Hybrid driveline control

Abstract

The present disclosure relates to a computer system comprising processing circuitry configured to obtain a wanted speed of a marine vessel comprising a combustion propulsion source and an electric propulsion source for propelling the marine vessel, obtain a current speed and a planing speed threshold of the marine vessel, responsive to the wanted speed being above the planing speed threshold and the current speed being at the planing speed threshold, control the combustion propulsion source to provide a majority of a propulsion torque of the marine vessel.

Description

TECHNICAL FIELD

[0001] The disclosure relates generally to control of a driveline. In particular aspects, the disclosure relates to hybrid driveline control. The disclosure can be applied to marine vessels, such as leisure boats, ships, cruise ships, fishing vessels, yachts, ferries, among other vehicle types. Although the disclosure may be described with respect to a particular marine vessel, the disclosure is not restricted to any particular marine vessel.BACKGROUND

[0002] In marine vessels utilizing both a combustion propulsion source and an electrical propulsion source, i.e. hybrid marine vessels, efficiency has been shown to be of great importance. Depending on the speed of the marine vessel, the respective utilization of the electric propulsion source and the combustion propulsion source may impact the overall energy efficiency of the marine vessel. Improvements with regards to the utilization of the combustion propulsion source and the electric propulsion source as the marine vessels reaches planing speeds have been identified.SUMMARY

[0003] According to a first aspect of the disclosure, a computer system is provided. The computer system comprises processing circuitry configured to obtain a wanted speed of a marine vessel comprising a combustion propulsion source and an electric propulsion source for propelling the marine vessel obtain a current speed and a planing speed threshold of the marine vessel. The processing circuitry is further configured to responsive to the wanted speed being above the planing speed threshold and the current speed being at the planing speed threshold control the combustion propulsion source to provide a majority of a propulsion torque of the marine vessel. The first aspect of the disclosure may seek to achieve a more energy efficient marine vessel. A technical benefit may include that superfluous use of the electric propulsion source is mitigated upon the marine vessel transitioning to a planing state.

[0004] Optionally in some examples, including in at least one preferred example, the processing circuitry may be further configured to obtain the planing speed threshold based on a predetermined planing speed threshold.

[0005] Optionally in some examples, including in at least one preferred example, the processing circuitry may be further configured to monitor a change in speed versus a change in driveline power as a power derivate or a torque derivate, and obtain the planing speed threshold based on a speed at which the power derivate or the torque derivate is above a derivate threshold.

[0006] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to responsive to the wanted speed being above the planing speed threshold and the current speed being at the planing speed threshold, control the combustion propulsion source to provide all of a propulsion torque of the marine vessel. A technical benefit may include that only the combustion propulsion source is utilized upon the marine vessel transitioning to the planing state, which may result in a more energy-efficient marine vessel.

[0007] Optionally in some examples, including in at least one preferred example, the processing circuitry may be further configured to responsive to the wanted speed being below the planing speed threshold, control the electric propulsion source to provide a majority of the propulsion torque of the marine vessel. A technical benefit may include that the electric propulsion motor is utilized when it is more energy efficient, i.e. at lower speeds, thereby potentially improving the energy efficiency of the marine vessel.

[0008] Optionally in some examples, the processing circuitry may be further configured to response to the wanted speed being below the planing speed threshold, control the electric propulsion source to provide all of the propulsion torque of the marine vessel. A technical benefit may include that the electric propulsion motor is utilized for the entire propulsion of the marine vessel, potentially further improving upon the energy efficiency of the marine vessel.

[0009] Optionally in some examples, including in at least one preferred example, the processing circuitry may be further configured to responsive to the wanted speed being above the planing speed threshold and the current speed being a predetermine value below planing speed threshold, start the combustion propulsion source and / or accelerate the combustion propulsion source to the planing speed threshold. A technical benefit may include that the combustion propulsion source may be operated to smoothen the transition of the marine vessel to the planing state by allowing the combustion propulsion source come up to speed prior to the marine vessel beginning to transition to the planing state.

[0010] Optionally in some examples, including in at least one preferred example, the processing circuitry is configured to obtain the wanted speed based on an indication provided by an operator controlled throttle of the marine vessel. A technical benefit may include that this allows for non-complex and rapid control due to the throttle directly affecting the control of driveline.

[0011] Optionally in some examples, including in at least one preferred example, the processing circuitry may be configured to obtain the current speed and / or the planing speed threshold based on a corresponding driveline power of the marine vessel. A technical benefit may include an improved energy efficiency for marine vessels which does not plane or only planes to a lesser extent. In such marine vessels, the significant change in power may not occur, instead the change in power may be more linear. In such cases, the threshold based on the corresponding driveline power of the marine vessel may be utilized to improve the energy efficiency of the marine vessel.

[0012] Optionally in some examples, including in at least one preferred example, the processing circuitry is further configured to obtain the planing speed threshold based on a predetermined planing speed threshold, obtain the wanted speed based on an indication provided by an operator controlled throttle of the marine vessel, obtain the current speed and / or the planing speed threshold based on a corresponding driveline power of the marine vessel, monitor a change in speed versus a change in driveline power as a power derivate, obtain the planing speed threshold based on a speed at which the power derivate is above a derivate threshold (DDT), and responsive to the wanted speed being above the planing speed threshold and the current speed being at the planing speed threshold control the combustion propulsion source to provide all of a propulsion torque of the marine vessel, and responsive to the wanted speed being below the planing speed threshold control the electric propulsion source to provide all of the propulsion torque of the marine vessel. A technical benefit may include that the computer system may allow for a more energy efficient marine vessel.

[0013] According to a second aspect of the disclosure, a hybrid driveline for a marine vessel is provided. The hybrid driveline comprises an electric propulsion source and a combustion propulsion source connected to a propeller shaft of the hybrid driveline. The hybrid driveline further comprises a computer system according to any of the examples described herein. The second aspect of the disclosure may seek to achieve a more energy efficient marine vessel. A technical benefit may include that superfluous use of the electric propulsion source is mitigated upon the marine vessel transitioning to a planing state.

[0014] Optionally in some examples, including in at least one preferred example, the electric propulsion source may be connected to the propeller shaft by a freewheel gear. A technical benefit may include that the electric propulsion source may be disconnected from the propeller shaft as the marine vessel begins to transition to the planing state which may further improve the energy efficiency of the marine vessel.

[0015] Optionally in some examples, including in at least one preferred example, the electric propulsion source and the combustion propulsion source may be connected to the propeller shaft at separate sides of the freewheel gear. A technical benefit may include that a more space-efficient and less complex driveline may be achieved.

[0016] According to a third aspect of the disclosure, a marine vessel may be provided. The marine vessel comprises the hybrid driveline of any of the examples described herein. The third aspect of the disclosure may seek to achieve a more energy efficient marine vessel. A technical benefit may include that superfluous use of the electric propulsion source is mitigated upon the marine vessel transitioning to a planing state.

[0017] According to a fourth aspect of the disclosure, a computer implemented method is provided. The method comprises obtaining, by processing circuitry of a computer system, a wanted speed of a marine vessel comprising a combustion propulsion source and an electric propulsion source for propelling the marine vessel; obtaining, by the processing circuitry, a current speed and a planing speed threshold of the marine vessel, responsive to the wanted speed being above the planing speed threshold and the current speed being at the planing speed threshold, controlling, by the processing circuitry, the combustion propulsion source to provide a majority of a propulsion torque of the marine vessel. The fourth aspect of the disclosure may seek to achieve a more energy efficient manner of controlling a marine vessel. A technical benefit may include that superfluous use of the electric propulsion source is mitigated upon the marine vessel transitioning to a planing state.

[0018] Optionally in some examples, including in at least one preferred example, the method further comprises obtaining, by the processing circuitry, the planing speed threshold based on a predetermined planing speed threshold.

[0019] Optionally in some examples, including in at least one preferred example, the method further comprises monitoring, by the processing circuitry, a change in speed versus a change in driveline power as a power derivate or a torque derivate, and obtaining, by the processing circuitry, the planing speed threshold based on a speed at which the power derivate or the torque derivate is above a derivate threshold.

[0020] Optionally in some examples, including in at least one preferred example, the method further comprises responsive to the wanted speed being above the planing speed threshold and the current speed being at the planing speed threshold, controlling, by the processing circuity, the combustion propulsion source to provide all of a propulsion torque of the marine vessel. A technical benefit may include that the electric propulsion motor is utilized for the entire propulsion of the marine vessel, potentially further improving upon the energy efficiency of the marine vessel.

[0021] According to a fifth aspect, a computer program product is provided. The computer program product comprises program code for performing, when executed by processing circuitry, the method of any of the examples described herein.

[0022] According to a sixth aspect, a non-transitory computer-readable storage medium is provided. The non-transitory computer-readable storage medium comprises instructions, which when executed by processing circuitry, cause the processing circuitry to perform the method of any of the examples described herein.

[0023] The disclosed aspects, examples (including any preferred examples), and / or accompanying claims may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art. Additional features and advantages are disclosed in the following description, claims, and drawings, and in part will be readily apparent therefrom to those skilled in the art or recognized by practicing the disclosure as described herein.

[0024] There are also disclosed herein computer systems, control units, code modules, computer-implemented methods, computer readable media, and computer program products associated with the above discussed technical benefits.BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Examples are described in more detail below with reference to the appended drawings. FIG. 1 is an exemplary marine vessel and a computer system according to an example. FIG. 2 is an exemplary hybrid driveline of a marine vessel and a computer system according to an example. FIG. 3 is an exemplary block diagram of a marine vessel according to an example. FIG. 4 is an exemplary block diagram of marine vessel according to another example. FIG. 5 is an exemplary block diagram of a computer system comprising a hybrid driveline manager according to an example. FIG. 6 is an exemplary block diagram of aspects of a computer system comprising a hybrid driveline manager according to an example. FIG. 7 is an exemplary flow chart depicting aspects of the operation of a hybrid driveline manager according to an example. FIG. 8 is another view of FIG. 1. FIG. 9 depicts a flow chart of a computer-implemented method according to one example. FIG. 10 depicts a flow chart of a computer-implemented method according to one example. FIG. 11 depicts a computer program product and a non-transitory computer-readably storage medium for causing execution of a computer-implemented method according to one example. FIG. 12 is a schematic diagram of an exemplary computer system for implementing examples disclosed herein, according to an example. DETAILED DESCRIPTION

[0026] The detailed description set forth below provides information and examples of the disclosed technology with sufficient detail to enable those skilled in the art to practice the disclosure.

[0027] Upon marine vessels reaching certain speeds the marine vessel may transition from being predominately supported by their buoyancy, e.g. the buoyancy of the hull, to being supported by hydrodynamic lift. Upon transitioning from a hydrostatic lift state wherein the buoyancy of the hull supports the marine vessel to a hydrodynamic lift state or a planing state, the speed and vertical propulsion force of the marine vessel will cause water to be guided downwards resulting in an upward reactionary force lifting the front of the marine vessel forward. Upon marine vessels reaching a fully planing state or hydrodynamic lift state, the resistance in the water counteracting the propulsion of the marine vessel is greatly reduced. However, it has been identified that the transitioning between the hydrostatic lift state to the hydrodynamic lift state or the planing state, requires a large amount of power to be provided by the propulsion system of the marine vessel.

[0028] In a marine vessel with a hybrid propulsion system, i.e. a propulsion system including both a combustion propulsion source such as a combustion engine and an electric propulsion source such as an electric motor, the large spike of power required may cause rapid depletion of the energy storage powering the electric motor. The present disclosure may in some examples seek to achieve improvements in this regard.

[0029] FIG. 1 is schematic illustration of a computer system 700 and a marine vessel 1 in which some of the inventive concepts of the present disclosure may be applied. In nonlimiting examples, the marine vessel 1 is a leisure boat, ship, cruise ship, fishing vessel, yacht, ferry, or the like. The marine vessel 1 is adapted to operate at bodies of water, e.g., a sea, ocean, lake, river, bay, gulf, strait, channel, reservoir, fjord, marsh, swamp, etc.

[0030] The marine vessel 1 may be an hybrid propulsion marine vessel and may thus comprise an electrical propulsion source 21 and a combustion propulsion source 22. The marine vessel may thus comprise an electrical propulsion source 21 and a combustion propulsion source 22 for propelling the marine vessel 1. The electrical propulsion source 21 may be in the form an electrical motor such as an AC motor or DC motor. The combustion propulsion source 22 may be in the form of a combustion engine such as a gasoline-powered combustion engine, diesel-powered combustion engine, or the like.

[0031] The marine vessel 1 may comprise a propulsion system comprising the combustion propulsion source 22 and the electric propulsion source 21. In the depicted example, the marine vessel comprises a hybrid driveline 20. The hybrid driveline 20 may comprise the electric propulsion source 21 and the combustion propulsion source 22. It may however be envisioned that the propulsion system comprises two or more drivelines each driveline comprising an electric and / or combustion power source such that a hybrid propulsion system is formed.

[0032] The computer system 700 comprises processing circuitry 702. The processing circuitry 702 may be configured to obtain a wanted speed of the marine vessel 1. The processing circuitry 702 may further be configured to obtain a current speed of the marine vessel 1. The processing circuity 702 may be further configured to obtain a planning speed threshold.

[0033] Responsive to the wanted speed being above the planing speed threshold and the current speed being at the planing speed threshold, the processing circuity 702 may be configured to control the combustion propulsion source 22 to provide a majority of a propulsion torque of the marine vessel 1.

[0034] Thereby, the spike in power required to transition the marine vessel 1 to a planing state may be at least to a relatively large extend be provided by the combustion propulsion source 21. This in turn may result in an improved energy efficiency of the marine vessel 1 due to the transitioning into the planing state not requiring a rapid depletion of an energy storage powering the electric power source 21.

[0035] FIG. 2 schematically depicts a hybrid driveline 20 for a marine vessel and a computer system 700 according to an example of the present disclosure. The hybrid driveline 20 may be the hybrid driveline 20 of the marine vessel 1 of FIG. 1.

[0036] The hybrid driveline 20 comprises the electric propulsion source 21 and the combustion propulsion source 22. The electric propulsion source 21 and the combustion propulsion source 22 may be comprised in a common hybrid driveline 20. The electric propulsion source 21 and the combustion engine 22 may each be connected to a propeller shaft 25 of the hybrid driveline 20. The propulsion source 21 and the combustion engine 22 may be configured to drive said propeller shaft 25. The hybrid driveline 20 may further comprise a propelling member 30. The propelling member 30 may be connected to the propeller shaft 25. The propelling member 30 may thus be connected to and configured to be driven by the electric propulsion source 21 and the combustion propulsion source 22 via the propeller shaft 25. The propelling member 30 may be in the form of type of conventional propelling member readily available for the skilled person. In the depicted example, the propelling member 30 is provided in the form a propeller.

[0037] The electric propulsion source 21 may be configured to be powered by an energy storage 29. The energy storage 29 may preferably be a battery system although other alternatives may be utilized. The battery system may comprise one or more batteries configured to be electrically connected to the electric propulsion source 21 to power said electric propulsion source 21. The one or more batteries may be rechargeable. In one example, the electric propulsion source 21 may be configured to function as an electric machine configured to operate as a generator to recharge said one or more batteries of the battery system 29.

[0038] In the depicted example, the electric propulsion source 21 is connected to the propeller shaft 25 by a freewheel gear 26a. The freewheel gear 26a may be configured to selectively enable driving connection between the electric propulsion source 21 and the propeller shaft 25. This allows for the electric propulsion source 21 to be disconnected from the remaining hybrid driveline 20 when not operating. Thus losses generated by the resistance of the electric propulsion source 21 when not operating may be mitigated. The freewheel gear 26a may be considered an electric propulsion freewheel gear 26a.

[0039] In the depicted example, the combustion propulsion source 22 is connected to the propeller shaft 25 by a freewheel gear 26b. The freewheel gear 26b may be configured to selectively enable driving connection between the combustion propulsion source 22 and the propeller shaft 25. This allows for the combustion propulsion source 22 to be disconnected from the remaining hybrid driveline 20 when not operating. Thus, losses generated by the resistance of the combustion propulsion source 22 when not operating may be mitigated. The freewheel gear 26b may be considered a combustion propulsion freewheel gear 26b.

[0040] In the depicted example, the combustion propulsion source 22 and the electric propulsion source 21 are connected to the propeller shaft 25 by a shared freewheel gear 26a-b. In the depicted example, the electric propulsion source 21 and the combustion propulsion source 22 are connected to the propeller shaft at separate sides of the freewheel gear 26a-b. In one example, the combustion propulsion source 22 and the electric propulsion source 21 may each be connected to the propeller shaft 25 via a clutch configured to selectively transfer torque from the combustion propulsion source 22 to the propeller shaft 25 and the electric propulsion source 21 to the propeller shaft 25, respectively.

[0041] The hybrid driveline 20 may comprise a transmission 31. The transmission 31 may comprise a reverse gear 32 and a stem drive 33 for driving the propelling member 30.

[0042] The hybrid driveline 20 may comprise a driveline control system 250 configured to control the operation of the hybrid driveline 20. The driveline control system 250 may be operatively connected to the electric propulsion source 21 and the combustion propulsion source 22 and configured to control said propulsion sources. The driveline control system 250 may further be operatively connected to the freewheel gears 26a-b and configured to control said freewheel gears 26a-b.

[0043] The driveline control system 250 may comprise driveline control processing circuitry 2502. Said driveline control processing circuitry 2502 may be configured to control the propulsion sources 21, 22 and / or the freewheel gears 26a-b, etc.

[0044] The marine vessel 1 may further comprise an operator controlled throttle 28. In one example, the operator controlled throttle 28 may be comprised in the hybrid driveline 20. The driveline control system 250 may be configured to be operatively connected to the operator controlled throttle 28. The driveline control system 250 may be configured to obtain an indication I of a wanted speed from the operator controlled throttle 20. The driveline control system 250 may be configured to control the hybrid driveline 20 and preferably the electric propulsion source 21 and the combustion propulsion source 22 based on the indication I.

[0045] FIG. 2 further depicts the computer system 700. The computer system 700 may be partially or entirely comprised in the marine vessel 1. It may however be envisioned that the computer system 700 in its entirety is provided externally from the marine vessel 1. The computer system 700 may be partially or entirely be comprised in the hybrid driveline 20. In the depicted example, the hybrid driveline 20 comprises the computer system 700. The computer system 700 may be the computer system 700 described with reference to FIG. 1.

[0046] The computer system 700 may be provided externally or at least partially as a part of the driveline control system 250. In one example, the computer system 700 may be in its entirety comprised in the driveline control system 250. In one example, the computer system 700 may be comprised externally to the driveline control system 250 and configured to be operatively connected to said driveline control system 250. In one example, the computer system 700 may be partially be comprised in the driveline control system 250, whereby the parts of the computer system 700 being external to the driveline control system 250 may be configured to be operatively connected to the driveline control system 250.

[0047] Further referencing FIG. 2, the marine vessel 1 may further comprise sensor circuitry 2511. The sensor circuitry 2511 may be configured to monitor one or more parameters relating to the operation of the marine vessel 1. In one example, the sensor circuitry 2511 may be configured to monitor one or more parameters relating to the operation of the hybrid driveline 20. In one example, the sensor circuitry 2511 may be configured to monitor one or more parameters relating to the operation of the electric propulsion source 21 and the combustion propulsion source 22. The driveline control system 250 may be configured to be operatively connected to the sensor circuitry 2511. The driveline control system 250 may be configured to obtain sensor data from said sensor circuitry 2511. In one example, the computer system 700 may be configured to be operatively connected to the sensor circuitry 2511. The computer system 700 may be configured to obtain sensor data from said sensor circuitry 2511.

[0048] FIG. 3-4 depicts block views of the driveline control system 250 and the computer system 700. The computer system 700 may be partially or entirely comprised in the driveline control system 250. The computer system 700 may also be provided in entirety externally from the driveline control system 250.

[0049] The driveline control system 250 may be in operative communication with components of the marine vessel 1, such as the electric propulsion source 21 and the combustion propulsion source 22 and, in case of the computer system 700 being fully or partially external to the driveline control system 250, the computer system 700. The connection may be provided by e.g. a communications circuitry 2540 of the hybrid driveline system 20.

[0050] The driveline control system 250 may comprise some or all parts of the computer system 700. The computer system 700 may be operatively connected to the communications circuitry 2540, the sensor circuitry 2511, the energy storage 29, the electric propulsion source 21, the combustion propulsion source 22, the freewheel gear(s) 26a-b, the operator controlled throttle 28 and / or the transmission 31. The computer system 700 comprises processing circuitry 702. The computer system 700 may comprise a storage device 720, advantageously a non-volatile storage device such as a hard disk drives (HDDs), solid-state drives (SSDs) etc. In some examples, the storage device 720 is operatively connected to the computer system 700.

[0051] The computer system 700 and associated functionality and features will be discussed in some further detail. The computer system 700 may be configured to obtain sensor data relating to operational parameters of the hybrid driveline 20 from the sensor circuitry 2511.

[0052] In the example depicted in FIG. 3, the computer system 700 is at least partially provided as a part of the driveline control system 250. In particular, the computer system 700 is depicted as being fully comprised in the driveline control system 250.

[0053] The computer system 700 may thus at least partially be comprised driveline control system 250. The driveline control system 250 may be operatively connected to the communications circuitry 2540, the sensor circuitry 2511, the energy storage 29, the electric propulsion source 21, the combustion propulsion source 22, the freewheel gear(s) 26a-b, the operator controlled throttle 28 and / or the transmission 31. The driveline control system 250 may be configured to control and / or obtain data from said communications circuitry 2540, the sensor circuitry 2511, the energy storage 29, the electric propulsion source 21, the combustion propulsion source 22, the freewheel gear(s) 26a-b, the operator controlled throttle 28 and / or transmission 31.

[0054] In the example depicted in FIG. 4, the computer system 700 is at least partially provided as a part of external to the driveline control system 250. In particular, the computer system 700 is depicted as being fully comprised in an external control device, herein referenced as a control device 750. The device 750 may be a computing device. The device 750 may be a separate computing device of the hybrid driveline 20.

[0055] As depicted in FIG. 5, the driveline control system 250 may comprise processing circuitry 2502. The vehicle control system 250 may comprise a storage device 2520, advantageously a non-volatile storage device such as a hard disk drives (HDDs), solid-state drives (SSDs) etc. In some examples, the storage device 2520 is operatively connected to the driveline control system 250.

[0056] The device 750 may be in operative communication with the driveline control system 250. The device 750 may be in operative communication with the communications circuitry 2540, the sensor circuitry 2511, the energy storage 29, the electric propulsion source 21, the combustion propulsion source 22, the freewheel gear(s) 26a-b, the operator controlled throttle 28 and / or the transmission 31. The connection may be provided by e.g. a communications circuitry 740 of the device 750. The device 750 may be in communication with the communications circuitry 2540 of the of the hybrid driveline 20.

[0057] In FIG. 5 a block diagram of a hybrid driveline manager 200 is shown. The hybrid driveline manger 200 may form part of the computer system 700 previously introduced, and the functionalities of the hybrid driveline manager 200 may be provided by the processing circuitry 702 of the computer system 700. It should be mentioned that the hybrid driveline manager 200 is a specific example and the detailed examples provided in the following are optional implementation examples.

[0058] The hybrid driveline manager 200 is operatively connected to the combustion propulsion source 21. The hybrid driveline manager 200 may be operatively connected to the communications circuitry 2540, the sensor circuitry 2511, the energy storage 29, the electric propulsion source 21, the freewheel gear(s) 26a-b, the operator controlled throttle 28 and / or the transmission 31.

[0059] The computer system 700 may, e.g. via the hybrid driveline manager 200, obtain the wanted speed WS of the marine vessel 1 and the current speed CS and the planing speed threshold PTS of the marine vessel 1.

[0060] Responsive to the wanted speed WS being above the planing speed threshold PTS and the current speed PTS, the computer system 700, e.g. via the hybrid driveline manager 200, control the combustion propulsion source 22 to provide a majority of the propulsion torque PT of the marine vessel 1.

[0061] Notably, the functionality described in the following with reference to the hybrid driveline manager 200 may be performed by means of the computer system 700. As the computer system 700 may comprise the hybrid driveline manager 200, the functionality may be called upon the processing circuitry 702.

[0062] Hence, the hybrid driveline manager 200 may be configured to obtain the wanted speed WS, the current speed CS and the planing speed threshold PTS and control the combustion propulsion source 22.

[0063] The hybrid driveline manager 200 may be configured to obtain data comprising said wanted speed WS, the current speed CS and the planing speed threshold PTS. The hybrid driveline manager 200 may be configured obtain said data from the driveline control system 200 or the computer system 700 forms a part of said driveline control system 200 from the components of the hybrid driveline 20 or a control unit of the marine vessel 1.

[0064] In an example where the combustion propulsion source 22 and the electric propulsion source 21 are connected to the same driveline 20 and the same propeller shaft 25, the planing speed threshold PTS, current speed CS and the wanted speed WS may be based on the speed of the propeller shaft 25 of the hybrid driveline 20. Thus, the planing speed threshold PTS may thus be associated with a speed of the propeller shaft 25 wherein the marine vessel 1 initiates planing. Correspondingly, the wanted speed WS may be associated with a wanted speed of the propeller shaft 25 and the current speed CS may be associated with a current speed of the propeller shaft 25.

[0065] In one example, the processing circuity 702, e.g. the hybrid driveline manager 200, may be configured to obtain the planing speed threshold PTS based on a predetermined planing speed threshold PPTS.

[0066] The predetermined planing speed threshold PPTS may be based on previous operation of the marine vessel 1 and / or may be a preset value associated with the particular type of marine vessel 1 and hybrid driveline of said marine vessel 1. The predetermined planing speed threshold PPTS may be associated with a speed wherein the marine vessel 1 is about to enter the planing state. Another example of determining a threshold for the planing speed will be described with reference to FIG. 6.

[0067] Further referencing FIG. 5, the processing circuity 702, e.g. the hybrid driveline manager 200 may be configured to obtain the wanted speed WS based on an indication I. The Indication I may be provided by the operator controlled throttle 28 of the marine vessel 1. The indication I may thus be an indication for the wanted speed WS of the propeller shaft 25. The hybrid driveline manager 200 may be configured to obtain the indication I via the communications circuitry 740 of the device 750 or the communications circuitry 2540 of the hybrid control system 250.

[0068] The current speed CS may be obtained from sensor data S obtained from the sensor circuity 2511 of the marine vessel 1. The hybrid driveline manager 200 may thus be configured to obtain sensor data S from the sensor circuitry 2511. Accordingly, the hybrid driveline manager 200 may be configured to obtain the current speed based on sensor data S obtained from said sensor circuitry 2511. The sensor circuitry 2511 may be configured to monitor the speed of the propeller shaft 25 of the marine vessel 1 and / or the speed of the combustion propulsion source 22 and / or the electric propulsion source 21. It may also be envisioned that the sensor circuitry 2511 may be configured to monitor the travelling speed of the marine vessel 1. The sensor data S may thus comprise any one of data associated with speed of the propeller shaft 25, the speed of the combustion propulsion source 22, the speed of the electric propulsion source 21 and / or the travelling speed of the marine vessel 1. The hybrid driveline manager 200 may be configured to obtain the current speed CS based on said sensor data S.

[0069] Additionally or alternatively, the processing circuitry 702, e.g. the hybrid driveline manager 200, may be configured to obtain the current speed CS based on a corresponding driveline power PPC of the marine vessel 1. Additionally or alternatively, the processing circuitry 702, e.g. the hybrid driveline manager 200, may be configured to obtain the planing speed threshold PTS based on a corresponding driveline power PPC of the marine vessel 1. Thus, for the speed at which the marine vessel 1 beings to transition to the planing state, the corresponding driveline power PPC may be identified by the hybrid driveline manager 200. The hybrid driveline manager 200 may be configured to identify the corresponding driveline power PPC based on the sensor data S.

[0070] In one example, the driveline power PPC may be based on the speed of the electric propulsion source 21 if the electric propulsion source 21 is connected to the propeller shaft 25. Since the electric propulsion source 21 rotates faster than the combustion propulsion source 22, the speed of the propeller shaft 25 may be determined on the basis of the speed of the electric propulsion source 21. As the skilled person is aware, functionality for monitoring of the speed of the electric propulsion source 21 are commonly included in said electric propulsion source 21, such as encoders and / or current and voltage sensors.

[0071] Further referencing FIG. 5, the hybrid driveline manager 200 may be configured to determine operating conditions of the hybrid driveline 20 and based on said operating conditions control the combustion propulsion source 22 and in some examples also the electric propulsion source 21. The operating conditions may include the wanted speed WS, the current speed CS, the planning threshold PTS and / or the predetermined planning threshold PPTS.

[0072] The hybrid driveline manager 200 may be configured to control the propulsion torque PT of the marine vessel 1. The propulsion torque PT may comprise include an electric propulsion source torque PT1 provided by the electric propulsion source 21 and a combustion propulsion source torque PT2 provided by the combustion propulsion source 22. In one example, the propulsion torque PT is the sum of the electric propulsion source torque PT1 and the combustion propulsion source torque PT2. It may however be envisioned that other propulsion sources of the marine vessel 1 may add to the propulsion torque PT of the marine vessel 1. The hybrid driveline manager 200 may be configured to control the propulsion torque PT based on the operating conditions.

[0073] The hybrid driveline manager 200 may be configured to control a speed of the marine vessel 1. The speed may be any one of a speed of the combustion propulsion source 22, the electric propulsion source 21 or the propeller shaft 25. The hybrid driveline manager 200 may be configured to control a combustion propulsion source speed S2 of the combustion propulsion source 22 and an electric propulsion source speed S1 of the electric propulsion source 21.

[0074] Responsive to the wanted speed WS being above the planing speed threshold PTS and the current speed CS being at the planing speed threshold PTS , the hybrid driveline manager 200 may be configured to control the combustion propulsion source 22 to provide the majority of the propulsion torque PT of the marine vessel 1. Responsive to the wanted speed WS being above the planing speed threshold PTS and the current speed CS being at the planing speed threshold PTS, the hybrid driveline manager 200 may be configured to control the combustion propulsion source 22 such that the combustion propulsion source torque PT2 is greater than the electric propulsion source torque PT1. Advantageously, the hybrid driveline manager 200 may be configured to control the electric propulsion source 21 and the combustion propulsion source 22 such that the combustion propulsion source torque PT2 is greater than the electric propulsion source torque PT1. In one example, this may be performed by responsive to the wanted speed WS being above the planing speed threshold PTS and the current speed CS being at the planing speed threshold PTS, the hybrid driveline manager 200 being configured to control the combustion propulsion source 22 such that the combustion propulsion source speed S2 is greater than the electric propulsion source speed S2. Advantageously, the hybrid driveline manager 200 may be configured to control the electric propulsion source 21 and the combustion propulsion source 22 such that the combustion propulsion source speed S2 is greater than the electric propulsion source torque speed S2.

[0075] In one example, the processing circuitry 702, e.g. the hybrid driveline manager 200, may be configured to responsive to the wanted speed WS being above the planing speed threshold PTS and the current speed CS being at the planing speed threshold PTS, control the combustion propulsion source 22 to provide all of the propulsion torque PT of the marine vessel 1. Thus, the hybrid driveline manager 200 may control the electric propulsion source 21 such that the electric propulsion source torque PT1 is zero and / or the electric propulsion source speed S1 is zero. Thereby, only the combustion propulsion source 22 may propel the marine vessel 1 upon the marine vessel 1 initiating planing.

[0076] Further referencing FIG. 5, the hybrid driveline 20 may be controlled such that the electric propulsion source 21 may be prioritized for propelling the marine vessel 1 at lower speeds, e.g. speeds below the planing speed threshold PTS.

[0077] Thus, the processing circuitry 702, e.g. the hybrid driveline manager 200, may be further configured to responsive to the wanted speed WS being below the planing speed threshold PTS, control the electric propulsion source 21 to provide a majority of the propulsion torque PT of the marine vessel 1. Responsive to the wanted speed WS being below the planing speed threshold PTS being below the planing speed threshold PTS, the hybrid driveline manager 200 may be configured to control the electric propulsion source 21 such that the electric propulsion source torque PT1 is greater than the combustion propulsion source torque PT2.

[0078] Advantageously, the hybrid driveline manager 200 may be configured to control the electric propulsion source 21 and the combustion propulsion source 22 such that the electric propulsion source torque PT1 is greater than the combustion propulsion source torque PT2. In one example, this may be performed by responsive to the wanted speed WS being below the planing speed threshold PTS, the hybrid driveline manager 200 being configured to control the electric propulsion source 21 such that the electric propulsion source speed S1 is greater than the combustion propulsion source speed S2. Advantageously, the hybrid driveline manager 200 may be configured to control the electric propulsion source 21 and the combustion propulsion source 22 such that the electric propulsion source speed S1 is greater than the combustion propulsion source torque speed S1.

[0079] In one example, the processing circuitry 702, e.g. the hybrid driveline manager 200, may be configured to responsive to the wanted speed WS being below the planing speed threshold PTS, control the electric propulsion source 21 to provide all of the propulsion torque PT of the marine vessel 1. Thus, the hybrid driveline manager 200 may control the electric propulsion source 21 such that the combustion propulsion source torque PT2 is zero and / or the combustion propulsion source speed S2 is zero. Thereby, only the electric propulsion source 21 may propel the marine vessel 1 upon the marine vessel 1 being operated to discontinue planing or traveling at speeds lower than the planing speeds.

[0080] FIG. 6 depicts aspects of the hybrid driveline manager 200 according to an example. The processing circuitry 702, e.g. the hybrid driveline manager 200, may be configured to obtain the planing speed threshold PTS. The processing circuitry 702, e.g. the hybrid driveline manager 200, may be configured to monitor a change in speed DS versus a change in driveline power DP as a power derivate PDD or a torque derivate TDD, and obtain the planing speed threshold PTS based on a speed at which the power derivate PDD or the torque derivate TDD is above a derivate threshold DDT.

[0081] The change in speed DS may be a change in speed of the hybrid driveline 20 and / or the speed of the combustion propulsion source 22 and the electric propulsion source 21.

[0082] The planing speed threshold PTS may be selected to correspond to a speed just before a speed at which the power derivate PDD or the torque derivate TDD significantly increases thus indicating the transition to the planing state.

[0083] In one example, the processing circuitry 702, e.g. the hybrid driveline manager 200, may be configured to obtain the sensor data S from the sensor circuitry 2511 to monitor the change in speed DS versus the change in driveline power DP. As depicted, the sensor data S may comprise speed data SD associated with the speed of the electric propulsion source 21 and / or the combustion propulsion source 22, torque data TD associated with the torque provided by the electric propulsion source 21 and the combustion propulsion source 22 and / or current or voltage data CD associated with the current and / or voltage of the electric propulsion source 21.

[0084] In one example, the processing circuitry 702, e.g. the hybrid driveline manager 200, may be configured to obtain speed data SD associated with the speed of the electric propulsion source 21 and / or the combustion propulsion source 22 from said sensor circuitry 2511.

[0085] In one example, the processing circuitry 702, e.g. the hybrid driveline manager 200, may be configured to obtain torque data TD, associated with the torque provided by the electric propulsion source 21 and the combustion propulsion source 22. The torque data TD may be obtained from the sensor circuitry 2511.

[0086] In one example, the processing circuitry 702, e.g. the hybrid driveline manager 200, may be configured to obtain current or voltage data CD associated with the current and / or voltage of electric propulsion source 21. The current or voltage data CD may be obtained from the sensor circuitry 2511.

[0087] The processing circuitry 702, e.g. the hybrid driveline manager 200, may be configured to determine the torque derivate PDD or the torque derivate TDD based on the sensor data S. In one example, the processing circuitry 702, e.g. the hybrid driveline manager 200 may be configured to compare the determined power derivate PDD or torque derivate TDD with the derivate threshold DDT. Responsive to the determined torque derivate TDD or power derivate PDD exceeding the derivate threshold, the current speed CS where said threshold is exceeded may be determined. The current speed CS may be the speed of the hybrid driveline and / or the electric propulsion source 21 and / or the combustion propulsion source 22. Based on the current speed CS for the time where the derivate exceeds the derivate threshold DDT, the planing speed threshold PTS may be obtained.

[0088] FIG. 7 depicts a flow chart of aspects of the operation of the hybrid driveline manager 200 according to one example. According to the example, the processing circuitry 702, e.g. the hybrid driveline manager 200, may be configured to cause the combustion propulsion source 22 to accelerate prior to the marine vessel 1 beginning to enter the planing state in order to achieve a more smooth transition to the planning state.

[0089] As depicted in FIG. 7, the combustion propulsion source 22 may be accelerated or started prior to the speed current speed CS reaching the planing speed threshold PTS. The processing circuitry 702, e.g. the hybrid driveline control 200, may thus be configured to responsive to the wanted speed WS being above the planing speed threshold PTS and the current speed CS being a predetermined value CSV below the planing speed threshold PTS, start the combustion propulsion source 22 and / or accelerate the combustion propulsion source 22 to the planing speed threshold PTS.

[0090] FIG. 8 is another view of FIG. 1, according to an example. Referencing FIG. 8, the computer system 700 comprises processing circuitry 702 configured to obtain the wanted speed WS of the marine vessel 1. The marine vessel 1 comprises the combustion propulsion source 22 and the electric propulsion source 21 for propelling the marine vessel 1. The processing circuitry 702 is configured to obtain a current speed CS and a planing speed threshold PTS of the marine vessel 1. Responsive to the wanted speed WS being above the planing speed threshold PTS and the current speed CS being at the planing speed threshold PTS, the processing circuity 702 is configured to control the combustion propulsion source 22 to provide a majority of a propulsion torque PT of the marine vessel 1.

[0091] FIG. 9 is a flow chart of a computer implemented method 1000 according to an example.

[0092] The method comprises obtaining 1010, by processing circuitry 702, of a computer system 700, a wanted speed WS of the marine vessel 1 comprising the combustion propulsion source 22 and the electric propulsion source 21 for propelling the marine vessel 1.

[0093] The method further comprises obtaining 1020, by the processing circuitry 702, a current speed CS of the marine vessel 1 and a planing speed threshold PTS of the marine vessel 1.

[0094] Responsive to the current speed CS being at the planing speed threshold PTS, the method comprises controlling 1030, by the processing circuity 702, the combustion propulsion source 22 to provide a majority of a propulsion torque PT of the marine vessel 1.

[0095] The method may be performed by a computer system according to any of the examples provided herein.

[0096] FIG. 10 is a flow chart of an example of the computer implemented method 1000 described with reference to FIG. 9.

[0097] Referencing FIG. 10, the method 1000 may further comprise obtaining 1001, by the processing circuitry 702, the planing speed threshold PTS based on a predetermined planing speed threshold PPTS.

[0098] The method 1000 may comprise monitoring 1002, by the processing circuitry 702, a change in speed DS versus a change in the driveline power DP as a power derivate PDD and obtaining 1003, by the processing circuitry 702, the planing speed threshold PTS based on a speed which the power derivate PDD is above a derivate threshold DDT.

[0099] Alternatively, the method 1000 may comprise monitoring 1002, by the processing circuity 702, the planing speed threshold PTS versus a change in driveline power DP as a torque derivate TDD and obtaining 1003, by the processing circuity 702, the planing speed threshold PTS based on a speed which the torque derivate TDD is above a derivate threshold DDT.

[0100] The method 1000 may according to one example, comprise to responsive to the wanted speed WS being above the planing speed threshold PTS and the current speed CS being at the planing speed threshold PTS controlling 1030, by the processing circuity 702, the combustion propulsion source 22 to provide all of the propulsion torque PT of the marine vessel 1.

[0101] The method 1000 may be expanded and altered to comprise any feature, variant or example presented herein, for example any of the steps performed by the hybrid driveline manager 200.

[0102] In FIG. 11, a computer program product 400 is shown. The computer program product 400 comprises a computer program 600 and a non-transitory computer readable medium 500. The computer program 600 may be stored on the computer readable medium 500. The computer readable medium 500 is, in FIG. 12, exemplified as a vintage 5,25" floppy disc, but may be embodied as any suitable non-transitory computer readable medium such as, but not limited to, hard disk drives (HDDs), solid-state drives (SSDs), optical discs (e.g., CD-ROM, DVD-ROM, CD-RW, DVD-RW), USB flash drives, magnetic tapes, memory cards, Read-Only Memories (ROM), network-attached storage (NAS), cloud storage etc.

[0103] The computer program 600 comprises instruction 610 e.g. program instruction, software code, that, when executed by processing circuitry cause the processing circuitry to perform the method 1000 introduced with reference to FIG. 10-11.

[0104] FIG. 12 is a schematic diagram of a computer system 800 for implementing examples disclosed herein. The computer system 800 is adapted to execute instructions from a computer-readable medium to perform these and / or any of the functions or processing described herein. The computer system 800 may be connected (e.g., networked) to other machines in a LAN, an intranet, an extranet, or the Internet. While only a single device is illustrated, the computer system 800 may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and / or claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, processing circuitry, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or other devices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc.

[0105] The computer system 800 may comprise at least one computing device or electronic device capable of including firmware, hardware, and / or executing software instructions to implement the functionality described herein. The computer system 800 may include processing circuitry 802 (e.g., processing circuitry including one or more processor devices or control units), a memory 804, and a system bus 806. The computer system 800 may include at least one computing device having the processing circuitry 802. The system bus 806 provides an interface for system components including, but not limited to, the memory 804 and the processing circuitry 802. The processing circuitry 802 may include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory 804. The processing circuitry 802 may, for example, include a general-purpose processor, an application specific processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The processing circuitry 802 may further include computer executable code that controls operation of the programmable device.

[0106] The system bus 806 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and / or a local bus using any of a variety of bus architectures. The memory 804 may be one or more devices for storing data and / or computer code for completing or facilitating methods described herein. The memory 804 may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory 804 may be communicably connected to the processing circuitry 802 (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes described herein. The memory 804 may include non-volatile memory 808 (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.), and volatile memory 810 (e.g., random-access memory (RAM)), or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a computer or other machine with processing circuitry 802. A basic input / output system (BIOS) 812 may be stored in the non-volatile memory 808 and can include the basic routines that help to transfer information between elements within the computer system 800.

[0107] The computer system 800 may further include or be coupled to a non-transitory computer-readable storage medium such as the storage device 814, which may comprise, for example, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SATA)), HDD (e.g., EIDE or SATA) for storage, flash memory, or the like. The storage device 814 and other drives associated with computer-readable media and computer-usable media may provide non-volatile storage of data, data structures, computer-executable instructions, and the like.

[0108] Computer-code which is hard or soft coded may be provided in the form of one or more modules. The module(s) can be implemented as software and / or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may be stored in the storage device 814 and / or in the volatile memory 810, which may include an operating system 816 and / or one or more program modules 818. All or a portion of the examples disclosed herein may be implemented as a computer program 820 stored on a transitory or non-transitory computer-usable or computer-readable storage medium (e.g., single medium or multiple media), such as the storage device 814, which includes complex programming instructions (e.g., complex computer-readable program code) to cause the processing circuitry 802 to carry out actions described herein. Thus, the computer-readable program code of the computer program 820 can comprise software instructions for implementing the functionality of the examples described herein when executed by the processing circuitry 802. In some examples, the storage device 814 may be a computer program product (e.g., readable storage medium) storing the computer program 820 thereon, where at least a portion of a computer program 820 may be loadable (e.g., into a processor) for implementing the functionality of the examples described herein when executed by the processing circuitry 802. The processing circuitry 802 may serve as a controller or control system for the computer system 800 that is to implement the functionality described herein.

[0109] The computer system 800 may include an input device interface 822 configured to receive input and selections to be communicated to the computer system 800 when executing instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Such input devices may be connected to the processing circuitry 802 through the input device interface 822 coupled to the system bus 806 but can be connected through other interfaces, such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) 1394 serial port, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system 800 may include an output device interface 824 configured to forward output, such as to a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)). The computer system 800 may include a communications interface 826 suitable for communicating with a network as appropriate or desired.

[0110] The operational actions described in any of the exemplary aspects herein are described to provide examples and discussion. The actions may be performed by hardware components, may be embodied in machine-executable instructions to cause a processor to perform the actions, or may be performed by a combination of hardware and software. Although a specific order of method actions may be shown or described, the order of the actions may differ. In addition, two or more actions may be performed concurrently or with partial concurrence.

[0111] According to an aspect, a computer system, hybrid driveline and method may be provided in accordance with any of the following examples.

[0112] Example 1: A computer system (700) comprising processing circuitry (702) configured to: obtain a wanted speed (WS) of a marine vessel (1) comprising a combustion propulsion source (22) and an electric propulsion source (21) for propelling the marine vessel (1); obtain a current speed (CS) and a planing speed threshold (PTS) of the marine vessel (1), responsive to the wanted speed (WS) being above the planing speed threshold (PTS) and the current speed (CS) being at the planing speed threshold (PTS): control the combustion propulsion source (22) to provide a majority of a propulsion torque (PT) of the marine vessel (1).

[0113] Example 2: The computer system (700) of example 1, wherein the processing circuitry (702) is further configured to: obtain the planing speed threshold (PTS) based on a predetermined planing speed threshold (PPTS).

[0114] Example 3: The computer system (700) of example 1 or 2, wherein the processing circuitry (702) is further configured to: monitor a change in speed (DS) versus a change in driveline power (DP) as a power derivate (PDD) or a torque derivate (TDD), and obtain the planing speed threshold (PTS) based on a speed at which the power derivate (PDD) or the torque derivate (TDD) is above a derivate threshold (DDT).

[0115] Example 4: The computer system (700) of any one of examples 1 to 3, wherein the processing circuitry (702) is further configured to: responsive to the wanted speed (WS) being above the planing speed threshold (PTS) and the current speed (CS) being at the planing speed threshold (PTS): control the combustion propulsion source (22) to provide all of a propulsion torque (PT) of the marine vessel (1).

[0116] Example 5: The computer system (700) of any one of examples 1 to 4, wherein the processing circuitry (702) is further configured to: responsive to the wanted speed (WS) being below the planing speed threshold (PTS): control the electric propulsion source (21) to provide a majority of the propulsion torque (PT) of the marine vessel (1).

[0117] Example 6: The computer system (700) of example 5, wherein the processing circuitry (702) is further configured to: responsive to the wanted speed (WS) being below the planing speed threshold (PTS): control the electric propulsion source (21) to provide all of the propulsion torque (PT) of the marine vessel (1).

[0118] Example 7: The computer system (700) of any one of examples 1 to 6, wherein the processing circuitry (702) is further configured to: responsive to the wanted speed (WS) being above the planing speed threshold (PTS) and the current speed (CS) being a predetermined value (CSV) below the planing speed threshold (PTS): start the combustion propulsion source (22) and / or accelerate the combustion propulsion source (22) to the planing speed threshold (PTS).

[0119] Example 8: The computer system (700) of any one of example 1 to 7, wherein the processing circuitry (702) is configured to obtain the wanted speed (WS) based on an indication (I) provided by an operator controlled throttle (28) of the marine vessel (1).

[0120] Example 9: The computer system (700) of any one of example 1 to 8, wherein the processing circuitry (702) is configured to obtain the current speed (CS) and / or the planing speed threshold (PTS) based on a corresponding driveline power (PPC) of the marine vessel (1).

[0121] Example 10: The computer system (700) of example 1, wherein the processing circuitry (702) is further configured to: obtain the planing speed threshold (PTS) based on a predetermined planing speed threshold (PPTS), obtain the wanted speed (WS) based on an indication (I) provided by an operator controlled throttle (28) of the marine vessel (1), obtain the current speed (CS) and / or the planing speed threshold (PTS) based on a corresponding driveline power (PPC) of the marine vessel, monitor a change in speed (DS) versus a change in driveline power (DP) as a power derivate (PDD), obtain the planing speed threshold (PTS) based on a speed at which the power derivate (PDD) is above a derivate threshold (DDT), and responsive to the wanted speed (WS) being above the planing speed threshold (PTS) and the current speed (CS) being at the planing speed threshold (PTS): control the combustion propulsion source to provide all of a propulsion torque (PT) of the marine vessel (1), and responsive to the wanted speed (WS) being below the planing speed threshold (PTS): control the electric propulsion source (21) to provide all of the propulsion torque (PT) of the marine vessel (1).

[0122] Example 11: A hybrid driveline (20) for a marine vessel (1) comprising an electric propulsion source (21) and a combustion propulsion source (22) connected to a propeller shaft (25) of the hybrid driveline (20), and the computer system (700) of any one of examples 1 to 10.

[0123] Example 12: The hybrid driveline (20) of example 11, wherein the electric propulsion source (21) is connected to the propeller shaft (25) by a freewheel gear (26a).

[0124] Example 13: The hybrid driveline (20) of example 12, wherein the electric propulsion source (21) and the combustion propulsion source (22) are connected to the propeller shaft (25) at separate sides of the freewheel gear (26a).

[0125] Example 14: A marine vessel (1) comprising the hybrid driveline (20) of any one of examples 11 to 13.

[0126] Example 15: A computer implemented method (1000) comprising: obtaining (1010), by processing circuitry (702) of a computer system (700), a wanted speed (WS) of a marine vessel (1) comprising a combustion propulsion source (22) and an electric propulsion source (21) for propelling the marine vessel (1); obtaining (1020), by the processing circuitry (702), a current speed (CS) and a planing speed threshold (PTS) of the marine vessel (1), responsive to the wanted speed (WS) being above the planing speed threshold (PTS) and the current speed (CS) being at the planing speed threshold (PTS): controlling (1030), by the processing circuitry (702), the combustion propulsion source (22) to provide a majority of a propulsion torque (PT) of the marine vessel (1).

[0127] Example 16: The computer implemented method (1000) of claim 16, further comprising: obtaining (1001), by the processing circuitry (702), the planing speed threshold (PTS) based on a predetermined planing speed threshold (PPTS).

[0128] Example 17: The computer implemented method (1000) of Example 15 or 16, further comprising: monitoring (1002), by the processing circuitry (702), a change in speed (DS) versus a change in driveline power (DP) as a power derivate (PDD) or a torque derivate (TDD), and obtaining (1003), by the processing circuitry (702), the planing speed threshold (PTS) based on a speed at which the power derivate (PDD) or the torque derivate (TDD) is above a derivate threshold (DDT).

[0129] Example 18: The computer implemented method (1000) of any one of examples 15 to 17, further comprising: responsive to the wanted speed (WS) being above the planing speed threshold (PTS) and the current speed (CS) being at the planing speed threshold (PTS): controlling (1030), by the processing circuitry (702), the combustion propulsion source (22) to provide all of a propulsion torque (PT) of the marine vessel (1).

[0130] Example 19: A computer program product (400) comprising program code (610) for performing, when executed by processing circuitry (702), the method (1000) of any of examples 15 to 18.

[0131] Example 20: A non-transitory computer-readable storage medium (500) comprising instructions, which when executed by processing circuitry (702), cause the processing circuitry (702) to perform the method of any of examples 15 to 18.

[0132] The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. It will be further understood that the terms "comprises," "comprising," "includes," and / or "including" when used herein specify the presence of stated features, integers, actions, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, actions, steps, operations, elements, components, and / or groups thereof.

[0133] It will be understood that, although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure.

[0134] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe a relationship of one element to another element as illustrated in the Figures. It will be understood that these terms and those discussed above are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

[0135] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0136] It is to be understood that the present disclosure is not limited to the aspects described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims. In the drawings and specification, there have been disclosed aspects for purposes of illustration only and not for purposes of limitation, the scope of the disclosure being set forth in the following claims.

Claims

1. A computer system (700) comprising processing circuitry (702) configured to: obtain a wanted speed (WS) of a marine vessel (1) comprising a combustion propulsion source (22) and an electric propulsion source (21) for propelling the marine vessel (1); obtain a current speed (CS) and a planing speed threshold (PTS) of the marine vessel (1), responsive to the wanted speed (WS) being above the planing speed threshold (PTS) and the current speed (CS) being at the planing speed threshold (PTS): control the combustion propulsion source (22) to provide a majority of a propulsion torque (PT) of the marine vessel (1).

2. The computer system (700) of claim 1, wherein the processing circuitry (702) is further configured to: obtain the planing speed threshold (PTS) based on a predetermined planing speed threshold (PPTS).

3. The computer system (700) of claim 1 or 2, wherein the processing circuitry (702) is further configured to: monitor a change in speed (DS) versus a change in driveline power (DP) as a power derivate (PDD) or a torque derivate (TDD), and obtain the planing speed threshold (PTS) based on a speed at which the power derivate (PDD) or the torque derivate (TDD) is above a derivate threshold (DDT).

4. The computer system (700) of any one of claims 1 to 3, wherein the processing circuitry (702) is further configured to: responsive to the wanted speed (WS) being above the planing speed threshold (PTS) and the current speed (CS) being at the planing speed threshold (PTS): control the combustion propulsion source (22) to provide all of a propulsion torque (PT) of the marine vessel (1).

5. The computer system (700) of any one of claims 1 to 4, wherein the processing circuitry (702) is further configured to: responsive to the wanted speed (WS) being below the planing speed threshold (PTS): control the electric propulsion source (21) to provide a majority of the propulsion torque (PT) of the marine vessel (1).

6. The computer system (700) of any one of claim 1 to 5, wherein the processing circuitry (702) is configured to obtain the wanted speed (WS) based on an indication (I) provided by an operator controlled throttle (28) of the marine vessel (1).

7. The computer system (700) of claim 1, wherein the processing circuitry (702) is further configured to: obtain the planing speed threshold (PTS) based on a predetermined planing speed threshold (PPTS), obtain the wanted speed (WS) based on an indication (I) provided by an operator controlled throttle (28) of the marine vessel (1), obtain the current speed (CS) and / or the planing speed threshold (PTS) based on a corresponding driveline power (PPC) of the marine vessel, monitor a change in speed (DS) versus a change in driveline power (DP) as a power derivate (PDD), obtain the planing speed threshold (PTS) based on a speed at which the power derivate (PDD) is above a derivate threshold (DDT), and responsive to the wanted speed (WS) being above the planing speed threshold (PTS) and the current speed (CS) being at the planing speed threshold (PTS): control the combustion propulsion source to provide all of a propulsion torque (PT) of the marine vessel (1), and responsive to the wanted speed (WS) being below the planing speed threshold (PTS): control the electric propulsion source (21) to provide all of the propulsion torque (PT) of the marine vessel (1).

8. A hybrid driveline (20) for a marine vessel (1) comprising an electric propulsion source (21) and a combustion propulsion source (22) connected to a propeller shaft (25) of the hybrid driveline (20), and the computer system (700) of any one of claims 1 to 10.

9. A marine vessel (1) comprising the hybrid driveline (20) of claim 8.

10. A computer implemented method (1000) comprising: obtaining (1010), by processing circuitry (702) of a computer system (700), a wanted speed (WS) of a marine vessel (1) comprising a combustion propulsion source (22) and an electric propulsion source (21) for propelling the marine vessel (1); obtaining (1020), by the processing circuitry (702), a current speed (CS) and a planing speed threshold (PTS) of the marine vessel (1), responsive to the wanted speed (WS) being above the planing speed threshold (PTS) and the current speed (CS) being at the planing speed threshold (PTS): controlling (1030), by the processing circuitry (702), the combustion propulsion source (22) to provide a majority of a propulsion torque (PT) of the marine vessel (1).

11. The computer implemented method (1000) of claim 10, further comprising: obtaining (1001), by the processing circuitry (702), the planing speed threshold (PTS) based on a predetermined planing speed threshold (PPTS).

12. The computer implemented method (1000) of claim 10 or 11, further comprising: monitoring (1002), by the processing circuitry (702), a change in speed (DS) versus a change in driveline power (DP) as a power derivate (PDD) or a torque derivate (TDD), and obtaining (1003), by the processing circuitry (702), the planing speed threshold (PTS) based on a speed at which the power derivate (PDD) or the torque derivate (TDD) is above a derivate threshold (DDT).

13. The computer implemented method (1000) of any one of claims 10 to 12, further comprising: responsive to the wanted speed (WS) being above the planing speed threshold (PTS) and the current speed (CS) being at the planing speed threshold (PTS): controlling (1030), by the processing circuitry (702), the combustion propulsion source (22) to provide all of a propulsion torque (PT) of the marine vessel (1).

14. A computer program product (400) comprising program code (610) for performing, when executed by processing circuitry (702), the method (1000) of any of claims 10 to 13.

15. A non-transitory computer-readable storage medium (500) comprising instructions, which when executed by processing circuitry (702), cause the processing circuitry (702) to perform the method of any of claims 10 to 13.

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