CN108909715B - Hybrid vehicle and method and device for estimating distance to be travelled - Google Patents

Hybrid vehicle and method and device for estimating distance to be travelled Download PDF

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CN108909715B
CN108909715B CN201810555007.8A CN201810555007A CN108909715B CN 108909715 B CN108909715 B CN 108909715B CN 201810555007 A CN201810555007 A CN 201810555007A CN 108909715 B CN108909715 B CN 108909715B
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hybrid vehicle
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distance
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time
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CN108909715A (en
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贾世鹏
任少卿
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BAIC Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/209—Fuel quantity remaining in tank

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  • Automation & Control Theory (AREA)
  • Transportation (AREA)
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Abstract

The invention discloses a hybrid vehicle and a method and a device for predicting a travelable distance of the hybrid vehicle, wherein the prediction method comprises the following steps: detecting state information of the hybrid vehicle, wherein the state information comprises vehicle speed information, state information of an engine, state information of a motor, oil quantity information and electric quantity information of a power battery; judging the current running mode of the hybrid vehicle according to the vehicle speed information, the state information of the engine and the state information of the motor; and estimating the distance capable of driving of the hybrid vehicle according to the current driving mode of the hybrid vehicle, the vehicle speed information, the oil quantity information and the electric quantity information of the power battery. Therefore, the method can estimate the distance to be travelled of the vehicle in real time according to the current state information of the hybrid vehicle, and the accuracy of the estimation result is high.

Description

Hybrid vehicle and method and device for estimating distance to be travelled
Technical Field
The present invention relates to the field of automotive technologies, and in particular, to a method for estimating a distance-to-empty of a hybrid vehicle, a non-transitory computer-readable storage medium, a computer device, a device for estimating a distance-to-empty of a hybrid vehicle, and a hybrid vehicle.
Background
Vehicles are one of the important transportation tools for human beings, and with the progress of the times, the quantity of the vehicles kept by people is continuously increased and the vehicles have gone into thousands of households. In recent years, with the imminent exhaustion of traditional energy sources such as petroleum and coal and the increasingly prominent environmental pollution problem caused by emission after combustion of petroleum and coal, new energy vehicles are put into the market in large quantities.
At present, new energy vehicles in China mainly comprise pure electric vehicles and hybrid vehicles, and the pure electric vehicles are restricted by driving range and charging facilities, so that the marketization process is seriously hindered. The hybrid vehicle has the advantages of convenience in refueling, energy conservation, environmental friendliness, long cruising range and the like, and is widely applied. For a hybrid vehicle, the estimation of the distance to empty is an important function.
The estimation of the distance to be traveled of the hybrid vehicle is generally based on the remaining amount of fuel or the remaining amount of electricity of the vehicle. However, since the hybrid vehicle needs to be frequently switched between various driving modes according to driving conditions during driving, if the distance to be traveled is estimated by using the above method, the estimation result may have large deviation and low accuracy.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, a first objective of the present invention is to provide a method for estimating a distance to empty of a hybrid vehicle, which can estimate the distance to empty of the hybrid vehicle in real time according to current status information of the hybrid vehicle, and the accuracy of the estimation result is high.
A second object of the invention is to propose a non-transitory computer-readable storage medium.
A third object of the invention is to propose a computer device.
A fourth object of the present invention is to provide a distance-to-empty estimation device for a hybrid vehicle.
A fifth object of the invention is to propose a hybrid vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for estimating a distance to empty of a hybrid vehicle, including: detecting state information of the hybrid vehicle, wherein the state information comprises vehicle speed information, state information of an engine, state information of a motor, oil quantity information and electric quantity information of a power battery; judging the current running mode of the hybrid vehicle according to the vehicle speed information, the state information of the engine and the state information of the motor; and estimating the distance of the hybrid vehicle to be driven according to the current driving mode of the hybrid vehicle, the vehicle speed information, the oil quantity information and the electric quantity information of the power battery.
According to the method for estimating the distance to be traveled of the hybrid vehicle, the state information of the hybrid vehicle is detected, wherein the state information comprises the vehicle speed information, the state information of an engine, the state information of a motor, the oil quantity information and the electric quantity information of a power battery, the current traveling mode of the hybrid vehicle is judged according to the vehicle speed information, the state information of the engine and the state information of the motor, and the distance to be traveled of the hybrid vehicle is estimated according to the current traveling mode of the hybrid vehicle, the vehicle speed information, the oil quantity information and the electric quantity information of the power battery. Therefore, the method can estimate the distance to be travelled of the vehicle in real time according to the current state information of the hybrid vehicle, and the accuracy of the estimation result is high.
In addition, the method for estimating the distance to empty of the hybrid vehicle according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, determining the current running mode of the hybrid vehicle based on the vehicle speed information, the state information of the engine, and the state information of the motor includes: correspondingly judging the speed of the hybrid vehicle, the state of the engine and the state of the motor according to the speed information, the state information of the engine and the state information of the motor respectively; if the vehicle speed is not zero, the engine is in a starting state and the motor is in an un-starting state, judging that the hybrid vehicle is currently in a pure oil mode; if the vehicle speed is not zero, the engine is in a starting state and the motor is in a starting state, judging that the hybrid vehicle is currently in a hybrid mode; and if the vehicle speed is not zero, the engine is in a non-starting state and the motor is in a starting state, judging that the hybrid vehicle is currently in a pure electric mode.
According to one embodiment of the invention, when the hybrid vehicle is currently in a pure oil mode or a hybrid mode, the distance to be traveled of the hybrid vehicle is estimated according to the following formula:
Figure BDA0001682079340000021
wherein S is a distance to empty of the hybrid vehicle, LSIs the remaining oil amount, L, of the hybrid vehicleSOCIs the residual capacity of the power battery, epsilontIn order to be the first conversion factor,
Figure BDA0001682079340000022
is the second conversion factor.
According to one embodiment of the invention, when the hybrid vehicle is currently in the pure oil mode, the epsilon is also updated according to the following formulat：
Figure BDA0001682079340000023
Wherein epsilont1Is the first conversion coefficient, ε, at time t1t2A first conversion coefficient at time t2, v being a vehicle speed of the hybrid vehicle, Δ LSThe amount of change in the oil amount of the hybrid vehicle from the time t1 to the time t 2.
According to one embodiment of the invention, when the hybrid vehicle is currently in a hybrid mode, the epsilon is also updated according to the following formulat：
Figure BDA0001682079340000031
Wherein epsilont1Is the first conversion coefficient, ε, at time t1t2A first conversion coefficient at time t2, v being a vehicle speed of the hybrid vehicle, Δ LSIs the amount of change, DeltaL, in the oil amount of the hybrid vehicle from time t1 to time t2SOCIs the variation of the electric quantity of the power battery from the time t1 to the time t2, lambdat1Is the second conversion factor at time t 1.
According to one embodiment of the invention, when the hybrid vehicle is currently in the pure electric mode, the distance to empty of the hybrid vehicle is estimated according to the following formula: s ═ LS·δ+LSOC)·λtWherein S is a distance to empty of the hybrid vehicle, LSIs the remaining oil amount, L, of the hybrid vehicleSOCDelta is the efficiency of gasoline conversion into electricity of the power battery by the engine and the motor, and lambda is the residual electricity of the power batterytIs the third conversion factor.
According to one embodiment of the invention, when the hybrid vehicle is currently in the electric-only mode, the λ is also updated according to the following formulat：
Figure BDA0001682079340000032
Wherein,
Figure BDA0001682079340000033
for the third conversion factor at time t1,
Figure BDA0001682079340000034
a third conversion coefficient at time t2, v being the vehicle speed of the hybrid vehicle, Δ LSIs the amount of change, DeltaL, in the oil amount of the hybrid vehicle from time t1 to time t2SOCAnd delta is the change amount of the electric quantity of the power battery from the time t1 to the time t2, and is the efficiency of converting gasoline into the electric quantity of the power battery through the engine and the motor.
According to an embodiment of the present invention, the method for estimating the distance to empty of the hybrid vehicle further includes: displaying the distance to be travelled of the hybrid vehicle, and judging whether the distance to be travelled of the hybrid vehicle is lower than a preset distance; and if the distance capable of driving of the hybrid vehicle is lower than the preset distance, controlling the hybrid vehicle to send out prompt information.
In order to achieve the above object, a second aspect of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the method for estimating a distance-to-empty of a hybrid vehicle according to the first aspect of the present invention.
The non-transitory computer readable storage medium of the embodiment of the invention detects the state information of the hybrid vehicle, wherein the state information comprises vehicle speed information, engine state information, motor state information, oil quantity information and power battery electric quantity information, judges the current driving mode of the hybrid vehicle according to the vehicle speed information, the engine state information and the motor state information, and estimates the distance that the hybrid vehicle can drive according to the current driving mode of the hybrid vehicle, the vehicle speed information, the oil quantity information and the power battery electric quantity information, and the accuracy of the estimation result is high.
In order to achieve the above object, a third aspect of the present invention provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for estimating a distance to be traveled of a hybrid vehicle according to the first aspect of the present invention.
The computer equipment provided by the embodiment of the invention detects the state information of the hybrid vehicle, wherein the state information comprises the vehicle speed information, the state information of an engine, the state information of a motor, the oil quantity information and the electric quantity information of a power battery, judges the current running mode of the hybrid vehicle according to the vehicle speed information, the state information of the engine and the state information of the motor, and estimates the distance which can be run of the hybrid vehicle according to the current running mode of the hybrid vehicle, the vehicle speed information, the oil quantity information and the electric quantity information of the power battery, and the accuracy of the estimation result is higher.
In order to achieve the above object, a fourth aspect of the present invention provides an estimation device of a distance-to-empty of a hybrid vehicle, including: the detection module is used for detecting state information of the hybrid vehicle, wherein the state information comprises vehicle speed information, state information of an engine, state information of a motor, oil quantity information and electric quantity information of a power battery; and the pre-estimation module is used for judging the current running mode of the hybrid vehicle according to the vehicle speed information, the state information of the engine and the state information of the motor, and pre-estimating the distance that the hybrid vehicle can run according to the current running mode, the vehicle speed information, the oil quantity information and the electric quantity information of the power battery.
According to the device for predicting the distance to be traveled of the hybrid vehicle, the state information of the hybrid vehicle is detected through the detection module, wherein the state information comprises the vehicle speed information, the state information of the engine, the state information of the motor, the oil quantity information and the electric quantity information of the power battery, the prediction module judges the current running mode of the hybrid vehicle according to the vehicle speed information, the state information of the engine and the state information of the motor, and predicts the distance to be traveled of the hybrid vehicle according to the current running mode, the vehicle speed information, the oil quantity information and the electric quantity information of the power battery. Therefore, the device can estimate the distance to empty of the vehicle in real time according to the current state information of the hybrid vehicle, and the accuracy of the estimation result is high.
In addition, the device for estimating the distance-to-empty of the hybrid vehicle according to the above embodiment of the invention may further have the following additional technical features:
according to an embodiment of the invention, the pre-estimation module is further configured to respectively correspondingly judge the vehicle speed of the hybrid vehicle, the state of the engine and the state of the motor according to the vehicle speed information, the state information of the engine and the state information of the motor, wherein if the vehicle speed is not zero, the engine is in a starting state and the motor is in a non-starting state, the pre-estimation module judges that the hybrid vehicle is currently in a pure oil mode; if the vehicle speed is not zero, the engine is in a starting state and the motor is in a starting state, the pre-estimation module judges that the hybrid vehicle is currently in a hybrid mode; and if the vehicle speed is not zero, the engine is in an un-started state and the motor is in a started state, the pre-estimation module judges that the hybrid vehicle is currently in a pure electric mode.
According to one embodiment of the invention, the estimation module estimates the distance to empty of the hybrid vehicle when the hybrid vehicle is currently in a pure oil mode or a hybrid mode according to the following formula:
Figure BDA0001682079340000041
wherein S is a distance to empty of the hybrid vehicle, LSIs the remaining oil amount of the hybrid vehicle, LSOCIs the residual capacity of the power battery, epsilontIn order to be the first conversion factor,
Figure BDA0001682079340000042
is the second conversion factor.
According to one embodiment of the invention, the estimation module is further configured to update the ε when the hybrid vehicle is currently in a fuel-only mode according to the following equationt：
Figure BDA0001682079340000051
Wherein epsilont1Is the first conversion coefficient, ε, at time t1t2A first conversion coefficient at time t2, v being a vehicle speed of the hybrid vehicle, Δ LSThe amount of change in the oil amount of the hybrid vehicle from the time t1 to the time t 2.
According to one embodiment of the invention, the estimation module is further configured to update the epsilon according to the following formula when the hybrid vehicle is currently in a hybrid modet，
Figure BDA0001682079340000052
Wherein epsilont1Is the first conversion coefficient, ε, at time t1t2A first conversion coefficient at time t2, v being a vehicle speed of the hybrid vehicle, Δ LSIs the amount of change, DeltaL, in the oil amount of the hybrid vehicle from time t1 to time t2SOCIs the variation of the electric quantity of the vehicle power battery from the time t1 to the time t2, lambdat1Is the second conversion factor at time t 1.
According to one embodiment of the invention, when the hybrid vehicle is currently in the pure electric mode, the estimation module estimates the distance to empty of the hybrid vehicle according to the following formula: s ═ LS·δ+LSOC)·λtWherein S is a distance to empty of the hybrid vehicle, LSIs the remaining oil amount, L, of the hybrid vehicleSOCDelta is the efficiency of gasoline conversion into electricity of the power battery by the engine and the motor, and lambda is the residual electricity of the power batterytIs the third conversion factor.
According to one embodiment of the invention, when the hybrid vehicle is currently in the pure electric mode, the estimation module is further used for updating the lambda according to the following formulat：
Figure BDA0001682079340000053
Wherein,
Figure BDA0001682079340000054
for the third conversion factor at time t1,
Figure BDA0001682079340000055
a third conversion coefficient at time t2, v being the vehicle speed of the hybrid vehicle, Δ LSIs the amount of change, DeltaL, in the oil amount of the hybrid vehicle from time t1 to time t2SOCAnd delta is the change amount of the electric quantity of the power battery from the time t1 to the time t2, and is the efficiency of converting gasoline into the electric quantity of the power battery through the engine and the motor.
According to an embodiment of the invention, the device for estimating the distance to empty of the hybrid vehicle further comprises a response module, wherein the response module is used for displaying the distance to empty of the hybrid vehicle, judging whether the distance to empty of the hybrid vehicle is lower than a preset distance, and controlling the hybrid vehicle to send a prompt message when the distance to empty of the hybrid vehicle is lower than the preset distance.
In order to achieve the above object, an embodiment of a fifth aspect of the present invention provides a hybrid vehicle including the distance-to-empty estimation apparatus of a hybrid vehicle according to the fourth aspect of the present invention.
According to the hybrid electric vehicle disclosed by the embodiment of the invention, the distance-to-empty of the vehicle can be estimated in real time according to the current state information of the hybrid electric vehicle through the estimation device of the distance-to-empty of the hybrid electric vehicle, and the accuracy of the estimation result is higher.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which,
fig. 1 is a flowchart of a method of estimating a travelable distance of a hybrid vehicle according to an embodiment of the invention;
fig. 2 is a flowchart of a distance-to-empty estimation method of a hybrid vehicle according to another embodiment of the invention;
fig. 3 is a flowchart of a distance-to-empty estimation method of a hybrid vehicle according to one specific example of the invention;
fig. 4 is a block schematic diagram of a distance-to-empty estimation device of a hybrid vehicle according to an embodiment of the invention; and the number of the first and second groups,
fig. 5 is a block diagram schematically illustrating a distance-to-empty estimation apparatus of a hybrid vehicle according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A method of estimating a travelable distance of a hybrid vehicle, a non-transitory computer-readable storage medium, a computer device, a device for estimating a travelable distance of a hybrid vehicle, and a hybrid vehicle according to an embodiment of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method of estimating a distance-to-empty of a hybrid vehicle according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
s1, state information of the hybrid vehicle is detected. The state information comprises vehicle speed information, state information of an engine, state information of a motor, oil quantity information and electric quantity information of a power battery.
Specifically, the state information of the engine may include rotational speed information of the engine and torque information of the engine, the state information of the motor may include rotational speed information of the motor, torque information of the motor, rotational speed information of the generator, and torque information of the generator, the oil amount information may include an amount of oil remaining in a fuel tank of the hybrid vehicle, and the power amount information may include a remaining power amount of the power battery.
And S2, judging the current running mode of the hybrid vehicle according to the vehicle speed information, the state information of the engine and the state information of the motor.
The current driving mode of the hybrid vehicle may include a pure oil mode, a hybrid mode, and a pure electric mode, among others.
And S3, estimating the distance that the hybrid vehicle can travel according to the current running mode of the hybrid vehicle, the vehicle speed information, the oil quantity information and the electric quantity information of the power battery.
Specifically, after the hybrid vehicle is powered on, the vehicle speed information, the state information of the engine, the state information of the motor, the oil quantity information and the electric quantity information of the power battery of the hybrid vehicle are detected in real time, and then the current running mode of the hybrid vehicle is judged according to the vehicle speed information, the state information of the engine and the state information of the motor. And then, estimating the distance to be travelled of the hybrid vehicle according to the current travelling mode, the vehicle speed, the residual oil quantity, the residual electric quantity of the power battery and other information of the hybrid vehicle and a preset related formula, and updating the distance to be travelled of the vehicle in real time according to an estimation result, so that the distance to be travelled of the vehicle can be accurately estimated even if the hybrid vehicle is frequently switched among various travelling modes. Therefore, the method can estimate the distance to be travelled of the vehicle in real time according to the current state information of the hybrid vehicle, and the accuracy of the estimation result is high.
In the embodiment of the invention, the hybrid vehicle may be a series-parallel hybrid vehicle.
How to determine the current running mode of the hybrid vehicle based on the vehicle speed information, the state information of the engine, and the state information of the motor is described below with reference to specific embodiments.
Further, in an embodiment of the present invention, as shown in fig. 2, determining the current travel mode of the hybrid vehicle based on the vehicle speed information, the state information of the engine, and the state information of the motor may include:
and S201, correspondingly judging the speed of the hybrid vehicle, the state of the engine and the state of the motor according to the speed information, the state information of the engine and the state information of the motor.
S202, if the vehicle speed is not zero, the engine is in a starting state and the motor is in a non-starting state, judging that the hybrid vehicle is in a pure oil mode at present.
S203, if the vehicle speed is not zero, the engine is in a starting state and the motor is in a starting state, judging that the hybrid vehicle is in a hybrid mode at present.
And S204, if the vehicle speed is not zero, the engine is in a non-starting state and the motor is in a starting state, judging that the hybrid vehicle is in a pure electric mode currently.
Specifically, when the hybrid vehicle is in the pure oil mode, the engine serves as a power source to drive the vehicle to run; when the hybrid vehicle is in a hybrid mode, the motor and the engine are used as power sources to drive the vehicle to run; when the hybrid electric vehicle is in the pure electric mode, the power battery provides electric energy for the motor to drive the vehicle to run. Therefore, the current running mode of the hybrid vehicle can be determined based on the vehicle speed of the hybrid vehicle, the state of the engine, and the state of the motor. And if the vehicle speed is not zero, the engine is in a starting state and the motor is in a non-starting state, judging that the hybrid vehicle is currently in a pure oil mode. And if the speed is not zero, the engine is in a starting state and the motor is in a starting state, judging that the hybrid vehicle is currently in a hybrid mode. And if the vehicle speed is not zero, the engine is in a non-starting state and the motor is in a starting state, judging that the hybrid vehicle is currently in the pure electric mode.
How to estimate the travelable distance of the hybrid vehicle based on the current travel pattern of the hybrid vehicle, the vehicle speed information, the oil amount information, and the electric charge amount information of the power battery will be described below with reference to specific embodiments.
According to one embodiment of the present invention, when the hybrid vehicle is currently in the pure oil mode or the hybrid mode, the travelable distance S of the hybrid vehicle can be estimated according to the following formula (1):
Figure BDA0001682079340000081
wherein S is a distance to empty of the hybrid vehicle, LSIs the remaining oil amount of the hybrid vehicle, LSOCIs the residual capacity of the power battery, epsilontIn order to be the first conversion factor,
Figure BDA0001682079340000082
is the second conversion factor. Epsilont、
Figure BDA0001682079340000083
The initial value of (c) can be preset according to the correlation test, etIs a time variable.
Further, according to an embodiment of the present invention, when the hybrid vehicle is currently in the pure oil mode, ε may also be updated according to the following equation (2)t：
Figure BDA0001682079340000084
Wherein epsilont1Is the first conversion coefficient, ε, at time t1t2A first conversion factor at time t2, v a vehicle speed of the hybrid vehicle, Δ LSThe amount of change in the oil amount of the hybrid vehicle from time t1 to time t 2. t2-t1 ═ 1s, i.e., ε is updated every 1st。
According to one embodiment of the present invention, when the hybrid vehicle is currently in the hybrid mode, ε may also be updated according to the following equation (3)t：
Figure BDA0001682079340000085
Wherein epsilont1Is the first conversion coefficient, ε, at time t1t2A first conversion factor at time t2, v a vehicle speed of the hybrid vehicle, Δ LSIs the amount of change, Δ L, in the oil amount of the hybrid vehicle from time t1 to time t2SOCThe electric quantity of the power battery is from the time t1 to the time t2Amount of change of (a), λt1Is the second conversion factor at time t 1. t2-t1 ═ 1s, i.e., ε is updated every 1st。
According to one embodiment of the present invention, when the hybrid vehicle is currently in the pure electric mode, the distance S that can be traveled of the hybrid vehicle can be estimated according to the following formula (4):
S＝(LS·δ+LSOC)·λt(4)
wherein S is a distance to empty of the hybrid vehicle, LSIs the remaining oil amount of the hybrid vehicle, LSOCDelta is the residual capacity of the power battery, delta is the efficiency of gasoline conversion into the capacity of the power battery by the engine and the motor, and lambdatIs the third conversion factor. Lambda [ alpha ]tThe initial value of the time variable can be preset according to relevant experiments.
Further, when the hybrid vehicle is currently in the pure electric mode, λ may also be updated according to the following equation (5)t：
Figure BDA0001682079340000091
Wherein,
Figure BDA0001682079340000092
for the third conversion factor at time t1,
Figure BDA0001682079340000093
a third conversion coefficient at time t2, v being the vehicle speed of the hybrid vehicle, Δ LSIs the amount of change, Δ L, in the oil amount of the hybrid vehicle from time t1 to time t2SOCThe variation of the electric quantity of the power battery from the time t1 to the time t2 is delta, and the efficiency of converting gasoline into the electric quantity of the power battery through the engine and the motor is delta. t2-t1 is 1s, i.e., λ is updated every 1st。
Specifically, if the hybrid vehicle is currently in the pure oil mode, then according to the formula
Figure BDA0001682079340000094
Calculating a distance S to empty of the hybrid vehicle, and calculating the distance S to empty according to a formula
Figure BDA0001682079340000095
Updating epsilont. If the hybrid vehicle is currently in a hybrid mode, then according to the formula
Figure BDA0001682079340000096
Calculating a distance S to empty of the hybrid vehicle, and calculating the distance S to empty according to a formula
Figure BDA0001682079340000097
Updating epsilont. If the hybrid vehicle is currently in the pure electric mode, according to the formula S ═ LS·δ+LSOC)·λtCalculating a distance S to empty of the hybrid vehicle, and calculating the distance S to empty according to a formula
Figure BDA0001682079340000098
Updating lambdat. Therefore, the method can estimate the distance that the hybrid vehicle can travel according to the current running mode of the hybrid vehicle, the vehicle speed information, the oil quantity information and the electric quantity information of the power battery, thereby improving the accuracy of the estimation result, and accurately estimating the distance that the hybrid vehicle can travel even if the hybrid vehicle is frequently switched among the running modes.
According to an embodiment of the present invention, as shown in fig. 2, the method for estimating the distance to empty of the hybrid vehicle may further include:
and S4, displaying the distance capable of driving of the hybrid power vehicle, and judging whether the distance capable of driving of the hybrid power vehicle is lower than the preset distance. The preset distance may be preset according to an actual situation, for example, 10 km.
And S5, if the distance that the hybrid vehicle can travel is lower than the preset distance, controlling the hybrid vehicle to send out a prompt message.
Specifically, after the distance to be traveled of the hybrid vehicle is estimated, a display device (e.g., an on-board display screen, an instrument panel, etc.) of the vehicle may be controlled to display the distance to be traveled, so that a driver can know the distance that the hybrid vehicle can travel continuously in real time. And whether the travelable distance is less than 10km is also judged, if so, the current remaining oil quantity and electric quantity of the hybrid vehicle can only support the vehicle to travel for about 10km, and in order to avoid inconvenience for users due to low oil and low electricity, a warning device (such as a buzzer, a loudspeaker, an indicator lamp and the like) of the vehicle can be controlled to send out prompt information to remind a driver to charge or refuel the vehicle as soon as possible.
In order to make the present invention more clearly understood by those skilled in the art, the following description is made with reference to fig. 3. Fig. 3 is a flowchart of a distance-to-empty estimation method of a hybrid vehicle according to one specific example of the present invention, which may include the steps of, as shown in fig. 3:
and S101, detecting vehicle speed information, engine state information, motor state information, oil quantity information and electric quantity information of a power battery of the hybrid vehicle.
And S102, judging whether the vehicle speed is zero or not. If yes, returning to the step S101; if not, step S103 is performed.
S103, judging whether the engine is in a starting state or not. If yes, executing step S104; if not, step S113 is performed.
And S104, judging whether the motor is in a starting state or not. If yes, executing step S105; if not, step S109 is performed.
And S105, the hybrid vehicle is currently in a hybrid mode.
S106, obtaining epsilont、
Figure BDA0001682079340000101
The value of (c).
S107, according to the formula
Figure BDA0001682079340000102
The distance to be traveled S is estimated, and steps S108 and S118 are executed.
S108, according to the formula
Figure BDA0001682079340000103
Updating epsilontThe process returns to step S101.
S109, the hybrid vehicle is in the pure oil mode at present.
S110, obtaining epsilont、
Figure BDA0001682079340000104
The value of (c).
S111, according to the formula
Figure BDA0001682079340000105
The distance to be traveled S is estimated, and steps S112 and S118 are executed.
S112, according to the formula
Figure BDA0001682079340000106
Updating epsilontThe process returns to step S101.
And S113, judging whether the motor is in a starting state or not. If yes, go to step S114; if not, return to step S101.
And S114, the hybrid vehicle is currently in an electric pure mode.
S115, obtaining lambdatδ, value of.
S116, according to the formula S ═ (L)S·δ+LSOC)·λtThe distance to empty S is estimated. Steps S117 and S118 are executed again.
S117 according to the formula
Figure BDA0001682079340000111
Updating lambdatThe process returns to step S101.
And S118, acquiring and displaying the distance S capable of driving of the hybrid vehicle.
And S119, judging whether the distance S capable of running of the hybrid vehicle is lower than a preset distance. If yes, go to step S120; if not, return to step S118.
And S120, controlling the hybrid vehicle to send prompt information.
In summary, according to the method for estimating the distance to be traveled of the hybrid vehicle in the embodiment of the present invention, the state information of the hybrid vehicle is detected, wherein the state information includes the vehicle speed information, the state information of the engine, the state information of the motor, the oil amount information, and the electric quantity information of the power battery, the current travel mode of the hybrid vehicle is determined according to the vehicle speed information, the state information of the engine, and the state information of the motor, and the distance to be traveled of the hybrid vehicle is estimated according to the current travel mode of the hybrid vehicle, the vehicle speed information, the oil amount information, and the electric quantity information of the power battery, and the accuracy of the estimation result is high. And the distance to can go on revealing and sending out the prompt message when the distance to go is lower than the distance preserved, in order to remind the driver.
The invention also proposes a non-transitory computer-readable storage medium on which a computer program is stored which, when executed by a processor, implements the above mentioned method of estimating a distance-to-empty of a hybrid vehicle.
The non-transitory computer readable storage medium of the embodiment of the invention detects the state information of the hybrid vehicle, wherein the state information comprises vehicle speed information, engine state information, motor state information, oil quantity information and power battery electric quantity information, judges the current driving mode of the hybrid vehicle according to the vehicle speed information, the engine state information and the motor state information, and estimates the distance that the hybrid vehicle can drive according to the current driving mode of the hybrid vehicle, the vehicle speed information, the oil quantity information and the power battery electric quantity information, and the accuracy of the estimation result is high.
In addition, the invention also provides a computer device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein when the processor executes the program, the method for estimating the distance to be traveled of the hybrid vehicle is realized.
The computer equipment provided by the embodiment of the invention detects the state information of the hybrid vehicle, wherein the state information comprises the vehicle speed information, the state information of an engine, the state information of a motor, the oil quantity information and the electric quantity information of a power battery, judges the current running mode of the hybrid vehicle according to the vehicle speed information, the state information of the engine and the state information of the motor, and estimates the distance which can be run of the hybrid vehicle according to the current running mode of the hybrid vehicle, the vehicle speed information, the oil quantity information and the electric quantity information of the power battery, and the accuracy of the estimation result is higher.
Fig. 4 is a block diagram schematically illustrating a distance-to-empty estimation apparatus of a hybrid vehicle according to an embodiment of the present invention. As shown in fig. 4, the apparatus includes a detection module 10 and an estimation module 20.
The detection module 10 is used for detecting the state information of the hybrid vehicle. The state information comprises vehicle speed information, state information of an engine, state information of a motor, oil quantity information and electric quantity information of a power battery. The estimation module 20 is configured to determine a current driving mode of the hybrid vehicle according to the vehicle speed information, the state information of the engine, and the state information of the motor, and estimate a distance that the hybrid vehicle can travel according to the current driving mode, the vehicle speed information, the oil amount information, and the electric quantity information of the power battery.
Specifically, as shown in fig. 5, the detection module 10 may include an information acquisition unit 101, an information processing unit 102, and a storage unit 103. The information acquisition unit 101 is configured to acquire vehicle speed information of the power vehicle, state information of the engine, state information of the motor, oil amount information, and electric quantity information of the power battery. The information processing unit 102 may be a kalman filter, and is configured to perform filtering processing on the information acquired by the information acquisition unit 101, and the storage unit 103 is configured to store the information processed by the information processing unit 102. The estimation module 20 may determine a current driving mode of the hybrid vehicle according to the vehicle speed information, the state information of the engine, and the state information of the motor stored in the storage unit 103, wherein the current driving mode may include a pure oil mode, a hybrid mode, and a pure electric mode. The estimation module 20 may estimate the distance to be traveled of the hybrid vehicle according to the current driving mode of the hybrid vehicle, the vehicle speed, the remaining oil amount, the remaining power of the power battery, and other information, in combination with a preset correlation formula, and update the distance to be traveled of the vehicle in real time according to the estimation result, so that the distance to be traveled of the vehicle may be accurately estimated even if the hybrid vehicle is frequently switched between various driving modes. Therefore, the device can estimate the distance to empty of the vehicle in real time according to the current state information of the hybrid vehicle, and the accuracy of the estimation result is high.
In the embodiment of the invention, the hybrid vehicle may be a series-parallel hybrid vehicle.
How the estimation module 20 determines the current driving mode of the hybrid vehicle based on the vehicle speed information, the state information of the engine, and the state information of the motor will be described below with reference to specific embodiments.
According to an embodiment of the present invention, the estimation module 20 is further configured to perform corresponding determination on the vehicle speed, the engine state and the motor state of the hybrid vehicle according to the vehicle speed information, the engine state information and the motor state information. If the vehicle speed is not zero, the engine is in a starting state and the motor is in a non-starting state, the estimation module 20 judges that the hybrid vehicle is currently in a pure oil mode; if the vehicle speed is not zero, the engine is in a starting state and the motor is in a starting state, the estimation module 20 determines that the hybrid vehicle is currently in a hybrid mode. If the vehicle speed is not zero, the engine is in an un-started state and the motor is in a started state, the estimation module 20 judges that the hybrid vehicle is currently in the pure electric mode.
Specifically, when the hybrid vehicle is in the pure oil mode, the engine serves as a power source to drive the vehicle to run; when the hybrid vehicle is in a hybrid mode, the motor and the engine are used as power sources to drive the vehicle to run; when the hybrid electric vehicle is in the pure electric mode, the power battery provides electric energy for the motor to drive the vehicle to run. Therefore, the estimation module 20 may determine the current driving mode of the hybrid vehicle according to the vehicle speed of the hybrid vehicle, the state of the engine, and the state of the motor. If the vehicle speed is not zero, the engine is in a starting state and the motor is in a non-starting state, the estimation module 20 judges that the hybrid vehicle is currently in a pure oil mode. If the vehicle speed is not zero, the engine is in a starting state and the motor is in a starting state, the estimation module 20 determines that the hybrid vehicle is currently in a hybrid mode. If the vehicle speed is not zero, the engine is in an un-started state and the motor is in a started state, the estimation module 20 judges that the hybrid vehicle is currently in the pure electric mode.
How the estimation module 20 estimates the distance to be traveled of the hybrid vehicle according to the current driving mode, the vehicle speed information, the fuel amount information, and the electric quantity information of the power battery will be described below with reference to specific embodiments.
According to one embodiment of the invention, the estimation module 20 may estimate the distance to empty S of the hybrid vehicle according to the following formula (1) when the hybrid vehicle is currently in the pure oil mode or the hybrid mode:
Figure BDA0001682079340000131
wherein S is a distance to empty of the hybrid vehicle, LSIs the remaining oil amount of the hybrid vehicle, LSOCIs the residual capacity of the power battery, epsilontIn order to be the first conversion factor,
Figure BDA0001682079340000132
is the second conversion factor. Epsilont、
Figure BDA0001682079340000135
The initial value of (c) can be preset according to the correlation test, etIs a time variable.
Further, according to an embodiment of the present invention, the estimation module 20 may also update ε according to the following equation (2) when the hybrid vehicle is currently in the pure oil modet：
Figure BDA0001682079340000133
Wherein epsilont1Is the first conversion coefficient, ε, at time t1t2At t2A first conversion factor of moment, v is a vehicle speed of the hybrid vehicle, Δ LSThe amount of change in the oil amount of the hybrid vehicle from time t1 to time t 2. t2-t1 equals 1s, i.e. the estimation module 20 updates epsilon every 1st。
According to one embodiment of the invention, the prediction module 20 may also update ε when the hybrid vehicle is currently in the hybrid mode according to equation (3) belowt：
Figure BDA0001682079340000134
Wherein epsilont1Is the first conversion coefficient, ε, at time t1t2A first conversion factor at time t2, v a vehicle speed of the hybrid vehicle, Δ LSIs the amount of change, Δ L, in the oil amount of the hybrid vehicle from time t1 to time t2SOCIs the variation of the electric quantity of the power battery from the time t1 to the time t2, lambdat1Is the second conversion factor at time t 1. t2-t1 equals 1s, i.e. the estimation module 20 updates epsilon every 1st。
According to one embodiment of the invention, when the hybrid vehicle is currently in the pure electric mode, the estimation module 20 may estimate the distance to empty S of the hybrid vehicle according to the following formula (4):
S＝(LS·δ+LSOC)·λt(4)
wherein S is a distance to empty of the hybrid vehicle, LSIs the remaining oil amount of the hybrid vehicle, LSOCDelta is the residual capacity of the power battery, delta is the efficiency of gasoline conversion into the capacity of the power battery by the engine and the motor, and lambdatIs the third conversion factor. Lambda [ alpha ]tThe initial value of the time variable can be preset according to relevant experiments.
Further, when the hybrid vehicle is currently in the electric-only mode, the prediction module 20 may also update λ according to the following equation (5)t：
Figure BDA0001682079340000141
Wherein,
Figure BDA0001682079340000142
for the third conversion factor at time t1,
Figure BDA0001682079340000143
a third conversion coefficient at time t2, v being the vehicle speed of the hybrid vehicle, Δ LSIs the amount of change, Δ L, in the oil amount of the hybrid vehicle from time t1 to time t2SOCThe variation of the electric quantity of the power battery from the time t1 to the time t2 is delta, and the efficiency of converting gasoline into the electric quantity of the power battery through the engine and the motor is delta. t2-t1 is 1s, i.e. the estimation module 20 updates λ every 1st。
Specifically, as shown in fig. 5, the estimation module 20 may include a calculation unit 201, a feedback correction unit 202, and an update unit 203, where the calculation unit 201 may be configured to calculate the travelable distance S according to a preset formula, the feedback correction unit 202 may be configured to correct a coefficient in the preset formula, and the update unit 203 may be configured to update the coefficient in the preset formula according to a correction result of the feedback correction unit 202. If the hybrid vehicle is in the pure oil mode, the calculation unit 201 calculates according to the formula
Figure BDA0001682079340000144
The distance to empty S of the hybrid vehicle is calculated, and the feedback correction unit 202 calculates the distance to empty S according to the formula
Figure BDA0001682079340000145
For epsilontCorrection is performed, and the updating unit 203 updates epsilon according to the correction resultt. If the hybrid vehicle is currently in the hybrid mode, the calculation unit 201 calculates according to the formula
Figure BDA0001682079340000146
The distance to empty S of the hybrid vehicle is calculated, and the feedback correction unit 202 calculates the distance to empty S according to the formula
Figure BDA0001682079340000147
For epsilontCorrection is performed, and the updating unit 203 updates epsilon according to the correction resultt. If the hybrid vehicle is currently in the pure electric mode, the calculation unit 201 sets (L) to S according to the formulaS·δ+LSOC)·λtThe distance to empty S of the hybrid vehicle is calculated, and the feedback correction unit 202 calculates the distance to empty S according to the formula
Figure BDA0001682079340000148
For lambdatCorrection is performed, and the updating unit 203 updates λ according to the correction resultt. Therefore, the device can estimate the distance that the hybrid vehicle can travel according to the current running mode of the hybrid vehicle, the vehicle speed information, the oil quantity information and the electric quantity information of the power battery, thereby improving the accuracy of the estimation result, and accurately estimating the distance that the hybrid vehicle can travel even if the hybrid vehicle is frequently switched among the running modes.
According to an embodiment of the present invention, as shown in fig. 5, the distance-to-empty estimation apparatus for a hybrid vehicle may further include a response module 30. The response module 30 is configured to display a distance to empty of the hybrid vehicle, determine whether the distance to empty of the hybrid vehicle is less than a preset distance, and control the hybrid vehicle to send a prompt message when the distance to empty of the hybrid vehicle is less than the preset distance. The preset distance may be preset according to an actual situation, for example, 10 km.
Specifically, as shown in fig. 5, the response module 30 may include a control unit 301, a display unit 302, and an alert unit 303. After the estimation module 20 estimates the distance to be traveled of the hybrid vehicle, the control unit 301 may obtain the distance to be traveled estimated by the estimation module 20, and may control the display unit 302 (e.g., an on-board display, an instrument panel, etc.) to display the distance to be traveled, so that the driver may know the distance to be traveled of the hybrid vehicle in real time. In addition, the control unit 301 may further determine whether the travelable distance is less than 10km, and if so, the control unit 301 may control the warning unit 303 (e.g., a buzzer, a horn, an indicator light, etc.) of the vehicle to send out a prompt message to remind the driver to charge or refuel the vehicle as soon as possible, so as to avoid inconvenience to the user due to low oil and low electricity, which means that the currently remaining oil amount and electricity amount of the hybrid vehicle can only support the vehicle to travel for about 10 km.
In summary, according to the estimation apparatus for the distance-to-empty of the hybrid vehicle in the embodiment of the present invention, the detection module detects the state information of the hybrid vehicle, where the state information includes the vehicle speed information, the state information of the engine, the state information of the motor, the oil amount information, and the electric quantity information of the power battery, the estimation module determines the current running mode of the hybrid vehicle according to the vehicle speed information, the state information of the engine, and the state information of the motor, and estimates the distance-to-empty of the hybrid vehicle according to the current running mode, the vehicle speed information, the oil amount information, and the electric quantity information of the power battery, and the accuracy of the estimation result is high. And the distance to drive can also be shown through the response module and the prompt message is sent out when the distance to drive is lower than the preset distance, so as to remind the driver.
In addition, the embodiment of the invention also provides a hybrid vehicle, which comprises the device for estimating the distance to be traveled of the hybrid vehicle.
According to the hybrid electric vehicle disclosed by the embodiment of the invention, the distance-to-empty of the vehicle can be estimated in real time according to the current state information of the hybrid electric vehicle through the estimation device of the distance-to-empty of the hybrid electric vehicle, and the accuracy of the estimation result is higher.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (8)

1. A method of estimating a distance-to-empty of a hybrid vehicle, comprising the steps of:
detecting state information of the hybrid vehicle, wherein the state information comprises vehicle speed information, state information of an engine, state information of a motor, oil quantity information and electric quantity information of a power battery;
judging the current running mode of the hybrid vehicle according to the vehicle speed information, the state information of the engine and the state information of the motor;
estimating a distance to which the hybrid vehicle can travel according to a current travel mode of the hybrid vehicle, the vehicle speed information, the oil amount information, and the electric quantity information of the power battery,
when the hybrid vehicle is currently in a pure oil mode or a hybrid mode, estimating a travelable distance S of the hybrid vehicle according to the following formula:
Figure FDA0002385251960000011
wherein S is a distance to empty of the hybrid vehicle, LSIs the remaining oil amount, L, of the hybrid vehicleSOCIs the residual capacity of the power battery, epsilontIn order to be the first conversion factor,
Figure FDA0002385251960000012
is a second conversion factor;
when the hybrid vehicle is currently in a pure oil mode, the epsilon is also updated according to the following formulat：
Figure FDA0002385251960000013
Wherein epsilont1Is the first conversion coefficient, ε, at time t1t2A first conversion coefficient at time t2, v being a vehicle speed of the hybrid vehicle, Δ LSA change amount of an oil amount of the hybrid vehicle from a time t1 to a time t 2;
when the hybrid vehicle is currently in a hybrid mode, the epsilon is also updated according to the following formulat：
Figure FDA0002385251960000014
Wherein epsilont1Is the first conversion coefficient, ε, at time t1t2A first conversion coefficient at time t2, v being a vehicle speed of the hybrid vehicle, Δ LSIs the amount of change, DeltaL, in the oil amount of the hybrid vehicle from time t1 to time t2SOCIs the variation of the electric quantity of the power battery from the time t1 to the time t2, lambdat1A second conversion factor at time t 1;
when the hybrid electric vehicle is currently in the pure electric mode, the distance to be travelled of the hybrid electric vehicle is estimated according to the following formula:
S＝(LS·δ+LSOC)·λt，
wherein S is the hybrid powerDistance to empty of vehicle, LSIs the remaining oil amount, L, of the hybrid vehicleSOCDelta is the efficiency of gasoline conversion into electricity of the power battery by the engine and the motor, and lambda is the residual electricity of the power batterytIs the third conversion factor;
when the hybrid vehicle is currently in an electric-only mode, the λ is also updated according to the following formulat：
Figure FDA0002385251960000021
Wherein,
Figure FDA0002385251960000022
for the third conversion factor at time t1,
Figure FDA0002385251960000023
a third conversion coefficient at time t2, v being the vehicle speed of the hybrid vehicle, Δ LSIs the amount of change, DeltaL, in the oil amount of the hybrid vehicle from time t1 to time t2SOCAnd delta is the change amount of the electric quantity of the power battery from the time t1 to the time t2, and is the efficiency of converting gasoline into the electric quantity of the power battery through the engine and the motor.
2. The method of estimating a travelable distance of a hybrid vehicle according to claim 1, wherein determining a current travel mode of the hybrid vehicle on the basis of the vehicle speed information, the state information of the engine, and the state information of the motor includes:
correspondingly judging the speed of the hybrid vehicle, the state of the engine and the state of the motor according to the speed information, the state information of the engine and the state information of the motor respectively;
if the vehicle speed is not zero, the engine is in a starting state and the motor is in an un-starting state, judging that the hybrid vehicle is currently in a pure oil mode;
if the vehicle speed is not zero, the engine is in a starting state and the motor is in a starting state, judging that the hybrid vehicle is currently in a hybrid mode;
and if the vehicle speed is not zero, the engine is in a non-starting state and the motor is in a starting state, judging that the hybrid vehicle is currently in a pure electric mode.
3. The method of estimating a distance-to-empty of a hybrid vehicle according to claim 1, characterized by further comprising:
displaying the distance to be travelled of the hybrid vehicle, and judging whether the distance to be travelled of the hybrid vehicle is lower than a preset distance;
and if the distance capable of driving of the hybrid vehicle is lower than the preset distance, controlling the hybrid vehicle to send out prompt information.
4. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method of any one of claims 1-3.
5. A distance-to-empty estimation device for a hybrid vehicle, characterized by comprising:
the detection module is used for detecting state information of the hybrid vehicle, wherein the state information comprises vehicle speed information, state information of an engine, state information of a motor, oil quantity information and electric quantity information of a power battery;
an estimation module for determining a current driving mode of the hybrid vehicle according to the vehicle speed information, the state information of the engine, and the state information of the motor, and estimating a distance that the hybrid vehicle can travel according to the current driving mode, the vehicle speed information, the oil amount information, and the electric quantity information of the power battery, wherein,
the estimation module estimates a distance to empty of the hybrid vehicle when the hybrid vehicle is currently in a pure oil mode or a hybrid mode according to the following formula:
Figure FDA0002385251960000031
wherein S is a distance to empty of the hybrid vehicle, LSIs the remaining oil amount of the hybrid vehicle, LSOCIs the residual capacity of the power battery, epsilontIn order to be the first conversion factor,
Figure FDA0002385251960000032
is a second conversion factor;
the estimation module is further configured to update the ε according to the following equation when the hybrid vehicle is currently in a pure oil modet：
Figure FDA0002385251960000033
Wherein epsilont1Is the first conversion coefficient, ε, at time t1t2A first conversion coefficient at time t2, v being a vehicle speed of the hybrid vehicle, Δ LSA change amount of an oil amount of the hybrid vehicle from a time t1 to a time t 2;
the estimation module is further configured to update the epsilon according to the following formula when the hybrid vehicle is currently in a hybrid modet，
Figure FDA0002385251960000034
Wherein epsilont1Is the first conversion coefficient, ε, at time t1t2A first conversion coefficient at time t2, v being a vehicle speed of the hybrid vehicle, Δ LSIs the amount of change, DeltaL, in the oil amount of the hybrid vehicle from time t1 to time t2SOCIs the variation of the electric quantity of the vehicle power battery from the time t1 to the time t2, lambdat1A second conversion factor at time t 1;
when the hybrid electric vehicle is currently in the pure electric mode, the estimation module estimates the distance to empty of the hybrid electric vehicle according to the following formula:
S＝(LS·δ+LSOC)·λt，
wherein S is a distance to empty of the hybrid vehicle, LSIs the remaining oil amount, L, of the hybrid vehicleSOCDelta is the efficiency of gasoline conversion into electricity of the power battery by the engine and the motor, and lambda is the residual electricity of the power batterytIs the third conversion factor;
when the hybrid electric vehicle is currently in the pure electric mode, the estimation module is further used for updating the lambda according to the following formulat：
Figure FDA0002385251960000041
Wherein,
Figure FDA0002385251960000042
for the third conversion factor at time t1,
Figure FDA0002385251960000043
a third conversion coefficient at time t2, v being the vehicle speed of the hybrid vehicle, Δ LSIs the amount of change, DeltaL, in the oil amount of the hybrid vehicle from time t1 to time t2SOCAnd delta is the change amount of the electric quantity of the power battery from the time t1 to the time t2, and is the efficiency of converting gasoline into the electric quantity of the power battery through the engine and the motor.
6. The hybrid vehicle distance-to-empty estimation device of claim 5, wherein the estimation module is further used for respectively making corresponding judgments on the vehicle speed of the hybrid vehicle, the state of the engine and the state of the motor according to the vehicle speed information, the state information of the engine and the state information of the motor, wherein,
if the vehicle speed is not zero, the engine is in a starting state and the motor is in an un-starting state, the pre-estimation module judges that the hybrid vehicle is currently in a pure oil mode;
if the vehicle speed is not zero, the engine is in a starting state and the motor is in a starting state, the pre-estimation module judges that the hybrid vehicle is currently in a hybrid mode;
and if the vehicle speed is not zero, the engine is in an un-started state and the motor is in a started state, the pre-estimation module judges that the hybrid vehicle is currently in a pure electric mode.
7. The apparatus for estimating a distance-to-empty of a hybrid vehicle according to claim 5, further comprising a response module for displaying the distance-to-empty of the hybrid vehicle, determining whether the distance-to-empty of the hybrid vehicle is less than a preset distance, and controlling the hybrid vehicle to send a prompt message when the distance-to-empty of the hybrid vehicle is less than the preset distance.
8. A hybrid vehicle characterized by comprising a travelable distance estimation device of the hybrid vehicle according to any one of claims 5 to 7.
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