicle conditions, Kd n is the differential coefficient under different vehicle conditions, J1 is the total moment of inertia of the motor and engine of the hybrid vehicle, the proportional coefficient, the differential coefficient and the motor speed difference have a pre-calibrated corresponding relationship.

[0050] In the embodiment, by analyzing the motor speed difference between the actual motor speed and the expected theoretical motor speed Spd, a PD regulation control algorithm is used for dynamic adjustment to effectively control the vibration of the transmission system.

[0051] Specifically, according to the pre-calibrated corresponding relationship between the proportional coefficient Kpn and the motor speed difference Spd, wherein the proportional coefficient Kp n is determined by the ratio between the differential time constant Kt n and the differential coefficient Kd n , that is, Kd n = And the differential time constant Kt n and the differential coefficient Kd n are based on the motor speed difference Spd, and are obtained by system calibration under different vehicle conditions to ensure that the control parameters can adapt to the vibration characteristics under various driving scenarios, thereby improving the accuracy and adaptability of torque and speed vibration control.

[0052] The whole vehicle working conditions include D-gear (forward gear) creep working condition, R-gear (reverse gear) creep working condition, D-gear deceleration working condition, R-gear deceleration working condition, D-gear acceleration working condition and R-gear acceleration working condition. n changes according to different whole vehicle working conditions, that is, n = 1 when the vehicle is in D-gear creep working condition, n = 2 when the vehicle is in R-gear creep working condition, n = 3 when the vehicle is in D-gear deceleration working condition, n = 4 when the vehicle is in R-gear deceleration working condition, n = 5 when the vehicle is in D-gear acceleration working condition, and n = 6 when the vehicle is in R-gear acceleration working condition.

[0053] The total moment of inertia J1 of the motor and the engine, the motor speed difference Spd, the proportional coefficient Kp, the differential coefficient Kd and the motor compensation torque Tq are obtained. Spd, the proportional coefficient Kp n , the differential coefficient Kd n The PD adjustment control algorithm is brought in, and the motor compensation torque Tq is calculated. In this way, the parameters can be adjusted in different whole vehicle working conditions, so that the compensation torque can accurately match the vibration characteristics of the current working condition, so as to respond to the motor speed change in real time, quickly generate a compensation torque with phase matching characteristics, and effectively suppress the torque and speed vibration phenomenon in the transmission system, thereby improving the driving smoothness, handling stability and user driving experience of the whole vehicle.

[0054] Specifically, due to different whole vehicle working conditions, the determined proportional coefficient Kp n and the differential coefficient Kd n are also different. In specific embodiments, the differential coefficient Kd n is determined based on the proportional coefficient Kp n and the differential time constant Kt n .

[0055] For example, when the system identifies that the vehicle is currently in D-gear creep working condition, the proportional coefficient Kp1 and the differential time constant Kt1 in this working condition are determined according to the corresponding relationship between the pre-calibrated proportional coefficient Kp n , the differential coefficient Kd n and the motor speed difference Spd. This process is a dynamic adjustment process: a reference compensation torque is set as a target value in the simulation system, and the values of the proportional coefficient Kp1 and the differential time constant Kt1 are adjusted to make the actually calculated compensation torque gradually approach the target value.

[0056] For example, in the initial state, it is assumed that the current proportional coefficient Kp1 = 5 and the differential time constant Kt1 = 2. In order to make the compensation torque closer to the target value, the proportional coefficient Kp1 is adjusted by a step of 1 (such as increasing or decreasing 1), and the differential time constant Kp1 is fine-tuned by a smaller step (such as 0.5 or 0.2). After multiple iterations, if the proportional coefficient Kp1 is adjusted to 4 and the differential time constant Kt1 is adjusted to 1, then according to the formula Kd1= The differential coefficient Kd1 at this time is 0.25, finally, the total rotational inertia J1 of the motor and the engine obtained, the motor speed difference Spd, the proportional coefficient Kp1, and the differential coefficient Kd1 are brought into the PD regulation control algorithm, so that the compensation torque Tq of the motor under the D-gear creeping condition can be calculated, so that the compensation torque under the D-gear creeping condition reaches the expected effect.

[0057] For other vehicle conditions (such as R-gear creeping condition, D-gear deceleration condition, R-gear deceleration condition, D-gear acceleration condition, and R-gear acceleration condition), the parameter adjustment process is similar, and is adaptively adjusted according to the preset mapping relationship under the respective conditions, so as to effectively suppress the torque vibration and optimize the control performance under different driving scenes.

[0058] In an embodiment of the present application, the compensation torque is compensated for the demand torque, comprising: when the compensation torque is greater than a first preset torque threshold, determining a phase offset under the power condition according to a delay time corresponding to the current power condition of the hybrid vehicle, wherein the delay time is the time required from obtaining the motor speed difference to the process of compensating the demand torque based on the compensation torque, and the power condition includes the driving condition or the feedback condition; correcting the compensation torque according to the phase offset to obtain a corrected compensation torque; and compensating the demand torque according to the corrected compensation torque.

[0059] In the embodiment, when the calculated compensation torque is greater than the first preset torque threshold, it indicates that the compensation torque has sufficient amplitude to effectively intervene the torque and speed vibration of the transmission system, at this time, the system further determines the phase offset under the current power condition of the hybrid vehicle, i.e. the driving condition or the feedback condition, according to the delay time corresponding to the condition. The delay time is defined as the time required from obtaining the motor speed difference signal to completing data processing by the control system and entering the control state of adjusting the demand torque of the motor based on the compensation torque.

[0060] Because the response characteristics and control link delays of the system under different conditions are different, the corresponding delay time needs to be calibrated respectively, and the corresponding phase offset is calculated accordingly, which is used for phase correction of the original compensation torque, so that its action time is matched with the frequency and phase of the first vibration mode of the transmission system, thereby improving the torque and speed vibration suppression effect. Finally, the system superimposes the compensation torque after phase correction on the demand torque of the current motor, completes the dynamic compensation of the target output torque, realizes more accurate and efficient torque and speed vibration control, and improves the driving smoothness and energy utilization efficiency of the vehicle.

[0061] The control link refers to the complete control system path experienced by the vehicle actuator from receiving the motor speed difference signal, through sensor delay, communication delay, filtering delay, and HCU (Hybrid Control Unit) calculation delay, to signal processing and control calculation, finally generating and outputting the control instruction based on the compensation torque adjustment demand torque.

[0062] In an embodiment of the present application, compensating the demand torque according to the modified compensation torque comprises: determining a maximum compensation torque value and a minimum compensation torque value of the compensation torque according to the current vehicle speed and the demand torque; when the modified compensation torque is greater than the maximum compensation torque value, taking the maximum compensation torque value as the modified compensation torque and compensating the demand torque according to the maximum compensation torque value; when the modified compensation torque is less than the minimum compensation torque value, taking the minimum compensation torque value as the modified compensation torque and compensating the demand torque according to the minimum compensation torque value; and when the modified compensation torque is greater than or equal to the minimum compensation torque value and less than or equal to the maximum compensation torque value, compensating the demand torque according to the modified compensation torque.

[0063] In the embodiment, the system determines the maximum compensation torque value and the minimum compensation torque value of the compensation torque according to the current vehicle speed and the demand torque to ensure that the compensation torque acts within a reasonable range. Then, when the modified compensation torque is greater than the maximum compensation torque value, the system takes the maximum compensation torque value as the modified compensation torque and compensates the demand torque accordingly; conversely, if the modified compensation torque is less than the minimum compensation torque value, the system takes the minimum compensation torque value as the modified compensation torque and also uses it to adjust the demand torque.

[0064] When the modified compensation torque is between the minimum compensation torque value and the maximum compensation torque value (i.e., greater than or equal to the minimum compensation torque value and less than or equal to the maximum compensation torque value), the system directly compensates the demand torque based on the modified compensation torque. Through this limiting strategy, the system can effectively avoid unnecessary interference or control failure caused by excessive or insufficient compensation torque, thereby ensuring that the vehicle can achieve smooth and efficient torque output and torque and speed vibration suppression effect under different working conditions.

[0065] In an embodiment of the present application, compensating the demand torque based on the compensation torque further comprises: when the compensation torque is less than or equal to a first preset torque threshold and / or the motor speed difference is less than or equal to a preset speed threshold, limiting the compensation torque to zero.

[0066] In the embodiment, the compensation torque is limited during the process of compensating the motor demand torque based on the compensation torque, which is used to improve the stability and applicability of the control strategy.

[0067] Specifically, when the compensation torque is detected to be less than or equal to the first preset torque threshold, or the motor speed difference is less than or equal to the preset speed threshold, it indicates that the current vibration level of the transmission system is low, and the demand for torque and speed vibration control is weak or the compensation effect is not significant. At this time, in order to prevent unnecessary disturbance or energy fluctuation of the system caused by too small compensation torque, the control system forcibly limits the compensation torque to a minimum executable torque value, that is, the compensation torque is limited to zero, and the demand torque of the motor is compensated based on the zero compensation torque. Through the limiting strategy, not only the control risk caused by invalid or reverse excitation can be avoided, but also the robustness of the vehicle control and the driving smoothness can be improved, and it is ensured that the torque and speed vibration suppression function is activated only under necessary conditions, and efficient torque management is realized.

[0068] In an embodiment of the present application, the demand torque is compensated based on the compensation torque to obtain the compensated demand torque, including: when the hybrid vehicle is in a driving working condition, the sum of the demand torque and the compensation torque is taken as the compensated demand torque; when the hybrid vehicle is in a feedback working condition, the difference between the demand torque and the compensation torque is taken as the compensated demand torque.

[0069] In the embodiment, the demand torque of the motor is compensated based on the compensation torque to obtain the final compensated demand torque, specifically including determining the compensation mode according to the current power working condition (driving working condition or feedback working condition) of the hybrid vehicle. When the vehicle is in the driving working condition, the motor outputs positive torque to drive the vehicle forward, at this time, the demand torque of the motor is added to the compensation torque as the compensated demand torque, so as to enhance the driving force and effectively suppress the negative vibration in the transmission system; when the vehicle is in the feedback working condition, the motor is in the state of generating electricity, and outputs negative torque to recover energy, at this time, the demand torque of the motor is subtracted from the compensation torque, that is, the difference is taken as the compensated demand torque, so as to match the change of the energy flow direction in the feedback braking process. The compensation strategy fully considers the difference of the torque action direction and vibration characteristics of the motor under different working conditions, ensures that the compensation torque is consistent with the power transmission direction of the system in the driving and feedback states, thereby improving the effectiveness of the torque and speed vibration control and the stability of the system response, and further optimizing the driving smoothness and energy utilization efficiency of the vehicle.

[0070] In an embodiment of the present application, the enabling condition includes: the brake stability system control function is not in the activated state, and the current speed of the hybrid vehicle exceeds the preset speed threshold, and the demand torque is greater than the second preset torque threshold, and the gear of the hybrid vehicle is not in the N gear or P gear, and the cruise control function is not in the activated state, and the hybrid vehicle is not in the shifting process.

[0071] In the embodiment, the enabling condition of the torque and rotation speed vibration control function is used to determine whether the system has the prerequisite to execute the compensation torque control, and to ensure that the control strategy operates under the premise of safety and effectiveness. Specifically, the brake stability system control function is not in the active state to avoid conflicts with the torque intervention of the brake stability system; the current vehicle speed of the hybrid vehicle is higher than a preset speed threshold to ensure that the vehicle is in a driving state suitable for torque and rotation speed vibration control; the current demand torque of the motor is greater than a second preset torque threshold to ensure that the power system has sufficient output demand so that the compensation has practical significance; in addition, the vehicle gear is not in the N gear (neutral gear) or P gear (parking gear), indicating that the vehicle is in a drivable or energy feedback state; and the hybrid vehicle is not in the shifting process, indicating that the vehicle transmission system is in the connected state. Finally, the cruise control function is not in the active state to prevent interference with the cruise control logic. Only when all the above conditions are met at the same time, the control system determines that the enabling condition of the torque and rotation speed vibration control is met at the moment, and then allows the demand torque of the motor to be corrected and intervened based on the compensation torque, effectively improving the safety and robustness of the control strategy, ensuring that the torque and rotation speed vibration control is only enabled under suitable working conditions, thereby enhancing the smoothness and stability of the vehicle driving.

[0072] However, when any of the above enabling conditions is not met, for example, the brake stability system control function is activated, or the current vehicle speed is lower than the preset speed threshold, i.e., the current vehicle speed is too low, or the demand torque is lower than the second preset torque threshold, i.e., the current demand torque is too low, or the current vehicle is in the P gear or N gear, or the cruise control function is in the active state, or the current vehicle is in the shifting process, the torque and rotation speed vibration control function will be exited.

[0073] According to the hybrid vehicle control method of the embodiment of the application, the current vehicle speed, the motor rotation speed and the current demand torque of the motor of the hybrid vehicle are obtained, the motor rotation speed difference is calculated based on the motor rotation speed and the current vehicle speed, and it is determined whether the hybrid vehicle meets the enabling condition. When it is determined that the hybrid vehicle meets the enabling condition, the compensation torque of the motor is determined according to the motor rotation speed difference, the current demand torque of the motor is compensated according to the compensation torque to determine the correction amount required for torque suppression, thereby obtaining the compensated demand torque, and the hybrid vehicle is controlled to output the compensated demand torque, so as to ensure that the driver's power request is met while effectively suppressing the torque and rotation speed vibration phenomenon in the transmission system, improving the driving smoothness and handling stability of the vehicle, and further improving the driving experience.

[0074] A further embodiment of the application also discloses a hybrid vehicle control device.

[0075] As shown in Figure 3 The hybrid vehicle control device 2 comprises an acquisition module 21, a determination module 22, a compensation module 23 and a control module 24.

[0076] The acquisition module 21 is configured to acquire a motor speed difference of the hybrid vehicle and a current demand torque of the motor, the motor speed difference being calculated based on a motor speed and a current vehicle speed of the vehicle; the determination module 22 is configured to determine a compensation torque of the motor according to the motor speed difference when an enabling condition is met; the compensation module 23 is configured to compensate the demand torque based on the compensation torque to obtain a compensated demand torque; and the control module 24 is configured to control the vehicle to output the compensated demand torque.

[0077] In an embodiment of the present application, the acquisition module 21 acquires the motor speed difference of the hybrid vehicle, including: filtering the motor speed to obtain a filtered motor speed; acquiring a tire radius of the hybrid vehicle; determining a theoretical motor speed according to the current vehicle speed, a reduction ratio and the tire radius, wherein the reduction ratio is a known quantity; and determining the motor speed difference according to a difference between the filtered motor speed and the theoretical motor speed.

[0078] In an embodiment of the present application, the determination module 22 determines the compensation torque of the motor according to the motor speed difference, including: obtaining the compensation torque by using a PD regulation control algorithm based on the motor speed difference; and the PD regulation control algorithm includes:

[0079] wherein Tq is the compensation torque, Spd is the motor speed difference, Kp n is a proportional coefficient under different vehicle conditions, Kd n is a differential coefficient under different vehicle conditions, and J1 is the total moment of inertia of the motor and the engine of the hybrid vehicle, the proportional coefficient, the differential coefficient and the motor speed difference having a pre-calibrated corresponding relationship.

[0080] In an embodiment of the present application, the compensation module 23 compensates the demand torque based on the compensation torque, including: when the compensation torque is greater than a first preset torque threshold, determining a phase offset in a power condition according to a delay time corresponding to the current power condition of the hybrid vehicle, wherein the delay time is a time required from acquiring the motor speed difference to performing the compensation of the demand torque based on the compensation torque by the hybrid vehicle, and the power condition includes a driving condition or a feedback condition; correcting the compensation torque according to the phase offset to obtain a corrected compensation torque; and compensating the demand torque according to the corrected compensation torque.

[0081] In one embodiment of the present application, the compensation module 23 compensates the demand torque according to the modified compensation torque, comprising: determining the maximum compensation torque value and the minimum compensation torque value of the compensation torque according to the current vehicle speed and the demand torque; when the modified compensation torque is greater than the maximum compensation torque value, taking the maximum compensation torque value as the modified compensation torque, and compensating the demand torque according to the maximum compensation torque value; when the modified compensation torque is less than the minimum compensation torque value, taking the minimum compensation torque value as the modified compensation torque, and compensating the demand torque according to the minimum compensation torque value; when the modified compensation torque is greater than or equal to the minimum compensation torque value and less than or equal to the maximum compensation torque value, compensating the demand torque according to the modified compensation torque.

[0082] In one embodiment of the present application, the compensation module 23 compensates the demand torque based on the compensation torque, and further comprises: when the compensation torque is less than or equal to the first preset torque threshold and / or the motor speed difference is less than or equal to the preset speed threshold, limiting the compensation torque to zero.

[0083] In one embodiment of the present application, the compensation module 23 compensates the demand torque based on the compensation torque to obtain the compensated demand torque, comprising: when the hybrid vehicle is in the driving working condition, taking the sum of the demand torque and the compensation torque as the compensated demand torque; when the hybrid vehicle is in the feedback working condition, taking the difference between the demand torque and the compensation torque as the compensated demand torque.

[0084] In one embodiment of the present application, the enabling condition comprises: the brake stability system control function is not in the activated state, and the current vehicle speed of the hybrid vehicle exceeds the preset vehicle speed threshold, and the demand torque is greater than the second preset torque threshold, and the gear of the hybrid vehicle is not in the N gear or the P gear, and the cruise control function is not in the activated state, and the hybrid vehicle is not in the gear shifting process.

[0085] According to the hybrid vehicle control device 2 of the embodiment of the present application, the acquisition module 21 acquires the current vehicle speed, the motor speed and the current demand torque of the motor of the hybrid vehicle, and the determination module 22 determines whether the hybrid vehicle meets the enabling condition based on the motor speed and the current vehicle speed, and when it is determined that the hybrid vehicle meets the enabling condition, the compensation module 23 determines the compensation torque of the motor according to the motor speed difference, and then compensates the current demand torque of the motor according to the compensation torque to determine the correction amount required for torque suppression, thereby obtaining the compensated demand torque, and the control module 24 controls the hybrid vehicle to output the compensated demand torque, which ensures that the driver's power request is met while effectively suppressing the torque and speed vibration phenomenon in the transmission system, improves the driving smoothness and handling stability of the vehicle, and further improves the driving experience.

[0086] The present application further discloses a vehicle.

[0087] In some embodiments, as shown in Figure 4 the vehicle 3 comprises the hybrid vehicle control device 2 described in the above embodiments of the present application.

[0088] In some other embodiments, as shown in Figure 5 the vehicle 3 comprises a processor 31, a memory 32, and a hybrid vehicle control program stored in the memory and executable on the processor 31, the hybrid vehicle control program, when executed by the processor 31, implements the hybrid vehicle control method described in the above embodiments of the present application.

[0089] According to the vehicle 3 of the embodiments of the present application, the current vehicle speed, the motor speed and the current demand torque of the motor of the hybrid vehicle are obtained, and after the motor speed difference is calculated based on the motor speed and the current vehicle speed, it is determined whether the hybrid vehicle satisfies the enabling condition, and when it is determined that the hybrid vehicle satisfies the enabling condition, the compensation torque of the motor is determined according to the motor speed difference, and then the current demand torque of the motor is compensated according to the compensation torque to determine the correction amount required for torque suppression, so as to obtain the compensated demand torque, and the hybrid vehicle outputs the compensated demand torque, which ensures that the driver's power request is satisfied while effectively suppressing the torque and speed vibration phenomenon in the transmission system, improves the driving smoothness and handling stability of the vehicle, and further improves the driving experience.

[0090] In the description of the present specification, the description of the terms “one embodiment”, “some embodiments”, “illustrative embodiment”, “example”, “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 mean the same embodiment or example.

[0091] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A hybrid vehicle control method, characterized in that, include: The motor speed difference, current vehicle speed, motor speed, and current required torque of the motor are obtained for the hybrid vehicle. The motor speed difference is calculated based on the motor speed and the current vehicle speed. When the enabling conditions are met, the compensation torque of the motor is determined based on the motor speed difference; The required torque is compensated based on the compensated torque to obtain the compensated required torque; The hybrid vehicle is controlled to output the compensated required torque.

2. The hybrid vehicle control method according to claim 1, characterized in that, Obtaining the motor speed difference of the hybrid vehicle includes: The filtered motor speed is obtained after filtering the motor speed. Obtain the tire radius of the hybrid vehicle; The theoretical motor speed is determined based on the current vehicle speed, the reduction ratio, and the tire radius, wherein the reduction ratio is a known quantity; The motor speed difference is determined based on the difference between the filtered motor speed and the theoretical motor speed.

3. The hybrid vehicle control method according to claim 1, characterized in that, Determining the compensation torque of the motor based on the motor speed difference includes: Based on the motor speed difference, the compensation torque is obtained using a PD regulation control algorithm; The PD regulation control algorithm includes: Where Tq is the compensation torque. Spd is the motor speed difference, Kp n Kd represents the proportional coefficient under different vehicle operating conditions. n J1 represents the differential coefficient under different vehicle operating conditions, and J1 represents the total moment of inertia of the motor and engine of the hybrid vehicle. The proportional coefficient, the differential coefficient, and the motor speed difference have a pre-calibrated correspondence.

4. The hybrid vehicle control method according to claim 1, characterized in that, Compensating for the required torque based on the compensated torque includes: When the compensation torque is greater than the first preset torque threshold, the phase offset under the current power condition is determined according to the delay time corresponding to the current power condition of the hybrid vehicle. The delay time is the time required from the acquisition of the motor speed difference to the hybrid vehicle performing the process of compensating the required torque based on the compensation torque. The power condition includes driving condition or feedback condition. The compensation torque is corrected based on the phase offset to obtain the corrected compensation torque; The required torque is compensated based on the corrected compensation torque.

5. The hybrid vehicle control method according to claim 4, characterized in that, Compensating the required torque according to the corrected compensation torque includes: The maximum and minimum compensation torque values ​​are determined based on the current vehicle speed and the required torque. When the corrected compensation torque is greater than the maximum compensation torque value, the maximum compensation torque value is used as the corrected compensation torque, and the required torque is compensated according to the maximum compensation torque value; When the corrected compensation torque is less than the minimum compensation torque value, the minimum compensation torque value is used as the corrected compensation torque, and the required torque is compensated according to the minimum compensation torque value. When the corrected compensation torque is greater than or equal to the minimum compensation torque value and less than or equal to the maximum compensation torque value, the required torque will be compensated according to the corrected compensation torque.

6. The hybrid vehicle control method according to claim 4, characterized in that, Compensating for the required torque based on the compensated torque further includes: When the compensation torque is less than or equal to a first preset torque threshold, and / or the motor speed difference is less than or equal to a preset speed threshold, the compensation torque is limited to zero.

7. The hybrid vehicle control method according to claim 4, characterized in that, The required torque is compensated based on the compensated torque to obtain the compensated required torque, including: When the hybrid vehicle is in the driving condition, the sum of the required torque and the compensated torque is taken as the compensated required torque; When the hybrid vehicle is in the feedback condition, the difference between the required torque and the compensated torque is taken as the compensated required torque.

8. The hybrid vehicle control method according to claim 1, characterized in that, The enabling conditions include: The braking stability system control function is not activated, the current speed of the hybrid vehicle exceeds the preset speed threshold, the required torque is greater than the second preset torque threshold, the hybrid vehicle is not in N or P gear, the cruise control function is not activated, and the hybrid vehicle is not in the process of shifting gears.

9. A hybrid vehicle control device, characterized in that, include: The acquisition module is used to acquire the motor speed difference and the current required torque of the motor of the hybrid vehicle. The motor speed difference is calculated based on the motor speed and the current vehicle speed. The determination module is used to determine the compensation torque of the motor based on the motor speed difference when the enabling conditions are met; The compensation module is used to compensate the required torque based on the compensation torque to obtain the compensated required torque; The control module is used to control the vehicle to output the compensated required torque.

10. A vehicle, characterized in that, include: The hybrid vehicle control device as described in claim 9; or, A processor, a memory, and a hybrid vehicle control program stored in the memory and executable on the processor, wherein the hybrid vehicle control program, when executed by the processor, implements the hybrid vehicle control method as described in any one of claims 1-8.

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