Torque control method and apparatus for hybrid vehicle, vehicle, and storage medium

Abstract

A torque control method and apparatus for a hybrid vehicle, a vehicle, and a storage medium. The method comprises: acquiring working condition parameters of power sources, wherein the power sources comprise an engine, a P1 motor, and a P3 motor; if a target power source of which the working condition parameters satisfy a corresponding preset detection condition is present in the power sources, calculating the target real torque of the target power source; acquiring the current output torque of the target power source; on the basis of the difference value between the target real torque and the current output torque, obtaining a torque deviation of the target power source under the current operation rotating speed and the current output torque; storing the torque deviation into a torque precision lookup table corresponding to the target power source, wherein the torque precision lookup table is used for storing the torque deviations of the target power source under different operation rotating speeds and different torque; and controlling the torque of the target power source on the basis of the torque precision lookup table. The present application can solve the problem of low torque control precision of a power source of a P13 configuration hybrid vehicle.

Description

Torque control method, device, vehicle and storage medium for hybrid vehicle Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a torque control method, device, vehicle, and storage medium for a hybrid vehicle. Background Art

[0002] In a P13 hybrid vehicle, the torque of the three power sources—the engine, P1 motor, and P3 motor—is a crucial component of the P13 hybrid vehicle. By calculating the torque control accuracy of the engine, P1 motor, and P3 motor, the actual battery power usage can be indirectly and accurately calculated, ensuring that the actual battery power usage remains within the battery's safe power range, thereby improving battery safety. Therefore, improving the torque control accuracy of the engine, P1 motor, and P3 motor is crucial for accurately controlling the battery's State of Charge (SOC).

[0003] However, due to the influence of factors such as manufacturing errors of the power source, errors in the torque model, changes in the boundary conditions of the vehicle, etc., the actual torque of the three power sources of the engine, P1 motor and P3 motor on the vehicle deviates from the theoretical control torque, resulting in low torque control accuracy of the power source.

[0004] Summary of the Invention

[0005] In view of this, the present application provides a torque control method, device, vehicle and storage medium for a hybrid vehicle to solve the problem of low torque control accuracy of the power source of a P13 configuration hybrid vehicle.

[0006] In a first aspect, the present application provides a torque control method for a hybrid vehicle, the method comprising:

[0007] Obtaining operating parameters of a power source, wherein the power source includes an engine, a P1 motor, and a P3 motor;

[0008] If there is a target power source among the power sources whose operating parameters meet corresponding preset detection conditions, calculating the target real torque of the target power source;

[0009] obtaining a current output torque fed back by the target power source;

[0010] obtaining a torque deviation of the target power source at a current operating speed and the current output torque based on a difference between the target real torque and the current output torque;

[0011] Storing the torque deviation in a torque accuracy lookup table corresponding to the target power source, wherein the torque accuracy lookup table is used to store the torque deviation of the target power source at different operating speeds and torques;

[0012] The torque of the target power source is controlled based on the torque accuracy lookup table.

[0013] According to the above technical approach, when the operating parameters of the power source of a P13 hybrid vehicle meet corresponding preset detection conditions, the target true torque of the power source is calculated. Based on the difference between the target true torque of the power source and its current output torque, the torque deviation of the power source at the current operating speed and current output torque is obtained. The obtained torque deviation is then stored in a torque accuracy lookup table corresponding to the power source. Therefore, when torque control is performed on the power source, the torque of the power source can be corrected based on the torque accuracy lookup table corresponding to the power source, thereby improving the torque control accuracy of the power source of the P13 hybrid vehicle, thereby enhancing the robustness and smoothness of the hybrid vehicle's driving.

[0014] In an optional embodiment, if there is a target power source among the power sources whose operating parameters meet corresponding preset detection conditions, calculating the target true torque of the target power source includes:

[0015] If the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is in an inactive state, obtaining the first output power of the power supply device and the first power consumption of the target electrical appliance;

[0016] Obtaining a first motor power of the P3 motor based on a difference between the first output power and the first power consumption;

[0017] Obtaining a first motor efficiency of the P3 motor and a first operating speed of the P3 motor;

[0018] A target real torque of the P3 motor is calculated based on the first motor power, the first motor efficiency, and the first operating speed.

[0019] According to the above technical means, the first output power of the power supply device and the first power consumption of the target electrical appliance are obtained only when the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is in an inactive state, so as to utilize the power conservation principle and the torque balance principle to obtain the target true torque of the P3 motor. Therefore, it is possible to prevent the target true torque of the P3 motor from being affected by the operating boundary conditions of the P3 motor, and at the same time, to prevent the torque control error of the P1 motor from affecting the P3 motor, thereby improving the accuracy of the target true torque of the P3 motor, and further improving the accuracy of the torque deviation corresponding to the P3 motor in the subsequent calculation process of the torque deviation.

[0020] In an optional embodiment, if there is a target power source among the power sources whose operating parameters meet corresponding preset detection conditions, calculating the target real torque of the target power source further includes:

[0021] If the operating parameters of the P1 motor meet the corresponding preset detection conditions, the second output power of the power supply device and the second power consumption of the target electrical appliance are obtained;

[0022] Obtaining a total motor power based on a difference between the second output power and the second electrical power;

[0023] Obtaining a second motor power of the P3 motor;

[0024] Obtaining a third motor power of the P1 motor based on a difference between the total motor power and the second motor power;

[0025] Obtaining a second motor efficiency of the P1 motor and a second operating speed of the P1 motor;

[0026] A target real torque of the P1 motor is calculated based on the third motor power, the second motor efficiency, and the second operating speed.

[0027] According to the above technical approach, the second output power of the power supply device and the second power consumption of the target electrical appliance are obtained only when the operating parameters of the P1 motor meet corresponding preset detection conditions, thereby utilizing the principles of power conservation and torque balance to obtain the target true torque of the P1 motor. Therefore, the target true torque of the P1 motor is prevented from being affected by the operating boundary conditions of the P1 motor, thereby improving the accuracy of the target true torque of the P1 motor and, in turn, improving the accuracy of the torque deviation corresponding to the P1 motor in the subsequent calculation of the torque deviation.

[0028] In an optional implementation, obtaining the second motor power of the P3 motor includes:

[0029] Obtaining a first output torque fed back by the P3 motor and a third operating speed of the P3 motor;

[0030] Based on the first output torque and the third operating speed, querying a first torque deviation of the P3 motor from a torque accuracy query table corresponding to the P3 motor;

[0031] Obtaining a first real torque of the P3 motor based on a sum of the first output torque and the first torque deviation;

[0032] Obtaining a third motor efficiency of the P3 motor;

[0033] The second motor power is calculated based on the first real torque, the third motor efficiency, and the third operating speed.

[0034] According to the above technical approach, after obtaining the first output torque of the P3 motor, the first torque deviation corresponding to the current first output torque of the P3 motor and the third operating speed is further retrieved from the torque accuracy lookup table corresponding to the P3 motor to correct the first output torque of the P3 motor. Furthermore, the second motor power of the P3 motor is calculated based on the corrected first true torque of the P3 motor, which is then used to calculate the target true torque of the P1 motor. This prevents the influence of the torque control error of the P3 motor on the target true torque of the P1 motor, further improving the accuracy of the target true torque of the P1 motor.

[0035] In an optional embodiment, if there is a target power source among the power sources whose operating parameters meet corresponding preset detection conditions, calculating the target real torque of the target power source further includes:

[0036] If the operating parameters of the engine meet corresponding preset detection conditions, obtaining the second output torque fed back by the P1 motor and the fourth operating speed of the P1 motor;

[0037] Based on the second output torque and the fourth operating speed, querying a second torque deviation of the P1 motor from a torque accuracy query table corresponding to the P1 motor;

[0038] Obtaining a second real torque of the P1 motor based on a sum of the second output torque and the second torque deviation;

[0039] The target real torque of the engine is calculated based on the speed ratio between the P1 motor and the engine and the second real torque.

[0040] According to the above technical approach, the second output torque fed back by the P1 motor and the fourth operating speed of the P1 motor are obtained only when the engine operating parameters meet corresponding preset detection conditions. This leverages the torque correlation between the P1 motor and the engine to determine the target true engine torque. This prevents the target true engine torque from being affected by the engine's operating boundary conditions, thereby improving the accuracy of the target true engine torque and, in turn, the accuracy of the corresponding torque deviation in the subsequent calculation of the torque deviation.

[0041] In an optional embodiment, storing the torque deviation in a torque accuracy lookup table corresponding to the target power source includes:

[0042] Obtaining a continuous duration during which the target power source meets a corresponding preset detection condition;

[0043] When the continuous time is greater than the target detection time, the torque deviation is stored in a torque accuracy lookup table corresponding to the target power source.

[0044] According to the above technical means, since the torque deviation is stored in the torque accuracy query table corresponding to the target power source only when the continuous time that the target power source meets the corresponding preset detection conditions is greater than the target detection time, the impact of short-term changes in the target power source can be avoided, so as to further ensure the accuracy of the torque deviation in the torque accuracy query table corresponding to the target power source, thereby further improving the torque control accuracy of the target power source.

[0045] In an optional embodiment, the preset detection conditions corresponding to the P3 motor include: the operating temperature of the P3 motor is within a first preset temperature range, the voltage of the P3 motor is within a first preset voltage range, the current of the P3 motor is within a first preset current range, the operating speed of the P3 motor is within a first preset speed range, and the output torque fed back by the P3 motor is within at least one of the first preset torque range.

[0046] According to the above technical means, because the preset detection conditions corresponding to the P3 motor limit at least one of the P3 motor's operating temperature, P3 motor's voltage, P3 motor's current, P3 motor's operating speed, and the P3 motor's output torque feedback, it is possible to avoid detecting the P3 motor's torque deviation at boundary conditions of the P3 motor's operating temperature, voltage, current, speed, or output torque, thereby further improving the accuracy of the P3 motor's torque deviation.

[0047] In an optional embodiment, the preset detection conditions corresponding to the P1 motor include: the operating temperature of the P1 motor is within a second preset temperature range, the voltage of the P1 motor is within a second preset voltage range, the current of the P1 motor is within a second preset current range, the operating speed of the P1 motor is within a second preset speed range, and the output torque fed back by the P1 motor is within at least one of the second preset torque range.

[0048] According to the above technical approach, because the preset detection conditions corresponding to the P1 motor limit at least one of the P1 motor's operating temperature, P1 motor's voltage, P1 motor's current, P1 motor's operating speed, and the output torque fed back by the P1 motor, it is possible to avoid detecting the P1 motor's torque deviation at the boundary conditions of the P1 motor's operating temperature, voltage, current, operating speed, or output torque, thereby further improving the accuracy of the P1 motor's torque deviation.

[0049] In an optional embodiment, the preset detection conditions corresponding to the engine include: the operating temperature of the engine is within a third preset temperature range, the ignition angle intervention is in an inactive state, the engine has no faults, the operating speed of the engine is within a third preset speed range, and the output torque fed back by the engine is within at least one of the third preset torque range.

[0050] According to the above technical approach, because the preset detection conditions corresponding to the engine limit at least one of the engine's operating temperature, ignition angle intervention status, engine fault conditions, engine operating speed, and the engine's reported output torque, it is possible to avoid detecting engine torque deviation at boundary conditions of engine operating temperature, ignition angle intervention, engine fault conditions, operating speed, or output torque, thereby further improving the accuracy of engine torque deviation detection.

[0051] In a second aspect, the present application provides a torque control device for a hybrid vehicle, the device comprising:

[0052] A working condition parameter acquisition module is used to obtain working condition parameters of the power source, wherein the power source includes the engine, the P1 motor and the P3 motor;

[0053] a real torque calculation module, configured to calculate a target real torque of a target power source if a target power source exists among the power sources and its operating parameters satisfy corresponding preset detection conditions;

[0054] an output torque acquisition module, configured to acquire the current output torque fed back by the target power source;

[0055] a torque deviation calculation module, configured to obtain a torque deviation of the target power source at a current operating speed and the current output torque based on a difference between the target real torque and the current output torque;

[0056] a torque deviation storage module, configured to store the torque deviation in a torque accuracy lookup table corresponding to the target power source, wherein the torque accuracy lookup table is configured to store the torque deviation of the target power source at different operating speeds and torques;

[0057] A target torque control module is configured to control the torque of the target power source based on the torque accuracy lookup table.

[0058] In an optional embodiment, the real torque calculation module includes:

[0059] a first power acquisition unit, configured to acquire a first output power of the power supply device and a first power consumption of the target electrical appliance if the operating parameters of the P3 motor meet corresponding preset detection conditions and the P1 motor is in an inactive state;

[0060] a first power calculation unit, configured to obtain a first motor power of the P3 motor based on a difference between the first output power and the first power consumption;

[0061] a first data acquisition unit, configured to acquire a first motor efficiency of the P3 motor and a first operating speed of the P3 motor;

[0062] The first torque correction unit is configured to calculate a target real torque of the P3 motor based on the first motor power, the first motor efficiency, and the first operating speed.

[0063] In an optional embodiment, the real torque calculation module further includes:

[0064] A second power acquisition unit is configured to acquire a second output power of the power supply device and a second power consumption of the target electrical appliance if the operating parameters of the P1 motor meet corresponding preset detection conditions;

[0065] a second power calculation unit, configured to obtain a total motor power based on a difference between the second output power and the second power consumption;

[0066] a third power calculation unit, configured to obtain a second motor power of the P3 motor;

[0067] a fourth power calculation unit, configured to obtain a third motor power of the P1 motor based on a difference between the total motor power and the second motor power;

[0068] a second data acquisition unit, configured to acquire a second motor efficiency of the P1 motor and a second operating speed of the P1 motor;

[0069] The second torque correction unit is configured to calculate a target real torque of the P1 motor based on the third motor power, the second motor efficiency, and the second operating speed.

[0070] In an optional implementation, the third power calculation unit includes:

[0071] a motor data acquisition subunit, configured to acquire a first output torque fed back by the P3 motor and a third operating speed of the P3 motor;

[0072] a torque accuracy query subunit, configured to query a first torque deviation of the P3 motor from a torque accuracy query table corresponding to the P3 motor based on the first output torque and the third operating speed;

[0073] a real torque calculation subunit, configured to obtain a first real torque of the P3 motor based on a sum of the first output torque and the first torque deviation;

[0074] a motor efficiency acquisition subunit, configured to acquire a third motor efficiency of the P3 motor;

[0075] The motor power calculation subunit is configured to calculate the second motor power based on the first real torque, the third motor efficiency, and the third operating speed.

[0076] In an optional embodiment, the real torque calculation module further includes:

[0077] a third data acquisition unit, configured to acquire a second output torque fed back by the P1 motor and a fourth operating speed of the P1 motor if the operating parameters of the engine meet corresponding preset detection conditions;

[0078] a torque accuracy query unit, configured to query a second torque deviation of the P1 motor from a torque accuracy query table corresponding to the P1 motor based on the second output torque and the fourth operating speed;

[0079] a third torque correction unit, configured to obtain a second real torque of the P1 motor based on a sum of the second output torque and the second torque deviation;

[0080] The real torque conversion unit is configured to calculate a target real torque of the engine based on a speed ratio between the P1 motor and the engine and the second real torque.

[0081] In an optional implementation, the torque deviation storage module includes:

[0082] a continuous duration acquisition unit, configured to acquire a continuous duration during which the target power source meets a corresponding preset detection condition;

[0083] The torque deviation storage unit is used to store the torque deviation in a torque accuracy lookup table corresponding to the target power source when the continuous duration is greater than the target detection duration.

[0084] In an optional embodiment, in the real torque calculation module, the preset detection conditions corresponding to the P3 motor include: the operating temperature of the P3 motor is within a first preset temperature range, the voltage of the P3 motor is within a first preset voltage range, the current of the P3 motor is within a first preset current range, the operating speed of the P3 motor is within a first preset speed range, and the output torque fed back by the P3 motor is within at least one of the first preset torque range.

[0085] In an optional embodiment, in the real torque calculation module, the preset detection conditions corresponding to the P1 motor include: the operating temperature of the P1 motor is within a second preset temperature range, the voltage of the P1 motor is within a second preset voltage range, the current of the P1 motor is within a second preset current range, the operating speed of the P1 motor is within a second preset speed range, and the output torque fed back by the P1 motor is within at least one of the second preset torque range.

[0086] In an optional embodiment, in the real torque calculation module, the preset detection conditions corresponding to the engine include: the operating temperature of the engine is within a third preset temperature range, the ignition angle intervention is in an inactive state, the engine has no faults, the operating speed of the engine is within a third preset speed range, and the output torque fed back by the engine is within at least one of the third preset torque range.

[0087] In a third aspect, the present application provides a hybrid vehicle, comprising:

[0088] an engine for providing driving force for the hybrid vehicle;

[0089] P1 motor, provided on the crankshaft of the engine;

[0090] P3 motor, located at the output end of the transmission;

[0091] A vehicle controller is connected to the engine, the P1 motor and the P3 motor, and is used to execute the torque control method for a hybrid vehicle according to the first aspect or any corresponding embodiment thereof.

[0092] In a fourth aspect, the present application provides a computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions are used to enable a computer to execute the torque control method for a hybrid vehicle according to the first aspect or any corresponding embodiment thereof.

[0093] Beneficial effects of this application:

[0094] (1) When the operating parameters of the power source of a P13 hybrid vehicle meet the corresponding preset detection conditions, the present application calculates the target true torque of the power source, and obtains the torque deviation of the power source at the current operating speed and current output torque based on the difference between the target true torque of the power source and the current output torque fed back by the power source. The obtained torque deviation is stored in a torque accuracy lookup table corresponding to the power source. Therefore, when the power source is subjected to torque control, the torque of the power source can be corrected based on the torque accuracy lookup table corresponding to the power source, so as to improve the torque control accuracy of the power source of the P13 hybrid vehicle, thereby improving the robustness and smoothness of the hybrid vehicle's driving.

[0095] (2) The present application obtains the first output power of the power supply device and the first power consumption of the target electrical appliance only when the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is in an inactive state, so as to obtain the target true torque of the P3 motor by utilizing the power conservation principle and the torque balance principle. Therefore, the target true torque of the P3 motor can be prevented from being affected by the operating boundary conditions of the P3 motor, and at the same time, the influence of the torque control error of the P1 motor on the P3 motor can be avoided, thereby improving the accuracy of the target true torque of the P3 motor.

[0096] (3) The present application obtains the second output power of the power supply device and the second power consumption of the target electrical appliance only when the operating parameters of the P1 motor meet the corresponding preset detection conditions, thereby utilizing the power conservation principle and the torque balance principle to obtain the target true torque of the P1 motor. Therefore, the target true torque of the P1 motor can be prevented from being affected by the operating boundary conditions of the P1 motor, thereby improving the accuracy of the target true torque of the P1 motor.

[0097] (4) This application obtains the second output torque fed back by the P1 motor and the fourth operating speed of the P1 motor only when the engine operating parameters meet corresponding preset detection conditions, thereby utilizing the torque correlation between the P1 motor and the engine to obtain the target true torque of the engine. Therefore, the target true torque of the engine can be prevented from being affected by the engine's operating boundary conditions, thereby improving the accuracy of the target true torque of the engine. BRIEF DESCRIPTION OF THE DRAWINGS

[0098] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0099] FIG1 is a flow chart of a first method for controlling torque of a hybrid vehicle according to an embodiment of the present application;

[0100] FIG2 is a schematic diagram of a torque accuracy lookup table for a P1 motor according to an embodiment of the present application;

[0101] FIG3 is a flow chart of a second method for controlling torque of a hybrid vehicle according to an embodiment of the present application;

[0102] FIG4 is a flow chart of a third method for controlling torque of a hybrid vehicle according to an embodiment of the present application;

[0103] FIG5 is a flow chart of a fourth method for controlling torque of a hybrid vehicle according to an embodiment of the present application;

[0104] FIG6 is a structural block diagram of a torque control device for a hybrid vehicle according to an embodiment of the present application;

[0105] FIG7 is a structural block diagram of a hybrid vehicle according to an embodiment of the present application;

[0106] FIG8 is a structural block diagram of a vehicle controller according to an embodiment of the present application.

[0107] Among them, the figure numbers are as follows: 1. Engine; 2. Power supply device; 3. Transmission; 31. P1 motor; 32. P3 motor; 33. Clutch; 34. Reduction gear; 35. Main reducer; 4. Front wheel; 10. Processor; 20. Memory; 30. Communication interface. DETAILED DESCRIPTION

[0108] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0109] At present, there is often a certain deviation between the actual torque and theoretical control torque of the three power sources of the P13 configuration hybrid vehicle, namely the engine, P1 motor and P3 motor, on the whole vehicle, resulting in low torque control accuracy of the power source of the P13 configuration hybrid vehicle.

[0110] In related technologies, two main methods are used to control vehicle torque control accuracy. The first method uses data on the relationship between the engine target torque reference point torque accuracy and the engine baseline torque accuracy, the relationship between the engine baseline torque accuracy and the motor torque accuracy, and the motor torque accuracy to determine the torque accuracy of the hybrid vehicle's required torque under different torque components. This allows for appropriate compensation of the hybrid vehicle's torque based on the torque accuracy, thereby reducing control errors caused by the difference between the indicated torque and the actual torque. The second method activates a specific torque accuracy detection command to execute a specific torque detection condition, thereby detecting the engine's torque control accuracy based on the torque of the P1 motor.

[0111] However, the first method is only applicable to P2 architectures and hybrid vehicles using dual-clutch control, requiring the clutch's pressure characteristics to verify and compensate for the hybrid vehicle's torque control accuracy. The second method relies on specific torque accuracy detection instructions and requires specific restrictions on engine operating conditions. Furthermore, this method does not consider the torque control accuracy of the P1 motor when calculating the engine's torque control accuracy. If there are problems with the P1 motor's torque control accuracy, the engine's torque control accuracy will be inaccurate.

[0112] Therefore, the above two methods are not suitable for torque control accuracy detection of P13 configuration hybrid vehicles on the one hand, and on the other hand, the torque control accuracy of hybrid vehicles is low.

[0113] In view of this, according to an embodiment of the present application, an embodiment of a torque control method for a hybrid vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0114] In this embodiment, a method for controlling torque of a hybrid vehicle is provided, which can be used in the aforementioned P13 configuration hybrid vehicle, such as an onboard controller or electronic control unit of a hybrid vehicle. FIG1 is a flow chart of a first method for controlling torque of a hybrid vehicle according to an embodiment of the present application. As shown in FIG1 , the flow chart includes the following steps:

[0115] Step S101 , obtaining the operating parameters of the power source, which includes the engine, the P1 motor, and the P3 motor.

[0116] Specifically, the engine operating parameters include at least one of the engine water temperature, the engine intake temperature, the engine oil temperature, the ignition angle intervention state, the engine fault condition, the engine operating speed and the engine output torque.

[0117] Specifically, the operating parameters of the P1 motor include at least one of the P1 motor's electronic control temperature, the P1 motor's rotor temperature, the P1 motor's stator temperature, the P1 motor's operating speed, and the P1 motor's output torque. Furthermore, the P1 motor's operating parameters may also include the P1 motor's operating mode, such as standby mode.

[0118] Specifically, the operating parameters of the P3 motor include the electronic control temperature of the P3 motor, the rotor temperature of the P3 motor, the stator temperature of the P3 motor, the operating speed of the P3 motor and the output torque of the P3 motor.

[0119] Step S102 : If there is a target power source among the power sources whose operating parameters meet corresponding preset detection conditions, the target real torque of the target power source is calculated.

[0120] For example, if the P3 motor meets the corresponding preset detection conditions, the P3 motor is used as the target power source, and the target true torque of the P3 motor is calculated. If the P1 motor meets the corresponding preset detection conditions, the P1 motor is used as the target power source, and the target true torque of the P1 motor is calculated. If the engine meets the corresponding preset detection conditions, the engine is used as the target power source, and the target true torque of the engine is calculated.

[0121] It should be noted that the significance of the above-mentioned preset detection conditions is to avoid the torque deviation of the corresponding power source from being affected by boundary condition factors as much as possible, so as to make the calculation result of the torque deviation more accurate.

[0122] Step S103: obtaining the current output torque fed back by the target power source.

[0123] Exemplarily, the current output torque fed back by the target power source is the torque signal value fed back by the target power source.

[0124] In addition, in actual operation, corresponding torque sensors may be provided on the P1 motor, the P3 motor and the engine, and the corresponding torque sensors measure the current output torque of the P1 motor, the current output torque of the P3 motor or the current output torque of the engine.

[0125] Step S104 : obtaining a torque deviation of the target power source at the current operating speed and the current output torque based on the difference between the target real torque and the current output torque.

[0126] For example, if the target real torque of the target power source is 87 Nm and the current output torque is 90 Nm, the torque deviation at the current operating speed and the current output torque is -3 Nm.

[0127] As you can understand, electric motors operate based on the principle of electromagnetic induction. In a motor, current flowing through a coil generates a magnetic field, which interacts with the current in the rotor to generate torque, causing the rotor to rotate. Therefore, as the motor's speed changes, its output torque also changes. Consequently, the resulting torque deviation will vary depending on the current operating speed and output torque of the target power source.

[0128] Step S105 : storing the torque deviation in a torque accuracy lookup table corresponding to the target power source. The torque accuracy lookup table is used to store the torque deviation of the target power source at different operating speeds and torques.

[0129] It should be noted that different power sources are provided with corresponding torque accuracy query tables. Specifically, the torque accuracy query table is constructed by the following steps: obtaining the commonly used torque range and commonly used speed range of the corresponding power source; taking the operating speed and torque of the power source as two sets of variables, dividing the commonly used torque range and commonly used speed range into several grids according to the preset division accuracy, and each grid is provided with a corresponding serial number. For example, as shown in FIG2 , taking the P1 motor as an example, assuming that the commonly used speed range of the P1 motor is 1000 to 5000 rpm, and the commonly used torque range is -20Nm to -100Nm, the commonly used torque range and commonly used speed range can be divided into 16 grids according to every 1000 rpm and every 20Nm, and marked as serial numbers 1 to 16 respectively, thereby obtaining the torque accuracy query table of the P1 motor.

[0130] Furthermore, in the torque accuracy lookup table corresponding to each power source, the initial value of the torque deviation stored in each grid is 0. When the current torque deviation corresponding to the current grid is calculated, the torque deviation stored in the current grid is updated to the current torque deviation. For example, if the torque deviation of grid 1 in the torque accuracy lookup table for motor P1 is 5 Nm according to steps S101 to S104 above, the torque deviation stored in grid 1 is updated to 5 Nm.

[0131] It should be noted that the calculation method of the torque deviation in this embodiment does not require special control of the operating speed or torque of the engine, P1 motor or P3 motor, but rather performs real-time judgment based on the operating speed and torque of the engine, P1 motor or P3 motor during normal driving of the hybrid vehicle. If the operating parameters of the engine first meet the corresponding preset detection conditions, the torque deviation of the engine at the current operating speed and torque is calculated first. If the operating parameters of the P1 motor first meet the corresponding preset detection conditions, the torque deviation of the P1 motor at the current operating speed and torque is calculated first. If the operating parameters of the P3 motor first meet the corresponding preset detection conditions, the torque deviation of the P3 motor at the current operating speed and torque is calculated first. The order of calculation of the torque deviation of the engine, P1 motor and P3 motor is not limited here.

[0132] Step S106 : controlling the torque of the target power source based on the torque accuracy lookup table.

[0133] Specifically, the current torque deviation can be retrieved from a corresponding torque accuracy lookup table based on the current operating speed of the target power source and the allocated original distributed torque. The target distributed torque is then determined based on the sum of the original distributed torque and the current torque deviation. The target power source is then controlled to adjust its torque to the target distributed torque.

[0134] The torque control method for a hybrid vehicle provided in this embodiment calculates the target true torque of the power source when the operating parameters of the power source of a P13 hybrid vehicle meet corresponding preset detection conditions. Based on the difference between the target true torque of the power source and its current output torque, the torque deviation of the power source at the current operating speed and current output torque is obtained. The obtained torque deviation is then stored in a torque accuracy lookup table corresponding to the power source. Therefore, when torque control is performed on the power source, the torque of the power source can be corrected based on the torque accuracy lookup table corresponding to the power source, thereby improving the torque control accuracy of the power source of the P13 hybrid vehicle, thereby enhancing the robustness and smoothness of the hybrid vehicle's driving.

[0135] FIG3 is a flow chart of a second method for controlling torque of a hybrid vehicle according to an embodiment of the present application. As shown in FIG3 , the flow chart includes the following steps:

[0136] Step S201: Acquire the working parameters of the power source, which includes the engine, the P1 motor, and the P3 motor. For details, please refer to step S101 in the above embodiment and will not be repeated here.

[0137] Step S202 : If there is a target power source among the power sources whose operating parameters meet corresponding preset detection conditions, the target real torque of the target power source is calculated.

[0138] In some optional embodiments, the preset detection conditions corresponding to the P3 motor include: the operating temperature of the P3 motor is in a first preset temperature range, the voltage of the P3 motor is in a first preset voltage range, the current of the P3 motor is in a first preset current range, the operating speed of the P3 motor is in a first preset speed range, and the output torque fed back by the P3 motor is in at least one of the first preset torque range.

[0139] Exemplarily, the operating temperature of the P3 motor includes the electronic control temperature, rotor temperature, and stator temperature of the P3 motor.

[0140] Optionally, the first preset temperature range is 15° C. to 65° C. It should be noted that, in actual operation, the first preset temperature range can be adjusted according to the actual situation of the P3 motor, and the value of the first preset temperature range should avoid the torque control accuracy of the P3 motor being affected by the operating temperature, so as to ensure the accuracy of the subsequent target true torque calculation of the P3 motor.

[0141] It should be noted that the values ​​of the first preset voltage range and the first preset current range need to refer to the working platform of the motor matched with the P3 motor, so as to avoid the torque control accuracy of the P3 motor being affected by the voltage and current. For example, taking the P3 motor with a 320V working platform as an example, the first preset voltage range should not be lower than 280V. If the voltage of the P3 motor is lower than 280V, the maximum torque and motor efficiency of the P3 motor will be affected. If the target true torque of the P3 motor is calculated when the voltage of the P3 motor is lower than 280V, the torque deviation calculated subsequently will be significantly different from the actual situation. Similarly, the value of the second preset current range should not exceed the tolerance range of the matched motor.

[0142] Optionally, the first preset speed range is a common speed range of the P3 motor, and the first preset torque range is a common torque range of the P3 motor.

[0143] In some optional implementations, as shown in FIG3 , step S202 includes:

[0144] Step a1: If the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is in an inactive state, obtain the first output power of the power supply device and the first power consumption of the target electrical appliance.

[0145] It is worth noting that in order to prevent the torque accuracy of the P1 motor from affecting the P3 motor, when the operating parameters of the P3 motor meet the corresponding preset detection conditions, the P1 motor needs to be further deactivated. Specifically, if the output torque of the P1 motor is 0 and the operating speed of the P1 motor is 0, the P1 motor is determined to be in the deactivated state. Alternatively, if the output torque of the P1 motor is 0 and the P1 motor is in the standby state, the P1 motor is determined to be in the deactivated state.

[0146] It should be noted that the target electrical appliances are high-voltage electrical appliances, that is, equipment powered by a power supply device, which is a battery, except for the P1 motor, the P3 motor, and the engine.

[0147] Step a2: Obtain the first motor power of the P3 motor based on the difference between the first output power and the first power consumption.

[0148] It is worth noting that since the P1 motor is in an inactivated state, the electric power part of the entire hybrid vehicle includes the target electrical appliance and the P3 motor, so the first motor power of the P3 motor can be obtained based on the first output power of the power supply device minus the first electric power of the target electrical appliance (i.e., non-driving power consumption).

[0149] Step a3: Obtain a first motor efficiency and a first operating speed of the P3 motor.

[0150] Specifically, the first motor efficiency of the P3 motor can be obtained through the test results of the P3 motor on the test bench.

[0151] Specifically, the first operating speed of the P3 motor can be acquired through a speed measuring instrument, a slip ring on the rotor of the P3 motor, or a vibration sensor.

[0152] Step a4: Calculate the target real torque of the P3 motor based on the first motor power, the first motor efficiency and the first operating speed.

[0153] Specifically, the above step a4 includes: obtaining the first mechanical power of the P3 motor based on the first motor power and the first motor efficiency; and obtaining the target real torque of the P3 motor based on the first mechanical power and the first operating speed.

[0154] For example, assume that based on the power supply device, the first output power, and the first power consumption of the target electrical appliance, the first motor power of the P3 motor is calculated to be 50 kW, and the first operating speed of the P3 motor is 5000 rpm. Furthermore, based on the test bench results of the P3 motor, the first motor efficiency of the P3 motor is 92%. Therefore, the target true torque of the P3 motor is: 50 * 0.92 * 9550 / 5000 = 87.86 Nm.

[0155] The torque control method for a hybrid vehicle provided in this embodiment obtains the first output power of the power supply device and the first power consumption of the target electrical appliance only when the operating parameters of the P3 motor meet corresponding preset detection conditions and the P1 motor is in an inactive state. This method utilizes the principles of power conservation and torque balance to determine the target true torque of the P3 motor. This method thus prevents the target true torque of the P3 motor from being affected by the operating boundary conditions of the P3 motor and simultaneously prevents the influence of the torque control error of the P1 motor on the P3 motor, thereby improving the accuracy of the target true torque of the P3 motor and, in the subsequent calculation of the torque deviation, improving the accuracy of the torque deviation corresponding to the P3 motor.

[0156] In some optional embodiments, the preset detection conditions corresponding to the P1 motor include: the operating temperature of the P1 motor is within the second preset temperature range, the voltage of the P1 motor is within the second preset voltage range, the current of the P1 motor is within the second preset current range, the operating speed of the P1 motor is within the second preset speed range, and the output torque fed back by the P1 motor is within the second preset torque range.

[0157] Exemplarily, the operating temperature of the P1 motor includes the electronic control temperature, the rotor temperature, and the stator temperature of the P1 motor.

[0158] Optionally, the second preset temperature range is 15° C. to 65° C. It should be noted that, similar to the values ​​of the first preset temperature range, the second preset temperature range can be adjusted according to the actual conditions of the P1 motor. The values ​​of the second preset temperature range should avoid affecting the torque control accuracy of the P1 motor by the operating temperature, so as to ensure the accuracy of the subsequent calculation of the target true torque of the P1 motor.

[0159] It should be noted that, similar to the values ​​of the first preset voltage range and the first preset current range, the values ​​of the second preset voltage range and the second preset current range need to be defined according to the voltage platform and operating current range of the P1 motor to avoid the P1 motor not operating under normal boundary conditions, affecting the subsequent detection accuracy of the torque deviation of the P1 motor.

[0160] Optionally, the second preset speed range is a common speed range of the P1 motor, and the second preset torque range is a common torque range of the P1 motor.

[0161] In some optional implementations, as shown in FIG4 , the above step S202 further includes:

[0162] Step b1: If the operating parameters of the P1 motor meet the corresponding preset detection conditions, the second output power of the power supply device and the second power consumption of the target electrical appliance are obtained.

[0163] Specifically, the second output power of the power supply device can be obtained through the current signal value and the voltage signal value of the power supply device.

[0164] Specifically, the second power consumption of the target electrical appliance can be obtained by a power measurement device connected to the target electrical appliance, or the second power consumption of the target electrical appliance can be obtained based on the current signal value and the voltage signal value of the target electrical appliance.

[0165] Step b2: Obtaining the total motor power based on the difference between the second output power and the second power consumption.

[0166] It is worth noting that the above step b2 assumes that the P1 motor and the P3 motor are activated. At this time, the total motor power of the P1 motor and the P3 motor is obtained by subtracting the second power consumption from the second output power.

[0167] Step b3, obtaining the second motor power of the P3 motor.

[0168] Specifically, the second motor power of the P3 motor can be obtained by a power measurement device connected to the P3 motor. Alternatively, the second motor power of the P3 motor can be obtained by using the output torque of the P3 motor, the current operating speed, and a corresponding torque accuracy lookup table.

[0169] As one of the optional implementations, the above-mentioned step b3 includes: obtaining the first output torque fed back by the P3 motor and the third operating speed of the P3 motor; based on the first output torque and the third operating speed, querying the first torque deviation of the P3 motor from the torque accuracy query table corresponding to the P3 motor; obtaining the first true torque of the P3 motor based on the sum of the first output torque and the first torque deviation; obtaining the third motor efficiency of the P3 motor; and calculating the second motor power based on the first true torque, the third motor efficiency and the third operating speed.

[0170] For example, assuming the P3 motor's current third operating speed is 5000 rpm and its first output torque is 90 Nm, the torque accuracy lookup table for the P1 motor shows a corresponding torque deviation of 5 Nm. The table also shows that the P3 motor's third motor efficiency is 92%. Therefore, the corrected second motor power of the P3 motor is: 5000 * (90 + 5) / 9550 / 0.92 = 54 kW.

[0171] Step b4: Obtaining the third motor power of the P1 motor based on the difference between the total motor power and the second motor power.

[0172] It can be understood that since the total motor power is the sum of the motor powers of the current p1 motor and the p3 motor, after obtaining the second motor power of the p3 motor, the second motor power can be subtracted from the total motor power to obtain the third motor power of the current p3 motor.

[0173] Step b5: Obtain a second motor efficiency of the P1 motor and a second operating speed of the P1 motor.

[0174] Specifically, the second motor efficiency of the P1 motor can be obtained through the test results of the P1 motor on the test bench.

[0175] Specifically, the second operating speed of the P1 motor can be acquired through a speed measuring instrument, a slip ring on the rotor of the P1 motor, or a vibration sensor.

[0176] Step b6: Calculate the target real torque of the P1 motor based on the third motor power, the second motor efficiency and the second operating speed.

[0177] Specifically, step b6 includes: obtaining a second mechanical power of the P1 motor based on the third motor power and the second motor efficiency; and obtaining a target true torque of the P1 motor based on the second mechanical power and the second operating speed. It should be noted that the specific calculation process for the target true torque of the P1 motor can be referenced to the specific calculation process for the target true torque of the P3 motor, and will not be further elaborated here.

[0178] The torque control method for a hybrid vehicle provided in this embodiment obtains the second output power of the power supply device and the second power consumption of the target electrical appliance only when the operating parameters of the P1 motor meet corresponding preset detection conditions. This method utilizes the principles of power conservation and torque balance to determine the target true torque of the P1 motor. This method thus prevents the target true torque of the P1 motor from being affected by its operating boundary conditions, thereby improving the accuracy of the target true torque of the P1 motor and, in turn, the accuracy of the torque deviation corresponding to the P1 motor during subsequent torque deviation calculation.

[0179] In some optional embodiments, the preset detection conditions corresponding to the engine include: the engine's operating temperature is within a third preset temperature range, the ignition angle intervention is in an inactive state, the engine has no faults, the engine's operating speed is within a third preset speed range, and the output torque fed back by the engine is within at least one of the third preset torque range.

[0180] Exemplarily, the operating temperature of the engine includes the water temperature, the intake air temperature, and the oil temperature of the engine.

[0181] Optionally, the third preset temperature range includes a water temperature range, an intake air temperature range, and an engine oil temperature range.

[0182] Optionally, the water temperature ranges from 60°C to 120°C, the intake air temperature ranges from 15°C to 55°C, and the engine oil temperature ranges from 40°C to 80°C.

[0183] It should be noted that the values ​​of the first preset voltage range and the first preset current range are similar, and the values ​​of the third preset voltage range and the third preset current range need to be defined according to the voltage platform and operating current range of the engine to avoid the engine not operating under normal boundary conditions, affecting the detection accuracy of the subsequent engine torque deviation.

[0184] Optionally, the third preset speed range is a common speed range of the engine, and the third preset torque range is a common torque range of the engine.

[0185] In some optional implementations, as shown in FIG5 , the above step S202 further includes:

[0186] Step c1: If the operating parameters of the engine meet the corresponding preset detection conditions, the second output torque fed back by the P1 motor and the fourth operating speed of the P1 motor are obtained.

[0187] Specifically, the second output torque is obtained by the torque signal value fed back by the P1 motor. The fourth operating speed of the P1 motor can be obtained by a speed measuring instrument, a slip ring on the rotor of the P1 motor, or a vibration sensor.

[0188] Step c2: Based on the second output torque and the fourth operating speed, query the second torque deviation of the P1 motor from the torque accuracy query table corresponding to the P1 motor.

[0189] It can be understood that since the output torque of the P1 motor will have a certain deviation from its actual torque, the second output torque and the fourth operating speed of the current P1 motor can be used to query the corresponding grid in the torque accuracy query table corresponding to the P1 motor and the torque deviation in the grid to obtain the second torque deviation.

[0190] Step c3: Obtaining the second real torque of the P1 motor based on the sum of the second output torque and the second torque deviation.

[0191] It is understandable that since the output torque of the P1 motor will deviate from the true torque to a certain extent, the output torque of the current P1 motor needs to be corrected according to the torque deviation queried above to obtain the true torque of the current P1 motor, thereby ensuring the accuracy of the torque of the P1 motor.

[0192] Step c4: Calculate the target real torque of the engine based on the speed ratio between the P1 motor and the engine and the second real torque.

[0193] It's worth noting that in a P13 hybrid vehicle, the engine torque is correlated with the P1 motor torque, the engine and P1 motor have equal power, and their speeds are related to their speed ratio. Therefore, the target true engine torque can be calculated based on the speed ratio between the P1 motor and the engine and the current true P1 motor torque.

[0194] For example, assuming that the speed ratio between the P1 motor and the engine is 2:1, the torque of the P1 motor is 1 / 2 of the torque of the engine.

[0195] The torque control method for a hybrid vehicle provided in this embodiment obtains the second output torque fed back by the P1 motor and the fourth operating speed of the P1 motor only when the engine operating parameters meet corresponding preset detection conditions. This method utilizes the torque correlation between the P1 motor and the engine to determine the target true engine torque. Consequently, the target true engine torque is prevented from being affected by the engine's operating boundary conditions, thereby improving the accuracy of the target true engine torque and, in turn, the accuracy of the corresponding torque deviation in the subsequent calculation of the torque deviation.

[0196] Step S203: Acquire the current output torque fed back by the target power source. Please refer to step S103 of the above embodiment for details, which will not be repeated here.

[0197] Step S204: Based on the difference between the target real torque and the current output torque, the torque deviation of the target power source at the current operating speed and the current output torque is obtained. Please refer to step S104 of the above embodiment for details, which will not be repeated here.

[0198] Step S205 : storing the torque deviation in a torque accuracy lookup table corresponding to the target power source. The torque accuracy lookup table is used to store the torque deviation of the target power source at different operating speeds and torques.

[0199] In some optional embodiments, the above step S205 includes: obtaining the continuous time length during which the target power source meets the corresponding preset detection condition; when the continuous time length is greater than the target detection time length, storing the torque deviation in the torque accuracy query table corresponding to the target power source.

[0200] Furthermore, when the continuous duration is greater than the target detection duration, the torque deviation is stored in the torque accuracy lookup table corresponding to the target power source, including: when the continuous duration is greater than the target detection duration, the torque deviation to be stored is obtained based on the average value of the torque deviation within the continuous duration; and the torque deviation to be stored is stored in the torque accuracy lookup table corresponding to the target power source.

[0201] Understandably, since motor power or output torque often varies during hybrid vehicle operation, the actual torque deviation is detected by taking the average value of the torque deviation over a specified period of time. If the target power source meets the corresponding preset detection conditions for a period of time that is less than or equal to the target detection period, the torque deviation obtained is discarded and not stored in the memory.

[0202] Specifically, based on the current operating speed and current output torque of the target power source, a target grid in the corresponding torque accuracy lookup table is determined; the torque deviation of the target power source is stored in the target grid. It should be noted that when the target power source repeatedly meets the corresponding preset detection conditions, the torque deviation of each grid detected in the subsequent detection overrides the torque deviation of the previous detection.

[0203] The torque control method for a hybrid vehicle provided in this embodiment stores the torque deviation in the torque accuracy lookup table corresponding to the target power source only when the target power source meets the corresponding preset detection conditions for a continuous period longer than the target detection period. Therefore, the influence of brief changes in the target power source can be avoided, thereby further ensuring the accuracy of the torque deviation in the torque accuracy lookup table corresponding to the target power source, thereby further improving the torque control accuracy of the target power source.

[0204] Step S206 : Controlling the torque of the target power source based on the torque accuracy lookup table.

[0205] Specifically, when the Power Control Unit (PCU) performs torque distribution, it adds the original distributed torque allocated to the target power source to the current torque deviation found in the corresponding torque accuracy lookup table to obtain the target distributed torque. This target distributed torque eliminates the torque deviation, thereby improving the torque control accuracy of the target power source. The current torque deviation is queried in the target grid of the torque accuracy lookup table corresponding to the target power source, based on the speed range corresponding to the current operating speed of the target power source and the torque range corresponding to the original distributed torque.

[0206] Furthermore, when correcting the target power source's torque, a smoothing factor is set to prevent sudden torque changes from causing unnecessary shock. This allows the target power source's torque to change at a constant rate. For example, a smoothing factor of 10 Nm / s can be used to control the target power source's smooth change to the target distributed torque.

[0207] Specifically, the above-mentioned step S206 includes: obtaining the original distributed torque of the target power source; based on the original distributed torque and the current operating speed, querying the current torque deviation from the torque accuracy query table corresponding to the target power source; obtaining the target distributed torque based on the sum of the original distributed torque and the current torque deviation; controlling the target power source to adjust the torque to the target distributed torque.

[0208] Furthermore, the above-mentioned control of the target power source to adjust the torque to the target distribution torque includes: obtaining the historical torque deviation of the original distribution torque corresponding to the previous operating speed; if the difference between the current torque deviation and the historical torque deviation is greater than a first preset threshold, then based on a preset smoothing coefficient, the torque of the target power source is smoothly changed to the target distribution torque; if the difference between the current torque deviation and the historical torque deviation is less than or equal to the first preset threshold, then the torque of the target power source is directly adjusted to the target distribution torque.

[0209] Furthermore, the above-mentioned control of the target power source to adjust the torque to the target distributed torque also includes: obtaining the current distributed torque of the target power source; if the difference between the current distributed torque and the target distributed torque is greater than a second preset threshold, then based on a preset smoothing coefficient, the torque of the target power source is smoothly changed to the target distributed torque; if the difference between the current distributed torque and the target distributed torque is less than or equal to the second preset threshold, then the torque of the target power source is directly adjusted to the target distributed torque.

[0210] It is worth noting that, through the torque control method of the hybrid vehicle of the present application, during the normal driving of the hybrid vehicle, when the engine, P1 motor and P3 motor respectively meet the corresponding preset detection conditions, the torque deviation of the corresponding engine, P1 motor and P3 motor can be detected, and the detected torque deviation can be stored in the corresponding torque accuracy lookup table. Therefore, when the torque is distributed and controlled for the engine, P1 motor or P3 motor of the P13 configuration hybrid vehicle, the distributed torque can be corrected according to the corresponding torque accuracy lookup table, thereby improving the torque control accuracy of the engine, P1 motor and P3 motor, and thus achieving better protection of the power boundary of the power supply device (such as a battery). At the same time, it can avoid the problem of battery state of charge control deviation or uneven driving performance of the hybrid vehicle caused by low torque control accuracy.

[0211] Moreover, the torque control method for hybrid vehicles of the present application does not require the use of the clutch state. By determining the power flow state of the specified scenario, the torque deviation of the engine, P1 motor and P3 motor can be determined. In addition, there is no need to execute specific instructions and specific detection conditions. In normal vehicle use scenarios, the torque deviation of the engine, P1 motor and P3 motor can be detected. At the same time, when the torque of the engine, P1 motor and P3 motor deviates, the engine, P1 motor and P3 motor can be corrected according to the pre-detected torque deviation to achieve the purpose of consistency between the target distributed torque of the engine, P1 motor and P3 motor and the actual torque, thereby avoiding the problems of uneven driving and inaccurate power control caused by low torque control accuracy.

[0212] This embodiment also provides a torque control device for a hybrid vehicle, which is used to implement the above-mentioned embodiments and optional implementations. Details already described will not be repeated here. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0213] This embodiment provides a torque control device for a hybrid vehicle, as shown in FIG6 , including:

[0214] The operating parameter acquisition module 301 is used to acquire the operating parameters of the power source, which includes the engine, the P1 motor and the P3 motor.

[0215] The real torque calculation module 302 is configured to calculate a target real torque of a target power source if there is a target power source among the power sources whose operating parameters meet corresponding preset detection conditions.

[0216] The output torque acquisition module 303 is used to acquire the current output torque fed back by the target power source.

[0217] The torque deviation calculation module 304 is configured to obtain a torque deviation of the target power source at the current operating speed and the current output torque based on the difference between the target real torque and the current output torque.

[0218] The torque deviation storage module 305 is used to store the torque deviation in a torque accuracy lookup table corresponding to the target power source. The torque accuracy lookup table is used to store the torque deviation of the target power source at different operating speeds and torques.

[0219] The target torque control module 306 is configured to control the torque of the target power source based on the torque accuracy lookup table.

[0220] In some optional embodiments, in the real torque calculation module 302, the preset detection conditions corresponding to the P3 motor include: the operating temperature of the P3 motor is within a first preset temperature range, the voltage of the P3 motor is within a first preset voltage range, the current of the P3 motor is within a first preset current range, the operating speed of the P3 motor is within a first preset speed range, and the output torque fed back by the P3 motor is within at least one of the first preset torque range.

[0221] In some optional implementations, the real torque calculation module 302 includes:

[0222] The first power acquisition unit is used to acquire the first output power of the power supply device and the first power consumption of the target electrical appliance if the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is in an inactive state.

[0223] The first power calculation unit is used to obtain the first motor power of the P3 motor based on the difference between the first output power and the first power consumption.

[0224] a first data acquisition unit, configured to acquire a first motor efficiency and a first operating speed of the P3 motor;

[0225] The first torque correction unit is configured to calculate a target real torque of the P3 motor based on the first motor power, the first motor efficiency, and the first operating speed.

[0226] In some optional embodiments, in the real torque calculation module 302, the preset detection conditions corresponding to the P1 motor include: the operating temperature of the P1 motor is within the second preset temperature range, the voltage of the P1 motor is within the second preset voltage range, the current of the P1 motor is within the second preset current range, the operating speed of the P1 motor is within the second preset speed range, and the output torque fed back by the P1 motor is within the second preset torque range. At least one of the range.

[0227] In some optional implementations, the real torque calculation module 302 further includes:

[0228] The second power acquisition unit is used to acquire the second output power of the power supply device and the second power consumption of the target electrical appliance if the operating parameters of the P1 motor meet the corresponding preset detection conditions.

[0229] a second power calculation unit, configured to obtain a total motor power based on a difference between the second output power and the second power consumption;

[0230] The third power calculation unit is used to obtain the second motor power of the P3 motor.

[0231] The fourth power calculation unit is configured to obtain a third motor power of the P1 motor based on a difference between the total motor power and the second motor power.

[0232] The second data acquisition unit is configured to acquire a second motor efficiency of the P1 motor and a second operating speed of the P1 motor.

[0233] The second torque correction unit is configured to calculate a target real torque of the P1 motor based on the third motor power, the second motor efficiency, and the second operating speed.

[0234] Furthermore, the third power calculation unit includes:

[0235] The motor data acquisition subunit is used to obtain the first output torque fed back by the P3 motor and the third operating speed of the P3 motor.

[0236] The torque accuracy query subunit is configured to query a first torque deviation of the P3 motor from a torque accuracy query table corresponding to the P3 motor based on the first output torque and the third operating speed.

[0237] The real torque calculation subunit is used to obtain the first real torque of the P3 motor based on the sum of the first output torque and the first torque deviation.

[0238] The motor efficiency acquisition subunit is used to acquire the third motor efficiency of the P3 motor.

[0239] The motor power calculation subunit is used to calculate the second motor power based on the first real torque, the third motor efficiency and the third operating speed.

[0240] In some optional embodiments, in the real torque calculation module 302, the preset detection conditions corresponding to the engine include: the engine operating temperature is within a third preset temperature range, the ignition angle intervention is in an inactive state, the engine has no faults, the engine operating speed is within a third preset speed range, and the output torque fed back by the engine is within at least one of the third preset torque range.

[0241] In some optional implementations, the real torque calculation module 302 further includes:

[0242] The third data acquisition unit is used to obtain the second output torque fed back by the P1 motor and the fourth operating speed of the P1 motor if the operating parameters of the engine meet the corresponding preset detection conditions.

[0243] The torque accuracy query unit is configured to query a second torque deviation of the P1 motor from a torque accuracy query table corresponding to the P1 motor based on the second output torque and the fourth operating speed.

[0244] The third torque correction unit is configured to obtain a second real torque of the P1 motor based on the sum of the second output torque and the second torque deviation.

[0245] The real torque conversion unit is used to calculate the target real torque of the engine based on the speed ratio between the P1 motor and the engine and the second real torque.

[0246] In some optional implementations, the torque deviation storage module 305 includes:

[0247] The continuous duration acquisition unit is used to acquire the continuous duration during which the target power source meets the corresponding preset detection condition.

[0248] The torque deviation storage unit is used to store the torque deviation in the torque accuracy lookup table corresponding to the target power source when the continuous duration is greater than the target detection duration.

[0249] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0250] The torque control device of the hybrid vehicle in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0251] An embodiment of the present application also provides a hybrid vehicle, which is a P13 configuration hybrid vehicle.

[0252] As shown in Figure 7, the hybrid vehicle includes an engine 1, a power supply device 2, a transmission 3, and a vehicle controller (not shown). The transmission 3 includes a P1 motor 31, a P3 motor 32, a clutch 33, a reduction gear 34, and a final reducer 35. Specifically, the engine 1 is used to provide driving force for the hybrid vehicle. The power supply device 2 is connected to the P1 motor 31 and the P3 motor 32, and the power supply device 2 is used to power the P1 motor 31 and the P3 motor 32. The P1 motor 31 is located on the crankshaft of the engine 1 and is located between the engine 1 and the clutch 33. The P1 motor 31 is used to assist in starting the engine 1. The P3 motor 32 is connected to the reduction gear 34 and is located at the output end of the transmission 3. The P3 motor 32 is used to provide torque when the hybrid vehicle is traveling at high speeds. The final reducer 35 is connected to the clutch 33 via the reduction gear 34 and is located between the two front wheels 4 of the hybrid vehicle.

[0253] It should be noted that in this embodiment, the transmission 3 is a DHT transmission.

[0254] Please refer to Figure 8, which is a structural block diagram of a vehicle controller provided in an optional embodiment of the present application. As shown in Figure 8, the vehicle controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the vehicle controller, including instructions stored in or on the memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple vehicle controllers can be connected, each vehicle controller providing some necessary operations (for example, as a server array, a group of blade servers or a multi-processor system). Figure 8 takes a processor 10 as an example.

[0255] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0256] The memory 20 stores instructions that can be executed by at least one processor 10, so as to enable at least one processor 10 to execute the method shown in the above embodiment.

[0257] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created based on the use of the vehicle controller, etc. In addition, the memory 20 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the vehicle controller via a network. Examples of the aforementioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0258] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0259] The vehicle controller further includes a communication interface 30 for the vehicle controller to communicate with other devices, a communication network or the cloud.

[0260] The embodiments of the present application also provide a computer-readable storage medium. The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor-controlled device or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0261] Although the embodiments of the present application have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A torque control method for a hybrid vehicle, characterized in that: The method comprises: Obtaining operating parameters of a power source, wherein the power source includes an engine, a P1 motor, and a P3 motor; If there is a target power source among the power sources whose operating parameters meet corresponding preset detection conditions, calculating the target real torque of the target power source; obtaining a current output torque fed back by the target power source; obtaining a torque deviation of the target power source at a current operating speed and the current output torque based on a difference between the target real torque and the current output torque; Storing the torque deviation in a torque accuracy lookup table corresponding to the target power source, wherein the torque accuracy lookup table is used to store the torque deviation of the target power source at different operating speeds and torques; The torque of the target power source is controlled based on the torque accuracy lookup table.

2. The torque control method for a hybrid vehicle according to claim 1, characterized in that: If there is a target power source among the power sources whose operating parameters meet corresponding preset detection conditions, calculating the target real torque of the target power source includes: If the operating parameters of the P3 motor meet the corresponding preset detection conditions and the P1 motor is in an inactive state, obtaining the first output power of the power supply device and the first power consumption of the target electrical appliance; Obtaining a first motor power of the P3 motor based on a difference between the first output power and the first power consumption; Obtaining a first motor efficiency of the P3 motor and a first operating speed of the P3 motor; A target real torque of the P3 motor is calculated based on the first motor power, the first motor efficiency, and the first operating speed.

3. The torque control method for a hybrid vehicle according to claim 1, wherein: If there is a target power source among the power sources whose operating parameters meet corresponding preset detection conditions, calculating the target real torque of the target power source further includes: If the operating parameters of the P1 motor meet the corresponding preset detection conditions, the second output power of the power supply device and the second power consumption of the target electrical appliance are obtained; Obtaining a total motor power based on a difference between the second output power and the second electrical power; Obtaining a second motor power of the P3 motor; Obtaining a third motor power of the P1 motor based on a difference between the total motor power and the second motor power; Obtaining a second motor efficiency of the P1 motor and a second operating speed of the P1 motor; A target real torque of the P1 motor is calculated based on the third motor power, the second motor efficiency, and the second operating speed.

4. The torque control method for a hybrid vehicle according to claim 3, characterized in that: The obtaining of the second motor power of the P3 motor includes: Obtaining a first output torque fed back by the P3 motor and a third operating speed of the P3 motor; Based on the first output torque and the third operating speed, querying a first torque deviation of the P3 motor from a torque accuracy query table corresponding to the P3 motor; Obtaining a first real torque of the P3 motor based on a sum of the first output torque and the first torque deviation; Obtaining a third motor efficiency of the P3 motor; The second motor power is calculated based on the first real torque, the third motor efficiency, and the third operating speed.

5. The torque control method for a hybrid vehicle according to claim 1, wherein: If there is a target power source among the power sources whose operating parameters meet corresponding preset detection conditions, calculating the target real torque of the target power source further includes: If the operating parameters of the engine meet corresponding preset detection conditions, obtaining the second output torque fed back by the P1 motor and the fourth operating speed of the P1 motor; Based on the second output torque and the fourth operating speed, querying a second torque deviation of the P1 motor from a torque accuracy query table corresponding to the P1 motor; Obtaining a second real torque of the P1 motor based on a sum of the second output torque and the second torque deviation; The target real torque of the engine is calculated based on the speed ratio between the P1 motor and the engine and the second real torque.

6. The torque control method for a hybrid vehicle according to claim 1, wherein: Storing the torque deviation in a torque accuracy lookup table corresponding to the target power source includes: Obtaining a continuous duration during which the target power source meets a corresponding preset detection condition; When the continuous time is longer than the target detection time, the torque deviation is stored in the torque accuracy query corresponding to the target power source. In the table.

7. The torque control method for a hybrid vehicle according to claim 1, wherein: The preset detection conditions corresponding to the P3 motor include: the operating temperature of the P3 motor is within a first preset temperature range, the voltage of the P3 motor is within a first preset voltage range, the current of the P3 motor is within a first preset current range, the operating speed of the P3 motor is within a first preset speed range, and the output torque fed back by the P3 motor is within at least one of the first preset torque range.

8. The torque control method for a hybrid vehicle according to claim 1, wherein: The preset detection conditions corresponding to the P1 motor include: the operating temperature of the P1 motor is within the second preset temperature range, the voltage of the P1 motor is within the second preset voltage range, the current of the P1 motor is within the second preset current range, the operating speed of the P1 motor is within the second preset speed range, and the output torque fed back by the P1 motor is within the second preset torque range.

9. The torque control method for a hybrid vehicle according to claim 1, wherein: The preset detection conditions corresponding to the engine include: the operating temperature of the engine is within a third preset temperature range, the ignition angle intervention is in an inactive state, the engine has no faults, the operating speed of the engine is within a third preset speed range, and the output torque fed back by the engine is within a third preset torque range.

10. A torque control device for a hybrid vehicle, characterized in that: The device comprises: A working condition parameter acquisition module is used to obtain working condition parameters of the power source, wherein the power source includes the engine, the P1 motor and the P3 motor; a real torque calculation module, configured to calculate a target real torque of a target power source if a target power source exists among the power sources and its operating parameters satisfy corresponding preset detection conditions; an output torque acquisition module, configured to acquire the current output torque fed back by the target power source; a torque deviation calculation module, configured to obtain a torque deviation of the target power source at a current operating speed and the current output torque based on a difference between the target real torque and the current output torque; a torque deviation storage module, configured to store the torque deviation in a torque accuracy lookup table corresponding to the target power source, wherein the torque accuracy lookup table is configured to store the torque deviation of the target power source at different operating speeds and torques; A target torque control module is configured to control the torque of the target power source based on the torque accuracy lookup table.

11. The torque control device for a hybrid vehicle according to claim 10, wherein: The real torque calculation module includes: a first power acquisition unit, configured to acquire a first output power of the power supply device and a first power consumption of the target electrical appliance if the operating parameters of the P3 motor meet corresponding preset detection conditions and the P1 motor is in an inactive state; a first power calculation unit, configured to obtain a first motor power of the P3 motor based on a difference between the first output power and the first power consumption; a first data acquisition unit, configured to acquire a first motor efficiency of the P3 motor and a first operating speed of the P3 motor; The first torque correction unit is configured to calculate a target real torque of the P3 motor based on the first motor power, the first motor efficiency, and the first operating speed.

12. The torque control device for a hybrid vehicle according to claim 10, wherein: The real torque calculation module also includes: A second power acquisition unit is configured to acquire a second output power of the power supply device and a second power consumption of the target electrical appliance if the operating parameters of the P1 motor meet corresponding preset detection conditions; a second power calculation unit, configured to obtain a total motor power based on a difference between the second output power and the second power consumption; a third power calculation unit, configured to obtain a second motor power of the P3 motor; a fourth power calculation unit, configured to obtain a third motor power of the P1 motor based on a difference between the total motor power and the second motor power; a second data acquisition unit, configured to acquire a second motor efficiency of the P1 motor and a second operating speed of the P1 motor; The second torque correction unit is configured to calculate a target real torque of the P1 motor based on the third motor power, the second motor efficiency, and the second operating speed.

13. The torque control device for a hybrid vehicle according to claim 12, wherein: The third power calculation unit includes: a motor data acquisition subunit, configured to acquire a first output torque fed back by the P3 motor and a third operating speed of the P3 motor; a torque accuracy query subunit, configured to query a first torque deviation of the P3 motor from a torque accuracy query table corresponding to the P3 motor based on the first output torque and the third operating speed; a real torque calculation subunit, configured to obtain a first real torque of the P3 motor based on a sum of the first output torque and the first torque deviation; a motor efficiency acquisition subunit, configured to acquire a third motor efficiency of the P3 motor; The motor power calculation subunit is configured to calculate the second motor power based on the first real torque, the third motor efficiency, and the third operating speed.

14. The torque control device for a hybrid vehicle according to claim 10, wherein: The real torque calculation module also includes: a third data acquisition unit, configured to acquire a second output torque fed back by the P1 motor and a fourth operating speed of the P1 motor if the operating parameters of the engine meet corresponding preset detection conditions; a torque accuracy query unit, configured to query a second torque deviation of the P1 motor from a torque accuracy query table corresponding to the P1 motor based on the second output torque and the fourth operating speed; a third torque correction unit, configured to obtain a second real torque of the P1 motor based on a sum of the second output torque and the second torque deviation; The real torque conversion unit is configured to calculate a target real torque of the engine based on a speed ratio between the P1 motor and the engine and the second real torque.

15. The torque control device for a hybrid vehicle according to claim 10, wherein: The torque deviation storage module includes: a continuous duration acquisition unit, configured to acquire a continuous duration during which the target power source meets a corresponding preset detection condition; The torque deviation storage unit is used to store the torque deviation in a torque accuracy lookup table corresponding to the target power source when the continuous duration is greater than the target detection duration.

16. The torque control device for a hybrid vehicle according to claim 10, wherein: In the real torque calculation module, the preset detection conditions corresponding to the P3 motor include: the operating temperature of the P3 motor is within a first preset temperature range, the voltage of the P3 motor is within a first preset voltage range, the current of the P3 motor is within a first preset current range, the operating speed of the P3 motor is within a first preset speed range, and the output torque fed back by the P3 motor is within at least one of the first preset torque range.

17. The torque control device for a hybrid vehicle according to claim 10, wherein: In the real torque calculation module, the preset detection conditions corresponding to the P1 motor include: the operating temperature of the P1 motor is within a second preset temperature range, the voltage of the P1 motor is within a second preset voltage range, the current of the P1 motor is within a second preset current range, the operating speed of the P1 motor is within a second preset speed range, and the output torque fed back by the P1 motor is within at least one of the second preset torque range.

18. The torque control device for a hybrid vehicle according to claim 10, wherein: In the real torque calculation module, the preset detection conditions corresponding to the engine include: the operating temperature of the engine is within a third preset temperature range, the ignition angle intervention is in an inactive state, the engine has no faults, the operating speed of the engine is within a third preset speed range, and the output torque fed back by the engine is within a third preset torque range.

19. A hybrid vehicle, characterized in that: include: an engine for providing driving force for the hybrid vehicle; P1 motor, provided on the crankshaft of the engine; P3 motor, located at the output end of the transmission; A vehicle controller is connected to the engine, the P1 motor and the P3 motor, and is used to execute the torque control method of the hybrid vehicle according to any one of claims 1 to 9.

20. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the torque control method for a hybrid vehicle according to any one of claims 1 to 9.

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