Control method of hybrid vehicle, hybrid vehicle, and computer-readable storage medium

Abstract

This invention discloses a control method for a hybrid vehicle, a hybrid vehicle, and a computer-readable storage medium. The method includes: when the vehicle needs to switch from a current preset driving mode to a first target driving mode, determining a target transient mode based on the preset driving mode and the first target driving mode; controlling the vehicle to switch from the preset driving mode to the target transient mode; and after switching to the target transient mode, controlling the vehicle to switch back to the first target driving mode when the target transition completion condition corresponding to the target transient mode is met. This invention introduces a transient mode during the driving mode switching process of a hybrid vehicle, enabling a smoother transition between different driving modes, effectively solving the problems of uneven power switching and delays that may occur during driving mode switching, and improving the safety and stability of the vehicle.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a control method for a hybrid vehicle, a hybrid vehicle, and a computer-readable storage medium. Background Technology

[0002] Currently, some HEVs (Hybrid Electric Vehicles) can intelligently switch between different driving modes based on the vehicle's driving conditions and the driver's intentions, thereby adapting to different driving situations.

[0003] However, due to the use of multi-speed transmissions in automobiles and the need for in-cylinder braking, simply switching between different driving modes without fully considering the changes in transient modes may cause problems with uneven power transmission, and may even lead to delays or affect the safety of the braking system. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of this invention is to propose a control method for hybrid vehicles that enables smoother transitions between different driving modes, effectively solving the problems of uneven power switching and delays that may occur during driving mode switching, thereby improving vehicle safety and stability.

[0005] Therefore, a second objective of the present invention is to provide a control device for a hybrid vehicle.

[0006] Therefore, a third objective of this invention is to provide a hybrid vehicle.

[0007] Therefore, a fourth object of the present invention is to provide a computer-readable storage medium.

[0008] To achieve the above objectives, an embodiment of the first aspect of the present invention discloses a control method for a hybrid vehicle, the method comprising: when the vehicle needs to switch from a current preset driving mode to a first target driving mode, determining a target transient mode based on the preset driving mode and the first target driving mode, and controlling the vehicle to switch from the preset driving mode to the target transient mode; after switching to the target transient mode, when a target transition completion condition corresponding to the target transient mode is met, controlling the vehicle to switch back to the first target driving mode.

[0009] According to the control method for hybrid vehicles of the present invention, when it is determined that the vehicle needs to switch from the current preset driving mode to the first target driving mode, a target transient mode can be determined based on the preset driving mode and the first target driving mode. When the vehicle switches to the target transient mode and meets the target transition completion condition corresponding to the target transient mode, the vehicle can be controlled to switch to the first target driving mode. That is, a smooth transition bridge is established between the preset driving mode and the first target driving mode, and the process of the vehicle switching from the preset driving mode to the first target driving mode is precisely controlled, so that the vehicle can complete the smooth transition of power when switching between different driving modes. This effectively solves the problem of uneven power switching and delay that may occur during the driving mode switching process, and improves the safety and stability of the vehicle. In addition, the control method for hybrid vehicles according to the above embodiments of the present invention may also have the following additional technical features: In some examples, the preset driving mode is a series driving mode, and the first target driving mode is a parallel driving mode, a pure electric driving mode, or a standby mode; determining the target transient mode based on the preset driving mode and the first target driving mode includes: determining the first transient mode as the target transient mode based on the series driving mode and the parallel driving mode, or based on the series driving mode and the pure electric driving mode, or based on the series driving mode and the standby mode; after switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, controlling the vehicle to switch to the first target driving mode includes: after switching to the first transient mode, controlling the vehicle to perform a torque reduction operation; based on the first transient mode, determining the first transition completion condition corresponding to the first transient mode as the target transition completion condition; acquiring the current vehicle state in real time and determining whether the current vehicle state meets the first transition completion condition; when the current vehicle state meets the first transition completion condition, controlling the vehicle to switch to the first target driving mode; the first transition completion condition includes: the engine torque is less than or equal to a first preset torque threshold.

[0010] In some examples, the preset drive mode is a parallel drive mode, and the first target drive mode is a series drive mode; determining the target transient mode based on the preset drive mode and the first target drive mode includes: determining the second transient mode as the target transient mode based on the parallel drive mode and the series drive mode; after switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, controlling the vehicle to switch to the first target drive mode includes: after switching to the second transient mode, controlling the vehicle to perform a torque reduction and speed regulation operation; based on the second transient mode, determining the second transition completion condition corresponding to the second transient mode as the target transition completion condition; acquiring the current vehicle state in real time and determining whether the current vehicle state meets the second transition completion condition; when the current vehicle state meets the second transition completion condition, controlling the vehicle to switch to the series drive mode; the second transition completion condition includes: the absolute value of the speed difference between the current speed of the motor and the required speed of the motor is less than or equal to a first preset speed difference threshold and the duration reaches a first preset time.

[0011] In some examples, the method further includes: after switching to the target transient mode, if the target transition completion condition is not met, determining whether the target transition interruption condition corresponding to the target transient mode is met; when the target transition interruption condition is met, controlling the vehicle to switch back to the preset driving mode.

[0012] In some examples, the preset driving mode is a pure electric driving mode or a standby mode, and the first target driving mode is a series driving mode or a parking power generation mode; determining the target transient mode based on the preset driving mode and the first target driving mode includes: determining a third transient mode as the target transient mode based on the pure electric driving mode and the series driving mode, or based on the standby mode and the series driving mode, or based on the standby mode and the parking power generation mode, or based on the pure electric driving mode and the parking power generation mode; after switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, controlling the vehicle to switch... Switching to the first target driving mode includes: after switching to the third transient mode, controlling the vehicle to perform a speed adjustment operation; based on the third transient mode, determining the third transition completion condition corresponding to the third transient mode as the target transition completion condition; acquiring the current vehicle state in real time, and determining whether the current vehicle state meets the third transition completion condition; when the current vehicle state meets the third transition completion condition, controlling the vehicle to switch to the first target driving mode; the third transition completion condition includes: the absolute value of the speed difference between the current speed of the motor and the required speed of the motor is less than or equal to a second preset speed difference threshold and the duration reaches a second preset time.

[0013] In some examples, the preset driving mode is a parking power generation mode, and the first target driving mode is a standby mode or a pure electric driving mode; determining the target transient mode based on the preset driving mode and the first target driving mode includes: determining a fourth transient mode as the target transient mode based on the parking power generation mode and the standby mode or based on the parking power generation mode and the pure electric driving mode; after switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, controlling the vehicle to switch to the first target driving mode includes: after switching to the fourth transient mode, controlling the vehicle to perform a torque reduction operation; determining a fourth transition completion condition corresponding to the fourth transient mode as the target transition completion condition based on the fourth transient mode; acquiring the current vehicle state in real time and determining whether the current vehicle state meets the fourth transition completion condition; when the current vehicle state meets the fourth transition completion condition, controlling the vehicle to switch to the first target driving mode; the fourth transition completion condition includes: the engine torque is less than or equal to a second preset torque threshold.

[0014] In some examples, before the vehicle needs to switch from the current preset driving mode to the first target driving mode, the method further includes: acquiring the current vehicle state in real time; determining whether the current vehicle state meets a first switching condition corresponding to the preset driving mode; and when the current vehicle state meets the first switching condition, determining that the vehicle needs to switch from the preset driving mode to the first target driving mode, wherein if the preset driving mode is a series driving mode and the first target driving mode is a parallel driving mode, the first switching condition includes the need for auxiliary braking, the auxiliary braking including engine braking; wherein if the preset driving mode is a parallel driving mode, the first switching condition includes the need for no auxiliary braking, the auxiliary braking including engine braking.

[0015] In some examples, the method further includes determining whether the current vehicle state meets a second switching condition corresponding to the preset driving mode; when the current vehicle state meets the second switching condition, determining that the vehicle needs to switch from the preset driving mode to a second target driving mode, and controlling the vehicle to switch from the preset driving mode to the second target driving mode; wherein, if the preset driving mode is a pure electric driving mode, then the second target driving mode is a parallel driving mode, and the second switching condition is that auxiliary braking is required, the auxiliary braking including engine braking; wherein, if the preset driving mode is a parallel driving mode, then the second target driving mode is a pure electric driving mode, the second switching condition is that auxiliary braking is not required, the auxiliary braking including engine braking.

[0016] To achieve the above objectives, a second aspect of the present invention discloses a control device for a hybrid vehicle, comprising: a determining module, configured to determine a target transient mode based on the preset driving mode and the first target driving mode when the vehicle needs to switch from a current preset driving mode to a first target driving mode; a first control module, configured to control the vehicle to switch from the preset driving mode to the target transient mode; and a second control module, configured to control the vehicle to switch back to the first target driving mode after switching to the target transient mode, when a target transition completion condition corresponding to the target transient mode is met.

[0017] According to the control device of the hybrid vehicle of the present invention, when it is determined that the vehicle needs to switch from the current preset driving mode to the first target driving mode, a target transient mode can be determined based on the preset driving mode and the first target driving mode. When the vehicle switches to the target transient mode and meets the target transition completion condition corresponding to the target transient mode, the vehicle can be controlled to switch to the first target driving mode. That is, a smooth transition bridge is established between the preset driving mode and the first target driving mode, and the process of the vehicle switching from the preset driving mode to the first target driving mode is precisely controlled, so that the vehicle can complete the smooth transition of power when switching between different driving modes. This effectively solves the problem of uneven power switching and delay that may occur during the driving mode switching process, and improves the safety and stability of the vehicle.

[0018] To achieve the above objectives, a third aspect of the present invention discloses a hybrid vehicle, the vehicle comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores control instructions for the hybrid vehicle that can be executed by the at least one processor, and when the control instructions for the hybrid vehicle are executed by the at least one processor, the at least one processor performs the control method for the hybrid vehicle described in the first aspect of the present invention.

[0019] According to the hybrid vehicle of the present invention, when it is determined that the vehicle needs to switch from the current preset driving mode to the first target driving mode, a target transient mode can be determined based on the preset driving mode and the first target driving mode. When the vehicle switches to the target transient mode and meets the target transition completion conditions corresponding to the target transient mode, the vehicle can be controlled to switch to the first target driving mode. That is, a smooth transition bridge is established between the preset driving mode and the first target driving mode, and the process of the vehicle switching from the preset driving mode to the first target driving mode is precisely controlled, so that the vehicle can complete the smooth transition of power when switching between different driving modes. This effectively solves the problem of uneven power switching and delay that may occur during the driving mode switching process, and improves the safety and stability of the vehicle.

[0020] To achieve the above objectives, a fourth aspect of the present invention discloses a computer-readable storage medium storing a control program for a hybrid vehicle, wherein the control program for the hybrid vehicle, when executed by a processor, implements the control method for the hybrid vehicle as described in the first aspect of the present invention.

[0021] According to an embodiment of the present invention, when the control program for a hybrid vehicle stored thereon is executed by a processor, when it is determined that the vehicle needs to switch from the current preset driving mode to the first target driving mode, a target transient mode can be determined based on the preset driving mode and the first target driving mode. When the vehicle switches to the target transient mode and meets the target transition completion conditions corresponding to the target transient mode, the vehicle can be controlled to switch to the first target driving mode. That is, a smooth transition bridge is established between the preset driving mode and the first target driving mode, and the process of the vehicle switching from the preset driving mode to the first target driving mode is precisely controlled, so that the vehicle can complete the smooth transition of power when switching between different driving modes. This effectively solves the problem of uneven power switching and delay that may occur during the vehicle's driving mode switching process, and improves the vehicle's safety and stability.

[0022] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the powertrain system of a hybrid vehicle according to an embodiment of the present invention. Figure 2 This is a schematic flowchart of a control method for a hybrid vehicle according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a control device for a hybrid vehicle according to an embodiment of the present invention. Detailed Implementation

[0024] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0025] The following is for reference. Figures 1-3 A control method, apparatus, hybrid vehicle, and computer-readable storage medium for a hybrid vehicle according to embodiments of the present invention are described.

[0026] In some embodiments, the hybrid vehicle involved may be a single-motor hybrid vehicle, that is, a hybrid vehicle includes an engine and a motor.

[0027] In other embodiments, the hybrid vehicle involved may be a dual-motor hybrid vehicle. For example, combined with Figure 1As shown, the powertrain architecture of this hybrid vehicle may include an engine, a first motor, a second motor, a clutch, and a gearbox. The engine connects the first motor and the gearbox via the clutch. The first motor is connected to the vehicle's drive shaft via the gearbox. The second motor is connected to the drive shaft. When a drive mode switching command is received, the vehicle can be controlled to switch to the corresponding drive mode. The vehicle can operate in multiple different drive modes. In different drive modes, at least one of the engine, the first motor, the second motor, the clutch, and the gearbox has a different operating state.

[0028] Figure 2 This is a schematic flowchart of a control method for a hybrid vehicle according to an embodiment of the present invention. Figure 2 As shown, the method includes the following steps: Step S1: When the vehicle needs to switch from the current preset drive mode to the first target drive mode, determine the target transient mode based on the preset drive mode and the first target drive mode, and control the vehicle to switch from the preset drive mode to the target transient mode.

[0029] Specifically, during vehicle operation, when it is determined that the vehicle needs to switch from the current preset drive mode to the first target drive mode, due to the differences between the preset drive mode and the first target drive mode (such as differences in power source, vehicle performance, etc.), directly switching modes may cause problems such as sudden changes in power output and sharp fluctuations in battery status. Therefore, the target transient mode can be determined based on the preset drive mode and the first target drive mode. Furthermore, after determining the target transient mode, the vehicle can be controlled to switch from the preset driving mode to the target transient mode, thereby adjusting the vehicle's state information according to the requirements of the target transient mode, including but not limited to adjusting the vehicle's engine state, transmission state, etc., in order to better adapt to the power requirements of the first target driving mode.

[0030] Step S2: After switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, control the vehicle to switch to the first target drive mode.

[0031] Specifically, after switching to the target transient mode, the vehicle's status information can be monitored in real time. When the vehicle's status information meets the target transition completion conditions corresponding to the target transient mode, the vehicle is controlled to exit the target transient mode and smoothly switch to the first target drive mode. It can be understood that the target transient mode, acting as a bridge between the preset drive mode and the first target drive mode, enables the vehicle to complete a smooth transition between the two modes, effectively solving the problems of uneven power switching and delays that may occur during drive mode switching, thus improving vehicle safety and stability.

[0032] In summary, according to the hybrid vehicle control method of the present invention, when it is determined that the vehicle needs to switch from the current preset driving mode to the first target driving mode, a target transient mode can be determined based on the preset driving mode and the first target driving mode. When the vehicle switches to the target transient mode and meets the target transition completion condition corresponding to the target transient mode, the vehicle can be controlled to switch to the first target driving mode. That is, a smooth transition bridge is established between the preset driving mode and the first target driving mode, and the process of the vehicle switching from the preset driving mode to the first target driving mode is precisely controlled, so that the vehicle can complete the smooth transition of power when switching between different driving modes. This effectively solves the problem of uneven power switching and delay that may occur during the driving mode switching process, and improves the safety and stability of the vehicle.

[0033] In one embodiment of the present invention, the preset driving mode is a series driving mode, and the first target driving mode is a parallel driving mode, a pure electric driving mode, or a standby mode; determining the target transient mode based on the preset driving mode and the first target driving mode includes: determining the first transient mode as the target transient mode based on the series driving mode and the parallel driving mode, or based on the series driving mode and the pure electric driving mode, or based on the series driving mode and the standby mode. After switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, the vehicle is controlled to switch to the first target drive mode, including: after switching to the first transient mode, the vehicle is controlled to perform a torque reduction operation; based on the first transient mode, the first transition completion condition corresponding to the first transient mode is determined as the target transition completion condition; The current vehicle status is acquired in real time, and it is determined whether the current vehicle status meets the first transition completion condition. When the current vehicle status meets the first transition completion condition, the vehicle is controlled to switch to the first target drive mode. The first transition completion condition includes: the engine torque is less than or equal to the first preset torque threshold.

[0034] Specifically, when the preset driving mode is a series driving mode and the first target driving mode is a parallel driving mode, the first transient mode can be determined based on the series driving mode and the parallel driving mode as the target transient mode; when the preset driving mode is a series driving mode and the first target driving mode is a pure electric driving mode, the first transient mode can be determined based on the series driving mode and the pure electric driving mode as the target transient mode; when the preset driving mode is a series driving mode and the first target driving mode is a standby mode, the first transient mode can be determined based on the series driving mode and the standby mode as the target transient mode.

[0035] Furthermore, before controlling the vehicle to switch from a preset drive mode to a target transient mode, it is necessary to determine whether the current vehicle state meets the switching conditions for switching from the preset drive mode to the first target drive mode. For example, before switching from a series drive mode to the first target drive mode, which is a parallel drive mode, it can be determined whether the corresponding switching conditions (such as the first switching condition) are met. If so, it means that it is necessary to switch from the series drive mode to the first target drive mode, which is a parallel drive mode. In this case, first switch from the series drive mode to the first transient mode, and then switch from the first transient mode to the parallel drive mode. Here, we take... Figure 1 Taking the dual motors in the example, the switching conditions include any one of the following: The vehicle is in the first preset gear (e.g., D gear, i.e., drive gear), and the vehicle's braking request source is the handbrake or the automatic driving controller. The vehicle is in a first preset gear and meets a first preset condition, wherein the first preset condition includes any one of the following: The remaining battery charge is less than or equal to a preset high charge threshold, and the vehicle speed is less than or equal to a first preset vehicle speed (the first preset vehicle speed is, for example, 4 km / h). The required driving torque of the vehicle is greater than the first torque, where the first torque is the smaller of the wheel-side torque limit of the second motor and the available wheel-side torque of the vehicle's current motor (e.g., the first motor or the second motor); The first motor and the second motor are faulty (for example, the fault level of the first motor is greater than or equal to level three, and the fault level of the second motor is greater than or equal to level three). The first or second motor is faulty, and the remaining battery power is less than or equal to the preset low battery threshold.

[0036] Furthermore, before switching from the series drive mode to the first target drive mode (pure electric drive mode), it can be determined whether the corresponding switching conditions are met. If so, it means that it is necessary to switch from the series drive mode to the first target drive mode (pure electric drive mode). In this case, first switch from the series drive mode to the first transient mode, and then switch from the first transient mode to the pure electric drive mode. Here, we take... Figure 1 Taking the dual motors in the example, the switching conditions include any one of the following: The remaining battery power is greater than the preset high battery threshold; The remaining battery power is greater than the preset low power threshold, and the first motor is faulty while the second motor is not faulty (for example, the fault level of the second motor is less than level three). The remaining battery power is greater than the preset low battery threshold, the first motor is functioning properly, and the second motor is faulty. The remaining battery charge is greater than the preset low charge threshold, and the vehicle is in the second preset gear (e.g., R gear, i.e., reverse gear).

[0037] Furthermore, before switching from the serial drive mode to the first target drive mode as standby mode, it can be determined whether the corresponding switching conditions are met. If so, it means that it is necessary to switch from the serial drive mode to the first target drive mode as standby mode. In this case, first switch from the serial drive mode to the first transient mode, and then switch from the first transient mode to standby mode. Here, we take... Figure 1 Taking the dual motors in the example, the switching conditions include any one of the following: The vehicle is in the third preset gear (e.g., N gear, i.e., neutral), and the remaining battery charge is greater than or equal to the preset high charge threshold. The vehicle also meets the second preset condition, which includes: the vehicle speed is less than or equal to the second preset speed (e.g., 1 km / h) and the vehicle's brake pedal is activated, or the vehicle's electronic parking brake system is activated. The engine is faulty; The vehicle is not ready to drive (e.g., the vehicle is not ready). The vehicle is in the second preset gear and meets the third preset condition, wherein the third preset condition includes any one of the following: The first and second motors are faulty; The first or second motor is faulty, and the remaining battery power is less than or equal to the preset low battery threshold.

[0038] Furthermore, the first transient mode is a torque reduction mode. After switching to the first transient mode, that is, switching to the target transient mode, the vehicle will be controlled to perform a torque reduction operation in the first transient mode, including but not limited to controlling the vehicle to reduce the engine torque until the engine torque is reduced to below a set threshold, so as to establish the precondition for clutch opening in the first target drive mode, and avoid the phenomenon that the engine may surge due to the need to open the clutch for shifting in the first target drive mode. At the same time, the first transition completion condition corresponding to the first transient mode can be determined as the target transition completion condition.

[0039] Furthermore, after determining the target transition completion condition, the current vehicle status can be obtained through sensors installed inside the vehicle, and it can be determined whether the current vehicle status meets the first transition completion condition, that is, whether the engine torque is less than or equal to the first preset torque threshold. If so, it means that the engine torque has been reduced to a sufficiently low level, and the vehicle can be smoothly controlled to switch to the first target drive mode. Alternatively, it can be determined whether the engine torque has not dropped to the first preset torque threshold within the preset time threshold. If so, the vehicle can be controlled to switch to the first target drive mode.

[0040] In a specific embodiment, the first preset torque threshold can be set according to specific switching requirements and experimental theory, including but not limited to 50 Nm.

[0041] In one embodiment of the present invention, when the second switching condition is met, the vehicle can be controlled to switch directly from a preset driving mode to a second target driving mode without going through a target transient mode. The preset driving mode can be a series driving mode, and the second target driving mode can be a parking power generation mode. Figure 1 Taking the dual motors in the example, the second switching condition needs to meet all of the following conditions: The remaining battery power is greater than or equal to the preset high battery threshold; The vehicle is in the third preset gear; The vehicle's electronic parking brake system is activated, or the vehicle meets a fourth preset condition, wherein the fourth preset condition includes: the vehicle speed is less than or equal to a second preset speed and the vehicle's brake pedal is activated.

[0042] In one embodiment of the present invention, when the second switching condition is met, the vehicle can be controlled to switch directly from a preset driving mode to a second target driving mode without going through a target transient mode. The preset driving mode can be a parking power generation mode, and the second target driving mode can be a series driving mode. Figure 1 Taking the dual motors in the example, the second switching condition needs to meet all of the following conditions: The vehicle is in the first preset gear or the second preset gear; The second motor is fault-free (the fault level of the second motor is less than level three). The remaining battery power is less than the preset high battery power threshold.

[0043] In a specific embodiment, in series drive mode, if the motor is a single motor, the engine can be controlled to drive the single motor to generate electricity to drive the vehicle; if the motor is a dual motor, the engine can be controlled to drive one of the motors to generate electricity to drive the vehicle, and the other motor can be controlled to drive the vehicle alone; in parallel drive mode, the engine can be controlled to directly drive the vehicle, or drive the vehicle while simultaneously driving the motor to generate electricity to drive the vehicle, or the motor can be controlled to directly drive the vehicle; in pure electric mode, the engine does not work, the clutch is in the open state, and the motor drives the vehicle alone.

[0044] In one embodiment of the present invention, the preset driving mode is a parallel driving mode, and the first target driving mode is a series driving mode; determining the target transient mode based on the preset driving mode and the first target driving mode includes: determining the second transient mode as the target transient mode based on the parallel driving mode and the series driving mode; After switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, the vehicle is controlled to switch to the first target drive mode, including: after switching to the second transient mode, the vehicle is controlled to perform a torque reduction and speed adjustment operation; based on the second transient mode, the second transition completion condition corresponding to the second transient mode is determined as the target transition completion condition; The current vehicle status is obtained in real time, and it is determined whether the current vehicle status meets the conditions for the completion of the second transition. When the current vehicle state meets the second transition completion condition, control the vehicle to switch to series drive mode; the second transition completion condition includes: the absolute value of the speed difference between the current speed of the motor and the required speed of the motor is less than or equal to the first preset speed difference threshold and the duration reaches the first preset time.

[0045] Specifically, when the preset drive mode is parallel drive mode and the first target drive mode is series drive mode, a second transient mode can be determined based on the parallel and series drive modes to serve as the target transient mode. Furthermore, before switching from parallel drive mode to series drive mode, it can be determined whether the corresponding switching conditions are met. If so, it indicates that a switch from parallel drive mode to the first target drive mode being series drive mode is required. In this case, the switch is first performed from parallel drive mode to the second transient mode, and then from the second transient mode to the series drive mode. Here, we take... Figure 1 Taking the dual motors in the example, the switching conditions include all of the following: The vehicle speed is less than or equal to the first preset speed; The remaining battery power is less than or equal to the preset low battery threshold; The demand driving torque of the vehicle is less than the first torque and the duration reaches the first preset time, or the demand driving torque of the vehicle is less than the preset torque threshold and the duration reaches the second preset time, wherein the first torque is the smaller value between the wheel-side torque limit of the second motor and the available wheel-side torque of the vehicle's current motor (e.g., the first motor or the second motor); The first motor and the second motor are both fault-free (the fault level of the first motor is less than level three, and the fault level of the second motor is less than level three). The vehicle's braking request source is not the handbrake or the autopilot controller.

[0046] Furthermore, the second transient mode is a torque reduction and speed regulation mode. After switching to the second transient mode, i.e., switching to the target transient mode, the vehicle will be controlled to perform torque reduction and speed regulation operations in the second transient mode. This includes, but is not limited to, first controlling the vehicle to reduce the engine torque, then disengaging the clutch, disengaging the transmission, then controlling the speed regulation of the motor (e.g., the first motor), then closing the clutch, controlling the transmission to enter the generator mode, and then controlling the motor (e.g., the first motor) to generate electricity and regulate speed until the motor (e.g., the first motor) reaches the required speed. This ensures the smoothness of power switching during the process of switching from parallel drive mode to series drive mode and avoids speed fluctuations at the beginning of the series drive mode. At the same time, the second transition completion condition corresponding to the second transient mode can be determined as the target transition completion condition.

[0047] Furthermore, after determining the target transition completion condition, the current vehicle state can be obtained through sensors installed inside the vehicle, and it can be determined whether the current vehicle state meets the second transition completion condition. That is, it can be determined whether the absolute value of the speed difference between the current speed of the motor and the required speed of the motor is less than or equal to the first preset speed difference threshold. If so, it can be determined whether the duration for which the absolute value of this difference is less than or equal to the first preset speed difference threshold reaches the first preset time. If so, it means that the actual speed of the motor is close enough to its required speed within an acceptable time range, and the vehicle can be controlled to switch to the series drive mode. This can ensure that there will be no excessive speed fluctuation or impact when switching from the parallel drive mode to the series drive mode. At the same time, based on the above steps, it can be further determined whether the required speed of the first motor is greater than the preset speed threshold (e.g., 100 rpm). If so, the vehicle can be controlled to switch to the series drive mode.

[0048] In a specific embodiment, the first preset speed difference threshold and the first preset time can be set according to specific switching requirements and experimental theory. The first preset speed difference threshold can be 50 rpm and the first preset time can be 50 ms.

[0049] In one embodiment of the present invention, when the second switching condition is met, the vehicle can be controlled to switch directly from a preset driving mode to a second target driving mode without going through a target transient mode. The preset driving mode can be a parallel driving mode, and the second target driving mode can be a standby mode. Figure 1 Taking the dual motors in the example, the second switching condition needs to meet any one of the following conditions: The engine is malfunctioning (e.g., the stop indicator light is on). The vehicle is not ready to drive; The vehicle is in the third preset gear and meets the fifth preset condition, which includes: the vehicle speed is less than or equal to the second preset speed, or the vehicle's electronic parking brake system is activated. The vehicle is in the second preset gear and meets the sixth preset condition, which includes any one of the following: The first and second motors are faulty; The first or second motor is faulty, and the remaining battery power is less than or equal to the preset low battery threshold.

[0050] In one embodiment of the present invention, when the second switching condition is met, the vehicle can be controlled to switch directly from a preset driving mode to a second target driving mode without going through a target transient mode. The preset driving mode can be a parallel driving mode, and the second target driving mode can be a pure electric driving mode. Figure 1 Taking the dual motors in the example, the second switching condition needs to meet any one of the following conditions: The vehicle is in the second preset gear, and the first or second motor is functioning properly; The vehicle meets the seventh preset condition, and the remaining battery charge is greater than the preset low charge threshold, and the vehicle's braking request source is not the handbrake or the autopilot controller; wherein the seventh preset condition includes any one of the following: The required driving torque of the vehicle is less than the first torque and the duration reaches the first preset time, and the second motor is fault-free, and the vehicle speed is less than the first vehicle speed threshold. The first vehicle speed threshold is determined by the difference between the calibrated vehicle speed when the vehicle switches from pure electric drive mode to parallel drive mode and the vehicle's pre-calibrated hysteresis speed. The first torque is the smaller value between the wheel-side torque limit of the second motor and the vehicle's current available wheel-side torque. The vehicle's required driving torque is less than the second torque and the duration reaches the fifth preset time, the first motor is fault-free, and the vehicle speed is less than the smaller of the first vehicle speed threshold and the first preset vehicle speed. Here, the second torque is the smaller of the wheel-side torque limit of the first motor and the vehicle's current available wheel-side torque.

[0051] In one embodiment of the present invention, when the second switching condition is met, the vehicle can be controlled to switch directly from a preset driving mode to a second target driving mode without going through a target transient mode. The preset driving mode can be a standby mode, and the second target driving mode can be a parallel driving mode. Figure 1 Taking the dual motors in the example, the second switching condition needs to meet all of the following conditions: The vehicle is ready to drive (i.e., the vehicle is ready). The vehicle is in the first preset gear; The engine is functioning correctly; The vehicle meets the eighth preset condition, which includes any one of the following: The first and second motors are faulty; The first or second motor is faulty, and the remaining battery power is less than or equal to the preset low battery threshold.

[0052] In one embodiment of the present invention, when the second switching condition is met, the vehicle can be controlled to switch directly from a preset driving mode to a second target driving mode without going through a target transient mode. The preset driving mode can be a pure electric driving mode, and the second target driving mode can be a parallel driving mode. Figure 1 Taking the dual motors in the example, the second switching condition needs to meet any one of the following conditions: The first and second motors are faulty, and the vehicle is in the first preset gear. The vehicle is in the first preset gear, and the remaining battery charge is less than or equal to the preset high charge threshold. The vehicle is in the first preset gear, and the vehicle's braking request source is either the handbrake or the automatic driving controller. The vehicle meets the ninth preset condition, which includes any one of the following: The vehicle speed is greater than the first preset speed, and the remaining battery power is less than or equal to the preset low battery threshold. The vehicle's required driving torque is greater than the first torque, and the remaining battery charge is less than or equal to a preset low charge threshold. Here, the first torque is the smaller of the wheel-side torque limit of the second motor and the vehicle's current available wheel-side torque. The vehicle's required driving torque is greater than the first torque, and the vehicle speed is greater than the first preset vehicle speed; The required driving torque of the vehicle is greater than the third torque, which is the smaller of the sum of the wheel-side torque limit of the first motor and the wheel-side torque limit of the second motor and the current available wheel-side torque of the vehicle's motor. The second motor is faulty, and the vehicle's required drive torque is greater than the second torque, where the second torque is the smaller of the wheel-side torque limit of the first motor and the vehicle's current available wheel-side torque. The second motor is faulty, and the vehicle speed is greater than the first preset speed; The first motor or the second motor is faulty, and the remaining battery power is less than or equal to the preset low battery threshold. The vehicle speed is greater than or equal to the rated speed when the vehicle switches from pure electric drive mode to parallel drive mode, and the vehicle is in the first preset gear.

[0053] In one embodiment of the present invention, the control method for a hybrid vehicle further includes: after switching to the target transient mode, if the target transition completion condition is not met, then determining whether the target transition interruption condition corresponding to the target transient mode is met; When the target transition interruption condition is met, control the vehicle to switch back to the preset drive mode.

[0054] Specifically, after the vehicle switches to the target transient mode, the vehicle's status parameters can be continuously monitored. When the vehicle's status parameters do not meet the target transition completion conditions for switching to the target drive mode, it can be further determined whether the vehicle's status parameters meet the target transition interruption conditions corresponding to the target transient mode. If so, it means that the mode switch should be interrupted at this time, and the vehicle can be controlled to switch back to the preset drive mode to solve the power delay problem caused by frequent gear shifting and clutch opening and closing, thus ensuring the overall vehicle power performance.

[0055] Any target transient mode in this application can be equipped with target transition interruption conditions, and this application does not impose specific limitations on this.

[0056] Preferably, in a specific embodiment, if the preset driving mode is standby mode and the first target driving mode is parking power generation mode, or the preset driving mode is pure electric driving mode and the first target driving mode is parking power generation mode, or the preset driving mode is standby mode and the first target driving mode is series driving mode, or the preset driving mode is pure electric driving mode and the first target driving mode is series driving mode, a corresponding target transient mode can be determined based on the preset driving mode and the first target driving mode. If the condition for switching from the corresponding target transient mode to the first target driving mode is not met, it can be determined whether the target transition interruption condition corresponding to the corresponding target transient mode is met. If so, the vehicle can be controlled to switch back to the preset driving mode. Here, it is taken as... Figure 1 Taking the dual motors in the example, any one of the following transition interruption conditions needs to be met: The engine is malfunctioning (e.g., the engine stop indicator light is on). The first motor is faulty; The vehicle is not ready to drive.

[0057] Furthermore, when switching from parallel drive mode to series drive mode, the corresponding target transient mode can be determined based on the parallel drive mode and the series drive mode. If the conditions for switching from the target transient mode to the series drive mode are not met, it can be determined whether the target transition interruption condition corresponding to the target transient mode is met. If so, the vehicle can be controlled to switch back to parallel drive mode. Here, it is assumed that... Figure 1 Taking the dual motors in the example, any one of the following transition interruption conditions needs to be met: The engine is faulty; The first motor is faulty; The vehicle is not ready to drive; The vehicle is in the first preset gear, and the vehicle's braking request source is either the handbrake or the automatic driving controller. The vehicle is in the first preset gear and meets the tenth preset condition, which includes any one of the following: The remaining battery charge is less than or equal to a preset high charge threshold, and the vehicle speed is less than or equal to a first preset vehicle speed; The required driving torque of the vehicle is greater than the first torque, wherein the first torque is the smaller of the wheel-side torque limit of the second motor and the currently available wheel-side torque of the vehicle's motor; The first and second motors are faulty; The first or second motor is faulty, and the remaining battery power is less than or equal to the preset low battery threshold.

[0058] In one embodiment of the present invention, the preset driving mode is a pure electric driving mode or a standby mode, and the first target driving mode is a series driving mode or a parking power generation mode; determining the target transient mode based on the preset driving mode and the first target driving mode includes: determining the third transient mode as the target transient mode based on the pure electric driving mode and the series driving mode, or based on the standby mode and the series driving mode, or based on the standby mode and the parking power generation mode, or based on the pure electric driving mode and the parking power generation mode; After switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, the vehicle is controlled to switch to the first target drive mode, including: after switching to the third transient mode, the vehicle is controlled to perform a speed adjustment operation; based on the third transient mode, the third transition completion condition corresponding to the third transient mode is determined as the target transition completion condition; The current vehicle status is acquired in real time, and it is determined whether the current vehicle status meets the third transition completion condition. When the current vehicle status meets the third transition completion condition, the vehicle is controlled to switch to the first target drive mode. The third transition completion condition includes: the absolute value of the speed difference between the current speed of the motor and the required speed of the motor is less than or equal to the second preset speed difference threshold and the duration reaches the second preset time.

[0059] Specifically, when the preset driving mode is pure electric driving mode and the first target driving mode is series driving mode, a third transient mode can be determined based on the pure electric driving mode and the series driving mode as the target transient mode; when the preset driving mode is pure electric driving mode and the first target driving mode is parking power generation mode, a third transient mode can be determined based on the pure electric driving mode and the parking power generation mode as the target transient mode; when the preset driving mode is standby mode and the first target driving mode is series driving mode, a third transient mode can be determined based on the standby mode and the series driving mode as the target transient mode; when the preset driving mode is standby mode and the first target driving mode is parking power generation mode, a third transient mode can be determined based on the standby mode and the parking power generation mode as the target transient mode.

[0060] In a specific embodiment, in standby mode, the engine and motor have no power output, that is, neither drives the vehicle.

[0061] Furthermore, before controlling the vehicle to switch from a preset drive mode to a target transient mode, it is necessary to determine whether the current vehicle state meets the switching conditions for switching from the preset drive mode to the first target drive mode. For example, before switching from pure electric drive mode to the first target drive mode, which is a series drive mode, it can be determined whether the corresponding switching conditions are met. If so, it means that it is necessary to switch from pure electric drive mode to the first target drive mode, which is a series drive mode. In this case, first switch from pure electric drive mode to the target transient mode, and then switch from the target transient mode to the series drive mode. Here, we take... Figure 1 Taking the dual-motor configuration as an example, the switching conditions include satisfying all of the following conditions: The remaining battery power is less than or equal to the preset low battery threshold; The following conditions must be met: the vehicle speed is less than or equal to the first preset speed, the vehicle is in the first preset gear, and the vehicle's required driving torque is less than the first torque for a duration of the first preset time. The first torque is the smaller of the wheel-side torque limit of the second motor and the available wheel-side torque of the vehicle's current motor (e.g., the first motor or the second motor). The twelfth preset condition is that the vehicle is in the second preset gear. The thirteenth preset condition is that the vehicle speed is less than or equal to the first preset speed and the vehicle is in the first preset gear. The first and second motors are functioning correctly.

[0062] Furthermore, before switching from pure electric drive mode to the first target drive mode, which is parking power generation mode, it can be determined whether the corresponding switching conditions are met. If so, it means that it is necessary to switch from pure electric drive mode to the first target drive mode, which is parking power generation mode. In this case, first switch from pure electric drive mode to the third transient mode, and then switch from the third transient mode to parking power generation mode. Here, we take... Figure 1 Taking the dual-motor configuration as an example, the switching conditions include satisfying all of the following conditions: The vehicle is in the third preset gear; The remaining battery power is less than or equal to the preset low battery threshold; The vehicle's electronic parking brake system is activated, or the vehicle meets the fourteenth preset condition, wherein the fourteenth preset condition includes: the vehicle speed is less than or equal to the second preset speed and the vehicle's brake pedal is activated. The first motor is fault-free (e.g., the fault level of the first motor is less than level three). The engine is not faulty (e.g., the engine stop indicator light is not lit, meaning it is not Lamp On). The vehicle is ready to drive.

[0063] Furthermore, before switching from standby mode to the first target drive mode (serial drive mode), it can be determined whether the corresponding switching conditions are met. If so, it means that it is necessary to switch from standby mode to the first target drive mode (serial drive mode). In this case, first switch from standby mode to the third transient mode, and then switch from the third transient mode to the serial drive mode. Here, we take... Figure 1 Taking the dual-motor configuration as an example, the switching conditions include satisfying all of the following conditions: The vehicle is ready to drive; The remaining battery power is less than or equal to the preset low battery threshold; The vehicle is in the first preset gear or the second preset gear; The engine is not faulty (e.g., the engine stop indicator light is not lit, meaning it is not Lamp On). The first motor is fault-free (e.g., the fault level of the first motor is less than level three). The second motor is fault-free (e.g., the fault level of the second motor is less than level three).

[0064] Furthermore, before switching from standby mode to the first target drive mode (parking power generation mode), it can be determined whether the corresponding switching conditions are met. If so, it means that it is necessary to switch from standby mode to the first target drive mode (parking power generation mode). In this case, first switch from standby mode to the third transient mode, and then switch from the third transient mode to the parking power generation mode. Here, we take... Figure 1 Taking the dual-motor configuration as an example, the switching conditions include satisfying all of the following conditions: The vehicle is ready to drive; The remaining battery power is less than or equal to the preset low battery threshold; The vehicle is in the third preset gear; The vehicle's electronic parking brake system is activated; The vehicle's speed is less than or equal to the second preset speed; The engine is functioning correctly; The first motor is functioning correctly.

[0065] Furthermore, the third transient mode is a speed regulation mode. After switching to the third transient mode, i.e., switching to the target transient mode, the vehicle will be controlled to perform speed regulation operations, including but not limited to controlling the vehicle's motor to adjust its speed until the motor speed reaches the required speed, so as to avoid excessive speed fluctuations or shocks when switching to the first target drive mode. At the same time, the third transition completion condition corresponding to the third transient mode can be defined as the target transition completion condition.

[0066] Furthermore, after determining the target transition completion condition, the current vehicle status can be obtained through sensors installed inside the vehicle, and it can be determined whether the current vehicle status meets the third transition completion condition. That is, it can be determined whether the absolute value of the speed difference between the current speed of the motor and the required speed of the motor is less than or equal to the second preset speed difference threshold. If so, it can be determined whether the duration for which the absolute value of this difference is less than or equal to the second preset speed difference threshold reaches the second preset time. If so, it means that the actual speed of the motor is close enough to its required speed within an acceptable time range, and the vehicle can be controlled to switch to the first target drive mode. This ensures that there will be no excessive speed fluctuation or impact when switching from the preset drive mode to the first target drive mode. At the same time, based on the above steps, it can be further determined whether the required speed of the first motor is greater than the preset speed threshold (e.g., 100 rpm). If so, the vehicle can be controlled to switch to the first target drive mode.

[0067] In a specific embodiment, the second preset speed difference threshold and the second preset time can be set according to specific switching requirements and experimental theory. The second preset speed difference threshold can be 50 rpm and the second preset time can be 50 ms.

[0068] In one embodiment of the present invention, the preset driving mode is a parking power generation mode, and the first target driving mode is a standby mode or a pure electric driving mode; determining the target transient mode based on the preset driving mode and the first target driving mode includes: determining the fourth transient mode as the target transient mode based on the parking power generation mode and the standby mode or based on the parking power generation mode and the pure electric driving mode. After switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, the vehicle is controlled to switch to the first target drive mode, including: after switching to the fourth transient mode, the vehicle is controlled to perform a torque reduction operation; based on the fourth transient mode, the fourth transition completion condition corresponding to the fourth transient mode is determined as the target transition completion condition; The current vehicle status is acquired in real time, and it is determined whether the current vehicle status meets the fourth transition completion condition. When the current vehicle status meets the fourth transition completion condition, the vehicle is controlled to switch to the first target drive mode. The fourth transition completion condition includes: the engine torque is less than or equal to the second preset torque threshold.

[0069] Specifically, when the preset driving mode is the parking power generation mode and the first target driving mode is the standby mode, a fourth transient mode can be determined based on the parking power generation mode and the standby mode as the target transient mode; when the preset driving mode is the parking power generation mode and the first target driving mode is the pure electric driving mode, a fourth transient mode can be determined based on the parking power generation mode and the pure electric driving mode as the target transient mode.

[0070] Furthermore, before controlling the vehicle to switch from the preset drive mode to the target transient mode, it is necessary to determine whether the current vehicle state meets the switching conditions for switching from the preset drive mode to the first target drive mode. For example, before switching from the parking power generation mode to the first target drive mode (standby mode), it can be determined whether the corresponding switching conditions are met. If so, it means that it is necessary to switch from the parking power generation mode to the first target drive mode (standby mode). In this case, the vehicle first switches from the parking power generation mode to the fourth transient mode, and then switches from the fourth transient mode to the standby mode. Here, we take... Figure 1 Taking the dual-motor configuration as an example, any one of the following switching conditions must be met: The remaining battery charge is greater than or equal to the preset high charge threshold, and the vehicle is in the third preset gear. The vehicle is not ready to drive; The engine is faulty; The speed of the first motor is greater than the sum of the required speed of the first motor and the preset speed correction value; The first motor is faulty; The vehicle speed is greater than or equal to the third preset speed and the duration exceeds the fifth preset time, wherein the third preset speed can be 5 km / h.

[0071] Furthermore, before switching from the parking power generation mode to the first target drive mode (pure electric drive mode), it can be determined whether the corresponding switching conditions are met. If so, it means that it is necessary to switch from the parking power generation mode to the first target drive mode (pure electric drive mode). In this case, first switch from the parking power generation mode to the fourth transient mode, and then switch from the fourth transient mode to the pure electric drive mode. Here, we take... Figure 1 Taking the dual motors in the example, the following switching conditions need to be met: The vehicle is in the first or second preset gear and the motor (e.g., the second motor) is faulty.

[0072] In a specific embodiment, in the parking power generation mode, if the motor is a single motor, the engine can be controlled to drive the single motor to generate electricity; if the motor is a dual motor, the engine can be controlled to drive one of the motors to generate electricity, while the other motor is controlled to stop operating.

[0073] Furthermore, the fourth transient mode can be the same as or different from the first transient mode. Specifically, the fourth transient mode is a torque reduction mode. After switching to the fourth transient mode, that is, switching to the target transient mode, the vehicle will be controlled to perform a torque reduction operation in the fourth transient mode, including but not limited to reducing the torque of the engine of the vehicle until the engine torque is reduced to below a set threshold. This is to establish the precondition for the clutch to open in the first target drive mode, and to avoid the phenomenon that the engine may surge due to the need to open the clutch when shifting gears in the first target drive mode. At the same time, the fourth transition completion condition corresponding to the fourth transient mode can be determined as the target transition completion condition.

[0074] Furthermore, after determining the target transition completion condition, the current vehicle status can be obtained through sensors installed inside the vehicle, and it can be determined whether the current vehicle status meets the fourth transition completion condition, that is, whether the engine torque is less than or equal to the second preset torque threshold. If so, it means that the engine torque has been reduced to a sufficiently low level, and the vehicle can be smoothly controlled to switch to the first target drive mode. Alternatively, it can be determined whether the engine torque has not dropped to the second preset torque threshold within the preset time threshold. If so, the vehicle can be controlled to switch to the first target drive mode.

[0075] In a specific embodiment, the second preset torque threshold can be set according to specific switching requirements and experimental theory. The second preset torque threshold can be the same as or different from the first preset torque threshold.

[0076] In one embodiment of the present invention, when the second switching condition is met, the vehicle can be controlled to switch directly from a preset driving mode to a second target driving mode without going through a target transient mode. The preset driving mode can be a standby mode, and the second target driving mode can be a pure electric driving mode. Figure 1 Taking the dual motors in the example, the second switching condition needs to meet all of the following conditions: The vehicle is ready to drive; The remaining battery power is greater than the preset low battery threshold; The vehicle is in the first preset gear or the second preset gear, and the first motor or the second motor is fault-free; The engine is functioning correctly.

[0077] In one embodiment of the present invention, when the second switching condition is met, the vehicle can be controlled to switch directly from a preset driving mode to a second target driving mode without going through a target transient mode. The preset driving mode can be a pure electric driving mode, and the second target driving mode can be a standby mode. Figure 1 Taking the dual motors in the example, the second switching condition needs to meet any one of the following conditions: The engine is faulty; The vehicle is not ready to drive; The vehicle is in the third preset gear and meets the fifteenth preset condition, which includes: the vehicle speed is less than or equal to the second preset speed and the vehicle's brake pedal is activated, or the vehicle's electronic parking brake system is activated. The remaining battery charge is less than or equal to a preset low charge threshold, and the vehicle is in the second preset gear. The vehicle is in the second preset gear and meets the sixteenth preset condition, which includes any one of the following: The first and second motors are faulty; The first or second motor is faulty, and the remaining battery power is less than or equal to the preset low battery threshold.

[0078] In one embodiment of the present invention, before the vehicle needs to switch from the current preset driving mode to the first target driving mode, the control method of the hybrid vehicle further includes: acquiring the current vehicle state in real time; determining whether the current vehicle state meets the first switching condition corresponding to the preset driving mode; and determining that the vehicle needs to switch from the preset driving mode to the first target driving mode when the current vehicle state meets the first switching condition.

[0079] Specifically, during vehicle operation, the vehicle's control system can collect various status information of the vehicle in real time and continuously, including but not limited to vehicle speed, engine speed, battery charge, motor status, and transmission gear position, to determine whether the vehicle needs to switch driving modes. For example, it can determine whether the current vehicle status meets the first switching condition corresponding to the preset driving mode, that is, the condition for switching from the current preset driving mode to the first target driving mode. If so, it is determined that the vehicle needs to switch from the preset driving mode to the first target driving mode.

[0080] In one embodiment of the present invention, if the preset driving mode is a series driving mode and the first target driving mode is a parallel driving mode, then the first switching condition includes the need to perform auxiliary braking, wherein the auxiliary braking includes engine braking. If the preset drive mode is parallel drive mode, the first switching condition includes not requiring auxiliary braking, where auxiliary braking includes engine braking.

[0081] Specifically, if the preset drive mode is series drive mode, since the engine usually operates as a generator and the generated electricity is used to drive the motor, the engine cannot participate in braking in series drive mode, which may lead to braking safety risks. Therefore, when it is detected that the vehicle needs to perform auxiliary braking, the vehicle is controlled to switch from series drive mode to parallel drive mode to realize the operation of auxiliary braking, which includes engine braking.

[0082] Furthermore, if the preset drive mode is parallel drive mode, in which the engine directly drives the vehicle, auxiliary braking can be performed in this mode. Therefore, only when it is detected that the vehicle does not need to perform auxiliary braking will it switch to other drive modes (such as series drive mode or pure electric drive mode), where auxiliary braking includes engine braking.

[0083] In a specific embodiment, when the braking request source is the handbrake or the autopilot controller, it is determined that the vehicle needs to perform auxiliary braking; when the braking request source is not the handbrake or the autopilot controller, it is determined that the vehicle does not need to perform auxiliary braking.

[0084] In one embodiment of the present invention, the control method for a hybrid vehicle further includes: determining whether the current vehicle state satisfies a second switching condition corresponding to a preset driving mode; When the current vehicle status meets the second switching condition, it is determined that the vehicle needs to switch from the preset driving mode to the second target driving mode, and the vehicle is controlled to switch from the preset driving mode to the second target driving mode. If the preset driving mode is pure electric driving mode, then the second target driving mode is parallel driving mode, and the second switching condition is that auxiliary braking is required, including engine braking. If the preset drive mode is parallel drive mode, then the second target drive mode is pure electric drive mode, and the second switching condition is that auxiliary braking is not required, including engine braking.

[0085] Specifically, during vehicle operation, the vehicle control system can collect various status information of the vehicle in real time and continuously, including but not limited to vehicle speed, engine speed, battery charge, motor status, and transmission gear, in order to determine whether the current vehicle status meets the second switching condition corresponding to the preset driving mode. If so, it is determined that the vehicle needs to switch from the preset driving mode to the second target driving mode. At this time, the vehicle can be controlled to switch directly from the preset driving mode to the second target driving mode.

[0086] Furthermore, if the preset driving mode is pure electric driving mode, since the engine is not running, there may be a risk that the engine cannot participate in braking after the mode switch, which may lead to braking safety risks. Therefore, when it is detected that the vehicle needs to perform auxiliary braking, the vehicle is controlled to switch from pure electric driving mode to parallel driving mode to realize the operation of auxiliary braking, which includes engine braking.

[0087] Furthermore, if the preset drive mode is parallel drive mode, since the engine directly drives the vehicle, auxiliary braking can be performed in this mode. Therefore, the vehicle will only switch to pure electric drive mode when it is detected that auxiliary braking is not required. Auxiliary braking includes engine braking.

[0088] In a specific embodiment, when the braking request source is the handbrake or the autopilot controller, it is determined that the vehicle needs to perform auxiliary braking; when the braking request source is not the handbrake or the autopilot controller, it is determined that the vehicle does not need to perform auxiliary braking.

[0089] In summary, the hybrid vehicle control method according to embodiments of the present invention, when it is determined that the vehicle needs to switch from the current preset driving mode to the target driving mode, can determine the target transient mode based on the preset driving mode and the first target driving mode. When the vehicle switches to the target transient mode and meets the target transition completion conditions corresponding to the target transient mode, the vehicle can be controlled to switch to the first target driving mode. That is, a smooth transition bridge is established between the preset driving mode and the first target driving mode, and the process of the vehicle switching from the preset driving mode to the first target driving mode is precisely controlled, so that the vehicle can make a smoother transition between different driving modes. This effectively solves the problem of uneven power switching and delay that may occur during the driving mode switching process, and improves the safety and stability of the vehicle.

[0090] A further embodiment of the present invention also provides a control device 100 for a hybrid vehicle, such as... Figure 3 As shown, the control device 100 of the hybrid vehicle includes a first control module 110 and a second control module 120, wherein, The first control module 110 is used to determine the target transient mode based on the preset driving mode and the first target driving mode when the vehicle needs to switch from the current preset driving mode to the first target driving mode, and control the vehicle to switch from the preset driving mode to the target transient mode.

[0091] The second control module 120 is used to control the vehicle to switch to the first target drive mode after switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met.

[0092] According to the control device 100 of the hybrid vehicle of the present invention, when it is determined that the vehicle needs to switch from the current preset driving mode to the first target driving mode, a target transient mode can be determined based on the preset driving mode and the first target driving mode. When the vehicle switches to the target transient mode and meets the target transition completion condition corresponding to the target transient mode, the vehicle can be controlled to switch to the first target driving mode. That is, a smooth transition bridge is established between the preset driving mode and the first target driving mode, and the process of the vehicle switching from the preset driving mode to the first target driving mode is precisely controlled, so that the vehicle can make a smoother transition between different driving modes. This effectively solves the problem of uneven power switching and delay that may occur during the driving mode switching process, and improves the safety and stability of the vehicle.

[0093] To achieve the above objectives, a third aspect of the present invention discloses a hybrid vehicle, the vehicle comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores control instructions for the hybrid vehicle that can be executed by the at least one processor, and when the control instructions for the hybrid vehicle are executed by the at least one processor, the at least one processor performs the control method for the hybrid vehicle of the first aspect of the present invention.

[0094] According to the hybrid vehicle of the present invention, when it is determined that the vehicle needs to switch from the current preset driving mode to the first target driving mode, a target transient mode can be determined based on the preset driving mode and the first target driving mode. When the vehicle switches to the target transient mode and meets the target transition completion conditions corresponding to the target transient mode, the vehicle can be controlled to switch to the first target driving mode. That is, a smooth transition bridge is established between the preset driving mode and the first target driving mode, and the process of the vehicle switching from the preset driving mode to the first target driving mode is precisely controlled, so that the vehicle can make a smoother transition between different driving modes. This effectively solves the problem of uneven power switching and delay that may occur during the driving mode switching process, and improves the safety and stability of the vehicle.

[0095] To achieve the above objectives, a fourth aspect of the present invention discloses a computer-readable storage medium storing a control program for a hybrid vehicle, wherein the control program for the hybrid vehicle, when executed by a processor, implements the control method for a hybrid vehicle as described in the first aspect of the present invention.

[0096] According to an embodiment of the present invention, when the control program for a hybrid vehicle stored thereon is executed by a processor, when it is determined that the vehicle needs to switch from the current preset driving mode to the first target driving mode, a target transient mode can be determined based on the preset driving mode and the first target driving mode. When the vehicle switches to the target transient mode and meets the target transition completion condition corresponding to the target transient mode, the vehicle can be controlled to switch to the first target driving mode. That is, a smooth transition bridge is established between the preset driving mode and the first target driving mode, and the process of the vehicle switching from the preset driving mode to the first target driving mode is precisely controlled, so that the vehicle can make a smoother transition between different driving modes. This effectively solves the problem of uneven power switching and delay that may occur during the driving mode switching process, and improves the safety and stability of the vehicle.

[0097] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0098] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A control method of a hybrid vehicle, characterized by, include: When the vehicle needs to switch from the current preset driving mode to the first target driving mode, a target transient mode is determined based on the preset driving mode and the first target driving mode, and the vehicle is controlled to switch from the preset driving mode to the target transient mode. After switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, the vehicle is controlled to switch to the first target drive mode.

2. The control method of a hybrid vehicle according to claim 1, characterized by, The preset driving mode is a series driving mode, and the first target driving mode is a parallel driving mode, a pure electric driving mode, or a standby mode. The step of determining the target transient mode based on the preset driving mode and the first target driving mode includes: Based on the series drive mode and parallel drive mode, or based on the series drive mode and pure electric drive mode, or based on the series drive mode and standby mode, the first transient mode is determined as the target transient mode; After switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, controlling the vehicle to switch to the first target driving mode includes: After switching to the first transient mode, the vehicle is controlled to perform a torque reduction operation; Based on the first transient mode, the first transition completion condition corresponding to the first transient mode is determined as the target transition completion condition; The current vehicle status is obtained in real time, and it is determined whether the current vehicle status meets the conditions for the completion of the first transition. When the current vehicle state meets the first transition completion condition, control the vehicle to switch to the first target driving mode; The first transition completion conditions include: The engine torque is less than or equal to a first preset torque threshold.

3. The control method of a hybrid vehicle according to claim 1, characterized by The preset driving mode is a parallel driving mode, and the first target driving mode is a series driving mode; The step of determining the target transient mode based on the preset driving mode and the first target driving mode includes: Based on the parallel driving mode and the series driving mode, the second transient mode is determined as the target transient mode; After switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, controlling the vehicle to switch to the first target driving mode includes: After switching to the second transient mode, the vehicle is controlled to perform a torque reduction and speed regulation operation; Based on the second transient mode, the second transition completion condition corresponding to the second transient mode is determined as the target transition completion condition; The current vehicle status is acquired in real time, and it is determined whether the current vehicle status meets the second transition completion condition. When the current vehicle state meets the second transition completion condition, control the vehicle to switch to the series drive mode; The second transition completion conditions include: The absolute value of the speed difference between the current speed of the motor and the required speed of the motor is less than or equal to a first preset speed difference threshold and the duration reaches a first preset time.

4. The control method of a hybrid vehicle according to claim 1, characterized by The method further includes: After switching to the target transient mode, if the target transition completion condition is not met, it is determined whether the target transition interruption condition corresponding to the target transient mode is met. When the target transition interruption condition is met, control the vehicle to switch back to the preset driving mode.

5. The control method of a hybrid vehicle according to claim 1, characterized by The preset driving mode is either pure electric driving mode or standby mode, and the first target driving mode is either series driving mode or parking power generation mode. The step of determining the target transient mode based on the preset driving mode and the first target driving mode includes: Based on the pure electric drive mode and the series drive mode, or based on the standby mode and the series drive mode, or based on the standby mode and the parking power generation mode, or based on the pure electric drive mode and the parking power generation mode, the third transient mode is determined as the target transient mode; After switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, controlling the vehicle to switch to the first target driving mode includes: After switching to the third transient mode, the vehicle is controlled to perform a speed adjustment operation; Based on the third transient mode, the third transition completion condition corresponding to the third transient mode is determined as the target transition completion condition; The current vehicle status is acquired in real time, and it is determined whether the current vehicle status meets the third transition completion condition. When the current vehicle state meets the third transition completion condition, control the vehicle to switch to the first target driving mode; The conditions for the completion of the third transition include: The absolute value of the speed difference between the current speed of the motor and the required speed of the motor is less than or equal to a second preset speed difference threshold and the duration reaches a second preset time.

6. The control method of a hybrid vehicle according to claim 1, characterized by The preset driving mode is the parking power generation mode, and the first target driving mode is the standby mode or the pure electric driving mode. The step of determining the target transient mode based on the preset driving mode and the first target driving mode includes: Based on the parking power generation mode and the standby mode, or based on the parking power generation mode and the pure electric drive mode, the fourth transient mode is determined as the target transient mode; After switching to the target transient mode, when the target transition completion condition corresponding to the target transient mode is met, controlling the vehicle to switch to the first target driving mode includes: After switching to the fourth transient mode, the vehicle is controlled to perform a torque reduction operation; Based on the fourth transient mode, the fourth transition completion condition corresponding to the fourth transient mode is determined as the target transition completion condition; The current vehicle status is obtained in real time, and it is determined whether the current vehicle status meets the conditions for the completion of the fourth transition. When the current vehicle state meets the fourth transition completion condition, control the vehicle to switch to the first target driving mode; The conditions for the completion of the fourth transition include: The engine torque is less than or equal to the second preset torque threshold.

7. The control method of a hybrid vehicle according to claim 1, characterized by Before the vehicle needs to switch from the current preset driving mode to the first target driving mode, the method further includes: Get the current vehicle status in real time; Determine whether the current vehicle status meets the first switching condition corresponding to the preset driving mode; When the current vehicle status meets the first switching condition, it is determined that the vehicle needs to switch from the preset driving mode to the first target driving mode. Wherein, if the preset driving mode is a series driving mode and the first target driving mode is a parallel driving mode, then the first switching condition includes the need to perform auxiliary braking, and the auxiliary braking includes engine braking. If the preset driving mode is a parallel driving mode, then the first switching condition includes not requiring auxiliary braking, and the auxiliary braking includes engine braking.

8. The control method of a hybrid vehicle according to claim 7, characterized by The method also includes Determine whether the current vehicle status meets the second switching condition corresponding to the preset driving mode; When the current vehicle state meets the second switching condition, it is determined that the vehicle needs to switch from the preset driving mode to the second target driving mode, and the vehicle is controlled to switch from the preset driving mode to the second target driving mode. Wherein, if the preset driving mode is pure electric driving mode, then the second target driving mode is parallel driving mode, and the second switching condition is that auxiliary braking is required, the auxiliary braking including engine braking; Wherein, if the preset driving mode is a parallel driving mode, then the second target driving mode is a pure electric driving mode, and the second switching condition is that auxiliary braking is not required, the auxiliary braking including engine braking.

9. A hybrid vehicle characterized by comprising: include: A processor, a memory, and a control program for a hybrid vehicle stored in the memory and executable on the processor, wherein the control program for the hybrid vehicle, when executed by the processor, implements the control method for a hybrid vehicle as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a control program for a hybrid vehicle, which, when executed by a processor, implements the control method for a hybrid vehicle as described in any one of claims 1-8.

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