CN114559929A

CN114559929A - Vehicle control method and device based on external intervention torque

Info

Publication number: CN114559929A
Application number: CN202210405867.XA
Authority: CN
Inventors: 赵鹏遥; 杨云波; 钟云锋; 陈国栋; 郑通; 王昊; 韩令海; 李国伟; 任亚为; 承学军
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-04-18
Filing date: 2022-04-18
Publication date: 2022-05-31

Abstract

The embodiment of the disclosure provides a vehicle control method, a vehicle control device, a storage medium and an electronic device based on external intervention torque, wherein the control method comprises the following steps: acquiring a working mode and working parameters of the hybrid vehicle in a current state; in response to a request for externally-mediated torque, a distribution of the required power and/or the required torque is made based on the operating parameters, the operating mode, and the current SOC of the power battery. According to the embodiment of the disclosure, the vehicle operation modes are divided into series connection, parallel connection and pure electric to be respectively controlled, different external torque intervention control modes can be executed according to different modes of the whole vehicle under the conditions of not increasing cost and not changing hardware, different control modes are further selected according to different requests of torque rise/fall, in addition, the reliability and safety are guaranteed while the maximum capacity of a power battery is fully utilized, and the NVH and drivability difference caused by the change of the working condition point of an engine are reduced as much as possible.

Description

Vehicle control method and device based on external intervention torque

Technical Field

The disclosed embodiments relate to the field of hybrid vehicle control, and in particular, to a vehicle control method and apparatus based on external intervention torque, a storage medium, and an electronic device.

Background

In the control of the hybrid vehicle, except for normal running control, if functions such as ESP related functions (functions such as TCS/MSR) are involved, because the modes of the hybrid vehicle are more, control components are more, the phenomena of battery overcharge and overdischarge, unexpected acceleration and deceleration of the whole vehicle, poor engine running working condition point and the like easily occur due to poor torque coordination and control, and the reliability, the driving performance and the economical efficiency of the vehicle components are influenced. Among them, the hybrid vehicle has problems affecting reliability, drivability, and economy of vehicle parts when external torque is introduced. However, the conventional control methods related to external torque intervention are not many, and the speed of torque switching during external torque intervention or battery overcharge and overdischarge protection during vehicle running are mostly considered.

Disclosure of Invention

In view of the above deficiencies of the prior art, the embodiments of the present disclosure provide a vehicle control method, device, storage medium and electronic device based on external intervention torque, so as to solve the problem that the reliability, drivability and economy of vehicle components are affected when an existing hybrid vehicle intervenes in external torque.

In order to solve the technical problem, the embodiment of the present disclosure adopts the following technical solutions:

a method of vehicle control based on externally applied intervention torque, comprising:

acquiring a working mode and working parameters of the hybrid vehicle in a current state;

in response to a request for externally-mediated torque, a distribution of the required power and/or the required torque is made based on the operating parameters, the operating mode, and the current SOC of the power battery.

In some embodiments, the operating mode is any one of a series mode, a parallel mode, or an electric-only mode.

In some embodiments, said allocating the required power and/or the required torque based on the operating parameters, the operating mode and the current SOC of the power battery in response to the request for external intervention torque comprises:

and under the condition that the working mode is a series mode and the external intervention torque is smaller than or equal to the torque required by the driving motor, when the current SOC of the power battery is larger than or equal to a first threshold value, executing the distribution of the first required power and sending an engine quick-torque request, and when the current SOC of the power battery is smaller than the first threshold value, executing the distribution of the second required power.

In some embodiments, in the case where the externally involved torque is greater than the torque required by the driving motor, the third distribution of the required power is performed and the engine torque request is issued when the current SOC of the power battery is less than or equal to the second threshold, and the fourth distribution of the required power is performed when the current SOC of the power battery is greater than the second threshold.

and under the condition that the working mode is a parallel mode and the external intervention torque is less than or equal to the torque required by the driving motor, when the current SOC of the power battery is greater than or equal to a first threshold value, executing the distribution of the first required torque and sending an engine quick-torque request, and when the current SOC of the power battery is less than the first threshold value, executing the distribution of the second required torque.

In some embodiments, in the case where the externally involved torque is greater than the required torque of the driving motor, the third required torque is distributed and the engine torque request is issued when the current SOC of the power battery is less than or equal to the second threshold, and the fourth required torque is distributed when the current SOC of the power battery is greater than the second threshold.

in the case where the operation mode is the electric-only mode, the distribution of the torque required of the drive motor is performed.

The present disclosure also provides a vehicle control device based on external intervention torque, which includes: the acquisition module is used for acquiring the working mode and working parameters of the hybrid vehicle in the current state; the distribution module is used for responding to the external intervention torque request and distributing the required power and/or the required torque based on the working parameters, the working mode and the current SOC of the power battery.

The present disclosure also provides a storage medium storing a computer program which, when executed by a processor, implements the steps of any of the above-described methods.

The present disclosure also provides an electronic device comprising at least a memory having a computer program stored thereon, and a processor implementing the steps of any of the above methods when executing the computer program on the memory.

According to the embodiment of the disclosure, the vehicle operation modes are divided into series connection, parallel connection and pure electric to be respectively controlled, different external torque intervention control modes can be executed according to different modes of the whole vehicle under the conditions of not increasing cost and not changing hardware, different control modes are further selected according to different requests of torque rise/fall, in addition, the reliability and safety are guaranteed while the maximum capacity of a power battery is fully utilized, and the NVH and drivability difference caused by the change of the working condition point of an engine are reduced as much as possible.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a hybrid vehicle of an embodiment of the present disclosure;

FIG. 2 is a schematic step diagram of a method of externally mediated torque based vehicle control according to an embodiment of the present disclosure;

FIG. 3 is a schematic step diagram of a method of externally mediated torque based vehicle control according to an embodiment of the present disclosure;

FIG. 4 is a schematic illustration of an engine universal characteristic of an embodiment of the present disclosure;

FIG. 5 is a schematic step diagram of a vehicle control method based on external intervention torque according to an embodiment of the disclosure

FIG. 6 is a schematic step diagram of a vehicle control method based on external intervention torque according to an embodiment of the disclosure.

Detailed Description

Various aspects and features of the disclosure are described herein with reference to the drawings.

It will be understood that various modifications may be made to the embodiments of the present application. Accordingly, the foregoing description should not be construed as limiting, but merely as exemplifications of embodiments. Other modifications will occur to those skilled in the art within the scope and spirit of the disclosure.

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the disclosure.

These and other characteristics of the present disclosure will become apparent from the following description of preferred forms of embodiment, given as non-limiting examples, with reference to the attached drawings.

It should also be understood that, although the present disclosure has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of the disclosure, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.

The above and other aspects, features and advantages of the present disclosure will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely exemplary of the disclosure that may be embodied in various forms. Well-known and/or repeated functions and structures have not been described in detail so as not to obscure the present disclosure with unnecessary or unnecessary detail. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure.

The specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which may each refer to one or more of the same or different embodiments in accordance with the disclosure.

The disclosed embodiments relate to a vehicle control method based on an externally applied intervention torque, which is generally referred to as a torque requested when a function such as an ESP-related function (or a TCS/MSR function) is involved, and is applicable to a hybrid vehicle.

Fig. 1 shows a hybrid vehicle 100, where the hybrid vehicle 100 includes an engine 10, a driving motor 20 and a power battery 50, the engine 10 is connected to wheels 40 at the wheel end of the hybrid vehicle 100 through a clutch 30 to provide power, the driving motor 20 is connected to the power battery 50, and the output end of the driving motor 20 is connected to the wheels 40. The structure of the hybrid vehicle 100 herein is not limited thereto.

Based on the above-described structure of the hybrid vehicle 100, the hybrid vehicle 100 can be in different operation modes, where the operation modes include at least any one of a series mode, a parallel mode, and an electric-only mode; wherein in the series mode, the clutch 30 is disengaged, the engine 10 does not transmit torque to the wheel end, but drives the drive motor 20 to directly drive the wheels 40; in the parallel mode, the clutch 30 is engaged, and the engine 10 drives the drive motor 20 and drives the wheels 40 in conjunction with the drive motor 20; in the electric-only mode, the clutch 30 is disengaged, the engine 10 is stopped, and the drive motor 20 directly drives the wheels 40.

By adopting the structure of the hybrid vehicle 100 described above, the vehicle control method relating to the embodiment of the present disclosure, as shown in fig. 2, includes the steps of:

and S1, acquiring the working mode and the working parameters of the hybrid vehicle in the current state.

The hybrid vehicle described herein is in any one of a series mode, a parallel mode, or an electric-only mode of operation.

And S2, responding to the external intervention torque request, and distributing the required power and/or the required torque based on the working parameters, the working mode and the current SOC of the power battery.

The following description is made for the hybrid vehicle 100 in the series mode, the parallel mode, and the electric-only mode, respectively:

as for the hybrid vehicle 100 in the series mode, as shown in fig. 3, the vehicle control method includes:

and S101, acquiring the working parameters of the hybrid vehicle in the current state.

In this step, the operating parameters of the hybrid vehicle in the current state are acquired. During normal driving of the hybrid vehicle 100 based on the series mode, the operating parameters of the hybrid vehicle 100 in the current state are monitored and obtained by means of sensors or the like on the hybrid vehicle 100.

The operating parameters include, for example, parameter signals such as P _ engine _ request, T _ TM _ request, T _ engine _ act, N _ engine _ act, T _ TM _ act, N _ engine _ act, N _ TM _ act, C _ SOC _ act, and P _ compact, which are engine power requirements, engine torque requirements, and engine actual rotational speed requirements.

Further, it is also possible to obtain the engine required rotation speed N _ engine _ request and the engine required torque, wherein the engine required rotation speed N _ engine _ request here may be obtained by table lookup based on the engine required power P _ engine _ request from the economy table of the engine 10.

After the engine required rotation speed N _ engine _ request is obtained, the engine required torque T _ engine _ request is obtained by the following equation, that is

T_engine_request＝P_engine_request*9550/N_engine_request。

Wherein the above-mentioned economy table of the engine 10 can be obtained by: (1) as shown in fig. 4, a universal characteristic curve and a specific fuel consumption distribution of the engine 10 are obtained; (2) drawing an equal power curve on a universal characteristic curve; (3) taking a point with the lowest specific oil consumption on an equal power line, and acquiring the rotating speed of the engine; (4) the economy table of the engine 10 is finally obtained based on the relationship between the power and the rotational speed.

For example, in a specific embodiment, the economy table obtained based on the engine power demand is represented as follows:

power demand of engine	10	20	30	……
					Demanded speed of engine	1200	1500	2000

And S102, responding to the request of external intervention torque, and distributing required power based on the working parameters, the working mode and the current SOC of the power battery.

In this step, in response to a request for external intervention torque, allocation of the required power is performed based on the operating parameters, the operating mode, and the current SOC of the power battery. The external intervention torque here needs to be translated to the drive motor end and is denoted by T _ external.

In this step, first, it is necessary to determine whether a request for external intervention torque is received, and when the request for external intervention torque is received and responded, the magnitude between the external intervention torque T _ external and the driving motor required torque T _ TM _ request is compared to identify a request for torque reduction and torque increase, and the required power is redistributed based on the comparison result. Specifically, the method comprises the following steps:

when the external intervention torque T _ external is equal to or less than the driving motor required torque T _ TM _ request, that is, a torque down request, the required power is redistributed.

Further, before the required power is redistributed, the current SOC of the power battery needs to be determined, specifically: comparing the current SOC (C _ SOC _ act) of the power battery with the minimum value of C _ SOC _1 and C _ SOC _ uplim, wherein C _ SOC _1 is a first threshold value of SOC, and since the SOC of the power battery is in normal distribution based on the SOC median control logic and the user big data analysis result of the hybrid vehicle 100, for example, the SOC at the position of a user big data normal distribution mu +3 sigma can be taken as C _ SOC _1, the SOC at the position of mu-3 sigma can be taken as C _ SOC _2, and the C _ SOC _1 and the C _ SOC _2 are fed back to a controller of the vehicle in real time through a cloud platform; c _ SOC _ uplim is the upper SOC limit that can be used, determined by the battery hardware and protection strategy.

(1) If the current SOC (namely C _ SOC _ act >) of the power battery is min (C _ SOC _1 and C _ SOC _ uplim), executing first distribution of required power, wherein in the first distribution:

first, the power demand of the engine is redistributed

P _ engine _ request1 is T _ external N _ TM _ act/9550+ P _ compt, where P _ engine _ request1 is the engine demand power after demand power redistribution;

secondly, obtaining the engine required torque based on the distributed engine required power, namely T _ engine _ request1, P _ engine _ request1, 9550 and N _ engine _ request1, wherein the redistributed engine required speed N _ engine _ request1 can be obtained by looking up a table according to the economy table obtained in the step S101; the engine fast-torque request is also issued after the engine required torque is acquired, so that the engine 10 issues the fast-torque request when the SOC threshold value is out, and the overcharge and the over-discharge of the power battery 50 can be avoided.

Finally, the distributed torque required by the driving motor is reset, namely

T_TM_request1＝T_external。

(2) And if the current SOC of the power battery is C _ SOC _ act < min (C _ SOC _1, C _ SOC _ uplim), executing second required power distribution, wherein in the second distribution:

first, the power demand of the engine is reset

The P _ engine _ request1 is P _ engine _ request, wherein the P _ engine _ request1 is the engine power demand after the power demand is redistributed;

secondly, resetting the engine demanded speed namely

The N _ engine _ request1 is N _ engine _ request, wherein N _ engine _ request1 is the engine required rotating speed after the required power is redistributed;

finally, the distributed required torque of the driving motor is reset, namely

T _ TM _ request1 is T _ external, where T _ TM _ request1 is the redistributed drive motor required torque.

When the torque reduction request is higher than a certain SOC threshold value, the required power of the engine is reduced to meet the torque reduction requirement of the whole vehicle, the battery is effectively protected, and the battery is prevented from being overcharged; when the power is lower than the SOC threshold value, the power required by the engine, namely the stability of the working condition point of the engine, is maintained so as to meet the economy of the whole vehicle.

It should be noted that the SOC control threshold of the power battery 50 used in the required power redistribution may be determined according to a user big data analysis technique, and the operating points of the engine 10 and the driving motor 20 are controlled according to the difference of the current SOC of the power battery, so as to realize the greatest possible improvement of the economy within the controllable range of the power battery 50 by using the user big data analysis result to feed back in real time.

When the external intervention torque T _ external is greater than the drive motor request torque T _ TM _ request, i.e., a torque-up request, the required power is redistributed.

Further, before the required power is redistributed, the current SOC of the power battery needs to be judged, specifically, the current SOC of the power battery, i.e. C _ SOC _ act, is judged to be compared with the maximum values of C _ SOC _1 and C _ SOC _ lowlim, where C _ SOC _ lowlim is the lower SOC limit that can be used and is determined by the battery hardware and the protection strategy.

(1) If the current SOC of the power battery, namely C _ SOC _ act < max (C _ SOC _2, C _ SOC _ lowlim), executing third distribution of required power, wherein in the third distribution:

first, the power demand of the engine is redistributed

P _ engine _ request1 ═ T _ external × N _ TM _ act/9550+ P _ compt, where P _ engine _ request1 is the engine power demand after redistribution;

secondly, obtaining the engine required torque based on the redistributed engine required power, namely, T _ engine _ request1, P _ engine _ request1, 9550 and N _ engine _ request1, wherein the redistributed engine required speed N _ engine _ request1 can be obtained by looking up a table according to the economy table obtained in the step S101; the engine fast-torque request is also issued after the engine required torque is acquired, so that the engine 10 issues the fast-torque request when the SOC threshold value is out, and the overcharge and the over-discharge of the power battery 50 can be avoided.

Finally, the distributed required torque of the driving motor is reset, namely

(2) If the current SOC of the power battery, namely C _ SOC _ act > max (C _ SOC _2, C _ SOC _ lowim), a fourth allocation of the required power is performed, in which fourth allocation:

first, the power demand of the engine is redistributed

P _ engine _ request1 is P _ engine _ request, where P _ engine _ request1 is the engine power demand after redistribution;

secondly, resetting the engine demanded speed namely

N _ engine _ request1 is N _ engine _ request, where N _ engine _ request1 is the engine demanded speed after redistribution;

finally, the distributed engine required torque and the driving motor required torque are reset, namely

T _ engine _ request1 ═ T _ engine _ request, where T _ engine _ request1 is the engine torque demand after the redistribution;

When the torque increasing request is lower than a certain SOC threshold value, the required power of the engine is increased to meet the torque increasing requirement of the whole vehicle, and a power battery is effectively protected to prevent the over-discharge of the battery; when the SOC is higher than the SOC threshold value, the required power of the engine, namely the stability of the working condition point of the engine, is maintained so as to meet the economy of the whole vehicle.

Further, if the request for external intervention torque is not received, an engine torque/rotational speed request, a drive motor torque request, or the like is sent to the relevant actuator.

For the hybrid vehicle 100 in the parallel mode, a similar control manner is adopted, so that the engine operation operating point is guaranteed to be smooth to the maximum extent on the basis of guaranteeing that the wheel end torque meets the external intervention torque, as shown in fig. 5, and the vehicle control method comprises the following steps:

s201, obtaining the working parameters of the hybrid vehicle in the current state.

In this step, the operating parameters of the hybrid vehicle in the current state are acquired. During the normal running of the hybrid vehicle 100 based on the parallel mode, the operating parameters of the hybrid vehicle 100 in the current state are monitored and acquired by means of sensors or the like on the hybrid vehicle 100.

The operating parameters include, for example, parameter signals such as an engine required torque T _ engine _ request, a driving motor required torque T _ TM _ request, an engine actual torque T _ engine _ act, a driving motor actual torque T _ TM _ act, a driving motor actual rotation speed N _ TM _ act, a power battery current SOC C _ SOC _ act, a vehicle accessory power P _ comp, and a transmission ratio from the engine 10 to the driving motor 20, i.e., tas _ eng2 TM.

And S202, responding to the request of external intervention torque, and distributing the required torque based on the working parameters, the working mode and the current SOC of the power battery.

In this step, in response to an externally applied torque, a distribution of the required power and/or the required torque is performed based on the operating parameter, the operating mode, and the current SOC of the power battery. The external intervention torque here needs to be translated to the drive motor end and is denoted by T _ external.

In this step, it is first determined whether a request for external intervention torque is received, and when the request for external intervention torque is received and responded, the magnitude of the external intervention torque T _ external and the driving motor required torque T _ TM _ request are compared to identify torque down and torque up requests, and the required torque is redistributed based on the comparison result. Specifically, the method comprises the following steps:

and when the external intervention torque T _ external is less than or equal to the driving motor required torque T _ TM _ request, redistributing the required torque.

Further, before the required torque is redistributed, the current SOC of the power battery needs to be judged, specifically, the current SOC of the power battery, i.e. C _ SOC _ act, is compared with the minimum value of C _ SOC _1 and C _ SOC _ uplim, where C _ SOC _1 is a first threshold value of SOC, and since the SOC of the power battery is in a normal distribution based on the SOC median control logic of the hybrid vehicle 100 and the user big data analysis result, for example, the SOC at μ +3 σ of the user big data normal distribution may be C _ SOC _1, and the SOC at μ -3 σ may be C _ SOC _2, where C _ SOC _1 and C _ SOC _2 are fed back to the controller through the cloud platform in real time; c _ SOC _ uplim is the upper SOC limit that can be used, determined by the battery hardware and the protection strategy.

(1) If the current SOC of the power battery, namely C _ SOC _ act, is min (C _ SOC _1, C _ SOC _ uplim), the first distribution of the required torque is executed, and the required torque of the engine and the required torque of the driving motor are redistributed in the first distribution, specifically:

firstly, the required engine torque is redistributed, namely T _ engine _ request1 is T _ external/Tans _ eng2TM + P _ compt 9550/N _ engine _ act, wherein T _ engine _ request1 is the redistributed required engine torque; the method comprises the steps of sending an engine fast-twisting request after obtaining the engine required torque, thus sending the fast-twisting request when the engine 10 is out of the SOC threshold value, and avoiding the overcharge and the over-discharge of the power battery 50;

then, the driving motor required torque, i.e., T _ TM _ request1 is redistributed to T _ external-T _ engine _ act _ tas _ eng2TM-T _ TM _ request, where T _ TM _ request1 is the redistributed engine required torque.

(2) If the current SOC of the power battery, i.e. C _ SOC _ act < min (C _ SOC _1, C _ SOC _ uplim), a second distribution of the required torque is performed, in which the engine required torque and the drive motor required torque are redistributed, specifically:

first, the engine torque demand is redistributed

It should be noted that the SOC control threshold of the power battery 50 used in the required torque redistribution may be determined according to a user big data analysis technique, and the operating points of the engine 10 and the driving motor 20 are controlled according to the difference of the current SOC of the power battery, so as to achieve the greatest possible improvement of the economy within the controllable range of the power battery 50 by using the user big data analysis result to feed back in real time.

And when the external intervention torque T _ external is greater than the driving motor demand torque T _ TM _ request, redistributing the demand torque.

Further, before the required torque is redistributed, the current SOC of the power battery needs to be judged, specifically, the current SOC of the power battery, namely C _ SOC _ act, is judged to be compared with the maximum value of C _ SOC _1 and C _ SOC _ lowlim, wherein C _ SOC _ lowlim is the lower limit of the usable SOC determined by the battery hardware and the protection strategy.

(1) If the current SOC of the power battery, i.e., C _ SOC _ act < > max (C _ SOC _2, C _ SOC _ lowim), a third power split is performed in which the engine demand torque and the drive motor demand torque are redistributed, specifically:

first, the engine torque demand is redistributed

The T _ engine _ request1 is T _ external/Tans _ eng2TM + P _ compt 9550/N _ engine _ act, wherein the T _ engine _ request1 is the engine required torque after being redistributed; the method comprises the steps that an engine fast-twisting request is sent out simultaneously after engine required torque is obtained, so that the engine 10 sends out the fast-twisting request when the engine is out of an SOC threshold value, and overcharge and overdischarge of a power battery 50 can be avoided;

then, the torque required by the drive motor is redistributed

T _ TM _ request1, T _ external-T _ engine _ act _ tas _ eng2TM-T _ TM _ request, T _ TM _ request1 is the drive motor torque demand after redistribution.

(2) If the current SOC of the power cell, i.e. C _ SOC _ act > max (C _ SOC _2, C _ SOC _ lowlim), a fourth distribution of the required torque is performed, in which the engine required torque and the drive motor required torque are redistributed, in particular:

first, the engine torque demand is redistributed

The T _ engine _ request1 is T _ engine _ request, wherein T _ engine _ request1 is the engine required torque after redistribution;

then, the torque required by the drive motor is redistributed

T _ TM _ request1 is T _ external-T _ engine _ act _ tas _ eng2TM-T _ TM _ request, where T _ TM _ request1 is the redistributed drive motor required torque.

For the hybrid vehicle 100 in the electric-only mode that directly changes a driving torque request to an external intervention torque request due to the direct drive of the driving motor 20, satisfying a safety requirement, as shown in fig. 6, the vehicle control method includes:

and S301, acquiring the working parameters of the hybrid vehicle in the current state.

In this step, the operating parameters of the hybrid vehicle in the current state are acquired. When the hybrid vehicle 100 is in the pure electric mode and is in a normal running process, the operating parameters of the hybrid vehicle 100 in the current state are monitored and acquired through devices such as sensors on the hybrid vehicle 100.

The operating parameters include, for example, parameter signals such as a driving motor required torque, i.e., T _ TM _ request, a driving motor actual torque, i.e., T _ TM _ act, a driving motor actual rotation speed, i.e., N _ TM _ act, a power battery current SOC, i.e., C _ SOC _ act, and a vehicle accessory power, i.e., P _ compact.

And S302, responding to the request of external intervention torque, and distributing the required torque based on the working parameters, the working mode and the current SOC of the power battery.

In this step, in response to a request for external intervention torque, a distribution of the required power and/or the required torque is made based on the operating parameters, the operating mode and the current SOC of the power battery. The externally applied torque here needs to be translated to the drive motor end and is denoted by T _ external.

In this step, first, it is necessary to determine whether or not a request for external intervention torque is received, and when the request for external intervention torque is received and responded, the required torque is redistributed, that is, the required torque is redistributed

T _ TM _ request1 is T _ external, where T _ TM _ request1 is the redistributed drive motor torque demand.

A second embodiment of the present disclosure relates to an external intervention torque based vehicle control device comprising an acquisition module and a distribution module coupled to each other, wherein:

the acquisition module is used for acquiring the working mode and working parameters of the hybrid vehicle in the current state;

the distribution module is used for responding to the external intervention torque request and distributing the required power and/or the required torque based on the working parameters, the working mode and the current SOC of the power battery.

Further, the working mode is any one of a series mode, a parallel mode or a pure electric mode.

The distribution module comprises a first distribution unit, and is used for executing the distribution of the first required power and sending out an engine quick-torque request when the current SOC of the power battery is greater than or equal to a first threshold value and executing the distribution of the second required power when the current SOC of the power battery is less than the first threshold value under the condition that the working mode is a series mode and the external intervention torque is less than or equal to the required torque of the driving motor.

Further, under the condition that the external intervention torque is larger than the required torque of the driving motor, when the current SOC of the power battery is smaller than or equal to a second threshold value, the third required power is distributed and an engine quick-torque request is sent out, and when the current SOC of the power battery is larger than the second threshold value, the fourth required power is distributed.

The distribution module comprises a second distribution unit, and the second distribution unit is used for executing distribution of first required torque and sending out an engine quick torque request when the current SOC of the power battery is greater than or equal to a first threshold value and executing distribution of second required torque when the current SOC of the power battery is less than the first threshold value under the condition that the working mode is a parallel mode and the external intervention torque is less than or equal to the required torque of the driving motor.

Further, under the condition that the external intervention torque is larger than the required torque of the driving motor, when the current SOC of the power battery is smaller than or equal to a second threshold value, the third required torque is distributed and an engine quick-torque request is sent out, and when the current SOC of the power battery is larger than the second threshold value, the fourth required torque is distributed.

The distribution module comprises a third distribution unit for performing distribution of the torque required by the drive motor in case the operation mode is an electric-only mode.

A third embodiment of the present disclosure provides a storage medium, which is a computer-readable medium storing a computer program that, when executed by a processor, implements the method provided by the first embodiment of the present disclosure, including the following steps S11 to S12:

s11, acquiring the working mode and working parameters of the hybrid vehicle in the current state;

and S12, responding to the external intervention torque request, and distributing the required power and/or the required torque based on the working parameters, the working mode and the current SOC of the power battery.

Further, the computer program realizes the other methods provided by the first embodiment of the disclosure when being executed by the processor

The vehicle running mode is divided into series connection, parallel connection and pure electric to be controlled respectively, different external torque intervention control modes can be executed according to different modes of the whole vehicle under the condition that cost is not increased and hardware is not changed, different control modes are further selected according to different requests of torque rising/falling, in addition, reliability and safety are guaranteed while the maximum capacity of a power battery is fully utilized, and NVH and drivability differences caused by changes of engine working points are reduced as much as possible.

A fourth embodiment of the present disclosure provides an electronic device, which includes at least a memory and a processor, the memory having a computer program stored thereon, the processor implementing the method provided by any of the embodiments of the present disclosure when executing the computer program on the memory. Illustratively, the electronic device computer program steps are as follows S21-S22:

s21, acquiring the working mode and working parameters of the hybrid vehicle in the current state;

and S22, responding to the external intervention torque request, and distributing the required power and/or the required torque based on the working parameters, the working mode and the current SOC of the power battery.

Further, the processor also executes the computer program in the third embodiment described above

The storage medium may be included in the electronic device; or may exist separately without being assembled into the electronic device.

The storage medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: acquiring at least two internet protocol addresses; sending a node evaluation request comprising at least two internet protocol addresses to node evaluation equipment, wherein the node evaluation equipment selects the internet protocol addresses from the at least two internet protocol addresses and returns the internet protocol addresses; receiving an internet protocol address returned by the node evaluation equipment; wherein the obtained internet protocol address indicates an edge node in the content distribution network.

Alternatively, the storage medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: receiving a node evaluation request comprising at least two internet protocol addresses; selecting an internet protocol address from at least two internet protocol addresses; returning the selected internet protocol address; wherein the received internet protocol address indicates an edge node in the content distribution network.

Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the passenger computer, partly on the passenger computer, as a stand-alone software package, partly on the passenger computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the passenger computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It should be noted that the storage media described above in this disclosure can be computer readable signal media or computer readable storage media or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any storage medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other embodiments in which any combination of the features described above or their equivalents does not depart from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

While the present disclosure has been described in detail with reference to the embodiments, the present disclosure is not limited to the specific embodiments, and those skilled in the art can make various modifications and alterations based on the concept of the present disclosure, and the modifications and alterations should fall within the scope of the present disclosure as claimed.

Claims

1. A method of vehicle control based on externally applied intervention torque, comprising:

2. The vehicle control method according to claim 1, characterized in that the operation mode is any one of a series mode, a parallel mode, or an electric-only mode.

3. The vehicle control method according to claim 2, wherein the allocating, in response to the request for the external intervention torque, the required power and/or the required torque based on the operating parameter, the operating mode, and the current SOC of the power battery includes:

4. The vehicle control method according to claim 3, characterized in that in the case where the externally involved torque is larger than the drive motor required torque, the allocation of the required power for the third time and the engine torque request are executed when the current SOC of the power battery is equal to or smaller than a second threshold value, and the allocation of the required power for the fourth time is executed when the current SOC of the power battery is larger than the second threshold value.

5. The vehicle control method according to claim 2, wherein the allocating, in response to the request for the external intervention torque, the required power and/or the required torque based on the operating parameter, the operating mode, and the current SOC of the power battery includes:

and under the condition that the working mode is a parallel mode and the external intervention torque is less than or equal to the required torque of the driving motor, when the current SOC of the power battery is greater than or equal to a first threshold value, executing the distribution of the first required torque and sending out an engine quick-torque request, and when the current SOC of the power battery is less than the first threshold value, executing the distribution of the second required torque.

6. The vehicle control method according to claim 5, characterized in that in the case where the externally involved torque is larger than the drive motor required torque, the allocation of the third required torque is executed and the engine torque request is issued when the power battery current SOC is equal to or smaller than a second threshold, and the allocation of the fourth required torque is executed when the power battery current SOC is larger than the second threshold.

7. The vehicle control method according to claim 2, wherein the allocating, in response to the request for the external intervention torque, the required power and/or the required torque based on the operating parameter, the operating mode, and the current SOC of the power battery includes:

in the case where the operation mode is the electric only mode, the distribution of the required torque of the drive motor is performed.

8. A vehicle control apparatus based on externally applied torque, comprising:

9. 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 7 when executed by a processor.

10. An electronic device comprising at least a memory, a processor, the memory having a computer program stored thereon, characterized in that the processor realizes the steps of the method of any one of claims 1 to 7 when executing the computer program on the memory.