CN112406851A

CN112406851A - Vehicle control method, vehicle, and storage medium

Info

Publication number: CN112406851A
Application number: CN202010940705.7A
Authority: CN
Inventors: 不公告发明人
Original assignee: Segway Technology Co Ltd
Current assignee: Segway Technology Co Ltd
Priority date: 2020-09-09
Filing date: 2020-09-09
Publication date: 2021-02-26
Anticipated expiration: 2040-09-09
Also published as: CN112406851B

Abstract

The invention discloses a vehicle control method, a vehicle and a storage medium. The method comprises the following steps: the method comprises the steps that when the VCU of the vehicle determines that the running mode of the vehicle is the range extending mode, the VCU of the vehicle determines the target power required to be output by a generator of the vehicle based on first information and/or second information; the first information characterizes a power demand of a drive motor of the vehicle; the second information is characterized by a power demand for charging a power battery of the vehicle; the range extender of the vehicle includes: an engine control unit ECU, an engine and the generator; the VCU sends a first instruction carrying the target power to the ECU; the first instruction is for instructing the ECU to control a rotation speed of the engine to cause a voltage of the generator output at the target power to achieve at least one of: charging the power battery; and driving the driving motor to rotate.

Description

Vehicle control method, vehicle, and storage medium

Technical Field

The present invention relates to the field of hybrid vehicles, and in particular, to a vehicle control method, a vehicle, and a storage medium.

Background

The drive system of the hybrid electric vehicle is formed by combining two or more drive systems capable of running simultaneously, and generally comprises a power battery and a range extender; based on the driving scene of the hybrid electric vehicle, the power battery and/or the range extender can provide electric energy for the driving motor. The range extender usually comprises an engine, a generator and a frequency converter, and the voltage generated and output by the generator driven by the rotation of the engine can be supplied to a power battery and/or a driving motor after being subjected to frequency conversion by the frequency converter.

However, in the related art, the control method of the hybrid vehicle needs to be optimized.

Disclosure of Invention

In order to solve the related technical problems, embodiments of the present invention provide a vehicle control method, a vehicle, and a storage medium.

The technical scheme of the embodiment of the invention is realized as follows:

the embodiment of the invention provides a vehicle control method, which comprises the following steps:

under the condition that a Vehicle Control Unit (VCU) determines that the running mode of the Vehicle is the range extending mode, determining target power required to be output by a generator of the Vehicle based on first information and/or second information; the first information characterizes a power demand of a drive motor of the vehicle; the second information is characterized by a power demand for charging a power battery of the vehicle; wherein, the range extender of the vehicle includes: an Engine Control Unit (ECU), an Engine, and the generator;

the VCU sends a first instruction carrying the target power to the ECU; the first instruction is for instructing the ECU to control a rotation speed of the engine to cause a voltage of the generator output at the target power to achieve at least one of:

charging the power battery;

and driving the driving motor to rotate.

In the above scheme, the method further comprises:

the VCU determines the first information based on at least one of:

an opening value of an accelerator pedal of the vehicle;

an opening value of a brake pedal of the vehicle;

the rotational speed of the drive motor.

In the above scheme, the method further comprises:

the VCU determines the second information based on the third information and the fourth information; the third information represents a State of Charge (SOC) of the power battery; the fourth information is characterized by a reduction ratio corresponding to the maximum charging current for charging the power battery.

In the above scheme, the method further comprises:

the VCU receives a second instruction through a telematics BOX of the vehicle under the condition that the vehicle is determined to meet a first condition, and controls the driving motor to charge the power battery based on a parameter corresponding to the second instruction; the second instructions are used for indicating the intensity of energy recovery of the vehicle; wherein the content of the first and second substances,

the determining that the vehicle satisfies a first condition comprises:

the VCU determines that a braking signal of a brake pedal of the vehicle can be received or determines that an opening value of an accelerator pedal of the vehicle is 0, determines that the speed of the vehicle is greater than a first vehicle speed threshold value, and determines that the power battery meets a second condition.

In the foregoing solution, the determining that the power battery satisfies the second condition includes:

the VCU determines that the SOC of the power battery is smaller than a first SOC threshold value, and determines that the cell temperature of the power battery is within a first temperature range.

In the foregoing solution, the determining that the operation mode of the vehicle is the range extending mode includes:

the VCU determines that the running mode of the vehicle is a range extending mode under the condition that the vehicle is determined to meet a third condition; wherein the content of the first and second substances,

the determining that the vehicle satisfies a third condition comprises:

the VCU determines that the SOC of the power battery is smaller than a first SOC threshold value and larger than a second SOC threshold value, and determines that a first switch of the vehicle is in an off state; the first switch is used for switching on or off an electric pure mode of the vehicle; the first switch is in an off state and indicates that the pure electric mode of the vehicle is not started;

alternatively, the first and second electrodes may be,

the VCU determines that the SOC of the power battery is smaller than a first SOC threshold value and larger than a second SOC threshold value, determines that a first switch of the vehicle is in a closed state, and determines that an acceleration signal of an accelerator pedal of the vehicle can be received; the first switch is used for switching on or off an electric pure mode of the vehicle; the first switch is in an off state and indicates that the pure electric mode of the vehicle is not started;

alternatively, the first and second electrodes may be,

the VCU determining that the SOC of the power battery is less than or equal to a second SOC threshold;

alternatively, the first and second electrodes may be,

the VCU determines that the cell temperature of the power battery is less than a first temperature threshold.

the determining that the vehicle satisfies a third condition comprises:

the VCU determines that the SOC of the power battery is smaller than a first SOC threshold value, determines that the gear of the vehicle is an empty (N) gear, and determines that a second switch of the vehicle is in an opening state; the second switch is used for indicating whether the power battery needs to be charged or not; the second switch is in an on state and represents that the power battery needs to be charged;

alternatively, the first and second electrodes may be,

the VCU determines that the SOC of the power battery is less than a first SOC threshold, determines that the gear of the vehicle is neutral, and determines that an acceleration signal of an accelerator pedal of the vehicle can be received.

the determining that the vehicle satisfies a third condition comprises:

the VCU determines that the SOC of the power battery is smaller than a first SOC threshold value, determines that the gear of the vehicle is a neutral gear, and determines that a fourth instruction is received through a T-BOX of the vehicle; the fourth instruction is used for indicating that the power battery needs to be charged.

In the above scheme, the second switch is a mechanical switch or a fingerprint switch.

In the above scheme, the method further comprises:

the VCU determines that the running mode of the vehicle is the pure electric mode under the condition that the vehicle meets the fourth condition;

the VCU drives the driving motor to rotate by using the voltage output by the power battery; wherein the content of the first and second substances,

the determining that the vehicle satisfies a fourth condition includes:

the VCU determines that the SOC of the power battery is smaller than the first SOC threshold value and larger than the second SOC threshold value, and determines that the first switch is in an on state;

alternatively, the first and second electrodes may be,

the VCU determines that the SOC of the power battery is greater than or equal to the first SOC threshold.

In the above scheme, the method further comprises:

the VCU sends a third instruction to a Battery Management System (BMS) of the vehicle under the condition that the vehicle is determined to meet a fifth condition; the third instruction is used for indicating the BMS to start high-voltage power-on; wherein the content of the first and second substances,

the determining that the vehicle satisfies a fifth condition comprises:

the VCU determines that the vehicle completes low-voltage power-on, determines that a gear of an ignition switch of the vehicle is a first gear, determines that the gear of the vehicle is a neutral gear, determines that a brake signal of a brake pedal of the vehicle can be received, and determines that the BMS and a drive motor control unit of the vehicle are in a standby state.

In the foregoing solution, the determining the target power that the generator needs to output based on the first information and/or the second information includes:

the VCU determines first target power required to be output by the generator by using the first information under the condition that the gear of the vehicle is determined to be a forward gear;

and in the process that the generator drives the driving motor to rotate by the voltage output by the first target power, the VCU acquires the actual power output by the generator, and determines a second target power required to be output by the generator by using the first information and the second information under the condition that the actual power is greater than the power corresponding to the first information.

In the above solution, the range extender further includes a range extender control Unit (APU) and a rectifier; the VCU sends a first instruction carrying the target power to the ECU, and the first instruction comprises the following steps:

the VCU sending the first instruction to the ECU through the APU; wherein the content of the first and second substances,

said VCU, said APU and said rectifier are integrated on a physical entity;

the voltage output by the generator at the target power is rectified by the rectifier to realize at least one of the following conditions:

charging the power battery;

and driving the driving motor to rotate.

The embodiment of the invention also provides a vehicle, which comprises a VCU, a driving motor, a power battery and a range extender; the range extender includes: an ECU, an engine and a generator; wherein the content of the first and second substances,

the VCU is configured to:

under the condition that the running mode of the vehicle is determined to be the range extending mode, determining the target power required to be output by the generator based on the first information and/or the second information; the first information characterizes a power requirement of the drive motor; the second information is characterized by the power requirement for charging the power battery;

sending a first instruction carrying the target power to the ECU; the first instruction is for instructing the ECU to control a rotation speed of the engine to cause a voltage of the generator output at the target power to achieve at least one of:

charging the power battery;

and driving the driving motor to rotate.

An embodiment of the present invention further provides a vehicle, including: a processor and a memory for storing a computer program capable of running on the processor;

wherein the processor is configured to perform the steps of any of the above methods when running the computer program.

An embodiment of the present invention further provides a storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the above methods are implemented.

The vehicle control method, the vehicle and the storage medium provided by the embodiment of the invention comprise a VCU, a driving motor, a power battery and a range extender; the range extender includes: an ECU, an engine and a generator; the method comprises the following steps: the VCU determines the target power required to be output by the generator based on the first information and/or the second information under the condition that the running mode of the vehicle is determined to be the range extending mode; the first information characterizes a power requirement of the drive motor; the second information is characterized by the power requirement for charging the power battery; the VCU sends a first instruction carrying the target power to the ECU; the first instruction is for instructing the ECU to control a rotation speed of the engine to cause a voltage of the generator output at the target power to achieve at least one of: charging the power battery; and driving the driving motor to rotate. According to the scheme of the embodiment of the invention, the VCU determines the target power required to be output by the generator based on the power requirement of the driving motor and the power requirement for charging the power battery, and controls the rotating speed of the engine through the ECU, so that the generator charges the power battery by using the voltage output by the target power and/or drives the driving motor to rotate, and therefore, the power generation efficiency of the vehicle can be improved, and the user experience is further improved.

Drawings

FIG. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the present invention;

FIG. 2 is a schematic view of a vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic view of a vehicle configuration provided by an embodiment of the present invention;

fig. 4 is a schematic diagram of a vehicle hardware structure according to an embodiment of the present invention.

Detailed Description

The technical solution of the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

The embodiment of the invention provides a vehicle control method, wherein the vehicle comprises a VCU, a driving motor, a power battery and a range extender; the range extender includes: an ECU, an engine and a generator; as shown in fig. 1, the method comprises the steps of:

step 101: the VCU determines the target power required to be output by the generator based on the first information and/or the second information under the condition that the running mode of the vehicle is determined to be the range extending mode;

here, the first information characterizes a power demand of the drive motor; the second information is characterized by the power requirement for charging the power battery;

step 202: the VCU sends a first instruction carrying the target power to the ECU;

here, the first instruction is for instructing the ECU to control the rotation speed of the engine so that the voltage of the generator output at the target power achieves at least one of:

charging the power battery;

and driving the driving motor to rotate.

In various embodiments of the present invention, the vehicle is a series hybrid vehicle (may also be referred to as an extended range electric vehicle), and the hybrid vehicle may include: on-highway and off-highway vehicles; the road Vehicle may include a sedan, a Sport Utility Vehicle (SUV), a Utility Vehicle (MPV), and the like; the off-highway Vehicle may include All Terrain Vehicles (ATV), All Terrain vehicles (UTV), All Terrain vehicles (Utility Vehicle), Side by Side All Terrain vehicles (SSV), and the like.

In an embodiment, the vehicle may further comprise a T-BOX; the range extender may further include an APU and a rectifier; the sending, by the VCU, the first instruction carrying the target power to the ECU may include:

said VCU, said APU and said rectifier are integrated on a physical entity;

charging the power battery;

and driving the driving motor to rotate.

Here, because the cost of the rectifier is lower than that of the frequency converter, and the electric energy consumed by the rectifier in the rectification process is less than that consumed by the frequency converter in the frequency conversion process, the VCU determines the target power required to be output by the generator based on the power demand of the driving motor and the power demand for charging the power battery, and controls the rotating speed of the engine through the APU and the ECU, so that the voltage output by the generator with the target power is rectified by the rectifier and then charges the power battery and/or drives the driving motor to rotate, the cost of the vehicle can be reduced, the power generation efficiency of the vehicle is improved, and further the user experience is improved.

In practical application, the VCU, the APU and the rectifier are integrated on one physical entity, which may be referred to as a motor controller; that is, the VCU, the APU, and the rectifier may be integrated on the motor controller. Here, "co-ordinated" and "integrated" mean: the VCU, the APU and the rectifier are mounted in the same protective housing; in this way, the cost of the vehicle can be further reduced.

In step 101, in an embodiment, the determining that the operation mode of the vehicle is the range extending mode may include:

the determining that the vehicle satisfies a third condition comprises:

alternatively, the first and second electrodes may be,

the VCU determines that the SOC of the power battery is smaller than a first SOC threshold value and larger than a second SOC threshold value, determines that a first switch of the vehicle is in a closed state, and determines that an acceleration signal of an accelerator pedal of the vehicle can be received;

alternatively, the first and second electrodes may be,

the VCU determines that the cell temperature of the power battery is less than a first temperature threshold value;

alternatively, the first and second electrodes may be,

the VCU determines that the SOC of the power battery is smaller than a first SOC threshold value, determines that the gear of the vehicle is a neutral gear, and determines that a second switch of the vehicle is in an on state; the second switch is used for indicating whether the power battery needs to be charged or not; the second switch is in an on state and represents that the power battery needs to be charged;

alternatively, the first and second electrodes may be,

the VCU determines that the SOC of the power battery is smaller than a first SOC threshold value, determines that the gear of the vehicle is neutral, and determines that an acceleration signal of an accelerator pedal of the vehicle can be received;

alternatively, the first and second electrodes may be,

the VCU determines that the SOC of the power battery is smaller than a first SOC threshold value, determines that the gear of the vehicle is a neutral gear, and determines that a fourth instruction is received through the T-BOX; the fourth instruction is used for indicating that the power battery needs to be charged.

In an embodiment, the method may further include:

the determining that the vehicle satisfies a fourth condition includes:

alternatively, the first and second electrodes may be,

Here, the range extending mode refers to an operation mode in which the generator supplies electric energy for the operation of the vehicle, and may include one of the following cases: the generator and the power battery jointly drive the driving motor to rotate; the driving motor is driven to rotate only by the generator; the generator charges the power battery. The pure electric mode is an operation mode in which the driving motor is driven to rotate only by the power battery. The vehicle may further include a BMS, and the VCU may acquire the SOC (in% of SOC) of the power battery and the cell temperature of the power battery through the BMS. The first SOC threshold, the second SOC threshold, and the first temperature threshold may be set as required; the second SOC threshold is less than the first SOC threshold. Specifically, in actual application, based on different application scenarios, the VCU may determine whether the operation mode of the vehicle is the range-extended mode or the pure electric mode according to the SOC and the cell temperature of the power battery, the state of the first switch, the state of the accelerator pedal, the gear of the vehicle, and the state of the second switch.

For example, when the VCU determines that the electric quantity of the power battery is sufficient (i.e., the SOC of the power battery is greater than or equal to a first SOC threshold value, such as 90%), and does not need to charge the power battery, it may directly determine that the operation mode of the vehicle is the pure electric mode without determining whether the first switch is turned on, and control the power battery to drive the driving motor to rotate.

For example, when the VCU determines that the electric quantity of the power battery is not very sufficient (i.e., the SOC of the power battery is less than the first SOC threshold value and is greater than the second SOC threshold value, such as the SOC of the power battery is less than 90% and greater than 30%), but the first switch is in an on state (i.e., the user needs to operate the vehicle in the pure electric mode and turns on the first switch), it may also determine that the operation mode of the vehicle is the pure electric mode and control the power battery to drive the driving motor to rotate.

For example, in the case that the VCU determines that the charge of the power battery is not very sufficient and the first switch is in the off state, the VCU may determine that the operation mode of the vehicle is the range-extended mode, and control the generator to charge the power battery and/or drive the driving motor to rotate.

For example, when the VCU determines that the electric quantity of the power battery is not very sufficient, the first switch is in an off state, and a user presses an accelerator pedal of the vehicle (for example, the user needs to increase the speed in a competitive game), the VCU may determine that the operation mode of the vehicle is a range-extended mode, and control the power battery and the generator to jointly drive the driving motor to rotate.

For example, when it is determined that the charge of the power battery is too low (i.e., the SOC of the power battery is less than or equal to the second SOC threshold, such as 30%), the VCU may directly determine that the operating mode of the vehicle is the range-extended mode without determining whether the first switch is turned off, and control the generator to charge the power battery, and at the same time, control the generator to drive the driving motor to rotate.

For example, when it is determined that the cell temperature of the power battery is too low (i.e., the cell temperature of the power battery is less than a first temperature threshold, such as 0 degrees), the VCU may directly determine that the operation mode of the vehicle is the range-extended mode, and control the generator to drive the driving motor to rotate.

For example, when the VCU determines that the gear of the vehicle is neutral and determines that the user controls the vehicle to enter the parking charging mode, it may directly determine that the operating mode of the vehicle is the range-extended mode and control the generator to charge the power battery, and at this time, the driving motor does not output power (i.e., the generator is not required to be controlled to drive the driving motor to rotate). The operation of the user to control the vehicle to enter the parking charging mode may include: turning on a second switch on the vehicle (the VCU may determine that an operation of controlling the vehicle to enter a parking charge mode by a user is detected if the second switch of the vehicle is determined to be in an on state), depressing an accelerator (the VCU may determine that an operation of controlling the vehicle to enter the parking charge mode by the user is detected if it is determined that an acceleration signal of an accelerator pedal of the vehicle can be received), and transmitting an instruction to enter the parking charge mode to the vehicle through an internet of vehicles Application (APP) on an internet of vehicles user terminal (i.e., the fourth instruction, the VCU may determine that an operation of controlling the vehicle to enter the parking charge mode by the user is detected if it is determined that the fourth instruction is received through the T-BOX); of course, at this time, the VCU also needs to confirm that the electric quantity of the power battery meets the condition for charging the power battery (i.e. the SOC of the power battery is less than the first SOC threshold); in addition, the user terminal may include a Personal Computer (PC), a mobile phone, and the like; the PC may include a desktop computer, a notebook computer, a tablet computer, and the like.

In practical application, the VCU may start the engine first when determining that the operating mode of the vehicle is the range extending mode; the manner in which the engine is started may be set as desired. For example, the vehicle may further include: the starting relay is connected with the VCU through a hard wire, and the starting motor is connected with the starting relay and used for starting the engine; when the operation mode of the vehicle is determined to be the range extending mode, the VCU may send a start command to the start relay through a hard wire, where the start command may be to energize the start relay through the hard wire within a first time period, the energization voltage may be a first voltage, and the energization current may be a first current; and the starting relay is attracted under the action of the starting command, so that the starting motor is started, and the started starting motor drags the engine to start. Here, the first time period, the first voltage and the first current may also be set according to requirements. For example, the start command may be that the VCU energizes the starter relay within 4 seconds, the energizing voltage may be 12 volts (V), and the energizing current may be 1.5 amperes (a).

In practical applications, the vehicle may further include a driving motor Control Unit (ICU), which may be a Micro Controller Unit (MCU), and an Instrument Control Unit (ICU). When the VCU determines that the engine cannot be successfully started according to the received engine fault information reported by the ECU, the VCU may send a torque-to-0 instruction to the drive motor control unit to instruct the drive motor control unit to control the drive motor to be unable to output power; meanwhile, the VCU may send engine fault information to the ICU to cause the ICU to illuminate an engine fault indicator lamp on an instrument panel based on the engine fault information. Here, when the VCU fails to start the engine for the first time, the VCU may further restart the engine after a second time period, that is, send a start command to the start relay after the second time period, wait for the second time period if the engine fails to start again, and restart the engine after the second time period, so as to cycle N times (N is an integer greater than 0), and if the engine fails to start N times, the VCU may send a torque set 0 instruction to the driving motor control unit to instruct the driving motor control unit to control the driving motor to be unable to output power; meanwhile, the VCU may send engine fault information to the ICU to cause the ICU to illuminate an engine fault indicator lamp on an instrument panel based on the engine fault information. The values of the second duration and the N can be set according to requirements.

In practical application, after determining that the vehicle is powered on completely, the VCU may determine whether the operation mode of the vehicle is a range extending mode; the manner in which the VCU determines whether the vehicle is powered up may be set as desired. For example, the VCU may transmit fifth information to each of the other control units of the vehicle (i.e., all control units of the vehicle other than the VCU, such as a drive motor control unit, ECU, APU, etc.), the fifth information being used to determine whether the corresponding control unit has completed initialization (i.e., entered into a standby state); after receiving the fifth information sent by the VCU, the corresponding control unit returns sixth information to the VCU if determining that the control unit completes initialization, and does not respond to the fifth information if determining that the control unit does not complete initialization; the VCU may determine that the vehicle is powered up completely, in case of receiving sixth information returned by all other control units.

In practical application, the power-on process of the vehicle may include a low-voltage power-on process and a high-voltage power-on process, and in order to improve the power-on efficiency of the vehicle, the high-voltage power-on process may be started as soon as possible after the low-voltage power-on is finished.

Based on this, in an embodiment, the method may further include:

the VCU sends a third instruction to the BMS on a condition that it is determined that the vehicle satisfies a fifth condition; the third instruction is used for indicating the BMS to start high-voltage power-on; wherein the content of the first and second substances,

the determining that the vehicle satisfies a fifth condition comprises:

the VCU determines that the vehicle completes low-voltage power-on, determines that a gear of an ignition switch of the vehicle is a first gear, determines that the gear of the vehicle is an N gear, determines that a brake signal of a brake pedal of the vehicle can be received, and determines that the BMS and the driving motor control unit are in a standby state.

Specifically, in practical use, the VCU may perform low-voltage power-on the vehicle through the BMS upon detecting that an ignition switch of the vehicle is turned from an OFF (OFF) state to an ACCESSORY (ACC) state; after low-voltage electrification is finished, the BMS determines that the BMS completes initialization under the conditions that the life signals of the power battery are normal and no fault alarm exists, and meanwhile, the driving motor control unit also determines that the BMS completes initialization; after determining that the initialization of the BMS is completed, the BMS and the driving motor control unit can respectively send feedback information of entering a standby state to the VCU; the VCU may determine that the BMS and the driving motor control unit are in the standby state upon receiving information that the BMS and the driving motor control unit respectively send feedback that they themselves enter the standby state. At this time, the VCU may send a pre-charge actuation command (i.e., the third command) to the BMS through a Controller Area Network (CAN) bus when it is determined that it is detected that an ignition switch of the vehicle is turned from an ACC state to an ON (ON) state (i.e., the first gear), it is determined that the gear of the vehicle is an N gear, and it is determined that a brake signal transmitted from a brake pedal of the vehicle CAN be received; the BMS responds to the pre-charging pull-in instruction to control to pull in a pre-charging relay of the vehicle and feeds back the state of the pre-charging relay to the VCU in real time; the VCU determines a first voltage difference according to the state of the pre-charging relay fed back by the BMS and the pre-charging state of the vehicle detected by the driving motor control unit, and sends a main positive attracting instruction to the BMS under the condition that the first voltage difference is determined to be less than or equal to a first voltage threshold; and the BMS responds to the main positive suction instruction, controls to disconnect the pre-charging relay and suck the main positive relay of the vehicle, and feeds back the state of the main positive relay to the VCU in real time. Here, the first voltage threshold may be set according to a requirement. For example, the first voltage threshold may be 10% of the bus voltage of the vehicle. After the VCU determines that the pre-charging relay is disconnected and the main positive relay is closed, the VCU can determine that the vehicle completes high-voltage power-on, namely the whole power-on process is completed; after the VCU determines that the vehicle is powered on at high voltage, the VCU CAN send information of self initialization completion to other control units of the vehicle through the CAN bus; the ICU may illuminate a VCU initialization complete indicator (i.e., READY light) on the dashboard in response to the VCU initialization complete message.

In practice, the vehicle may further include a direct current converter (DC-DC), and the VCU may send the fifth information to the DC-DC, where the fifth information is used to determine whether the DC-DC enters a standby state (i.e., whether initialization is completed); after receiving the fifth information, if determining that the DC-DC enters the standby state, returning the sixth information to the VCU, and if determining that the DC-DC does not enter the standby state, not responding to the fifth information; after determining that the DC-DC enters the standby state according to the sixth information returned by the DC-DC, the VCU may delay a third duration (i.e., wait for the third duration) after determining that the main positive relay is closed (i.e., after determining that the vehicle is powered on at a high voltage), and send a first enable signal to the DC-DC to enable the DC-DC. Here, the third time period may be set according to a requirement, such as 10 seconds.

In practical application, after the vehicle is determined to be powered on, no matter the vehicle is in a stationary state or a running state, the VCU can acquire the SOC and the cell temperature of the power battery through the BMS, determine whether the running mode of the vehicle is a range-extended mode or a pure electric mode in real time based on the SOC, the cell temperature, the state of the first switch, the state of the accelerator pedal, the gear of the vehicle and the state of the second switch, start the engine when the running mode of the vehicle is determined to be the range-extended mode, and determine the target power required to be output by the generator based on the first information and/or the second information.

In an embodiment, the first switch and the second switch may be mechanical switches or fingerprint switches.

In practical application, after the vehicle is determined to be powered on, the VCU may determine that the operation mode of the vehicle is a range extending mode under the condition that the VCU determines that the cell temperature is smaller than the first temperature threshold through the BMS, start the generator, and output corresponding power to drive the generator to generate power for the driving motor; meanwhile, the BMS controls the power battery to carry out self-heating and enters a charging prohibition state; the BMS may release the prohibition of the charging state in a case where it is determined that the cell temperature is greater than or equal to the first temperature threshold value, and control the power battery to stop the self-heating in a case where it is determined that the cell temperature is greater than a second temperature threshold value (the second temperature threshold value is greater than the first temperature threshold value). Specifically, when determining that the cell temperature of the power battery is less than the first temperature threshold, the BMS needs to control a heating relay attracting the vehicle to achieve self-heating operation and report a heating state message to the VCU; the BMS can control the heating relay to be switched off under the condition that the cell temperature of the power battery is determined to be greater than the second temperature threshold value; at this time, if the heating relay is not disconnected within M seconds (M is greater than 0), the BMS may report power battery fault information to the VCU; when the VCU determines that the lowest temperature of a single battery cell (i.e., one battery cell) in the power battery (i.e., the temperature corresponding to the lowest temperature battery cell among all non-faulty battery cells included in the power battery) is greater than a third temperature threshold (the third temperature threshold is greater than the second temperature threshold) according to the received power battery fault information reported by the BMS, and the self-heating state of the BMS is not turned off (i.e., the heating relay is not turned off), the VCU may report a power battery heating timeout fault (or a fault level corresponding to the power battery heating timeout fault, such as a secondary fault) to a user, and reduce the power output by the power battery through the BMS; meanwhile, the VCU may send a torque set 0 command to the driving motor control unit to instruct the driving motor control unit to control the driving motor to be unable to output power (i.e., to control the driving motor to stop operating) in case that it is determined by the driving motor control unit that the rotation speed of the driving motor is less than a first rotation speed threshold, and send a command to turn off the main positive relay to instruct the BMS to control the main positive relay to turn off the main positive relay to allow the vehicle to run down at a high voltage. Here, the second temperature threshold, the third temperature threshold, the value of M, and the first rotation speed threshold may be set as required.

In actual application, a user can send a fourth instruction sent by an internet of vehicles APP on a user terminal to the VCU through the T-BOX on the vehicle; after receiving the fourth instruction, the VCU may determine that the operation mode of the vehicle is a range-extending mode when determining that the SOC of the power battery is smaller than the first SOC threshold and determining that the gear of the vehicle is an N gear; in this scenario, the vehicle is in a stationary state, the driving motor does not work (i.e. the power demand of the driving motor is 0), and the power battery is charged by the generator; the VCU determines target power required to be output by the generator according to the power requirement for charging the power battery, and sends a first instruction carrying the target power to the ECU to instruct the ECU to control the rotating speed of the engine so that the voltage output by the generator at the target power is rectified by the rectifier to charge the power battery; meanwhile, the VCU acquires the SOC of the power battery through the BMS in real time, and under the condition that the SOC is determined to be smaller than a third SOC threshold (the third SOC threshold is smaller than the first SOC threshold, and the third SOC threshold is larger than the second SOC threshold), the VCU can instruct the ECU to control the rotating speed of the engine to be reduced to a first idle speed through the APU. Here, the third SOC threshold value and the first idling speed may be set according to the demand. During the process that the generator charges the power battery, the VCU can monitor the oil temperature and the cooling water temperature in real time through the ECU, and under the condition that the oil temperature is determined to be larger than a fourth temperature threshold value and/or the cooling water temperature is determined to be larger than a fifth temperature threshold value, the VCU can instruct the ECU to reduce the target power of the generator to the first power through the APU or instruct the ECU to control the generator to exit a power generation mode through the APU. Here, the first power, the fourth temperature threshold, and the fifth temperature threshold may be set according to requirements, and the fourth temperature threshold and the fifth temperature threshold may be the same or different.

In an embodiment, the method may further include:

the VCU determines the first information based on at least one of:

an opening value of an accelerator pedal of the vehicle;

an opening value of a brake pedal of the vehicle;

the rotational speed of the drive motor.

In practice, the rotational speed of the drive motor may depend on the gear of the vehicle. The vehicle may include four gears: n-, Drive-, Sport-, and Reverse (R, Reverse) gears; the rotating speed ranges of the driving motors corresponding to the gears are different, and specifically, the corresponding relation between the gears and the rotating speed ranges of the driving motors can be set according to requirements. In addition, for different gears of the vehicle, the target power required to be output by the generator can be determined by using the power requirement of the driving motor, and the voltage output by the generator is used for driving the driving motor to rotate; and under the condition that the actual power output by the generator is determined to be larger than the power demand of the driving motor, determining the target power required to be output by the generator by utilizing the power demand of the driving motor and the power demand for charging the power battery.

Based on this, in step 101, in an embodiment, the determining the target power that the generator needs to output based on the first information and/or the second information may include:

In practical application, in a range extending mode, under the condition that the power demand of the driving motor is determined to be higher than the power demand for charging the power battery, the VCU can control the generator to rectify the voltage output by the target power through the rectifier and then only drive the driving motor to rotate, and meanwhile, control the power battery to provide a power source for the driving motor; under the condition that the power demand of the driving motor is determined to be lower than the power demand for charging the power battery, the generator can be controlled to charge the power battery by rectifying the voltage output by the target power through the rectifier, and the driving motor is driven to rotate, wherein the power battery does not supply power to the driving motor. Or, the VCU may control the generator to rectify the voltage output by the target power through the rectifier and then drive only the driving motor to rotate, when it is determined that the sum of the power demand of the driving motor and the power demand for charging the power battery is higher than the power currently output by the generator; under the condition that the sum of the power demand of the driving motor and the power demand for charging the power battery is lower than the power currently output by the generator, the generator can be controlled to rectify the voltage output by the target power through the rectifier to charge the power battery, and meanwhile, the driving motor is driven to rotate, and the power battery does not supply power to the driving motor.

In practice, the rotational speed of the drive motor may also depend on the state of a third switch of the vehicle; the third switch is a constant-speed cruise switch, and the rotating speed of the driving motor is a fixed rotating speed under the condition that the third switch is turned on. Of course, the third switch may be a mechanical switch or a fingerprint switch.

In practical application, the rotating speed of the driving motor can also depend on a speed limit instruction sent to the VCU by a user through an Internet of vehicles APP on a user terminal and the T-BOX; after receiving the speed limit instruction, the VCU may send the speed limit instruction to the driving motor control unit to instruct the driving motor control unit to control the rotation speed of the driving motor based on the rotation speed range of the driving motor included in the speed limit instruction.

In practical application, the rotating speed of the driving motor can also depend on whether a user fastens a safety belt; specifically, the VCU may acquire a seat belt signal sent by a seat belt module of the vehicle in real time, and when determining that the seat belt signal is valid, the VCU may determine that the user fastens the seat belt and continues to drive according to a normal driving logic; the VCU may send a seat belt warning signal to the ICU to instruct the ICU to illuminate a seat belt warning light or to instruct a buzzer of the ICU to sound a warning sound if the VCU determines that the seat belt signal is invalid and determines that the speed of the vehicle is greater than a second vehicle speed threshold; meanwhile, the VCU may control the rotation speed of the driving motor through the driving motor control unit to control the speed of the vehicle to be less than or equal to the second vehicle speed threshold. Here, the second vehicle speed threshold may be set according to a demand.

In an embodiment, the method may further include:

the VCU determines the second information based on the third information and the fourth information; the third information represents the SOC of the power battery; the fourth information is characterized by a reduction ratio corresponding to the maximum charging current for charging the power battery.

In practical application, the fourth information may be set according to requirements.

In an embodiment, the method may further include:

the VCU receives a second instruction through the T-BOX under the condition that the vehicle is determined to meet a first condition, and controls the driving motor to charge the power battery based on a parameter corresponding to the second instruction; the second instructions are used for indicating the intensity of energy recovery of the vehicle; wherein the content of the first and second substances,

the determining that the vehicle satisfies a first condition comprises:

And in actual application, determining that the power battery meets a second condition, namely determining that the power battery meets a charging condition.

In an embodiment, the determining that the power battery satisfies the second condition may include:

In practical application, the first temperature range can be set according to requirements.

The vehicle control method provided by the embodiment of the invention comprises a VCU, a driving motor, a power battery and a range extender; the range extender includes: an ECU, an engine and a generator; the method comprises the following steps: the VCU determines the target power required to be output by the generator based on the first information and/or the second information under the condition that the running mode of the vehicle is determined to be the range extending mode; the first information characterizes a power requirement of the drive motor; the second information is characterized by the power requirement for charging the power battery; the VCU sends a first instruction carrying the target power to the ECU; the first instruction is used for instructing the ECU to control the rotation speed of the engine so that the voltage output by the generator at the target power is rectified by the rectifier to realize at least one of the following conditions: charging the power battery; driving the driving motor to rotate; so, can improve the generating efficiency of vehicle, and then promote user experience.

The present invention will be described in further detail with reference to the following application examples.

The application embodiment provides a vehicle, which is a series extended-range hybrid ATV, UTV or SSV off-road vehicle; as shown in fig. 2, the vehicle includes: a motor controller 21, a power battery 22, a drive motor 23, an engine 24, and a generator 25; wherein the motor controller 21 includes VCU, APU, DC-DC and MCU (i.e. the above-mentioned driving motor control unit); the power battery 22 comprises a BMS; the engine 24 includes an ECU; the range extender of the vehicle includes the engine 24 and the generator 25.

The vehicle control method of the present application embodiment is described in detail below with reference to several application scenarios.

Scene one: and controlling the vehicle to carry out power-on management.

After the VCU detects that an ignition switch of the vehicle rotates from an OFF state to an ACC state, all components of the vehicle are controlled to finish low-voltage electrification; after the low voltage is electrified, the BMS determines that the BMS completes the initialization under the conditions that the life signals of the power battery 22 are normal and no fault alarm exists, and meanwhile, the MCU also determines that the MCU completes the initialization; after determining that the initialization of the BMS is completed, the BMS and the MCU may respectively send feedback information to the VCU to feed back the BMS to enter a standby (standby) state.

After receiving the feedback information of the BMS and the MCU, the VCU can determine that the vehicle normally completes low-voltage electrification, and at the moment, the VCU can control the vehicle to perform high-voltage electrification under the conditions that an ignition switch of the vehicle is detected to rotate from an ACC state to an ON state, the gear of the vehicle is determined to be an N gear, and a braking signal sent by a brake pedal of the vehicle can be received, and light a READY lamp ON an instrument panel through the ICU after the high-voltage electrification is completed.

Specifically, when the VCU controls the vehicle to perform high-voltage power-on, the VCU sends a pre-charge pull-in command (i.e., the third command) to the BMS through the CAN bus to instruct the BMS to control the pull-in pre-charge relay and feed back the state of the pre-charge relay to the VCU (the state of the pre-charge relay includes voltage information); the VCU compares the state of a pre-charging relay fed back by the BMS with the pre-charging state judged by the MCU to determine the voltage difference between two ends of a capacitor contained in the VCU; when the VCU determines that the voltage difference is less than or equal to a first voltage threshold (such as 10% of the bus voltage), the VCU sends a main positive pull-in instruction to the BMS through the CAN bus so as to instruct the BMS to disconnect a pre-charge relay, pull in a main positive relay and feed back the state of the main positive relay to the VCU; after the VCU determines that the pre-charging relay is disconnected and the main positive relay is closed through the information fed back by the BMS, the VCU sends a high-voltage system normal (READY) command to the BMS and the MCU through the CAN bus; and simultaneously, the VCU sends a READY state to the ICU to indicate the ICU to light a READY lamp on an instrument panel.

In actual application, the VCU monitors the SOC and the cell temperature of the power battery 22 through the BMS. After the READY lamp on the instrument panel is turned on (i.e., after the vehicle completes the entire power-on process), the VCU may instruct the BMS to control the power battery 22 to perform self-heating when it is determined that the core temperature of the power battery 22 is less than the first temperature threshold, and the BMS reports a heating state message of the power battery 22 to the VCU. Under the condition that the cell temperature of the power battery 22 is determined to be greater than a second temperature threshold, the BMS automatically turns off a heating relay to stop the self-heating process of the power battery 22; if the heating relay is not disconnected within M seconds, the BMS reports a fault to the VCU; when the VCU determines that the lowest temperature of the battery cell of the power battery 22 is greater than the third temperature threshold and the self-heating state of the power battery 22 is not turned off (or the heating relay is not turned off) through the information reported by the BMS, the VCU reports a heating timeout fault (or a secondary fault) of the power battery 22 to a user, and reduces the power output by the power battery 22 through the BMS; meanwhile, the VCU may send a torque setting 0 instruction to the MCU to instruct the MCU to control the driving motor 23 to stop working when the MCU determines that the rotation speed of the driving motor 23 is less than the first rotation speed threshold; and then, the VCU sends an instruction for cutting off the main positive relay to the BMS so as to indicate the BMS to cut off the main positive relay, and the high-voltage power-off of the whole vehicle is realized.

In practical application, after the VCU determines that the DC-DC is in a standby state, the VCU may delay for 10 seconds after determining that the main positive relay is closed, and send an enable signal to the DC-DC through a CAN bus to enable the DC-DC (i.e., enable the DC-DC to start normal operation).

In practical application, after the VCU determines that the READY lamp on the instrument panel is turned on (i.e., after the vehicle completes the entire power-on process), the VCU determines that the operation mode of the vehicle is the pure electric mode and controls the power battery 22 to provide electric energy for the driving motor 23 when the BMS detects that the SOC of the power battery 22 is greater than the second SOC threshold and determines that the pure electric mode switch (i.e., the first switch) is in an on state. Under the conditions that the SOC of the power battery 22 is determined to be smaller than a first SOC threshold value, the pure electric mode switch is determined to be in a closed state, and the acceleration signal of the accelerator pedal of the vehicle can be received, the VCU determines that the running mode of the vehicle is a range extending mode, sends a starting command through a hard wire to pull in a starting relay so as to start a starting motor, and the starting motor drags the engine 24 to start. Under the condition that the SOC of the power battery 22 is determined to be less than or equal to the second SOC threshold, the VCU determines that the operation mode of the vehicle is the extended range mode regardless of whether the pure electric mode switch is turned on, and sends a start command to pull in the start relay through a hard wire to start the starter motor, and the starter motor drives the engine 24 to start.

In the event of a failed start of the engine 24, the VCU may send a torque set 0 command to the MCU instructing the MCU to control the drive motor 23 to be unable to output power; at the same time, the VCU may instruct the ICU to illuminate an engine fault light on the dashboard. Here, it may be provided that the engine 24 is attempted to be started every second period of time, i.e., after failing to start the engine 24 for the first time, the VCU stops sending the start signal (i.e., stops attempting to start the engine 24) and the ECU reports a fault if the engine 24 has not been successfully started by waiting for the second period of time and then repeating the cycle N times.

Here, the first voltage threshold, the first temperature threshold, the second temperature threshold, the third temperature threshold, a value of M, the first SOC threshold, the second time length, and a value of N may be set according to a requirement. Wherein the third temperature threshold is greater than the second temperature threshold, which is greater than the first temperature threshold; the first SOC threshold is greater than the second SOC threshold.

Scene two: and controlling the vehicle to start and run.

After the VCU determines that a READY lamp on the instrument panel is lighted (namely, after the vehicle finishes the whole power-on process), under the condition that the BMS detects that the SOC of the power battery 22 is smaller than a first SOC threshold value and the SOC of the power battery 22 is larger than a second SOC threshold value, a pure electric mode switch is determined to be in a closed state and an acceleration signal of an accelerator pedal of the vehicle can be received, the VCU determines that the running mode of the vehicle is a range-extending mode, sends a starting command (which can be disconnected after being powered on for 1-4 seconds at a high level of 1.5A and 12V) through a hard wire to pull in a starting relay so as to start a starting motor, and the starting motor drags the engine 24 to start; in the range extending mode, the VCU controls the generator 25 to provide electric energy for the power battery 22 and/or the driving motor 23; when the VCU controls the generator 25 to provide electric energy to the power battery 22 (i.e., controls the generator 25 to charge the power battery 22), the power battery 22 needs to satisfy the following three conditions: the SOC of the power battery 22 is less than a first SOC threshold; the cell temperature of the power battery 22 is greater than or equal to a first temperature threshold; the cell temperature of the power battery 22 is less than or equal to the third temperature threshold.

And under the conditions that the SOC of the power battery 22 is determined to be greater than the second SOC threshold value and the pure electric mode switch is determined to be in the closed state, the VCU determines that the running mode of the vehicle is the pure electric mode. Upon determining that the SOC of the power battery 22 is less than or equal to a second SOC threshold, the VCU determines that the operating mode of the vehicle is the extended range mode and forcibly starts the engine 24 regardless of whether the electric only mode switch is turned on; in the range extended mode, the VCU determines a target power required to be output by the generator 25 according to the power consumption information (which may include the power demand of the driving motor 23 and the power demand for charging the power battery 22, i.e., the first information and/or the second information), and instructs the APU and the ECU to control the generator 25 to generate power at the target power through commands.

Under the condition that the BMS detects that the battery core temperature of the power battery 22 is smaller than a first temperature threshold value, whether the pure electric mode switch is turned on or not, the VCU determines that the running mode of the vehicle is a range extending mode, sends a starting command (which can be turned off after 1-4 seconds of high level of 1.5A and 12V) through a hard wire to attract a starting relay so as to start a starting motor, and the starting motor drags the engine 24 to start; in the range extending mode, the VCU determines the target power required to be output by the generator 25 according to the electricity consumption information, and instructs the APU and the ECU to control the generator 25 to generate electricity at the target power through instructions; at this time, the power battery 22 enters a self-heating state, and the BMS enters a charge prohibited state; and, in the case that it is determined that the cell temperature of the power battery 22 is greater than the second temperature threshold, the BMS controls the power battery 22 to stop self-heating; in the case where it is determined that the cell temperature of the power battery 22 is greater than or equal to the first temperature threshold, the BMS releases the prohibition of charging.

Scene three: the engine 24 is controlled to follow the rotation based on the power and drives the generator 25 to generate electricity.

The VCU calculates a real-time power demand (i.e., the target power that the generator 25 needs to output) by superimposing the power demand of the driving motor 23 (i.e., the first information) and the power demand for charging the power battery 22 (i.e., the second information), and sends the real-time power demand (i.e., the first instruction) to the APU, and the APU determines the target rotation speed of the engine 24 and sends the target rotation speed to the ECU, so that the ECU controls the engine 24 to rotate at the target rotation speed, thereby realizing real-time power following of the engine 24 and driving the generator 25 to output a current corresponding to the real-time power demand. Here, the power demand of the drive motor 23 may be determined according to an opening value of an accelerator pedal of the vehicle, and/or an opening value of a brake pedal of the vehicle, and/or a rotation speed of the drive motor 23. The power demand for charging the power battery 22 may be determined based on the SOC of the power battery (i.e., the third information) and the reduction ratio of the maximum charging current for charging the power battery 22 (i.e., the fourth information). Here, if the SOC of the power battery 22 is greater than or equal to a fourth SOC threshold (which may be set according to a demand, for example, 50%; the fourth SOC threshold is less than the first SOC threshold, and the fourth SOC threshold is greater than the second SOC threshold), the power of the drive motor 23 reduced by the "first SOC threshold multiplied by the power demand ratio (i.e., the ratio of the power demand of the drive motor 23 to the power demand for charging the power battery 22)" to a "fifth SOC threshold (which may be set according to a demand, the fifth SOC threshold is less than the first SOC threshold, and the fifth SOC threshold is greater than the fourth SOC threshold)" multiplied by the power demand ratio "may be calculated, and the power of the drive motor 23 is supplied with electric energy from the power battery 22 and the generator 25 together; conversely (the SOC of the power battery 22 is less than the fourth SOC threshold), the calculation may be performed according to the "first value (which may be set according to the demand, in%) multiplied by the power of the driving motor 23".

If the VCU can receive a brake enable signal sent by a brake pedal of the vehicle or determines that an opening value of an accelerator pedal of the vehicle is 0, the output power of the driving motor 23 is 0, and at this time, based on a brake priority principle, if the VCU determines that a vehicle speed is greater than a first vehicle speed threshold (which may be set according to requirements and has a unit of kilometer per hour (Km/h)) and the power battery 22 meets a charging condition, energy feedback (also referred to as energy recovery) is performed, that is, the driving motor 23 is controlled to charge the power battery 22.

Scene four: and controlling the vehicle to enter a parking power generation mode.

In the case where it is determined by the BMS that the SOC of the power battery 22 is less than the first SOC threshold value and that the power generation mode switch (i.e., the above-described second switch) is in a pressed state and the shift position of the vehicle is N-range, the VCU starts the engine 24 and increases or decreases the rotation speed of the engine 24 accordingly according to the level of the bus voltage to control the generator 25 to generate power; upon determining that the SOC of the power cell 22 is less than a third SOC threshold (which may be set as a function of demand, less than the first SOC threshold, and greater than the second SOC threshold), the VCU automatically reduces the rotational speed of the engine 24 via the ECU to a first idle speed (which may be set as a function of demand). During the power generation of the generator 25, the VCU always receives the oil temperature and the cooling water temperature fed back by the ECU, and in the case that it is determined that the oil temperature is greater than a fourth temperature threshold (which may be set according to requirements) and/or the cooling water temperature is greater than a fifth temperature threshold (which may be set according to requirements), the VCU automatically calculates and adjusts the power generation of the generator 25, or exits the parking power generation mode. Here, during the running (i.e., moving) of the vehicle, the parking power generation function is disabled (i.e., the parking power generation mode cannot be entered).

In practice, the VCU may also determine that the vehicle enters the parking power generation mode when: a user turns on a mobile phone APP, and turns on a parking charging (namely parking power generation) switch in the APP; at the moment, the mobile phone sends an instruction to the T-BOX of the vehicle through Bluetooth, or a cloud platform server of the mobile phone APP sends an instruction to the T-BOX of the vehicle; after receiving an instruction sent by a mobile phone or a cloud platform server, the T-BOX sends a charging enable signal (i.e., the fourth instruction) to the VCU; after receiving the charge enable signal, the VCU starts the engine 24 and correspondingly increases or decreases the rotation speed of the engine 24 according to the level of the bus voltage to control the generator 25 to generate power under the condition that the BMS determines that the SOC of the power battery 22 is less than a first SOC threshold value and determines that the shift position of the vehicle is N shift; upon determining that the SOC of the power battery 22 is less than a third SOC threshold, the VCU automatically reduces the speed of the engine 24 to a first idle speed via the ECU. During the power generation of the generator 25, the VCU always receives the oil temperature and the cooling water temperature fed back by the ECU, and in the case where it is determined that the oil temperature is greater than the fourth temperature threshold and/or the cooling water temperature is greater than the fifth temperature threshold, the VCU automatically calculates and adjusts the generated power of the generator 25, or exits the parking power generation mode. Here, the parking power generation function is not effective during the running of the vehicle.

Scene five: and controlling the vehicle to recover energy.

When the vehicle is in a preset vehicle speed range (which can be set according to requirements) during the sliding or deceleration of the vehicle, if the VCU detects that a user releases an accelerator pedal and presses a brake pedal, the VCU controls the energy recovery intensity according to the opening value of the brake pedal in order to better utilize the inertia force of the vehicle. Or, a user may send an instruction to the T-BOX through the APP, where the instruction of the user may correspond to different energy recovery modes (for example, the energy recovery modes may be divided into an energy recovery weak mode, an energy recovery middle mode, and an energy recovery strong mode according to the intensity of energy recovery); and the T-BOX sends the instruction of the user (namely the second instruction) to the VCU, and after receiving the instruction of the user, the VCU can recover energy according to the preset recovery interval corresponding to the corresponding energy recovery mode. Here, if the energy recovery mode is divided into an energy recovery weak mode, an energy recovery medium mode, and an energy recovery strong mode according to the intensity of energy recovery, the electric braking degree corresponding to the energy recovery weak mode is smaller than the electric braking degree corresponding to the energy recovery medium mode, and the electric braking degree corresponding to the energy recovery medium mode is smaller than the electric braking degree corresponding to the energy recovery strong mode. In addition, it is also necessary to control the vehicle to recover energy when the charging condition of the power battery 22 is satisfied.

Scene six: and controlling the vehicle to carry out gear shifting.

The gear of the vehicle may include: d gear, S gear, N gear and R gear.

The D gear is a forward gear of the vehicle, and the D gear is realized in an electronic gear shifting mode; when the shift handle is shifted to the D-range, the shift switch outputs a low level signal of 12V to the VCU, and the VCU adjusts the rotation direction corresponding to the driving motor 23 through the MCU. When the vehicle runs in the D gear, the VCU may calculate the target rotation speed and the generated power of the range extender by the output power of the driving motor 23 (i.e. the power demand of the driving motor 23); in the case that the generated power of the range extender can satisfy the output power of the driving motor 23, the VCU may send a compensation signal to the range extender to instruct the range extender to charge the power battery 22 so that the power battery 22 is maintained at an optimal electric quantity value; in addition, when the gear shifting handle is shifted to a D gear, the vehicle cannot be electrified at high voltage, namely, the VCU cannot light a READY lamp on an instrument panel through the ICU.

The S gear is a motion gear of the vehicle, and the S gear is realized in an electronic gear shifting mode; when the shift handle is shifted to S-position, the shift switch outputs a low level signal of 12V to the VCU, and the VCU adjusts the rotation direction corresponding to the driving motor 23 through the MCU. When the gear shifting handle is shifted to the S gear, the VCU can increase the rotating speed of the range extender to 3000-6000 revolutions through the APU. When the vehicle runs in the S gear, the VCU may calculate the power generated by the range extender by the opening value of the accelerator pedal and the output power of the driving motor 23; in the case that the generated power of the range extender can satisfy the output power of the driving motor 23, the VCU may send a compensation signal to the range extender to instruct the range extender to charge the power battery 22 so that the power battery 22 is maintained at an optimal electric quantity value; in addition, when the gear shifting handle is shifted to the S gear, the vehicle cannot be electrified at high voltage, namely, the VCU cannot light a READY lamp on an instrument panel through the ICU.

The N gear is a neutral gear of the vehicle, and the implementation mode of the N gear is electronic gear shifting; when the shift handle is shifted to the N-range, the shift switch outputs a low level signal of 12V to the VCU, and at this time, the VCU does not output the target torque of the driving motor 23, that is, the driving motor 23 does not operate. When the operation that a user steps on a brake pedal in a neutral position is detected, the VCU can calculate the target rotating speed and the generated power of the range extender according to the SOC of the power battery 22 and control the range extender to charge the power battery 22; the VCU reduces the speed of the range extender when the SOC of the power cell 22 reaches a third SOC threshold; when the SOC of the power battery 22 reaches a first SOC threshold, the user may disable the VCU by depressing an accelerator pedal to disable the VCU from enabling the range extender.

The R gear is a reverse gear of the vehicle, and the R gear is realized in an electronic gear shifting mode; when the shift handle is shifted to the R-range, the shift switch outputs a low level signal of 12V to the VCU, and the VCU adjusts the rotation direction corresponding to the driving motor 23 through the MCU. When the vehicle runs in the R gear, the VCU limits the speed of the vehicle in a preset range (which can be set according to requirements and has the unit of Km/h) through the MCU. In addition, when the gear shifting handle is shifted to the R gear, the vehicle cannot be electrified at high voltage, namely, the VCU cannot light a READY lamp on an instrument panel through the ICU.

Scene seven: and controlling the vehicle to cruise at a constant speed.

When a vehicle runs at a speed a (a is greater than 0 Km/h, which can be set according to requirements), if a user presses a constant-speed cruise switch, the VCU receives a constant-speed cruise command sent by the constant-speed cruise switch, and at this time, the VCU sends a command containing the speed a to the MCU to instruct the MCU to maintain the vehicle speed of the vehicle at the speed a by controlling the rotation speed of the driving motor 23; meanwhile, the VCU calculates and adjusts a target torque to be sent to the ECU for the ECU to control the rotation speed of the engine 24 in real time based on the output power of the driving motor 23. In the constant-speed cruise mode, if the vehicle travels to an uphill road surface, the MCU automatically increases the torque of the driving motor 23 in order to maintain the vehicle at a speed a; if the vehicle is driving downhill, the MCU automatically reduces the torque of the drive motor 23 in order to keep the vehicle at speed a. When the vehicle is controlled to run at the speed A, the VCU controls the vehicle speed of the vehicle to increase a preset value (which can be set according to requirements) through the MCU when detecting that a user presses a speed increasing switch once, and controls the vehicle speed of the vehicle to decrease the preset value (which can be set according to requirements) through the MCU when detecting that the user presses a speed decreasing switch once. In a constant-speed cruise mode, when the fact that a user steps on an accelerator pedal is detected, the VCU accumulates the rotating speed and the torque given by the accelerator pedal according to the current vehicle speed; and when the VCU receives the effective brake switch signal, the constant-speed cruise mode is released.

And eighth scene: and limiting the speed of the vehicle.

The traveling speed limit mode of the vehicle may include three types: a first speed limit range mode, a second speed limit range mode and a third speed limit range mode; wherein the highest speed of the first speed limit range mode is less than the highest speed of the second speed limit range mode; the highest speed of the second speed limit range mode is less than the highest speed of the third speed limit range mode. A user can select a driving speed limiting mode on the APP, and the APP can issue a corresponding speed limiting instruction through the T-BOX; and after receiving the speed limit instruction, the VCU can control the vehicle to run based on the corresponding speed limit range. In addition, the user can also adjust the vehicle speed within the vehicle speed range corresponding to one driving speed limit mode through the APP.

When the vehicle runs, the VCU acquires safety band signals in real time; if the safety band signal is effective, the VCU controls the vehicle to run according to normal control logic; if the safety band signals are invalid and the vehicle speed is greater than or equal to B (B is greater than 0 Km/h, B can be set according to requirements), the VCU sends a warning instruction to the ICU to instruct the ICU to control a buzzer to send out a prompt sound (here, the ICU can also collect the safety band signals and the vehicle speed information in real time to judge whether warning needs to be sent or not); and meanwhile, the VCU limits the speed of the vehicle within the speed B. Here, the VCU limits the speed of the vehicle by: a target torque command for the drive motor 23 is sent to the MCU. In addition, the respective characteristic maps (which may be expressed as Map maps) are not the same when the vehicle is in D range (or S range) and when the vehicle is in R range.

When the vehicle is in the R gear, the VCU controls the speed limit of the vehicle to be within a preset vehicle speed range (which can be set according to requirements); specifically, when the VCU receives a reverse signal sent by the shift switch, the VCU is switched to a Map graph corresponding to a reverse gear, so as to implement a reverse speed limiting function.

The vehicle control method and the vehicle provided by the embodiment of the application can reduce the cost of the vehicle, improve the power generation efficiency of the vehicle and further improve the user experience.

In order to implement the method of the embodiment of the present invention, the embodiment of the present invention further provides a vehicle, as shown in fig. 3, the vehicle includes a VCU 301, a driving motor 302, a power battery 303, and a range extender 304; the range extender 304 includes: an ECU 3041, an engine 3042, and a generator 3043; wherein the content of the first and second substances,

the VCU 301 is configured to:

determining a target power required to be output by the generator 3043 based on the first information and/or the second information when the operating mode of the vehicle is determined to be the range extending mode; the first information characterizes the power demand of the drive motor 302; the second information is characterized by the power requirement for charging the power battery 303;

sending a first instruction carrying the target power to the ECU 3041; the first instruction is for instructing the ECU 3041 to control the rotation speed of the engine 3042 so that the voltage of the generator 3043 output at the target power achieves at least one of:

charging the power battery 303;

the driving motor 302 is driven to rotate.

In an embodiment, the VCU 301 is further configured to:

determining the first information based on at least one of:

an opening value of an accelerator pedal of the vehicle;

an opening value of a brake pedal of the vehicle;

the rotational speed of the drive motor 302.

In an embodiment, the VCU 301 is further configured to:

determining the second information based on third information and fourth information; the third information represents the SOC of the power battery 303; the fourth information is characterized by a reduction ratio corresponding to the maximum charging current for charging the power battery 303.

In one embodiment, the vehicle further comprises a T-BOX; the VCU 301 is further configured to:

under the condition that the vehicle is determined to meet the first condition, receiving a second instruction through the T-BOX, and controlling the driving motor 302 to charge the power battery 303 based on a parameter corresponding to the second instruction; the second instructions are used for indicating the intensity of energy recovery of the vehicle; wherein the content of the first and second substances,

the determining that the vehicle satisfies a first condition comprises:

determining that a braking signal of a brake pedal of the vehicle can be received or determining that an opening value of an accelerator pedal of the vehicle is 0, determining that a vehicle speed of the vehicle is greater than a first vehicle speed threshold, and determining that the power battery 303 satisfies a second condition.

In an embodiment, the VCU 301 is further configured to:

under the condition that the SOC of the power battery 303 is determined to be smaller than a first SOC threshold value, and the cell temperature of the power battery 303 is determined to be in a first temperature range, determining that the power battery 303 meets a second condition.

In an embodiment, the VCU 301 is further configured to:

determining that the running mode of the vehicle is a range extending mode under the condition that the vehicle is determined to meet a third condition; wherein the content of the first and second substances,

the determining that the vehicle satisfies a third condition comprises:

determining that the SOC of the power battery 303 is smaller than a first SOC threshold value and the SOC of the power battery 303 is larger than a second SOC threshold value, and determining that a first switch of the vehicle is in an off state; the first switch is used for switching on or off an electric pure mode of the vehicle; the first switch is in an off state and indicates that the pure electric mode of the vehicle is not started;

alternatively, the first and second electrodes may be,

determining that the SOC of the power battery 303 is smaller than a first SOC threshold value and the SOC of the power battery 303 is larger than a second SOC threshold value, determining that a first switch of the vehicle is in a closed state, and determining that an acceleration signal of an accelerator pedal of the vehicle can be received; the first switch is used for switching on or off an electric pure mode of the vehicle; the first switch is in an off state and indicates that the pure electric mode of the vehicle is not started;

alternatively, the first and second electrodes may be,

determining that the SOC of the power battery 303 is less than or equal to a second SOC threshold value;

alternatively, the first and second electrodes may be,

determining that the cell temperature of the power battery 303 is less than a first temperature threshold.

In an embodiment, the VCU 301 is further configured to:

the determining that the vehicle satisfies a third condition comprises:

determining that the SOC of the power battery 303 is smaller than a first SOC threshold value, determining that the gear of the vehicle is neutral, and determining that a second switch of the vehicle is in an on state; the second switch is used for indicating whether the power battery 303 needs to be charged; the second switch is in an on state, which indicates that the power battery 303 needs to be charged;

alternatively, the first and second electrodes may be,

determining that the SOC of the power battery 303 is less than a first SOC threshold, determining that the gear of the vehicle is neutral, and determining that an acceleration signal of an accelerator pedal of the vehicle can be received.

the determining that the vehicle satisfies a third condition comprises:

determining that the SOC of the power battery 303 is smaller than a first SOC threshold value, determining that the gear of the vehicle is neutral, and determining that a fourth instruction is received through the T-BOX; the fourth instruction is used for indicating that the power battery 303 needs to be charged.

In one embodiment, the second switch is a mechanical switch or a fingerprint switch.

In an embodiment, the VCU 301 is further configured to:

determining that the running mode of the vehicle is the pure electric mode under the condition that the vehicle is determined to meet the fourth condition;

the driving motor 302 is driven to rotate by the voltage output by the power battery 303; wherein the content of the first and second substances,

the determining that the vehicle satisfies a fourth condition includes:

determining that the SOC of the power battery 303 is smaller than the first SOC threshold value and the SOC of the power battery 303 is larger than the second SOC threshold value, and determining that the first switch is in an on state;

alternatively, the first and second electrodes may be,

determining that the SOC of the power battery 303 is greater than or equal to the first SOC threshold value.

In one embodiment, the vehicle further comprises: a BMS and a driving motor control unit; the VCU 301 is further configured to:

transmitting a third instruction to the BMS in case it is determined that the vehicle satisfies a fifth condition; the third instruction is used for indicating the BMS to start high-voltage power-on; wherein the content of the first and second substances,

the determining that the vehicle satisfies a fifth condition comprises:

determining that the vehicle completes low-voltage power-on, determining that a gear of an ignition switch of the vehicle is a first gear, determining that the gear of the vehicle is a neutral gear, determining that a brake signal of a brake pedal of the vehicle can be received, and determining that the BMS and the driving motor control unit are in a standby state.

In an embodiment, the VCU 301 is further configured to:

in the case that the gear of the vehicle is determined to be a forward gear, determining a first target power required to be output by the generator 3043 by using the first information;

in the process that the generator 3043 drives the driving motor 302 to rotate with the voltage output by the first target power, the VCU obtains the actual power output by the generator 3043, and determines a second target power that the generator 3043 needs to output by using the first information and the second information when the actual power is greater than the power corresponding to the first information.

In one embodiment, the range extender further comprises an APU and a rectifier; the VCU 301 is further configured to:

transmitting the first instruction to the ECU 3041 by the APU; wherein the content of the first and second substances,

the VCU 301, the APU and the rectifier are integrated on one physical entity;

the voltage output by the generator 3043 with the target power is rectified by the rectifier to achieve at least one of the following:

charging the power battery 303;

the driving motor 302 is driven to rotate.

In practice, the VCU 301, the APU and the ECU 3041 may be implemented by a processor in a vehicle.

It should be noted that: the vehicle provided in the above embodiment is only exemplified by the division of the above program modules when running, and in practical application, the above processing may be distributed to be completed by different program modules according to needs, that is, the internal structure of the vehicle is divided into different program modules to complete all or part of the above described processing. In addition, the vehicle and the vehicle control method embodiment provided by the above embodiment belong to the same concept, and the specific implementation process is described in the method embodiment, which is not described herein again.

Based on the hardware implementation of the program modules, and in order to implement the method according to the embodiment of the present invention, the embodiment of the present invention further provides a vehicle, as shown in fig. 4, where the vehicle 40 includes:

a communication interface 41 capable of performing information interaction with other electronic devices;

the processor 42 is connected with the communication interface 41 to realize information interaction with other electronic devices, and is used for executing the method provided by one or more technical schemes when running a computer program;

a memory 43 for storing a computer program capable of running on the processor 42.

Specifically, the vehicle 40 further includes a drive motor, a power battery, and a range extender; the range extender includes: an ECU, an engine and a generator; the processor 42 is configured to perform the following operations:

in the case that the running mode of the vehicle 40 is determined to be the range extending mode, determining the target power required to be output by the generator based on the first information and/or the second information; the first information characterizes a power requirement of the drive motor; the second information is characterized by the power requirement for charging the power battery;

charging the power battery;

and driving the driving motor to rotate.

In one embodiment, the processor 42 is further configured to perform the following operations:

determining the first information based on at least one of:

an opening value of an accelerator pedal of the vehicle 40;

an opening value of a brake pedal of the vehicle 40;

the rotational speed of the drive motor.

determining the second information based on third information and fourth information; the third information represents the SOC of the power battery; the fourth information is characterized by a reduction ratio corresponding to the maximum charging current for charging the power battery.

In one embodiment, the vehicle further comprises a T-BOX; the processor 42 is further configured to perform the following operations:

under the condition that the vehicle 40 is determined to meet the first condition, receiving a second instruction through the T-BOX, and controlling the driving motor to charge the power battery based on a parameter corresponding to the second instruction; the second instructions are for indicating an intensity of energy recovery of the vehicle 40; wherein the content of the first and second substances,

the determining that the vehicle 40 satisfies a first condition includes:

determining that a braking signal of a brake pedal of the vehicle 40 can be received or determining that an opening value of an accelerator pedal of the vehicle 40 is 0, determining that a vehicle speed of the vehicle 40 is greater than a first vehicle speed threshold, and determining that the power battery satisfies a second condition.

and under the condition that the SOC of the power battery is determined to be smaller than a first SOC threshold value and the cell temperature of the power battery is determined to be in a first temperature range, determining that the power battery meets a second condition.

in the case where it is determined that the vehicle 40 satisfies the third condition, determining that the operation mode of the vehicle 40 is the range extending mode; wherein the content of the first and second substances,

the determining that the vehicle 40 satisfies a third condition includes:

determining that the SOC of the power battery is less than a first SOC threshold and the SOC of the power battery is greater than a second SOC threshold, and determining that a first switch of the vehicle 40 is in an off state; the first switch is used for switching on or off the pure electric mode of the vehicle 40; the first switch being off indicates that the electric-only mode of the vehicle 40 is not on;

alternatively, the first and second electrodes may be,

determining that the SOC of the power battery is less than a first SOC threshold and the SOC of the power battery is greater than a second SOC threshold, determining that a first switch of the vehicle 40 is in an off state, and determining that an acceleration signal of an accelerator pedal of the vehicle 40 can be received; the first switch is used for switching on or off the pure electric mode of the vehicle 40; the first switch being off indicates that the electric-only mode of the vehicle 40 is not on;

alternatively, the first and second electrodes may be,

determining that the SOC of the power battery is less than or equal to a second SOC threshold value;

alternatively, the first and second electrodes may be,

and determining that the cell temperature of the power battery is smaller than a first temperature threshold value.

the determining that the vehicle 40 satisfies a third condition includes:

determining that the SOC of the power battery is smaller than a first SOC threshold value, determining that the gear of the vehicle 40 is neutral, and determining that a second switch of the vehicle 40 is in an on state; the second switch is used for indicating whether the power battery needs to be charged or not; the second switch is in an on state and represents that the power battery needs to be charged;

alternatively, the first and second electrodes may be,

determining that the SOC of the power battery is less than a first SOC threshold, determining that the gear of the vehicle 40 is neutral, and determining that an acceleration signal of an accelerator pedal of the vehicle 40 can be received.

the determining that the vehicle 40 satisfies a third condition includes:

determining that the SOC of the power battery is smaller than a first SOC threshold value, determining that the gear of the vehicle 40 is neutral, and determining that a fourth instruction is received through the T-BOX; the fourth instruction is used for indicating that the power battery needs to be charged.

in the case where it is determined that the vehicle 40 satisfies the fourth condition, determining that the operating mode of the vehicle 40 is the pure electric mode;

driving the driving motor to rotate by using the voltage output by the power battery; wherein the content of the first and second substances,

the determining that the vehicle 40 satisfies a fourth condition includes:

determining that the SOC of the power battery is smaller than the first SOC threshold value and the SOC of the power battery is larger than the second SOC threshold value, and determining that the first switch is in an on state;

alternatively, the first and second electrodes may be,

determining that the SOC of the power battery is greater than or equal to the first SOC threshold.

In one embodiment, the vehicle 40 further comprises: a BMS and a driving motor control unit; the processor 42 is further configured to perform the following operations:

in a case where it is determined that the vehicle 40 satisfies the fifth condition, transmitting a third instruction to the BMS; the third instruction is used for indicating the BMS to start high-voltage power-on; wherein the content of the first and second substances,

the determining that the vehicle 40 satisfies a fifth condition includes:

determining that the vehicle 40 completes low voltage power-on, determining that a gear of an ignition switch of the vehicle 40 is a first gear, determining that the gear of the vehicle 40 is a neutral gear, determining that a brake signal of a brake pedal of the vehicle 40 can be received, and determining that the BMS and the driving motor control unit are in a standby state.

determining a first target power which needs to be output by the generator by using the first information when the gear of the vehicle 40 is determined to be a forward gear;

and acquiring actual power output by the generator in the process that the generator drives the driving motor to rotate by the voltage output by the first target power, and determining second target power required to be output by the generator by using the first information and the second information under the condition that the actual power is greater than the power corresponding to the first information.

In one embodiment, the range extender further comprises an APU and a rectifier; the processor 42 is further configured to perform the following operations:

transmitting, by the APU, the first instruction to the ECU; wherein the content of the first and second substances,

the processor 42, the APU and the rectifier are integrated on one physical entity;

charging the power battery;

and driving the driving motor to rotate.

It should be noted that: the process of the processor 42 specifically executing the above operations is detailed in the method embodiment, and is not described here again.

Of course, in practice, the various components in the vehicle 40 are coupled together by a bus system 44. It will be appreciated that the bus system 44 is used to enable communications among the components. The bus system 44 includes a power bus, a control bus, and a status signal bus in addition to the data bus. For clarity of illustration, however, the various buses are labeled as bus system 44 in fig. 4.

The memory 43 in the embodiment of the present invention is used to store various types of data to support the operation of the vehicle 40. Examples of such data include: any computer program for operating on the vehicle 40.

The method disclosed in the above embodiments of the present invention may be applied to the processor 42, or implemented by the processor 42. The processor 42 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by instructions in the form of hardware, integrated logic circuits, or software in the processor 42. The Processor 42 may be a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. Processor 42 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 43, and the processor 42 reads the information in the memory 43 and performs the steps of the aforementioned methods in conjunction with its hardware.

In an exemplary embodiment, the vehicle 40 may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field-Programmable Gate arrays (FPGAs), general purpose processors, controllers, MCUs, microprocessors (microprocessors), or other electronic components for performing the aforementioned methods.

It will be appreciated that memory 43 in accordance with embodiments of the present invention may be either volatile memory or nonvolatile memory, and may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The described memory for embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.

In an exemplary embodiment, the present invention further provides a storage medium, i.e. a computer storage medium, in particular a computer readable storage medium, for example comprising a memory 43 storing a computer program executable by a processor 42 of a vehicle 40 to perform the steps of the aforementioned method. The computer readable storage medium may be Memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface Memory, optical disk, or CD-ROM.

It should be noted that: "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

In addition, the technical solutions described in the embodiments of the present invention may be arbitrarily combined without conflict.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.

Claims

1. A vehicle control method characterized by comprising:

under the condition that the running mode of the vehicle is determined to be the range extending mode, the VCU determines the target power required to be output by the generator of the vehicle based on the first information and/or the second information; the first information characterizes a power demand of a drive motor of the vehicle; the second information is characterized by a power demand for charging a power battery of the vehicle; wherein, the range extender of the vehicle includes: an engine control unit ECU, an engine and the generator;

the VCU sends a first instruction carrying the target power to the ECU; the first instruction is for instructing the engine control unit ECU to control a rotation speed of the engine to cause a voltage of the generator output at the target power to achieve at least one of:

charging the power battery;

and driving the driving motor to rotate.

2. The method of claim 1, further comprising:

the vehicle control unit VCU determines the first information based on at least one of the following information:

an opening value of an accelerator pedal of the vehicle;

an opening value of a brake pedal of the vehicle;

the rotational speed of the drive motor.

3. The method of claim 1, further comprising:

the VCU determines the second information based on the third information and the fourth information; the third information represents the state of charge (SOC) of the power battery; the fourth information is characterized by a reduction ratio corresponding to the maximum charging current for charging the power battery.

4. The method of claim 1, further comprising:

the VCU receives a second instruction through a remote information processor T-BOX of the vehicle under the condition that the vehicle is determined to meet a first condition, and controls the driving motor to charge the power battery based on a parameter corresponding to the second instruction; the second instructions are used for indicating the intensity of energy recovery of the vehicle; wherein the content of the first and second substances,

the determining that the vehicle satisfies a first condition comprises:

the vehicle control unit VCU determines that a braking signal of a brake pedal of the vehicle can be received or determines that an opening value of an accelerator pedal of the vehicle is 0, determines that the speed of the vehicle is greater than a first vehicle speed threshold value, and determines that the power battery meets a second condition.

5. The method of claim 4, wherein the determining that the power cell satisfies a second condition comprises:

the vehicle control unit VCU determines that the SOC of the power battery is smaller than a first SOC threshold value, and determines that the cell temperature of the power battery is within a first temperature range.

6. The method of claim 1, wherein the determining that the operating mode of the vehicle is a range extended mode comprises:

the vehicle control unit VCU determines that the running mode of the vehicle is the range extending mode under the condition that the vehicle meets the third condition; wherein the content of the first and second substances,

the determining that the vehicle satisfies a third condition comprises:

the vehicle control unit VCU determines that the SOC of the power battery is smaller than a first SOC threshold value and the SOC of the power battery is larger than a second SOC threshold value, and determines that a first switch of the vehicle is in a closed state; the first switch is used for switching on or off an electric pure mode of the vehicle; the first switch is in an off state and indicates that the pure electric mode of the vehicle is not started;

alternatively, the first and second electrodes may be,

the vehicle control unit VCU determines that the SOC of the power battery is smaller than a first SOC threshold value and the SOC of the power battery is larger than a second SOC threshold value, determines that a first switch of the vehicle is in a closed state, and determines that an acceleration signal of an accelerator pedal of the vehicle can be received; the first switch is used for switching on or off an electric pure mode of the vehicle; the first switch is in an off state and indicates that the pure electric mode of the vehicle is not started;

alternatively, the first and second electrodes may be,

the vehicle control unit VCU determines that the SOC of the power battery is smaller than or equal to a second SOC threshold value;

alternatively, the first and second electrodes may be,

and the finished automobile control unit VCU determines that the battery core temperature of the power battery is smaller than a first temperature threshold value.

7. The method of claim 1, wherein the determining that the operating mode of the vehicle is a range extended mode comprises:

the determining that the vehicle satisfies a third condition comprises:

the vehicle control unit VCU determines that the state of charge (SOC) of the power battery is smaller than a first SOC threshold value, determines that the gear of the vehicle is a neutral position, and determines that a second switch of the vehicle is in an on state; the second switch is used for indicating whether the power battery needs to be charged or not; the second switch is in an on state and represents that the power battery needs to be charged;

alternatively, the first and second electrodes may be,

the vehicle control unit VCU determines that the state of charge (SOC) of the power battery is smaller than a first SOC threshold value, determines that the gear of the vehicle is neutral, and determines that an acceleration signal of an accelerator pedal of the vehicle can be received.

8. The method of claim 1, wherein the determining that the operating mode of the vehicle is a range extended mode comprises:

the determining that the vehicle satisfies a third condition comprises:

the vehicle control unit VCU determines that the state of charge (SOC) of the power battery is smaller than a first SOC threshold value, determines that the gear of the vehicle is a neutral gear, and determines that a fourth instruction is received through a remote information processor T-BOX of the vehicle; the fourth instruction is used for indicating that the power battery needs to be charged.

9. The method of claim 7, wherein the second switch is a mechanical switch or a fingerprint switch.

10. The method of claim 6, further comprising:

the vehicle control unit VCU determines that the running mode of the vehicle is the pure electric mode under the condition that the vehicle meets the fourth condition;

the vehicle control unit VCU drives the driving motor to rotate by using the voltage output by the power battery; wherein the content of the first and second substances,

the determining that the vehicle satisfies a fourth condition includes:

the vehicle control unit VCU determines that the SOC of the power battery is smaller than the first SOC threshold value and the SOC of the power battery is larger than the second SOC threshold value, and determines that the first switch is in an open state;

alternatively, the first and second electrodes may be,

and the vehicle control unit VCU determines that the SOC of the power battery is greater than or equal to the first SOC threshold value.

11. The method of claim 1, further comprising:

the VCU sends a third instruction to a battery management system BMS of the vehicle under the condition that the vehicle meets a fifth condition; the third instruction is used for instructing the battery management system BMS to start high-voltage power-on; wherein the content of the first and second substances,

the determining that the vehicle satisfies a fifth condition comprises:

the vehicle control unit VCU determines that the vehicle completes low-voltage electrification, determines that the gear of an ignition switch of the vehicle is a first gear, determines that the gear of the vehicle is a neutral gear, determines that a braking signal of a brake pedal of the vehicle can be received, and determines that the battery management system BMS and the drive motor control unit of the vehicle are in a standby state.

12. The method according to any one of claims 1 to 11, wherein the determining the target power that the generator needs to output based on the first information and/or the second information comprises:

the vehicle control unit VCU determines a first target power required to be output by the generator by using the first information under the condition that the gear of the vehicle is determined to be a forward gear;

and in the process that the generator drives the driving motor to rotate by the voltage output by the first target power, the vehicle control unit VCU acquires the actual power output by the generator, and determines a second target power required to be output by the generator by using the first information and the second information under the condition that the actual power is greater than the power corresponding to the first information.

13. The method according to any one of claims 1 to 11, wherein the range extender further comprises a range extender control unit (APU) and a rectifier; the whole vehicle control unit VCU sends a first instruction carrying the target power to the engine control unit ECU, and the first instruction comprises the following steps:

the VCU sends the first instruction to the ECU through the APU; wherein the content of the first and second substances,

the whole vehicle control unit VCU, the range extender control unit APU and the rectifier are arranged on a physical entity in a combined mode;

charging the power battery;

and driving the driving motor to rotate.

14. A vehicle is characterized by comprising a vehicle control unit VCU, a driving motor, a power battery and a range extender; the range extender includes: an engine control unit ECU, an engine and a generator; wherein the content of the first and second substances,

the vehicle control unit VCU is used for:

sending a first instruction carrying the target power to the Engine Control Unit (ECU); the first instruction is for instructing the engine control unit ECU to control a rotation speed of the engine to cause a voltage of the generator output at the target power to achieve at least one of:

charging the power battery;

and driving the driving motor to rotate.

15. A vehicle, characterized by comprising: a processor and a memory for storing a computer program capable of running on the processor;

wherein the processor is adapted to perform the steps of the method of any one of claims 1 to 13 when running the computer program.

16. A storage medium storing a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 13 when executed by a processor.