Idling running control method and device of hybrid electric vehicle, electronic equipment, storage medium and vehicle

Abstract

The invention provides an idling running control method for a hybrid electric vehicle, and belongs to the field of torque control, when an idling running activation condition is met, it is indicated that idling running is suitable, under the condition, a corresponding control strategy is determined according to a current driving mode, and the torque of a driving motor is correspondingly adjusted according to the control strategy. Therefore, the idle running of the automobile is flexibly and accurately controlled according to different driving modes, and the flexibility and the accuracy of the idle running control of the automobile are improved.

Description

Technical Field

[0001] This application relates to the field of torque control, and in particular to a method, device, electronic equipment, storage medium, and vehicle for controlling the idling speed of a hybrid electric vehicle. Background Technology

[0002] Hybrid vehicles, which combine the advantages of pure electric vehicles and pure gasoline vehicles, have advantages such as low fuel consumption and long driving range, and are gaining increasing popularity among consumers.

[0003] Since both the drive motor and engine of a hybrid electric vehicle can drive the vehicle, the power for idling can be provided by either the drive motor or the engine.

[0004] In existing technologies, hybrid vehicles can only predict current road conditions and adjust idling parameters accordingly. Idle speed control schemes are not flexible enough, and their accuracy and safety are poor. Summary of the Invention

[0005] In view of this, this application provides a hybrid electric vehicle idling control method that can flexibly, accurately and safely control the vehicle's idling speed.

[0006] On one hand, this application provides a method for controlling the idling speed of a hybrid electric vehicle, the method comprising: Determine whether the conditions for idling activation are met.

[0007] When it is determined that the idling driving activation condition is met, the current driving mode is obtained.

[0008] When the current driving mode is the first driving mode, the torque of the drive motor is adjusted according to the first control strategy.

[0009] When the current driving mode is the second driving mode, the torque of the drive motor is adjusted according to the second control strategy.

[0010] Optionally, the first driving mode includes Eco, Standard, and Sport modes, and the second driving mode includes Off-road and Sand modes. The torque of the drive motor is adjusted according to the first control strategy, including: Determine whether the power battery's charge level is greater than the first threshold.

[0011] When it is determined that the power battery charge is greater than the first threshold, the engine is kept off and the drive motor is used to provide torque output to the vehicle.

[0012] When it is determined that the power battery charge is not greater than the first threshold, the engine is started to charge the power battery and the drive motor is used to provide torque output to the vehicle.

[0013] Adjusting the torque of the drive motor according to the second control strategy includes: Determine whether the power battery's charge level is greater than the second threshold.

[0014] When it is determined that the power battery charge is greater than the second threshold, the engine is kept off and the drive motor is used to provide torque output to the vehicle.

[0015] When it is determined that the power battery charge is not greater than the second threshold, the engine is started to charge the power battery and the drive motor is used to provide torque output to the vehicle.

[0016] The first threshold and the second threshold are different.

[0017] Optionally, the first driving mode includes Eco, Standard, and Sport modes, and the second driving mode includes Off-road and Sand modes. Adjusting the torque of the drive motor according to the first control strategy also includes: Obtain the current vehicle speed, the first target idle speed, the control coefficient, and the first basic torque.

[0018] Based on the current vehicle speed, the first target vehicle speed, and the control coefficient, the adjustment torque is calculated using the following formula: Tc = Kp * (Vt — Va) + Ki* +Kd*d(Vt—Va) / dt Where Tc is the adjusted torque, Vt is the first target idle speed, Va is the current speed, and Kp, Ki, and Kd are control coefficients.

[0019] The target torque is calculated using the following formula, based on the adjusting torque and the first base torque: Ta = Tb + Tc Where Ta is the target torque, Tb is the first base torque, and Tc is the adjustment torque.

[0020] Adjust the torque of the drive motor to the target torque.

[0021] Adjusting the torque of the drive motor according to the second control strategy also includes: Obtain the current vehicle speed, the second target idle speed, the control coefficient, and the second base torque.

[0022] Based on the current vehicle speed, the second target vehicle speed, and the control coefficient, the adjustment torque is calculated using the following formula: Tc = Kp * (Vt — Va) + Ki* +Kd*d(Vt—Va) / dt Where Tc is the adjusted torque, Vt is the second target idle speed, Va is the current speed, and Kp, Ki, and Kd are control coefficients.

[0023] The target torque is calculated using the following formula, based on the adjusting torque and the second base torque: Ta = Td + Tc Where Ta is the target torque, Td is the second base torque, and Tc is the adjustment torque.

[0024] Adjust the torque of the drive motor to the target torque.

[0025] Among them, the first target idling speed and the second target idling speed are different, and the first base torque and the second base torque are different.

[0026] Optionally, adjusting the torque of the drive motor according to the first control strategy further includes: Get the current gear.

[0027] When the current gear is D, the first sub-target speed is used as the first target idle speed.

[0028] When the current gear is reverse (R), the second sub-target speed is used as the first target idle speed. The first sub-target speed and the second sub-target speed are different.

[0029] Adjusting the torque of the drive motor according to the second control strategy also includes: Get the current gear.

[0030] When the current gear is D, the third sub-target speed is used as the second target idle speed.

[0031] When the current gear is reverse (R), the fourth sub-target speed is used as the second target idle speed. The third and fourth sub-target speeds are different.

[0032] Optionally, adjusting the torque of the drive motor according to the first control strategy further includes: Get the throttle opening.

[0033] Determine the required torque corresponding to the throttle opening.

[0034] Determine the relationship between the required torque and the target torque.

[0035] When the required torque is greater than the target torque, the torque of the drive motor will be adjusted to the required torque.

[0036] Adjusting the torque of the drive motor according to the second control strategy also includes: Get the throttle opening.

[0037] Determine the required torque corresponding to the throttle opening.

[0038] Determine the relationship between the required torque and the target torque.

[0039] When the required torque is greater than the target torque, the torque of the drive motor will be adjusted to the required torque.

[0040] Alternatively, the method may also include: Determine if the power battery has a high-voltage fault.

[0041] When a high-voltage fault is detected in the power battery, the engine is started to provide power to the drive motor, which in turn provides torque output to the vehicle and obtains the current gear.

[0042] When the current gear is D, the drive motor provides torque output to the vehicle, allowing the vehicle to travel at the fifth target idle speed.

[0043] When the current gear is R, the drive motor provides torque output to the vehicle, enabling the vehicle to travel at the sixth target idle speed, where the fifth target idle speed is different from the sixth target idle speed.

[0044] Alternatively, the method may also include: Determine if there is a high-voltage fault in the drive motor.

[0045] When a high-voltage fault is detected in the drive motor, the engine is started to provide torque output to the vehicle and the current gear is obtained.

[0046] When the current gear is D, the engine provides torque output to the vehicle, allowing the vehicle to travel at the fifth target idle speed.

[0047] When the current gear is R, the engine provides torque output to the vehicle, allowing the vehicle to travel at the sixth target idle speed, where the fifth target idle speed is different from the sixth target idle speed.

[0048] On the other hand, this application also provides a hybrid vehicle idling speed control device, the device comprising: The judgment module is configured to determine whether the idling driving activation condition is met.

[0049] The acquisition module is configured to acquire the current driving mode when it is determined that the idling driving activation condition is met.

[0050] The adjustment module is configured to adjust the torque of the drive motor according to a first control strategy when the current driving mode is the first driving mode.

[0051] The adjustment module is also configured to adjust the torque of the drive motor according to a second control strategy when the current driving mode is the second driving mode.

[0052] On the other hand, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the hybrid vehicle idling control method of the first aspect.

[0053] On the other hand, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the hybrid vehicle idling speed control method of the first aspect.

[0054] On the other hand, this application also provides a vehicle including the electronic equipment provided in the foregoing.

[0055] The hybrid electric vehicle idling control method provided in this application indicates that idling is appropriate when the idling activation conditions are met. In this case, a corresponding control strategy is determined based on the current driving mode, and the torque of the drive motor is adjusted accordingly. This allows for flexible and accurate control of the vehicle's idling speed according to different driving modes, improving the flexibility and accuracy of the vehicle's idling speed control. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 A flowchart of hybrid vehicle idling control provided in an embodiment of this application; Figure 2 Another flowchart for idling control of a hybrid electric vehicle provided in an embodiment of this application; Figure 3 This is a schematic diagram of the architecture of a hybrid electric vehicle idling control device provided in an embodiment of this application. Detailed Implementation

[0058] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0059] This application provides a method for controlling the idling speed of a hybrid electric vehicle, which can be executed by the vehicle controller, such as... Figure 1As shown, the method includes steps S101, S102, S103, and S104, wherein: In step S101, it is determined whether the idling driving activation condition is met.

[0060] In step S102, when it is determined that the idling driving activation condition is met, the current driving mode is obtained.

[0061] In step S103, when the current driving mode is the first driving mode, the torque of the drive motor is adjusted according to the first control strategy.

[0062] In step S104, when the current driving mode is the second driving mode, the torque of the drive motor is adjusted according to the second control strategy.

[0063] In some optional embodiments, the first driving mode includes an economy mode, a standard mode, and a sport mode, and the second driving mode includes an off-road mode and a sand mode. Adjusting the torque of the drive motor according to the first control strategy includes: Determine whether the power battery's charge level is greater than the first threshold.

[0064] When it is determined that the power battery charge is greater than the first threshold, the engine is kept off and the drive motor is used to provide torque output to the vehicle.

[0065] When it is determined that the power battery charge is not greater than the first threshold, the engine is started to charge the power battery and the drive motor is used to provide torque output to the vehicle.

[0066] Adjusting the torque of the drive motor according to the second control strategy includes: Determine whether the power battery's charge level is greater than the second threshold.

[0067] When it is determined that the power battery charge is greater than the second threshold, the engine is kept off and the drive motor is used to provide torque output to the vehicle.

[0068] When it is determined that the power battery charge is not greater than the second threshold, the engine is started to charge the power battery and the drive motor is used to provide torque output to the vehicle.

[0069] The first threshold and the second threshold are different.

[0070] In some optional embodiments, the first driving mode includes an economy mode, a standard mode, and a sport mode; the second driving mode includes an off-road mode and a sand mode; and adjusting the torque of the drive motor according to the first control strategy further includes: Obtain the current vehicle speed, the first target idle speed, the control coefficient, and the first basic torque.

[0071] Based on the current vehicle speed, the first target vehicle speed, and the control coefficient, the adjustment torque is calculated using the following formula: Tc = Kp * (Vt — Va) + Ki* +Kd*d(Vt—Va) / dt Where Tc is the adjusted torque, Vt is the first target idle speed, Va is the current speed, and Kp, Ki, and Kd are control coefficients.

[0072] The target torque is calculated using the following formula, based on the adjusting torque and the first base torque: Ta = Tb + Tc Where Ta is the target torque, Tb is the first base torque, and Tc is the adjustment torque.

[0073] Adjust the torque of the drive motor to the target torque.

[0074] Adjusting the torque of the drive motor according to the second control strategy also includes: Obtain the current vehicle speed, the second target idle speed, the control coefficient, and the second base torque.

[0075] Based on the current vehicle speed, the second target vehicle speed, and the control coefficient, the adjustment torque is calculated using the following formula: Tc = Kp * (Vt — Va) + Ki* +Kd*d(Vt—Va) / dt Where Tc is the adjusted torque, Vt is the second target idle speed, Va is the current speed, and Kp, Ki, and Kd are control coefficients.

[0076] The target torque is calculated using the following formula, based on the adjusting torque and the second base torque: Ta = Td + Tc Where Ta is the target torque, Td is the second base torque, and Tc is the adjustment torque.

[0077] Adjust the torque of the drive motor to the target torque.

[0078] Among them, the first target idling speed and the second target idling speed are different, and the first base torque and the second base torque are different.

[0079] In some optional embodiments, adjusting the torque of the drive motor according to the first control strategy further includes: Get the current gear.

[0080] When the current gear is D, the first sub-target speed is used as the first target idle speed.

[0081] When the current gear is reverse (R), the second sub-target speed is used as the first target idle speed. The first sub-target speed and the second sub-target speed are different.

[0082] Adjusting the torque of the drive motor according to the second control strategy also includes: Get the current gear.

[0083] When the current gear is D, the third sub-target speed is used as the second target idle speed.

[0084] When the current gear is reverse (R), the fourth sub-target speed is used as the second target idle speed. The third and fourth sub-target speeds are different.

[0085] In some optional embodiments, adjusting the torque of the drive motor according to the first control strategy further includes: Get the throttle opening.

[0086] Determine the required torque corresponding to the throttle opening.

[0087] Determine the relationship between the required torque and the target torque.

[0088] When the required torque is greater than the target torque, the torque of the drive motor will be adjusted to the required torque.

[0089] Adjusting the torque of the drive motor according to the second control strategy also includes: Get the throttle opening.

[0090] Determine the required torque corresponding to the throttle opening.

[0091] Determine the relationship between the required torque and the target torque.

[0092] When the required torque is greater than the target torque, the torque of the drive motor will be adjusted to the required torque.

[0093] In some optional embodiments, the method further includes: Determine if the power battery has a high-voltage fault.

[0094] When a high-voltage fault is detected in the power battery, the engine is started to provide power to the drive motor, which in turn provides torque output to the vehicle and obtains the current gear.

[0095] When the current gear is D, the drive motor provides torque output to the vehicle, allowing the vehicle to travel at the fifth target idle speed.

[0096] When the current gear is R, the drive motor provides torque output to the vehicle, enabling the vehicle to travel at the sixth target idle speed, where the fifth target idle speed is different from the sixth target idle speed.

[0097] In some optional embodiments, the method further includes: Determine if there is a high-voltage fault in the drive motor.

[0098] When a high-voltage fault is detected in the drive motor, the engine is started to provide torque output to the vehicle and the current gear is obtained.

[0099] When the current gear is D, the engine provides torque output to the vehicle, allowing the vehicle to travel at the fifth target idle speed.

[0100] When the current gear is R, the engine provides torque output to the vehicle, allowing the vehicle to travel at the sixth target idle speed, where the fifth target idle speed is different from the sixth target idle speed.

[0101] The hybrid electric vehicle idling control method provided in this application indicates that idling is appropriate when the idling activation conditions are met. In this case, a corresponding control strategy is determined based on the current driving mode, and the torque of the drive motor is adjusted accordingly. This allows for flexible and accurate control of the vehicle's idling speed according to different driving modes, improving the flexibility and accuracy of the vehicle's idling speed control.

[0102] This application also provides a method for controlling the idling speed of a hybrid electric vehicle, which can be executed by the vehicle controller, such as... Figure 2 As shown, the method includes steps S201, S202, S203, S204, S205, S206, S207, and S208, wherein: In step S201, it is determined whether the idling driving activation condition is met.

[0103] In step S202, when it is determined that the idling driving activation condition is met, the current driving mode is obtained.

[0104] In step S203, when the current driving mode is the first driving mode, it is determined whether the power battery charge is greater than the first threshold.

[0105] In step S204, when it is determined that the power battery charge is greater than the first threshold, the engine is kept in the off state, and the drive motor is used to provide torque output to the vehicle.

[0106] In step S205, when it is determined that the power battery charge is not greater than the first threshold, the engine is started to charge the power battery and the drive motor is used to provide torque output to the vehicle.

[0107] In some alternative embodiments, the engine is started by a starter motor, and a clutch needs to be engaged before the starter motor can start the engine.

[0108] As a parallel step to step S203, in step S206, when the current driving mode is the second driving mode, it is determined whether the power battery charge is greater than the second threshold.

[0109] In step S207, when it is determined that the power battery charge is greater than the second threshold, the engine is kept in the off state, and the drive motor is used to provide torque output to the vehicle.

[0110] In step S208, when it is determined that the power battery charge is not greater than the second threshold, the engine is started to charge the power battery and the drive motor is used to provide torque output to the vehicle.

[0111] The first driving mode includes Eco, Standard, and Sport modes, while the second driving mode includes Off-road and Sand modes. The first and second thresholds are different.

[0112] Understandably, since off-road mode and sand mode require higher power to get the vehicle out of trouble, it is necessary to retain more power in the battery. Therefore, in some optional embodiments, the second threshold is greater than the first threshold, so that different control strategies are adopted according to different driving modes to ensure the flexibility and safety of the hybrid vehicle idling control process.

[0113] Understandably, it is necessary to first determine whether the vehicle is currently suitable for idling. Therefore, in some optional embodiments, the idling activation condition is determined to be met when all of the following conditions one through seven are satisfied: Condition 1: The power system is operating under high voltage. This means the vehicle is in a state where it can be driven in gear, and the battery can supply power to the drive motor to power the vehicle.

[0114] In some alternative embodiments, condition one can also be that the powertrain is in PT Ready (Powertrain Ready) state. The PT Ready signal is generated when the VCU (Vehicle Control Unit) completes its self-test and confirms that the powertrain conditions are met after the vehicle is powered on.

[0115] Condition 2: Current vehicle speed is lower than preset speed. It's understandable that only when the current vehicle speed is lower than the preset speed does it mean the vehicle might need to idle; otherwise, the vehicle is in a state of traveling at the corresponding speed based on the accelerator or brake pedal opening.

[0116] Condition 3: Accelerator pedal opening is less than the preset opening. This means that only when the accelerator pedal opening is less than the preset opening does it indicate a potential need for idling (i.e., using only the brake pedal to control vehicle speed); otherwise, the vehicle is in a state of traveling at the corresponding speed based on the accelerator pedal opening.

[0117] Condition 4: The vehicle is in D or R gear. It's understandable that only when the vehicle is in D or R gear can the drive motor output normally to the vehicle's drive shaft, allowing the vehicle to idle.

[0118] Condition 5: Electronic parking brake not activated. It's understandable that only when the electronic parking brake is not activated can the drive motor output power to the wheels, causing them to rotate and allowing the vehicle to idle.

[0119] Condition 6: Intelligent driver assistance function is not activated.

[0120] Condition 7: The brake pedal opening is 0.

[0121] In some optional embodiments, adjusting the torque of the drive motor according to the first control strategy further includes: The current vehicle speed, the first target idle speed, the control coefficient, and the first basic torque are obtained. It can be understood that the first target idle speed, the control coefficient, and the first basic torque are obtained and stored in advance through a limited number of trials.

[0122] Based on the current vehicle speed, the first target vehicle speed, and the control coefficient, the adjustment torque is calculated using the following formula: Tc = Kp * (Vt — Va) + Ki* +Kd*d(Vt—Va) / dt Where Tc is the adjusted torque, Vt is the first target idle speed, Va is the current speed, and Kp, Ki, and Kd are control coefficients. It can be understood that the formula for calculating the adjusted torque follows the PID (proportional-integral-derivative) control method.

[0123] The target torque is calculated using the following formula, based on the adjusting torque and the first base torque: Ta = Tb + Tc Where Ta is the target torque, Tb is the first base torque, and Tc is the adjustment torque.

[0124] Adjust the torque of the drive motor to the target torque.

[0125] Adjusting the torque of the drive motor according to the second control strategy also includes: The current vehicle speed, the second target idle speed, the control coefficient, and the second base torque are obtained. It is understood that the second target idle speed, the control coefficient, and the second base torque are obtained and stored in advance through a limited number of trials.

[0126] Based on the current vehicle speed, the second target vehicle speed, and the control coefficient, the adjustment torque is calculated using the following formula: Tc = Kp * (Vt — Va) + Ki* +Kd*d(Vt—Va) / dt Where Tc is the adjusted torque, Vt is the second target idle speed, Va is the current vehicle speed, and Kp, Ki, and Kd are control coefficients. It can be understood that the formula for calculating the adjusted torque follows the PID (proportional-integral-derivative) control method.

[0127] The target torque is calculated using the following formula, based on the adjusting torque and the second base torque. Ta = Td + Tc Where Ta is the target torque, Td is the second base torque, and Tc is the adjustment torque.

[0128] Adjust the torque of the drive motor to the target torque.

[0129] Understandably, since off-road and sand modes demand higher power from the vehicle to get out of trouble, they require higher idle speeds and output torque. Therefore, the first target idle speed and the second target idle speed are different, and the second target idle speed can be higher than the first target idle speed. Similarly, the first base torque and the second base torque are also different, and the second base torque is higher than the first base torque. Thus, different control strategies are adopted according to different driving modes to ensure the flexibility and safety of the idle speed control process of hybrid vehicles.

[0130] In some optional embodiments, adjusting the torque of the drive motor according to the first control strategy further includes: Get the current gear.

[0131] When the current gear is D, the first sub-target speed is used as the first target idle speed.

[0132] When the current gear is reverse (R), the second sub-target speed is used as the first target idle speed. The first sub-target speed and the second sub-target speed are different.

[0133] Understandably, to ensure safety, the idling speed in R gear is lower than the idling speed in D gear. Therefore, the second sub-target speed is lower than the first sub-target speed.

[0134] Adjusting the torque of the drive motor according to the second control strategy also includes: Get the current gear.

[0135] When the current gear is D, the third sub-target speed is used as the second target idle speed.

[0136] When the current gear is reverse (R), the fourth sub-target speed is used as the second target idle speed. The third and fourth sub-target speeds are different.

[0137] Understandably, to ensure safety, the idling speed in R gear is lower than the idling speed in D gear. Therefore, the fourth sub-target speed is lower than the third sub-target speed.

[0138] However, since off-road mode and sand mode require higher vehicle power to get out of trouble, a higher idle speed is needed. Therefore, the third sub-target speed can be greater than the first sub-target speed, and the fourth sub-target speed can be greater than the second sub-target speed.

[0139] Understandably, if the driver presses the accelerator pedal heavily while the vehicle is idling, it may indicate that the driver's power demand is higher than the power output during idling, and the driver wishes to exit idling. Therefore, in some optional embodiments, adjusting the torque of the drive motor according to the first control strategy further includes: Get the throttle opening.

[0140] Determine the required torque corresponding to the throttle opening.

[0141] Determine the relationship between the required torque and the target torque.

[0142] When the required torque is greater than the target torque, the torque of the drive motor will be adjusted to the required torque.

[0143] Adjusting the torque of the drive motor according to the second control strategy also includes: Get the throttle opening.

[0144] Determine the required torque corresponding to the throttle opening.

[0145] Determine the relationship between the required torque and the target torque.

[0146] When the required torque is greater than the target torque, the torque of the drive motor will be adjusted to the required torque.

[0147] Understandably, the relationship between throttle opening and required torque can be pre-stored.

[0148] To ensure the vehicle can still idle normally even in the event of a drive motor or power battery failure, allowing it to idle to a safe area and guaranteeing the safety of the vehicle and its occupants, in some optional embodiments, the method further includes: Determine if the power battery has a high-voltage fault.

[0149] When a high-voltage fault is detected in the power battery, the engine is started to provide power to the drive motor, which in turn provides torque output to the vehicle and obtains the current gear.

[0150] When the current gear is D, the drive motor provides torque output to the vehicle, allowing the vehicle to travel at the fifth target idle speed.

[0151] When the current gear is R, the drive motor provides torque output to the vehicle, enabling the vehicle to travel at the sixth target idle speed, where the fifth target idle speed is different from the sixth target idle speed.

[0152] Understandably, to ensure safety, the idling speed in R gear should be lower than the idling speed in D gear. Therefore, the sixth target idling speed is lower than the fifth target idling speed.

[0153] It is understandable that an engine can be started using a starter motor, which is different from a drive motor.

[0154] If any of the following conditions are met, it can be determined that there is a high-voltage fault in the power battery.

[0155] Condition 1: The battery has overheated.

[0156] Condition 2: The battery experiences an overcurrent / overvoltage fault.

[0157] Condition 3: An insulation fault occurs inside the battery pack.

[0158] In some optional embodiments, the method further includes: Determine if there is a high-voltage fault in the drive motor.

[0159] When a high-voltage fault is detected in the drive motor, the engine is started to provide torque output to the vehicle and the current gear is obtained.

[0160] When the current gear is D, the engine provides torque output to the vehicle, allowing the vehicle to travel at the fifth target idle speed.

[0161] When the current gear is R, the engine provides torque output to the vehicle, allowing the vehicle to travel at the sixth target idle speed, where the fifth target idle speed is different from the sixth target idle speed.

[0162] Understandably, to ensure safety, the idling speed in R gear should be lower than the idling speed in D gear. Therefore, the sixth target idling speed is lower than the fifth target idling speed.

[0163] It is understandable that an engine can be started using a starter motor, which is different from a drive motor.

[0164] If any of the following conditions are met, it is determined that there is a high-voltage fault in the drive motor.

[0165] Condition 1: Motor 2 overheating fault.

[0166] Condition 2: Motor 2 stalls due to overcurrent fault.

[0167] Condition 3: Motor 2 resolver failure.

[0168] In some optional embodiments, when a high-voltage fault is detected in the drive motor, the cooling flow of the drive motor can be adjusted to the maximum opening for cooling, preventing the drive motor from being dragged back and accumulating too much heat during vehicle operation.

[0169] The hybrid electric vehicle idling control method provided in this application indicates that idling is appropriate when the idling activation conditions are met. In this case, a corresponding control strategy is determined based on the current driving mode, and the torque of the drive motor is adjusted accordingly. Specifically, the engine is flexibly started to charge the power battery based on whether the power battery has sufficient charge, and the drive motor is ultimately used to provide torque output to the vehicle. The safety redundancy of the power battery charge varies in different driving modes, thereby flexibly and accurately controlling the vehicle's idling speed according to different driving modes, improving the flexibility and safety of vehicle idling control.

[0170] This application also provides a hybrid electric vehicle idling control device, which can be a vehicle controller, such as... Figure 3 As shown, the device includes: The judgment module 301 is configured to determine whether the idling driving activation condition is met.

[0171] The acquisition module 302 is configured to acquire the current driving mode when it is determined that the idling driving activation condition is met.

[0172] The adjustment module 303 is configured to adjust the torque of the drive motor according to a first control strategy when the current driving mode is the first driving mode.

[0173] The adjustment module 303 is also configured to adjust the torque of the drive motor according to the second control strategy when the current driving mode is the second driving mode.

[0174] In some optional embodiments, the idling driving activation condition is determined to be met when all of the following conditions are satisfied: The power system is operating under high pressure.

[0175] The current vehicle speed is lower than the preset speed.

[0176] The accelerator pedal opening is less than the preset opening.

[0177] The vehicle is in D or R gear.

[0178] The electronic parking brake is not activated.

[0179] The intelligent driver assistance function is not activated.

[0180] The brake pedal opening is 0.

[0181] In some optional embodiments, the first driving mode includes an economy mode, a standard mode, and a sport mode, and the second driving mode includes an off-road mode and a sand mode. Adjusting the torque of the drive motor according to the first control strategy includes: Determine whether the power battery's charge level is greater than the first threshold.

[0182] When it is determined that the power battery charge is greater than the first threshold, the engine is kept off and the drive motor is used to provide torque output to the vehicle.

[0183] When it is determined that the power battery charge is not greater than the first threshold, the engine is started to charge the power battery and the drive motor is used to provide torque output to the vehicle.

[0184] Adjusting the torque of the drive motor according to the second control strategy includes: Determine whether the power battery's charge level is greater than the second threshold.

[0185] When it is determined that the power battery charge is greater than the second threshold, the engine is kept off and the drive motor is used to provide torque output to the vehicle.

[0186] When it is determined that the power battery charge is not greater than the second threshold, the engine is started to charge the power battery and the drive motor is used to provide torque output to the vehicle.

[0187] The first threshold and the second threshold are different.

[0188] In some optional embodiments, the first driving mode includes an economy mode, a standard mode, and a sport mode; the second driving mode includes an off-road mode and a sand mode; and adjusting the torque of the drive motor according to the first control strategy further includes: Obtain the current vehicle speed, the first target idle speed, the control coefficient, and the first basic torque.

[0189] Based on the current vehicle speed, the first target vehicle speed, and the control coefficient, the adjustment torque is calculated using the following formula: Tc = Kp * (Vt — Va) + Ki* +Kd*d(Vt—Va) / dt Where Tc is the adjusted torque, Vt is the first target idle speed, Va is the current speed, and Kp, Ki, and Kd are control coefficients.

[0190] The target torque is calculated using the following formula, based on the adjusting torque and the first base torque: Ta = Tb + Tc Where Ta is the target torque, Tb is the first base torque, and Tc is the adjustment torque.

[0191] Adjust the torque of the drive motor to the target torque.

[0192] Adjusting the torque of the drive motor according to the second control strategy also includes: Obtain the current vehicle speed, the second target idle speed, the control coefficient, and the second base torque.

[0193] Based on the current vehicle speed, the second target vehicle speed, and the control coefficient, the adjustment torque is calculated using the following formula: Tc = Kp * (Vt — Va) + Ki* +Kd*d(Vt—Va) / dt Where Tc is the adjusted torque, Vt is the second target idle speed, Va is the current speed, and Kp, Ki, and Kd are control coefficients.

[0194] The target torque is calculated using the following formula, based on the adjusting torque and the second base torque: Ta = Td + Tc Where Ta is the target torque, Td is the second base torque, and Tc is the adjustment torque.

[0195] Adjust the torque of the drive motor to the target torque.

[0196] Among them, the first target idling speed and the second target idling speed are different, and the first base torque and the second base torque are different.

[0197] In some optional embodiments, adjusting the torque of the drive motor according to the first control strategy further includes: Get the current gear.

[0198] When the current gear is D, the first sub-target speed is used as the first target idle speed.

[0199] When the current gear is reverse (R), the second sub-target speed is used as the first target idle speed. The first sub-target speed and the second sub-target speed are different.

[0200] Adjusting the torque of the drive motor according to the second control strategy also includes: Get the current gear.

[0201] When the current gear is D, the third sub-target speed is used as the second target idle speed.

[0202] When the current gear is reverse (R), the fourth sub-target speed is used as the second target idle speed. The third and fourth sub-target speeds are different.

[0203] In some optional embodiments, adjusting the torque of the drive motor according to the first control strategy further includes: Get the throttle opening.

[0204] Determine the required torque corresponding to the throttle opening.

[0205] Determine the relationship between the required torque and the target torque.

[0206] When the required torque is greater than the target torque, the torque of the drive motor will be adjusted to the required torque.

[0207] Adjusting the torque of the drive motor according to the second control strategy also includes: Get the throttle opening.

[0208] Determine the required torque corresponding to the throttle opening.

[0209] Determine the relationship between the required torque and the target torque.

[0210] When the required torque is greater than the target torque, the torque of the drive motor will be adjusted to the required torque.

[0211] In some alternative embodiments: The judgment module 301 is also configured to determine whether there is a high voltage fault in the power battery.

[0212] The acquisition module 302 is also configured to start the engine when a high-voltage fault is detected in the power battery, use the engine to provide power to the drive motor, use the drive motor to provide torque output to the vehicle, and acquire the current gear.

[0213] The adjustment module 303 is also configured to provide torque output to the vehicle using the drive motor when the current gear is D, so that the vehicle can travel at the fifth target idle speed.

[0214] The adjustment module 303 is also configured to provide torque output to the vehicle using the drive motor when the current gear is R, so that the vehicle travels at the sixth target idle speed, where the fifth target idle speed is different from the sixth target idle speed.

[0215] In some alternative embodiments: The judgment module 301 is also configured to determine whether there is a high voltage fault in the drive motor.

[0216] The acquisition module 302 is also configured to start the engine when a high-voltage fault is detected in the drive motor, use the engine to provide torque output to the vehicle, and acquire the current gear.

[0217] The adjustment module 303 is also configured to use the engine to provide torque output to the vehicle when the current gear is D, so that the vehicle can travel at the fifth target idle speed.

[0218] The adjustment module 303 is also configured to use the engine to provide torque output to the vehicle when the current gear is R, so that the vehicle travels at a sixth target idle speed, wherein the fifth target idle speed is different from the sixth target idle speed.

[0219] The hybrid electric vehicle idling control device provided in this application indicates that idling is appropriate when the idling activation conditions are met. In this case, the corresponding control strategy is determined according to the current driving mode, and the torque of the drive motor is adjusted accordingly. This allows for flexible and accurate control of the vehicle's idling speed according to different driving modes, improving the flexibility and accuracy of the vehicle's idling speed control.

[0220] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the aforementioned hybrid vehicle idling control method.

[0221] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned hybrid vehicle idling speed control method.

[0222] This application also provides a vehicle that includes the aforementioned electronic equipment.

[0223] In this application, it should be understood that the terms “first”, “second”, etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0224] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0225] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

[0226] The above is merely for the purpose of enabling those skilled in the art to understand the technical solution of this application, and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

1. A method for controlling the idling speed of a hybrid electric vehicle, characterized in that, The method includes: Determine whether the conditions for idling activation are met; When it is determined that the idling driving activation condition is met, the current driving mode is obtained; When the current driving mode is the first driving mode, the torque of the drive motor is adjusted according to the first control strategy; When the current driving mode is the second driving mode, the torque of the drive motor is adjusted according to the second control strategy.

2. The hybrid electric vehicle idling control method according to claim 1, characterized in that, The first driving mode includes Eco mode, Standard mode, and Sport mode; the second driving mode includes Off-road mode and Sand mode; and adjusting the torque of the drive motor according to the first control strategy includes: Determine whether the power battery's charge level is greater than the first threshold. When it is determined that the power battery charge is greater than the first threshold, the engine is kept off and the drive motor is used to provide torque output to the vehicle. When it is determined that the charge of the power battery is not greater than the first threshold, the engine is started to charge the power battery and the drive motor is used to provide torque output to the vehicle. The adjustment of the drive motor torque according to the second control strategy includes: Determine whether the charge of the power battery is greater than the second threshold; When it is determined that the power battery charge is greater than the second threshold, the engine is kept off and the drive motor is used to provide torque output to the vehicle. When it is determined that the charge of the power battery is not greater than the second threshold, the engine is started to charge the power battery, and the drive motor is used to provide torque output to the vehicle. The first threshold and the second threshold are different.

3. The hybrid electric vehicle idling control method according to claim 1, characterized in that, The first driving mode includes Eco mode, Standard mode, and Sport mode; the second driving mode includes Off-road mode and Sand mode; and the adjustment of the drive motor torque according to the first control strategy further includes: Obtain the current vehicle speed, the first target idle speed, the control coefficient, and the first basic torque; Based on the current vehicle speed, the first target vehicle speed, and the control coefficient, the adjustment torque is calculated using the following formula: Tc=Kp *(Vt—Va)+ Ki* +Kd*d(Vt—Va) / dt Where Tc is the adjusted torque, Vt is the first target idle speed, Va is the current speed, and Kp, Ki and Kd are the control coefficients; Based on the adjusted torque and the first base torque, the target torque is calculated using the following formula: Ta = Tb + Tc Where Ta is the target torque, Tb is the first base torque, and Tc is the adjustment torque; Adjust the torque of the drive motor to the target torque. The adjustment of the drive motor torque according to the second control strategy also includes: Obtain the current vehicle speed, the second target idle speed, the control coefficient, and the second basic torque; Based on the current vehicle speed, the second target vehicle speed, and the control coefficient, the adjustment torque is calculated using the following formula: Tc=Kp *(Vt—Va)+ Ki* +Kd*d(Vt—Va) / dt Where Tc is the adjusted torque, Vt is the second target idle speed, Va is the current speed, and Kp, Ki and Kd are the control coefficients; Based on the adjusted torque and the second base torque, the target torque is calculated using the following formula: Ta = Td + Tc Where Ta is the target torque, Td is the second base torque, and Tc is the adjustment torque; Adjust the torque of the drive motor to the target torque. The first target idling speed and the second target idling speed are different, and the first base torque and the second base torque are different.

4. The hybrid electric vehicle idling control method according to claim 3, characterized in that, The adjustment of the drive motor torque according to the first control strategy also includes: Get the current gear; When the current gear is D, the first sub-target vehicle speed is taken as the first target idle speed. When the current gear is reverse (R), the second sub-target vehicle speed is used as the first target idle speed, wherein the first sub-target vehicle speed and the second sub-target vehicle speed are different. The adjustment of the drive motor torque according to the second control strategy also includes: Obtain the current gear; When the current gear is D, the third sub-target vehicle speed is used as the second target idle speed. When the current gear is R, the fourth sub-target speed is used as the second target idle speed, wherein the third sub-target speed and the fourth sub-target speed are different.

5. The hybrid electric vehicle idling control method according to claim 3, characterized in that, The adjustment of the drive motor torque according to the first control strategy also includes: Get the throttle opening; Determine the required torque corresponding to the throttle opening; Determine the magnitude relationship between the required torque and the target torque. When the required torque is greater than the target torque, the torque of the drive motor is adjusted to the required torque. The adjustment of the drive motor torque according to the second control strategy also includes: Get the throttle opening; Determine the required torque corresponding to the throttle opening; Determine the magnitude relationship between the required torque and the target torque. When the required torque is greater than the target torque, the torque of the drive motor is adjusted to the required torque.

6. The hybrid electric vehicle idling control method according to claim 1, characterized in that, The method further includes: Determine if the power battery has a high-voltage fault; When a high-voltage fault is detected in the power battery, the engine is started to provide power to the drive motor, which in turn provides torque output to the vehicle, and the current gear is obtained. When the current gear is D, the drive motor provides torque output to the vehicle, enabling the vehicle to travel at the fifth target idle speed. When the current gear is reverse (R), the drive motor provides torque output to the vehicle, causing the vehicle to travel at a sixth target idle speed, wherein the fifth target idle speed and the sixth target idle speed are different. The method further includes: Determine whether the drive motor has a high-voltage fault; When a high-voltage fault is detected in the drive motor, the engine is started to provide torque output to the vehicle and the current gear is obtained. When the current gear is D, the engine provides torque output to the vehicle, allowing the vehicle to travel at the fifth target idle speed. When the current gear is R, the engine provides torque output to the vehicle, causing the vehicle to travel at a sixth target idle speed, wherein the fifth target idle speed is different from the sixth target idle speed.

7. A hybrid electric vehicle idle speed control device, characterized in that, The device includes: The judgment module is configured to determine whether the idling driving activation condition is met. The acquisition module is configured to acquire the current driving mode when it is determined that the idling driving activation condition is met. The adjustment module is configured to adjust the torque of the drive motor according to a first control strategy when the current driving mode is the first driving mode; The adjustment module is also configured to adjust the torque of the drive motor according to a second control strategy when the current driving mode is the second driving mode.

8. An electronic device, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the hybrid vehicle idling control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the hybrid electric vehicle idling control method according to any one of claims 1-6.

10. A vehicle, characterized in that, Including the electronic device as described in claim 8.

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