Hybrid vehicle control method and device, electronic equipment and storage medium

Abstract

The invention relates to the field of automobile control, and provides a hybrid vehicle control method and device, electronic equipment and a computer readable storage medium. The method comprises the steps that in response to a hybrid vehicle control instruction, a plurality of hybrid vehicle control actions corresponding to the hybrid vehicle control instruction are obtained, and the hybrid vehicle control instruction comprises a gear shifting instruction and / or a mode switching instruction; determining a parallel control action based on the interdependence relationship among the plurality of hybrid vehicle control actions; and controlling the parallel control actions to be executed in parallel. According to the hybrid vehicle control method and device, the electronic equipment and the computer readable storage medium, the technical effect that the total time consumption of the hybrid vehicle during gear shifting and mode conversion can be reduced at the same time can be achieved.

Description

Technical Field

[0001] This application relates to the field of automotive control, specifically to a hybrid vehicle control method and apparatus, electronic equipment, and computer-readable storage medium. Background Technology

[0002] Driven by the global energy transition and carbon neutrality goals, hybrid vehicles have become one of the core technological paths for the automotive industry to transition from traditional fuel to pure electric vehicles. Compared with traditional fuel vehicles, hybrid vehicles have added core components such as motors, power batteries, and power coupling mechanisms, forming a multi-power source collaborative drive architecture of "engine + motor". While bringing energy consumption advantages, this architecture also exponentially increases the control complexity of power transmission and mode switching processes.

[0003] As the core component of a vehicle's power transmission, the gear shifting system directly determines driving smoothness and power response speed. Traditional gasoline vehicles use mechanical shifting mechanisms (such as AT, MT, and DCT), achieving gear changes through a serial process of clutch disengagement-shifting-clutch engagement. Hybrid vehicles add an electric motor power compensation function on top of this, mitigating shift shock through the intervention of electric motor torque. Specifically, when the vehicle needs to shift gears, the engine power output is first cut off, the clutch is disengaged, then the gears are engaged through a synchronizer, and finally the clutch is engaged and power is restored.

[0004] Power mode switching is a key technology that distinguishes hybrid vehicles from traditional gasoline vehicles. It mainly includes pure electric mode, series hybrid mode, parallel hybrid mode, and engine direct drive mode. The essence of mode switching is the switching of power source combination. During the mode switching process, the vehicle needs to coordinate multiple actions such as engine start / stop, electric motor torque adjustment, and clutch engagement / disengagement.

[0005] More importantly, in actual driving conditions, gear shifting and mode switching often overlap. For example, when a vehicle accelerates rapidly in EV mode, it needs to switch to parallel mode to obtain stronger power, accompanied by a gear shift; or when cruising at high speed, it switches from engine direct drive mode to series mode, while simultaneously downshifting. In existing technologies, such overlapping scenarios typically employ a sequential strategy of "completing the mode switch first and then performing the gear shift" or "shifting first and then switching modes," resulting in an increase in the total time consumed by both the gear shifting and mode switching processes. Summary of the Invention

[0006] In view of this, it is necessary to provide a hybrid vehicle control method and apparatus, electronic equipment and computer-readable storage medium to achieve the technical effect of reducing the total time consumed by hybrid vehicles during gear shifting and mode switching.

[0007] To achieve the above-mentioned technical effects, in a first aspect, this application provides a hybrid vehicle control method, which, in response to a hybrid vehicle control command, acquires a plurality of hybrid vehicle control actions corresponding to the hybrid vehicle control command, wherein the hybrid vehicle control command includes; Parallel control actions are determined based on the interdependencies among the multiple hybrid vehicle control actions. The parallel control actions are executed in parallel.

[0008] In one possible embodiment, determining the parallel control actions based on the interdependencies among the plurality of hybrid vehicle control actions includes: Obtain a control dataset corresponding to each of the hybrid vehicle control actions, the control dataset including the execution components required to perform the hybrid vehicle control actions; The control actions of the hybrid vehicle with different actuators are determined as the parallel control actions.

[0009] In one possible embodiment, the hybrid vehicle control commands include mode switching commands and shifting commands; the plurality of hybrid vehicle control actions include mode switching motor speed adjustment actions, canine clutch control actions, main clutch disengagement actions, transmission disengagement actions, shifting motor speed adjustment actions, and transmission engagement actions; determining parallel control actions based on the interdependencies among the plurality of hybrid vehicle control actions includes: The mode switching motor speed regulation action and the main clutch disengagement action are determined to be the parallel control actions, as are the gearbox disengagement action and the dog clutch control action.

[0010] In one possible embodiment, the hybrid vehicle control command includes a mode switching command, and the plurality of hybrid vehicle control actions include at least a torque synchronization action, the torque synchronization action including: Adjust the engine torque and the electric motor torque to make them equal; During the adjustment of the engine torque and the electric motor torque, the torque of the engine torque and the electric motor torque are controlled to remain constant.

[0011] In one possible embodiment, the mode switching command is to switch the engine mode to the electric mode, and the plurality of hybrid vehicle control actions also include mode switching motor speed adjustment action, dog clutch engagement action, and main clutch disengagement action. The mode switching command includes: executing the mode switching motor speed regulation action and the main clutch disengagement action in parallel, and then executing the dog clutch engagement action and the torque synchronization action in sequence. The mode switching motor speed adjustment action is to control the motor to start and accelerate to the same speed as the engine; The engagement action of the canine clutch is to control the engagement of the canine clutch; The torque synchronization action is to control the engine torque to decrease while simultaneously controlling the electric motor torque to increase, and the sum of the engine torque and the electric motor torque remains unchanged; The main clutch disengagement action is to control the main clutch to disengage.

[0012] In one possible embodiment, the mode switching command is to switch from electric mode to engine mode, and the plurality of hybrid vehicle control actions also include mode switching motor speed adjustment action, canine clutch disengagement action, and main clutch engagement action. The mode switching command includes: executing the mode switching motor speed regulation action and the main clutch engagement action in parallel, and then executing the torque synchronization action and the dog clutch engagement action in sequence; The mode switching motor speed adjustment action is to control the engine to start and accelerate to the same speed as the motor; The main clutch engagement action is to control the main clutch engagement; The torque synchronization action is to control the engine torque to increase while simultaneously controlling the electric motor torque to decrease, and the sum of the engine torque and the electric motor torque remains unchanged; The disengagement action of the canine clutch is to control the disengagement of the canine clutch.

[0013] In one possible embodiment, the hybrid vehicle control command includes a shift command, and the plurality of hybrid vehicle control actions include a main clutch disengagement action, a torque reduction action, a shift motor speed adjustment action, a main clutch engagement action, and a torque reset action. The shift command includes executing the main clutch disengagement action and the torque adjustment action in parallel, followed by the shift motor speed adjustment action, the main clutch engagement action, and the torque reset action in sequence. The main clutch disengagement action is to control the main clutch disengagement; The torque adjustment action is to control the torque of the engine and the motor to decrease to 0; The speed regulation action of the shift motor is to control the motor to reach a first target speed and control the engine to reach a second target speed. The first target speed is the speed required for shifting, and the second target speed is the speed after shifting is completed. The main clutch engagement action is to control the main clutch engagement; The torque reset action is to control the torque of the engine and the motor to restore their original speed. Secondly, this application provides a hybrid vehicle control device, comprising: The instruction receiving module is used to respond to a hybrid vehicle control instruction and acquire multiple hybrid vehicle control actions corresponding to the hybrid vehicle control instruction, wherein the hybrid vehicle control instruction includes a gear shift instruction and / or a mode switching instruction. A parallel determination module is used to determine parallel control actions based on the interdependencies among the multiple hybrid vehicle control actions. A control module is used to control the parallel execution of the parallel control actions.

[0014] Thirdly, this application provides an electronic device, including a memory and a processor, wherein, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the hybrid vehicle control method described above.

[0015] Fourthly, this application provides a computer-readable storage medium for storing a computer-readable program or instructions, which, when executed by a processor, can implement the steps in the aforementioned hybrid vehicle control method.

[0016] The beneficial effects of this application are: Compared with related technologies, the hybrid vehicle control method, device, electronic equipment, and computer-readable storage medium provided in this application first acquire multiple hybrid vehicle control actions corresponding to the hybrid vehicle control command before the vehicle receives the hybrid vehicle control command, determine which actions need to be executed by the hybrid vehicle control command to realize the vehicle's gear shifting and mode switching, and then determine the parallel control actions that can be executed in parallel based on the interdependence between the multiple hybrid vehicle control actions. During the execution of the hybrid vehicle control command, the parallel control actions are controlled and executed sequentially with other hybrid vehicle control actions. By executing some hybrid vehicle control actions in parallel, the hybrid vehicle control command is executed quickly, achieving the technical effect of reducing the total time consumption of simultaneous gear shifting and mode switching. Attached Figure Description

[0017] 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.

[0018] Figure 1This is a schematic flowchart of a hybrid vehicle control method provided in one embodiment of this application; Figure 2 This is a schematic diagram of the structure of a hybrid vehicle control device provided in one embodiment of this application; Figure 3 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0019] 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 a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0021] The terms "first," "second," etc., used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] This application provides a hybrid vehicle control method, a hybrid vehicle control device, an electronic device, and a computer-readable storage medium, which are described below.

[0024] Please refer to Figure 1 The hybrid vehicle control method provided in this embodiment is applied to hybrid vehicles including different power modes and multiple driving gears, and specifically includes the following steps: Step S101: In response to the hybrid vehicle control command, acquire multiple hybrid vehicle control actions corresponding to the hybrid vehicle control command, including a gear shift command and / or a mode switching command.

[0025] In this step, the hybrid vehicle control actions specifically refer to the actions required during the execution of the hybrid vehicle control commands. In this embodiment, corresponding to the gear shift command, multiple hybrid vehicle control actions include main clutch disengagement, torque reduction, gear shift motor speed adjustment, main clutch engagement, and torque reset.

[0026] Step S102: Determine parallel control actions based on the interdependencies between multiple hybrid vehicle control actions.

[0027] In this step, the control dataset corresponding to each hybrid vehicle control action can be obtained. The control dataset includes the execution components required to perform the hybrid vehicle control action; hybrid vehicle control actions with different execution components are determined to be parallel control actions.

[0028] For example, when the control commands for a hybrid vehicle only include shifting commands, the corresponding control actions include main clutch disengagement, torque reduction, shift motor speed adjustment, main clutch engagement, and torque reset. The main clutch disengagement action is executed by the main clutch, while the torque adjustment action is executed by the motor and engine. These are completely different; therefore, the main clutch disengagement and torque adjustment actions are parallel control actions. Based on this, the specific process when executing a shift command is as follows: the main clutch disengagement and torque adjustment actions are executed in parallel, followed by the shift motor speed adjustment, main clutch engagement, and torque reset actions in sequence. Specifically, the main clutch disengagement action controls the main clutch to disengage; the torque adjustment action controls the torque of the engine and motor to decrease to 0; the shift motor speed adjustment action controls the motor to reach a first target speed and the engine to reach a second target speed, where the first target speed is the speed required for shifting and the second target speed is the speed after shifting; the main clutch engagement action controls the main clutch to engage; and the torque reset action controls the torque of the engine and motor to return to their original speeds.

[0029] Furthermore, in this embodiment, the first target speed can be calculated based on the current vehicle speed, gear ratio, final drive ratio, and wheel circumference. The gear ratio is the speed ratio between the original gear before shifting and the target gear after shifting, and the final drive ratio is the speed ratio between the driving gear and the driven gear in the final drive. The specific calculation formula is as follows: The first target speed = current vehicle speed × gear ratio × final drive ratio ÷ wheel circumference.

[0030] Furthermore, in this embodiment, the control commands corresponding to the hybrid vehicle include mode switching commands, and the multiple hybrid vehicle control actions include at least torque synchronization actions. The torque synchronization actions include: adjusting the engine torque and the electric motor torque to make the engine torque and the electric motor torque equal; and controlling the torque sum of the engine torque and the electric motor torque to remain unchanged during the adjustment of the engine torque and the electric motor torque.

[0031] Below, examples will be given to illustrate the switching from engine mode to electric mode and the switching from electric mode to engine mode.

[0032] The mode switching command switches from engine mode to electric mode. In engine mode, the canine clutch disengages and the main clutch engages; in electric mode, the canine clutch engages and the main clutch disengages. Therefore, switching from engine mode to electric mode specifically includes mode switching motor speed regulation, canine clutch engagement, torque synchronization, and main clutch disengagement. The main clutch disengagement action is executed by the main clutch, while the mode switching motor speed regulation action is executed by both the motor and the engine. These two actions are completely different; therefore, the mode switching motor speed regulation and main clutch disengagement are parallel control actions. Based on this, the corresponding execution sequence is to execute the mode switching motor speed regulation and main clutch disengagement actions in parallel, followed by the canine clutch engagement and torque synchronization actions in sequence. Specifically, the mode switching motor speed regulation action starts the motor and accelerates it to the same speed as the engine; the canine clutch engagement action engages the canine clutch; the torque synchronization action reduces engine torque while increasing electric motor torque, keeping the sum of engine and electric motor torque constant; and the main clutch disengagement action disengages the main clutch.

[0033] The mode switching command is to switch from electric mode to engine mode. In engine mode, the dog clutch disengages and the main clutch engages; in electric mode, the dog clutch engages and the main clutch disengages. Therefore, switching from electric mode to engine mode specifically includes mode switching motor speed regulation, main clutch engagement, torque synchronization, and dog clutch disengagement. The main clutch engagement action is executed by the main clutch, while the mode switching motor speed regulation action is executed by both the motor and the engine. These two actions are completely different; therefore, the mode switching motor speed regulation and main clutch engagement are parallel control actions. Based on this, the corresponding execution sequence is to execute the mode switching motor speed regulation and main clutch engagement actions in parallel, followed by the torque synchronization and dog clutch engagement actions sequentially. Specifically, the mode switching motor speed regulation action controls the engine to start and accelerate to the same speed as the motor; the main clutch engagement action controls the main clutch to engage; the torque synchronization action controls the engine torque to increase while simultaneously controlling the motor torque to decrease, with the sum of the engine torque and motor torque remaining constant; and the dog clutch disengagement action controls the dog clutch to disengage.

[0034] For example, when the vehicle is in engine mode and receives both a mode switching command and a gear shifting command, it needs to switch from engine mode to electric mode while simultaneously shifting gears. In other words, when the hybrid vehicle control commands include both a gear shifting command and a mode switching command, the mode switching command is the switch from engine mode to electric mode. Corresponding to the specific explanation in step S101 above, the hybrid vehicle control actions corresponding to the mode switching command include mode switching motor speed adjustment, hound clutch engagement, torque synchronization, and main clutch disengagement. Simultaneously, the hybrid vehicle control actions corresponding to the gear shifting command include main clutch disengagement, torque reduction, gear shifting motor speed adjustment, main clutch engagement, and torque reset. Both the gear shifting command and the mode switching command include main clutch disengagement, and they can be combined. Furthermore, the actuators for the mode switching motor speed adjustment are the motor and engine, and the actuator for the main clutch disengagement is the main clutch. Therefore, the mode switching motor speed adjustment and main clutch disengagement are determined to be parallel control actions. Similarly, the gearbox disengagement and hound clutch engagement can also be determined to be parallel control actions. Furthermore, since both the gearbox disengagement and gearbox engagement actions are executed by the gearbox itself, these actions can only be performed sequentially. Similarly, both the mode switching motor speed control and gear shift motor speed control actions are executed by the engine and motor, respectively, and therefore can only be performed sequentially. Based on this, the execution steps in this application are as follows: The hybrid vehicle control method provided in this application executes the mode-switching motor speed regulation action and the main clutch disengagement action in parallel, the gearbox disengagement action and the dog clutch engagement action in parallel, the shift motor speed regulation action, and the gearbox gear engagement action in parallel. Compared with the prior art, which executes the mode-switching motor speed regulation action, dog clutch engagement action, main clutch disengagement action, gearbox disengagement action, shift motor speed regulation action, and gearbox gear engagement action sequentially, the hybrid vehicle control method provided in this application executes the mode-switching motor speed regulation action and the main clutch disengagement action in parallel, and the gearbox disengagement action and the dog clutch engagement action in parallel, thereby effectively reducing the overall shifting and mode-switching time.

[0035] Step S103: Control parallel execution of actions.

[0036] Compared with related technologies, the hybrid vehicle control method provided in this embodiment obtains multiple hybrid vehicle control actions corresponding to the hybrid vehicle control instructions before the vehicle receives hybrid vehicle control instructions including shift instructions and / or mode switching instructions. It determines which actions need to be executed by the hybrid vehicle control instructions to realize the vehicle's shift and mode switching. Then, based on the interdependence between multiple hybrid vehicle control actions, it determines which parallel control actions can be executed in parallel. During the execution of the hybrid vehicle control instructions, the parallel control actions are controlled to run in parallel, while other hybrid vehicle control actions are executed sequentially. By executing some hybrid vehicle control actions in parallel, the hybrid vehicle control instructions are executed quickly, achieving the technical effect of reducing the total time consumption of shift and / or mode switching.

[0037] To better implement the hybrid vehicle control method in the embodiments of this application, based on the hybrid vehicle control method, please refer to the corresponding... Figure 2 This application also provides a hybrid vehicle control device, which includes: The instruction receiving module 201 is used to respond to the hybrid vehicle control instruction and obtain multiple hybrid vehicle control actions corresponding to the hybrid vehicle control instruction. The hybrid vehicle control instruction includes a gear shift instruction and / or a mode switching instruction. Parallel determination module 202 is used to determine parallel control actions based on the interdependencies between multiple hybrid vehicle control actions; Control module 203 is used to control the parallel execution of parallel control actions.

[0038] The hybrid vehicle control device provided in the above embodiments can realize the technical solutions described in the above hybrid vehicle control method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above hybrid vehicle control method embodiments, and will not be repeated here.

[0039] Please refer to Figure 3 This application also provides an electronic device 300. The electronic device 300 includes a processor 301, a memory 302, and a display 303. Figure 3 Only some components of the electronic device 300 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0040] In this application, the electronic device 300 can specifically be an electronic module with communication function installed on the automobile, which can communicate with a big data platform and control the auxiliary braking system to switch gears and control the pedal opening.

[0041] In some embodiments, processor 301 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 302 or process data, such as the hybrid vehicle control method of the present invention.

[0042] In some embodiments, processor 301 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 301 may be local or remote. In some embodiments, processor 301 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, intranet, multi-cloud, etc., or any combination thereof.

[0043] In some embodiments, memory 302 may be an internal storage unit of electronic device 300, such as a hard disk or memory of electronic device 300. In other embodiments, memory 302 may also be an external storage device of electronic device 300, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 300.

[0044] Furthermore, the memory 302 may include both internal storage units of the electronic device 300 and external storage devices. The memory 302 is used to store application software and various types of data installed on the electronic device 300.

[0045] In some embodiments, display 303 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 303 is used to display information from electronic device 300 and to display a visual user interface. Components 301-303 of electronic device 300 communicate with each other via a system bus.

[0046] In one embodiment, when processor 301 executes the hybrid vehicle control program in memory 302, the following steps can be implemented: In response to a hybrid vehicle control command, acquire multiple hybrid vehicle control actions corresponding to the hybrid vehicle control command, including a gear shift command and / or a mode switching command; Parallel control actions are determined based on the interdependencies among multiple hybrid vehicle control actions. Control parallel execution of actions.

[0047] It should be understood that when the processor 301 executes the hybrid vehicle control program in the memory 302, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0048] Accordingly, this application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions of the hybrid vehicle control methods provided in the above-described method embodiments.

[0049] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0050] The hybrid vehicle control method, hybrid vehicle control device, engine, and automobile provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A hybrid vehicle control method, characterized in that, include: In response to a hybrid vehicle control command, multiple hybrid vehicle control actions corresponding to the hybrid vehicle control command are acquired, wherein the hybrid vehicle control command includes a gear shift command and / or a mode switching command. Parallel control actions are determined based on the interdependencies among the multiple hybrid vehicle control actions. The parallel control actions are executed in parallel.

2. The hybrid vehicle control method according to claim 1, characterized in that, The determination of parallel control actions based on the interdependencies among the multiple hybrid vehicle control actions includes: Obtain a control dataset corresponding to each of the hybrid vehicle control actions, the control dataset including the execution components required to perform the hybrid vehicle control actions; The control actions of the hybrid vehicle with different actuators are determined as the parallel control actions.

3. The hybrid vehicle control method according to claim 1, characterized in that, The hybrid vehicle control commands include shift commands and mode switching commands. The multiple hybrid vehicle control actions include mode switching motor speed adjustment action, hound clutch engagement action, main clutch disengagement action, transmission disengagement action, shift motor speed adjustment action, and transmission engagement action. The determination of parallel control actions based on the interdependencies among the multiple hybrid vehicle control actions includes: The mode switching motor speed regulation action and the main clutch disengagement action are determined to be the parallel control actions, and the gearbox disengagement action and the dog clutch engagement action are also determined to be the parallel control actions.

4. The hybrid vehicle control method according to claim 1, characterized in that, The hybrid vehicle control commands include mode switching commands, and the plurality of hybrid vehicle control actions include at least a torque synchronization action, the torque synchronization action including: Adjust the engine torque and the electric motor torque to make them equal; During the adjustment of the engine torque and the electric motor torque, the torque of the engine torque and the electric motor torque are controlled to remain constant.

5. The hybrid vehicle control method according to claim 4, characterized in that, The mode switching command is to switch the engine mode to the electric mode. The multiple hybrid vehicle control actions also include mode switching motor speed adjustment action, canine clutch engagement action, and main clutch disengagement action. The mode switching command includes: executing the mode switching motor speed regulation action and the main clutch disengagement action in parallel, and then executing the dog clutch engagement action and the torque synchronization action in sequence. The mode switching motor speed adjustment action is to control the motor to start and accelerate to the same speed as the engine; The engagement action of the canine clutch is to control the engagement of the canine clutch; The torque synchronization action is to control the engine torque to decrease while simultaneously controlling the electric motor torque to increase, and the sum of the engine torque and the electric motor torque remains unchanged; The main clutch disengagement action is to control the main clutch to disengage.

6. The hybrid vehicle control method according to claim 4, characterized in that, The mode switching command is to switch from electric mode to engine mode. The multiple hybrid vehicle control actions also include mode switching motor speed adjustment action, canine clutch disengagement action, and main clutch engagement action. The mode switching command includes: executing the mode switching motor speed regulation action and the main clutch engagement action in parallel, and then executing the torque synchronization action and the dog clutch engagement action in sequence; The mode switching motor speed adjustment action is to control the engine to start and accelerate to the same speed as the motor; The main clutch engagement action is to control the main clutch engagement; The torque synchronization action is to control the engine torque to increase while simultaneously controlling the electric motor torque to decrease, and the sum of the engine torque and the electric motor torque remains unchanged; The disengagement action of the canine clutch is to control the disengagement of the canine clutch.

7. The hybrid vehicle control method according to claim 1, characterized in that, The hybrid vehicle control commands include shift commands, and the multiple hybrid vehicle control actions include main clutch disengagement, torque reduction, shift motor speed adjustment, main clutch engagement, and torque reset. The shift command includes executing the main clutch disengagement action and the torque adjustment action in parallel, followed by the shift motor speed adjustment action, the main clutch engagement action, and the torque reset action in sequence. The main clutch disengagement action is to control the main clutch disengagement; The torque adjustment action is to control the torque of the engine and the motor to decrease to 0; The speed regulation action of the shift motor is to control the motor to reach a first target speed and control the engine to reach a second target speed. The first target speed is the speed required for shifting, and the second target speed is the speed after shifting is completed. The main clutch engagement action is to control the main clutch engagement; The torque reset action is to control the torque of the engine and the motor to restore their original speed.

8. A hybrid vehicle control device, characterized in that, include: The instruction receiving module is used to respond to a hybrid vehicle control instruction and acquire multiple hybrid vehicle control actions corresponding to the hybrid vehicle control instruction, wherein the hybrid vehicle control instruction includes; A parallel determination module is used to determine parallel control actions based on the interdependencies among the multiple hybrid vehicle control actions. A control module is used to control the parallel execution of the parallel control actions.

9. An electronic device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the hybrid vehicle control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the hybrid vehicle control method according to any one of claims 1 to 7.

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