WO2023134397A1 - Dual-motor vehicle control method and apparatus - Google Patents

Abstract

The present application discloses a dual-motor vehicle control method and apparatus. The method comprises: when a vehicle is in a warm-up state, controlling the vehicle to operate in a series mode, acquiring an initial demand power of the engine, and determining whether the initial demand power is greater than or equal to a power value corresponding to a warm-up curve of the engine; on the basis of a determination result being that the initial demand power is greater than or equal to the power value corresponding to the warm-up curve of the engine, controlling the engine to output a first target power, and controlling the battery to output a limit target discharge power, the first target power being a difference between the initial demand power and the limit target discharge power; on the basis of the determination result being that the initial demand power is less than the power value corresponding to the warm-up curve of the engine, controlling the engine to output a second target power, and outputting a limit target charging power to the battery, the second target power being a sum of the limit target charging power and the initial demand power.

Description

Dual-motor vehicle control method and device

This application claims priority to a Chinese patent application with application number 202210027502.8 filed with the China Patent Office on January 11, 2022, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the field of vehicle control, for example, to a dual-motor vehicle control method and device.

Background technique

In response to the global demand for carbon dioxide emission reduction, dual-motor vehicles are gradually being developed and utilized. The dual-motor vehicle can work in three working modes, including pure electric mode, series mode and parallel mode, and can switch modes automatically according to the driving conditions of the vehicle to achieve better vehicle economy. The dual-motor hybrid powertrain of a dual-motor vehicle is mainly composed of an engine, a generator, and a drive motor.

The normal operating temperature of the engine is between 90 and 110 degrees Celsius. Before the operating temperature is reached, due to the low temperature of the oil supply system, the gasoline cannot be completely vaporized effectively. In this state, it is not easy to burn and start the engine Therefore, during the cold start of the car, the exhaust emissions are very serious. When the vehicle in the related art is started in cold weather, it often needs to be warmed up for a period of time.

However, in the current dual-motor vehicle control method, when the engine is started, and the engine itself has a warm-up requirement or the water temperature is low, in order to ensure the engine emission requirements, the operating point of the engine is generally controlled to change with the engine water temperature or catalyst temperature. The power of the power battery is low or the discharge capacity of the power battery is weak, and when the driver needs a large power, the power of the power battery may be too low or over-discharged. When the power of the power battery is high or the charging capacity of the power battery is weak, and the power required by the driver is small, the power of the power battery may be too high or overcharged.

Contents of the invention

The embodiment of the present application provides a dual-motor vehicle control method and device to adjust the target power of the engine in the dual-motor vehicle, so that the target power output by the engine can not only meet the driver's needs, but also complete the vehicle warm-up, reducing the need for warm-up. Exhaust emissions during the process.

In the first aspect, the embodiment of the present application provides a dual-motor vehicle control method, including:

In the warm-up condition of the vehicle, the vehicle is controlled to work in series mode; the series mode includes the engine and battery supplying power to the drive motor or the engine simultaneously supplying power to the drive motor and battery;

Obtain the initial required power of the engine;

Determine whether the initial demand power is greater than or equal to the power value corresponding to the warm-up curve of the engine; if so, control the engine to output the first target power, and control the battery output to limit the target discharge power; the first target power is the initial demand power and the limit target discharge power If not, control the engine to output the second target power, and output the limited target charging power to the battery; the second target power is the sum of the limited target charging power and the initial demand power; the first target power and the second The difference between the target power and the power value corresponding to the warm-up curve is smaller than the set threshold.

In the second aspect, the embodiment of the present application provides a dual-motor vehicle control device, including:

The warm-up module is set to control the vehicle to work in the series mode in the warm-up condition of the vehicle; the series mode includes the engine and the battery supplying power to the driving motor or the engine simultaneously supplying power to the driving motor and the battery;

The required power acquisition module is configured to obtain the initial required power of the engine;

The power comparison module is configured to judge whether the initial demand power is greater than or equal to the power value corresponding to the warm-up curve of the engine;

The first control module is configured to control the engine to output the first target power when the initial demand power is greater than or equal to the power value corresponding to the warm-up curve of the engine, and control the battery output to limit the target discharge power; the first target power is the initial demand power The difference between the limit target discharge power;

The second control module is configured to control the engine to output the second target power when the initial required power is less than the power value corresponding to the warm-up curve of the engine, and output the limited target charging power to the battery; the second target power is the limited target charging power The sum of the initial required power; the difference between the first target power and the second target power and the power value corresponding to the warm-up curve are all smaller than the set threshold.

Description of drawings

FIG. 1 is a flow chart of a method for controlling a dual-motor vehicle provided in an embodiment of the present application;

Fig. 2 is a flow chart of another dual-motor vehicle control method provided by the embodiment of the present application;

FIG. 3 is a schematic structural diagram of a dual-motor vehicle control device provided in an embodiment of the present application;

Fig. 4 is a schematic structural diagram of a powertrain of a dual-motor vehicle provided in an embodiment of the present application.

Detailed ways

Fig. 1 is a flow chart of a method for controlling a dual-motor vehicle provided in an embodiment of the present application. The method can be used to control engine power when the dual-motor vehicle is warming up. As shown in Fig. 1 , the method includes:

S110. In the warm-up condition of the vehicle, control the vehicle to work in a series mode; the series mode includes that the engine and the battery supply power to the drive motor or the engine supplies power to the drive motor and the battery at the same time.

In a dual-motor vehicle, when the battery power is sufficient, that is, the power battery is sufficient, the vehicle speed and the driver's demand power are small, the vehicle is in pure electric mode, the engine is stopped, and the vehicle is driven by the drive motor. The energy of the drive motor comes entirely from the power battery. ;As the power demanded by the driver increases, the engine starts through the generator at this time, and drives the generator to generate electricity together with the power battery as the energy source for driving the motor, or provides power to the drive motor and charges the power battery at the same time. Series mode; when the vehicle speed continues to increase and the driver's demand torque decreases, the clutch is engaged, the engine is directly driven to participate in the drive, and the drive motor generates power according to the power battery power and engine load. When the driver's demand torque is greater than the upper limit of the engine economic zone or the engine When the response is slow, the motor is driven to assist, and the vehicle is in parallel mode at this time. Under coasting braking conditions, the pure electric mode drives the motor to recover energy, the engine stops, and the clutch is in a disconnected state; in the series mode, the drive motor performs energy recovery, the engine drives the generator to generate electricity or the generator reverses when the fuel is cut off, and the clutch In the disconnected state; in parallel mode, energy is recovered by the drive motor, the engine is in the state of oil cut-off or power generation, and the clutch is in the engaged state. In the warm-up condition, the engine needs to be controlled to run at a higher speed, and at this time, the vehicle is controlled to work in series mode.

The technical solution provided by the embodiment of the present application controls the vehicle to work in series mode in the warm-up mode, so as to reduce the exhaust emission during the warm-up process under the condition that the driver's control demand can be realized.

S120. Obtain the initial required power of the engine.

The initial required power of the engine refers to: in order to meet the driving needs of the driver, it is necessary to control the power achieved by the engine.

For example, obtaining the initial required power of the engine includes:

Obtain the initial required power of the engine U0=U1+U2+U3-U4; among them, U1 is the driver's required power; U2 is the accessory power; U3 is the battery power generation; U4 is the battery discharge power.

Among them, battery power generation = Max (power generation in SOC balance power, forced power generation); U4 is battery discharge power = Max (discharge power in SOC balance power, forced discharge power), that is, battery power generation is SOC balance power The larger value among the medium power generation power and the forced power generation power; the battery discharge power is the larger value among the discharge power and the forced discharge power of the SOC balance power. The SOC balance power is calculated through the one-dimensional lookup table of the difference between the power battery power and the median power battery power. When the power battery power is greater than or equal to the power battery median value, there is a discharge demand, and the state of charge (State of Charge, The discharge power in the SOC balance power is positive; when the power of the power battery is less than the median value of the power battery, there is a demand for power generation, and the power generation in the SOC balance power is calculated as negative, and the absolute value is taken for calculation with the forced power generation. Among them, the median power of the power battery can be set according to the battery temperature and vehicle speed, the forced power generation and forced discharge power are both positive values, the accessory power is positive, and the driver's demand power can be positive or negative.

For example, the driver’s required power U1=Eng*n _TM /T/9550; where, Eng is the driver’s required torque; n _TM is the speed of the drive motor; T is the main reduction ratio;

Accessory power includes the sum of DCDC output power and air conditioner power.

Among them, the driver's demand torque is calculated from the accelerator pedal opening and the vehicle speed two-dimensional look-up table, and the drive motor speed is reported by the drive motor controller.

Wherein, the DCDC output power is calculated from the DCDC output voltage and current, and the DCDC output voltage and current are reported by the DCDC controller. Air conditioner power refers to the cooling power of the air conditioner, and generally refers to the total power consumed within a certain period of time when the air conditioner is in cooling operation.

The main reduction ratio refers to the gear transmission ratio of the main reducer in the car drive axle, which is equal to the rotational angular velocity of the drive shaft to the rotational angular velocity of the upper axle half shaft.

In addition, the driver's demand power in the above data is mechanical power, which needs to be converted into electrical power before calculation. The DCDC output power is the electric power reported by the DCDC controller, which can be directly used for calculation.

Among them, the median value of power battery power can be set according to the battery temperature and vehicle speed. The median value is shifted downward by the first offset value to obtain the lower limit of battery power assistance, and the median value is shifted upward by the second offset value to obtain the upper limit of battery charging and force the power generation threshold. = battery assist lower limit - hysteresis value, when the battery power is less than or equal to the forced power generation threshold, the forced power generation power is calculated from the one-dimensional look-up table of the difference between the battery power and the forced power generation threshold. Forced discharge threshold = battery charging upper limit + hysteresis value. When the battery power is greater than or equal to the forced discharge threshold, the forced discharge power is calculated from the one-dimensional look-up table of the difference between the battery power and the forced discharge threshold. Under normal circumstances, the battery power is controlled between the battery assist lower limit and the battery charging upper limit, and the forced discharge power is generally 0. Among them, the battery power and temperature are reported by the battery controller.

S130. Determine whether the initial required power is greater than or equal to the power value corresponding to the warm-up curve of the engine; if yes, execute S140; if not, execute S150.

For example, after the required power acquisition module obtains the initial required power of the engine, that is, the initial required power, it can send the initial required power to the power comparison module, and the power comparison module determines whether the initial required power is greater than or equal to the power corresponding to the warm-up curve of the engine value.

Among them, the engine warm-up curve can include the engine water temperature or catalyst temperature and the corresponding engine warm-up basic power, and the power comparison module can calculate the engine warm-up basic power according to the one-dimensional lookup table of the engine water temperature or catalyst temperature The power is electric power, and the engine water temperature or catalyst temperature is reported by the engine controller.

For example, the power comparison module determines the initial engine demand power and the engine warm-up base power corresponding to the engine water temperature or catalyst temperature at this time, if the initial demand power is greater than or equal to the engine warm-up base power, that is, the power value corresponding to the engine warm-up curve, then A first control signal may be sent to the first control module, where the first control signal is used to control the first control module to execute S140.

The initial demand power is greater than or equal to the power value corresponding to the warm-up curve of the engine, which may include the following situations, for example: when the driver accelerates with a large accelerator, the driver needs a large power, the highest can reach more than 100kW, while the basic power of the engine warm-up is average Set it below 15kW. At this time, the initial power demand of the engine is much greater than the basic power of the engine warm-up.

If the power comparison module judges that the initial demand power is less than the engine warm-up base power, that is, the power value corresponding to the engine warm-up curve, it can send a second control signal to the second control module, and the second control signal is used to control the second control module to execute S150.

The initial demand power is less than the engine warm-up base power, that is, the power value corresponding to the engine warm-up curve can include the following situations, for example: when crawling on flat roads, the driver's demand power is generally within 2kW, and the power of accessories is used without high-power accessories At this time, the initial demand power of the engine is less than the basic power of the engine warm-up; in the energy recovery condition, the driver demand power is negative, and the initial power demand of the engine is also less than the basic power of the engine warm-up.

S140. Control the engine to output a first target power, and control the battery to output a limited target discharge power; the first target power is a difference between the initial demand power and the limited target discharge power.

It can be understood that when the initial power demand of the engine is greater than or equal to the power value corresponding to the warm-up curve of the engine, the power value corresponding to the warm-up curve is not enough to meet the driving needs of the driver. At this time, the engine is prioritized to work on the engine warm-up curve In addition, the part with insufficient power can be provided by the discharge of the power battery.

For example, after receiving the first control signal, the first control module calculates the difference between the initial required power and the limited target discharge power, and outputs the difference as the first target power.

S150. Control the engine to output the second target power, and output the limited target charging power to the battery; the second target power is the sum of the limited target charging power and the initial demand power; the first target power and the second target power correspond to the warm-up curve The differences of the power values are all smaller than the set threshold.

It can be understood that when the initial power demand of the engine is less than the power value corresponding to the warm-up curve of the engine, the power value corresponding to the warm-up curve can meet the driving needs of the driver. At this time, the engine is also given priority to work on the engine warm-up curve. The rest of the power can be driven by the engine to generate electricity to charge the power battery.

For example, after receiving the second control signal, the second control module calculates the sum of the initial required power and the limited target charging power, and outputs the sum as the second target power.

In addition, the difference between the first target power and the second target power and the power value corresponding to the warm-up curve is smaller than the set threshold. That is to say, on the premise of satisfying the driver's driving needs, the first target power and the second target power should be as close as possible to the power value corresponding to the warm-up curve, that is, the vehicle warm-up demand should be met as much as possible to control the warm-up process. exhaust emissions.

After the calculation of the first target power or the second target power is completed, the engine speed request in the series mode is obtained through the power speed one-dimensional look-up table calculation, and the engine torque request in the series mode is obtained by power * 9550/engine speed request, and finally the vehicle control unit passes Sending torque, rotating speed braking control engine to work at the corresponding working point.

For example, when the engine itself has no need to warm up or the water temperature is high, the vehicle control unit can control the vehicle to exit the warm-up function to realize the intelligent warm-up process. The warm-up function can reduce exhaust emissions when the engine itself needs to be warmed up or the water temperature is low.

In the technical solution provided by the embodiment of the present application, when the vehicle is in the warm-up condition, control the vehicle to work in series mode, obtain the initial required power of the engine, and determine whether the initial required power is greater than or equal to the power value corresponding to the warm-up curve of the engine; If so, control the engine to output the first target power, and control the battery to output the limited target discharge power; if not, control the engine to output the second target power, and output the limited target charging power to the battery, which can satisfy the driver's needs. Control the engine to follow the power value corresponding to the warm-up curve to the greatest extent, and complete the vehicle warm-up work to the maximum extent, thereby controlling the vehicle's vehicle emissions, and effectively protecting the engine to avoid engine damage.

Fig. 2 is a flow chart of another dual-motor vehicle control method provided by the embodiment of the present application. The method is further refined on the basis of the above-mentioned embodiment. Referring to Fig. 2, it may include:

S210. In the warm-up condition of the vehicle, control the vehicle to work in a series mode; the series mode includes that the engine and the battery supply power to the drive motor or the engine supplies power to the drive motor and the battery at the same time.

S220. Obtain the initial required power of the engine.

S230. Determine whether the initial required power is greater than or equal to the power value corresponding to the warm-up curve of the engine; if yes, execute S240, and then execute S250; if not, execute S260, and then execute S270.

S240. Obtain the target discharge power of the battery; the target discharge power is the difference between the initial demand power and the power value corresponding to the warm-up curve; limit the target discharge power according to the battery power and the battery discharge capacity of the warm-up working condition, and obtain Limit the target discharge power; the limit target discharge power is less than or equal to the battery discharge capacity in the warm-up condition.

Wherein, the target discharge power of the battery is the difference between the initial required power and the power value corresponding to the warm-up curve. The target discharge power of the battery can be obtained by the first target power module. The discharge power of the battery, that is, the discharge capacity, is related to factors such as battery power and battery temperature. The first power limiting module can limit the target discharge power according to the battery power and battery discharge capacity under warm-up conditions, and obtain the limited target discharge power. The discharge capacity of the battery in the warm-up condition is the maximum discharge power of the battery in the warm-up condition. It can be understood that the limited target discharge power should be within the range of the maximum discharge power of the battery.

For example, if the discharge capacity of the battery in the warm-up condition is greater than or equal to the target discharge power of the battery, the limited target discharge power is equal to the target discharge power of the battery, and the first target power is the power value corresponding to the warm-up curve of the engine.

Among them, if the battery discharge capacity of the battery in the warm-up condition can meet the target discharge power of the battery, that is, the battery discharge capacity at this time is greater than or equal to the target discharge power at this time, then the target discharge power at this time can be used as the limit target discharge Power, correspondingly, the first target power at this time should be the power value corresponding to the warm-up curve of the engine.

For example, if the battery discharge capacity of the battery in the warm-up condition is less than the target discharge power of the battery, the limited target discharge power is equal to the battery discharge capacity of the battery in the warm-up condition.

Wherein, if the discharge capacity of the battery in the warm-up condition of the battery cannot meet the target discharge power of the battery. That is, the discharge capacity of the battery at this time is smaller than the target discharge power at this time, and the discharge capacity of the battery at this time, ie, the maximum discharge power of the battery, can be used as the limited target discharge power. Correspondingly, the first target power at this time should be the difference between the initial required power of the engine and the maximum discharge power of the battery.

For example, limiting the target discharge power according to the battery power and the battery discharge capacity in warm-up conditions, and obtaining the limited target discharge power may include:

Set the median value of battery power according to the battery power and vehicle speed; obtain the lower limit of battery assist according to the median value of battery power;

If the power of the battery is greater than or equal to the lower limit of battery assist, the discharge capacity of the battery in the warm-up condition is the battery discharge capacity; if the power of the battery is less than the lower limit of the battery assist, the discharge capacity of the battery in the warm-up condition is zero.

Wherein, the median value of the battery power is set according to the battery temperature and the vehicle speed, and the median value of the battery power is shifted downward by the first offset value to obtain the lower limit of battery assist. The first offset value may be set according to actual conditions, which is not limited in this embodiment of the present application.

For example, when the battery power is greater than or equal to the battery assist lower limit, the battery discharge capacity in warm-up mode = battery discharge capacity * 1, that is, the battery discharge capacity in warm-up mode is the battery discharge capacity. When the battery power is less than the difference between the battery assist lower limit and the hysteresis value, the battery discharge capacity in the warm-up condition = the battery charge capacity * 0, that is, the battery discharge capacity in the warm-up condition is zero.

For example, battery discharge capacity Uf=Uf1-U2-Ut; among them, Uf1 is the discharge capacity of the power battery itself; U2 is the accessory power; Ut is the reserved power for speed regulation.

The reserved power for speed regulation is related to the discharge capacity of the battery itself, the engine speed and the actual power generated by the generator. The limited target discharge power=Min(warm-up condition battery discharge capacity, target discharge power), that is, the limited target discharge power is the smaller one of the warm-up condition battery discharge capacity and the target discharge power.

S250. Control the engine to output a first target power, and control the battery to output a limited target discharge power; the first target power is a difference between the initial demand power and the limited target discharge power.

For example, at this time, the first target power=the initial required power of the engine-Min (discharging capacity of the battery in warm-up condition, target discharging power).

S260. Obtain the target charging power of the battery; the target charging power is the difference between the power value corresponding to the warm-up curve and the initial required power; limit the target charging power according to the battery power and the charging capacity of the battery in the warm-up working condition, and obtain Limit the target charging power; limit the target charging power to be less than or equal to the charging capacity of the battery in the warm-up condition of the battery.

Wherein, the target charging power of the battery is the difference between the initial required power and the power value corresponding to the warm-up curve. The target charging power of the battery can be obtained by the second target power module. The charging power of the battery, that is, the charging capacity, is related to factors such as battery power and battery temperature. The second power limiting module can limit the target charging power according to the battery power and the charging capacity of the battery under warm-up conditions, and obtain the limited target charging power. The charging capacity of the battery in the warm-up condition is the maximum charging power of the battery in the warm-up condition. It can be understood that the limited target charging power should be within the range of the maximum charging power of the battery.

For example, if the charging capacity of the battery in warm-up condition is greater than or equal to the target charging power of the battery, then the limited target charging power is equal to the target charging power of the battery, and the second target power is the power value corresponding to the warm-up curve of the engine.

Among them, if the charging capacity of the battery in the warm-up condition of the battery can meet the target charging power of the battery, that is, the charging capacity of the battery at this time is greater than or equal to the target charging power at this time, then the target charging power at this time can be used as the limit target charging Power, correspondingly, the second target power at this time should be the power value of the warm-up curve of the engine warm-up.

For example, if the charging capacity of the battery in the warm-up condition of the battery is less than the target charging power of the battery, then limit the target charging power to be equal to the charging capacity of the battery in the warm-up condition of the battery.

Wherein, if the charging capacity of the battery in the warm-up condition of the battery cannot meet the target charging power of the battery. That is, if the charging capacity of the battery at this time is less than the target charging power at this time, the charging capacity of the battery at this time, ie, the maximum charging power of the battery, can be used as the limited target charging power. Correspondingly, the second target power at this time should be the difference between the initial required power of the engine and the maximum charging power of the battery.

For example, the target charging power is limited according to the battery power and the charging capacity of the battery under warm-up conditions, and the limited target charging power can be obtained, which may include:

Obtain the upper limit of battery charging according to the median value of battery power;

If the power of the battery is greater than or equal to the upper limit of battery charging, the charging capacity of the battery in the warm-up condition is zero; if the power of the battery is less than the upper limit of battery charging, the charging capacity of the battery in the warm-up condition is the battery charging capacity.

For example, when the initial required power of the vehicle engine is less than the power value corresponding to the warm-up curve of the engine, the vehicle battery needs to be charged. Calculate the target charging power according to the power value corresponding to the warm-up curve and the initial demand power. The target charging power is limited by considering the battery power and charging capability. The median value of the battery power is set according to the battery temperature and vehicle speed, and the median value is shifted upward by the second offset value to obtain the upper limit of battery charging. The second offset value can be set according to actual conditions, which is not limited in this embodiment of the present application.

For example, when the battery power is greater than or equal to the upper limit of battery charging, the battery charging capacity in warm-up condition = battery charging capacity * 0, that is, the battery charging capacity in warm-up mode is zero; when the battery power is less than the upper limit of battery charging and the hysteresis value When the difference is , the charging capacity of the battery in the warm-up condition = the charging capacity of the battery * 1, that is, the charging capacity of the battery in the warm-up condition is the charging capacity of the battery.

For example, battery charging capacity Uc=Uc1+U2-Ut; among them, Uc1 is the charging capacity of the power battery itself; U2 is the accessory power; Ut is the reserved power for speed regulation.

Among them, the charging capacity of the battery itself is reported by the battery controller itself, and the reserved power for speed regulation is related to the charging capacity of the battery itself, the engine speed and the actual power generated by the generator. The engine speed is reported by the engine controller, and the actual power generated by the generator is reported by the generator The torque and speed are calculated, and the generator torque and speed are reported by the generator controller. At this time, the limited target charging power=Min(warm-up condition battery charging capacity, target charging power), that is, the limited target charging power is the smaller value between the warm-up condition battery charging capacity and the target charging power.

S270. Control the engine to output the second target power, and output the limited target charging power to the battery; the second target power is the sum of the limited target charging power and the initial required power.

At this time, the second target power=Max(0, initial engine demand power+limited target charging power)=Max(0, engine initial demand power+Min(battery charging capacity in warm-up condition, target charging power)), and 0 The reason for the large-scale processing is that when the vehicle is in the coasting recovery condition, the initial engine demand power is generally negative, causing the second target power to be negative, and the warm-up condition should avoid negative engine target power, negative target power It will control the generator to back-drag the engine, and the engine will cut off fuel, which is not conducive to quickly completing the warm-up.

After the calculation of the engine target power is completed, the engine speed request in series mode is calculated through the power speed one-dimensional look-up table, and the engine torque request in series mode is obtained by power * 9550/engine speed request. Finally, the vehicle control unit sends the torque and speed braking Control the engine to work at the corresponding working point.

For example, when the electric power of the power battery is between the lower limit of battery assist and the upper limit of battery charging, the target power of the engine calculated above will not be adjusted, and try to ensure that the engine completes warm-up near the ideal warm-up curve. When it is higher than the forced discharge threshold, adjust the target power of the engine calculated above, and control the battery power between the forced power generation threshold and the forced discharge threshold while warming up the engine.

The technical solution provided by the embodiment of the present application obtains the limited target discharge power or limited target charging power according to the battery power and battery charge and discharge capacity, so as to calculate the first target power or the second target power, which can satisfy the driving needs of the driver. Next, consider the charging and discharging capacity of the battery, give priority to ensuring that the battery is used within the battery capacity, and then complete the vehicle warm-up work to the maximum extent, so as to control the vehicle's vehicle emissions.

Based on the same idea, an embodiment of the present application also provides a dual-motor vehicle control device, which can be used to implement the dual-motor vehicle control method provided in any embodiment of the present application. Fig. 3 is a schematic structural diagram of a dual-motor vehicle control device provided in an embodiment of the present application, which includes:

The warm-up module 310 is configured to control the vehicle to work in a series mode in the warm-up condition of the vehicle; the series mode includes that the engine and the battery supply power to the drive motor or the engine supplies power to the drive motor and the battery at the same time;

The required power obtaining module 320 is configured to obtain the initial required power of the engine;

The power comparison module 330 is configured to judge whether the initial required power is greater than or equal to the power value corresponding to the warm-up curve of the engine;

The first control module 340 is configured to control the engine to output the first target power when the initial demand power is greater than or equal to the power value corresponding to the warm-up curve of the engine, and control the battery output to limit the target discharge power; the first target power is the initial demand The difference between the power and the limit target discharge power;

The second control module 350 is configured to control the engine to output the second target power when the initial required power is less than the power value corresponding to the warm-up curve of the engine, and output the limited target charging power to the battery; the second target power is the limited target charging The sum of the power and the initial required power; the difference between the first target power and the second target power and the power value corresponding to the warm-up curve is smaller than the set threshold.

For the convenience of description, the embodiment of the present application also provides a powertrain structure of a dual-motor vehicle. Figure 4 is a schematic structural diagram of a powertrain of a dual-motor vehicle provided in the embodiment of the present application. The powertrain of the motor vehicle includes: engine controller 1, engine 2, generator controller 3, generator inverter 4, generator 5, drive motor controller 6, drive motor inverter 7, drive motor 8, Power battery 9 , battery controller 10 , vehicle control unit 11 , wheels 12 , clutch 13 and reduction gear 14 .

The main operating modes of the dual-motor vehicle mainly include: parking and shutdown, the dual-motor vehicle is in a parked state, the engine 2 is in a stopped state, and the clutch 13 is in a disengaged state at this time, and the vehicle control unit 11 stops sending fuel injection commands and related torque commands; 5. Start the engine 2, the generator 5 will drag the engine 2 to a certain speed, the vehicle control unit 11 will send fuel injection commands and related torque commands, and the engine controller 1 will control the fuel injection and ignition of the engine 2. At this time, the clutch 13 is in a disengaged state, and the engine 2 stop, the vehicle control unit 11 stops sending fuel injection commands and related torque commands, the engine controller 1 controls the engine 2 to cut off fuel and stop, and the clutch 13 is in a disengaged state at this time; in the pure electric mode, when the power battery 9 is sufficient, the vehicle speed and When the torque demanded by the driver is small, the engine 2 is stopped, and the vehicle is driven by the drive motor 8, and the energy of the drive motor 8 comes entirely from the power battery 9; in the series mode, when the vehicle speed increases, or the torque demanded by the driver is large, at this time The engine 2 generates electricity through the generator 5 and the power battery 9 together as an energy source for the drive motor 8, or provides power to the drive motor 8 and charges the power battery 9 at the same time; in parallel mode, when the vehicle speed continues to increase and the driver's demand torque decreases, The clutch 13 is controlled to be engaged, the engine 2 is directly driven to participate in the drive, and the generator 5 generates power according to the power of the power battery 9 and the load of the engine 2. When the driver's demand torque is greater than the upper limit of the engine 2 economic zone or the response of the engine 2 is slow, the drive motor 8 performs Power assist; recovery mode, the vehicle is in the driving state, the vehicle control unit 11 calculates the coasting energy recovery torque and the braking energy recovery torque requested by the vehicle body stability system according to the vehicle speed, controls the engine 2 to be in the power generation or fuel cut-off state, and drives the motor 8 according to the energy recovery torque. The regenerative torque is used for regenerative power generation.

The various parameters involved in the embodiment of the present application are all obtained through a plurality of corresponding components in the above-mentioned powertrain, for example: the drive motor controller 6 obtains the speed of the drive motor, the battery controller 10 obtains the power battery power and temperature, the engine The controller 1 acquires engine speed, water temperature or catalyst temperature, etc., which will not be listed here.

In addition, multiple modules in the dual-motor vehicle control device provided in the embodiment of the present application can be set in the vehicle control unit 11 , and the whole process is controlled by the vehicle control unit 11 .

For example, the dual-motor vehicle control device may also include:

The first target power module is configured to obtain the target discharge power of the battery; the target discharge power is the difference between the initial demand power and the power value corresponding to the warm-up curve;

The first power limiting module is configured to limit the target discharge power according to the electric quantity of the battery and the discharge capacity of the battery in the warm-up condition, and obtain the limited target discharge power; the limit target discharge power is less than or equal to the discharge capacity of the battery in the warm-up condition;

The second target power module is set to obtain the target charging power of the battery; the target charging power is the difference between the power value corresponding to the warm-up curve and the initial demand power;

The second power limiting module is configured to limit the target charging power according to the electric quantity of the battery and the charging capacity of the battery in the warm-up condition, and obtain the limited target charging power; the limited target charging power is less than or equal to the charging capacity of the battery in the warm-up condition.

For example, the first power limiting module can also be set to limit the target discharge power to be equal to the target discharge power of the battery if the discharge capacity of the battery is greater than or equal to the target discharge power of the battery in the warm-up condition, and the first target power is the target discharge power of the engine. The power value corresponding to the warm-up curve.

For example, the second power limiting module can also be set to limit the target charging power equal to the target charging power of the battery if the charging capacity of the battery is greater than or equal to the target charging power of the battery in the warm-up condition, and the second target power is the engine's The power value corresponding to the warm-up curve.

For example, the first power limiting module can also be configured to limit the target discharge power to be equal to the battery discharge capacity of the battery under warm-up condition if the discharge capacity of the battery in the warm-up condition is less than the target discharge power of the battery.

For example, the second power limiting module can also be configured to limit the target charging power to be equal to the battery charging capacity of the battery under warm-up condition if the charging capacity of the battery under warm-up condition is less than the target charging power of the battery.

For example, the first power limiting module can also be set to set the battery power median value according to the battery power and the vehicle speed; obtain the battery assist lower limit according to the battery power median value; if the battery power is greater than or equal to the battery power lower limit, the warm-up worker The discharge capacity of the battery in the warm-up condition is the discharge capacity of the battery; if the power of the battery is less than the lower limit of battery assist, the discharge capacity of the battery in the warm-up condition is zero.

For example, the second power limiting module can also be set to obtain the upper limit of battery charging according to the median value of battery power; if the power of the battery is greater than or equal to the upper limit of battery charging, the charging capacity of the battery in the warm-up condition is zero; If the charging upper limit is set, the charging capacity of the battery in the warm-up condition is the charging capacity of the battery.

For example, battery discharge capacity Uf=Uf1-U2-Ut; among them, Uf1 is the discharge capacity of the power battery itself; U2 is the accessory power; Ut is the reserved power for speed regulation; battery charging capacity Uc=Uc1+U2-Ut; among them, Uc1 It is the charging capacity of the power battery itself; U2 is the accessory power; Ut is the reserved power for speed regulation.

For example, the required power acquisition module 320 can be set to obtain the initial required power U0=U1+U2+U3-U4 of the engine; wherein, U1 is the driver's required power; U2 is the accessory power; U3 is the power generated by the battery; U4 is the power of the battery discharge power.

For example, the driver’s required power U1=Eng*n _TM /T/9550; where, Eng is the driver’s required torque; n _TM is the speed of the drive motor; T is the main reduction ratio; the accessory power includes the sum of DCDC output power and air-conditioning power .

In the embodiment of the present application, in the warm-up condition, the vehicle control unit controls the vehicle to work in series mode, acquires the initial required power of the engine, and determines whether the initial required power is greater than or equal to the power value corresponding to the warm-up curve of the engine; if so, Control the engine to output the first target power, and control the battery to output the limited target discharge power; if not, control the engine to output the second target power, and output the limited target charging power to the battery, which can take the battery into account while meeting the driver's needs. Charge and discharge capacity, priority is to ensure that the battery is used within the battery capacity, and then complete the vehicle warm-up work to the maximum extent, thereby controlling the vehicle's vehicle emissions.

Claims (10)

A dual-motor vehicle control method, comprising: In the warm-up condition of the vehicle, control the vehicle to work in a series mode; the series mode includes that the engine and the battery supply power to the drive motor, or the engine supplies power to the drive motor and the battery at the same time; obtaining the initial required power of the engine; Judging whether the initial required power is greater than or equal to the power value corresponding to the warm-up curve of the engine; based on the judgment result that the initial required power is greater than or equal to the power value corresponding to the warm-up curve of the engine, control the engine Outputting a first target power, and controlling the battery to output a limited target discharge power; the first target power is the difference between the initial demand power and the limited target discharge power; based on the initial demand power being less than the set According to the judgment result of the power value corresponding to the warm-up curve of the engine, the engine is controlled to output a second target power, and output a limited target charging power to the battery; the second target power is the difference between the limited target charging power and the specified The sum of the initial required power; the difference between the first target power and the second target power and the power value corresponding to the warm-up curve is less than a set threshold. The method according to claim 1, before controlling the engine to output the first target power and controlling the battery output to limit the target discharge power, further comprising: Acquiring the target discharge power of the battery; the target discharge power is the difference between the initial demand power and the power value corresponding to the warm-up curve; Limit the target discharge power according to the electric quantity of the battery and the discharge capacity of the battery in the warm-up condition, and obtain the limited target discharge power; the limited target discharge power is less than or equal to the discharge capacity of the battery in the warm-up condition; Before the controlling the engine to output the second target power, and outputting the limited target charging power to the battery, it also includes: Acquiring the target charging power of the battery; the target charging power is the difference between the power value corresponding to the warm-up curve and the initial demand power; The target charging power is limited according to the electric quantity of the battery and the charging capacity of the battery in the warm-up condition, and the limited target charging power is obtained; the limited target charging power is less than or equal to the charging capacity of the battery in the warm-up condition. The method of claim 2, wherein determining that the limited target discharge power is equal to the target discharge power of the battery is determined in response to determining that the warm-up condition battery discharge capability of the battery is greater than or equal to the target discharge power of the battery. Power, the first target power is the power value corresponding to the warm-up curve of the engine; In response to determining that the charging capacity of the battery in warm-up condition is greater than or equal to the target charging power of the battery, it is determined that the limited target charging power is equal to the target charging power of the battery, and the second target power is the The power value corresponding to the warm-up curve of the engine. The method of claim 2, wherein determining that the limited target discharge power is equal to the warm state of the battery is determined in response to determining that the warm state battery discharge capacity of the battery is less than the target discharge power of the battery. battery discharge capacity; In response to determining that the warm-state battery charging capability of the battery is less than a target charging power of the battery, determining that the limited target charging power is equal to the warm-condition battery charging capability of the battery. The method according to claim 2, wherein said limiting the target discharge power according to the electric quantity of the battery and the discharge capacity of the battery under the warm-up condition, and obtaining the limited target discharge power comprises: Set the battery power median value according to the battery power and the vehicle speed; obtain the battery assist lower limit according to the battery power median value; In response to determining that the electric quantity of the battery is greater than or equal to the battery assist lower limit, it is determined that the battery discharge capacity in the warm-up condition is the battery discharge capacity; in response to determining that the electric quantity of the battery is less than the battery assist lower limit, it is determined that the warm-up The discharge capacity of the battery under working conditions is zero; The said limiting the target charging power according to the electric quantity of the battery and the charging capacity of the battery in the warm-up condition, and obtaining the limited target charging power include: Obtaining the battery charging upper limit according to the median value of the battery power; In response to determining that the electric quantity of the battery is greater than or equal to the battery charging upper limit, it is determined that the charging capacity of the battery in the warm-up condition is zero; in response to determining that the electric quantity of the battery is less than the battery charging upper limit, it is determined that the warm-up The working condition battery charging capacity is the battery charging capacity. The method according to claim 5, wherein the battery discharge capacity Uf=Uf1-U2-Ut; where Uf1 is the discharge capacity of the power battery itself; U2 is the accessory power; Ut is the reserved power for speed regulation; Battery charging capacity Uc=Uc1+U2-Ut; among them, Uc1 is the charging capacity of the power battery itself; U2 is the accessory power; Ut is the reserved power for speed regulation. The method according to claim 1, wherein said acquiring the initial required power of the engine comprises: Obtain the initial required power of the engine U0=U1+U2+U3-U4; wherein, U1 is the driver's required power; U2 is the accessory power; U3 is the battery power generation; U4 is the battery discharge power. The method according to claim 7, wherein, The driver's required power U1=Eng* _nTM /T/9550; wherein, Eng is the driver's required torque; _nTM is the driving motor speed; T is the main reduction ratio; The accessory power includes the sum of DCDC output power and air conditioner power. A dual motor vehicle control device comprising: The warm-up module is configured to control the vehicle to work in a series mode in the warm-up mode of the vehicle; the series mode includes that the engine and the battery supply power to the driving motor, or the engine simultaneously supplies power to the driving motor and the Battery powered; A required power obtaining module, configured to obtain the initial required power of the engine; The power comparison module is configured to judge whether the initial required power is greater than or equal to the power value corresponding to the warm-up curve of the engine; The first control module is configured to control the engine to output a first target power and control the battery output to limit target discharge based on the judgment result that the initial required power is greater than or equal to the power value corresponding to the warm-up curve of the engine power; the first target power is the difference between the initial demand power and the limited target discharge power; The second control module is configured to control the engine to output a second target power and output limited target charging power to the battery based on the judgment result that the initial required power is smaller than the power value corresponding to the warm-up curve of the engine; The second target power is the sum of the limited target charging power and the initial demand power; the difference between the first target power and the second target power and the power value corresponding to the warm-up curve is less than Set the threshold. The apparatus of claim 9, further comprising: The first target power module is configured to obtain the target discharge power of the battery; the target discharge power is the difference between the initial demand power and the power value corresponding to the warm-up curve; The first power limiting module is configured to limit the target discharge power according to the electric quantity of the battery and the discharge capacity of the battery in the warm-up condition, and obtain the limited target discharge power; the limited target discharge power is less than or equal to the warm-up condition battery discharge capacity; The second target power module is configured to obtain the target charging power of the battery; the target charging power is the difference between the power value corresponding to the warm-up curve and the initial demand power; The second power limiting module is configured to limit the target charging power according to the electric quantity of the battery and the charging capacity of the battery in the warm-up condition, and obtain the limited target charging power; the limited target charging power is less than or equal to the warm-up of the battery Working condition battery charging capacity.

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