CN116394773A - Vehicle control method, device, vehicle and computer readable storage medium - Google Patents

Abstract

The invention provides a vehicle control method, a device, a vehicle and a computer readable storage medium, relating to the technical field of vehicle control, wherein the vehicle comprises a boost converter, a battery and a driving motor, the boost converter is connected with the battery and the driving motor, and the method comprises the following steps: acquiring target torque, actual rotating speed of a motor and battery voltage of a vehicle; determining an original target voltage according to the target torque and the actual rotating speed of the motor; taking the maximum value of the original target voltage and the battery voltage as a final target voltage; the operating state of the boost converter is determined according to the final target voltage to boost power to the drive motor through the battery and the boost converter. The invention has the beneficial effects that: the loss of a vehicle system can be reduced, and the power performance of the running of the vehicle can be improved.

Description

Vehicle control method, device, vehicle and computer readable storage medium

technical field

The present invention relates to the technical field of vehicle control, in particular to a vehicle control method, device, vehicle and computer-readable storage medium.

Background technique

With the increasingly stringent requirements on fuel consumption and emissions, as well as the development of electrification systems, pure electric power technology and hybrid technology have become the key to energy saving and emission reduction. For a dual-motor hybrid system, the motor usually has three modes, pure electric mode, series mode and parallel mode. In series mode, the drive motor drives the wheels, the C0 clutch of the vehicle is not combined, and the engine charges the battery through the generator; in pure electric mode, the battery directly supplies power to the drive motor to drive the wheels, and the engine does not work; in parallel mode Next, the C0 clutch is engaged, and the engine directly drives the wheels. For a pure electric system, the battery directly supplies power to the drive motor to drive the wheels.

In the electric drive system of electric vehicles or hybrid electric vehicles, since the DC voltage is generally determined by the output voltage of the high-voltage battery or fuel cell, the speed of the driving motor in the constant torque area is determined by the output voltage of the battery, and then enters constant power after speeding up. range, the acceleration performance of the vehicle will decrease, but the output voltage of the fuel cell is relatively soft, and it will drop with the increase of the load, so that it is impossible to ensure a stable high voltage to supply power to the drive motor, and it is difficult to ensure or improve the vehicle's performance. athletic performance.

Contents of the invention

The problem solved by the invention is how to reduce the loss of the vehicle system and improve the power performance of the vehicle.

In order to solve the above problems, the present invention provides a vehicle control method applied to a vehicle, the vehicle includes a boost converter, a battery and a drive motor, and the boost converter is connected to the battery and the drive motor respectively , the vehicle control method comprises the steps of:

Acquiring the target torque of the vehicle, the actual speed of the motor and the voltage of the battery;

determining an original target voltage according to the target torque and the actual rotational speed of the motor;

taking the maximum value of the original target voltage and the battery voltage as the final target voltage;

The operating state of the boost converter is determined according to the final target voltage, so as to provide boost power to the drive motor through the battery and the boost converter.

In the vehicle control method in the embodiment of the present invention, after the original target voltage of the motor is determined by the target torque and the actual speed of the motor, it is compared with the current battery voltage, and the maximum value is taken as the basis for determining the operation status of the boost converter. This always ensures a relatively higher target voltage value and avoids reducing the target voltage value due to the limitation of the battery voltage. Further, the boost converter performs boost control based on the final target voltage, thereby providing boost power to the drive motor through the battery , after increasing the voltage of the driving motor, the operating current of the driving motor decreases under the condition of the same working power required by the driving motor, so that the copper loss of the driving motor decreases to offset the efficiency loss of the step-up link, and finally , which can ensure that the overall efficiency of the vehicle increases. In addition, when the driving voltage of the driving motor is increased, it brings convenience to the driving control of the driving motor, and can increase the range of the constant torque area of the driving motor, thereby improving the acceleration performance of the driving motor, especially the acceleration performance of the high-speed section. Make the dynamic performance of the vehicle better.

Further, the vehicle also includes a generator, and the generator is respectively connected to the drive motor and the battery; the vehicle control method further includes the steps of:

determining a current limit for the boost converter based on the battery voltage to determine a power limit based on the current limit and the battery voltage;

determining a target output power according to the target torque and the actual rotational speed of the motor;

determining excess power according to the power limit and the target output power;

The operation of the generator is controlled according to the excess power, so as to supply power to the driving motor through cooperation of the generator and the battery.

Further, the determining the operating state of the boost converter according to the final target voltage includes the steps of:

Obtain the actual bus voltage and bus actual current;

performing voltage loop control according to the actual voltage of the bus and the final target voltage to obtain a target current of the bus;

performing current loop control according to the target current of the bus and the actual current of the bus to obtain a first duty ratio of the boost converter.

Further, the boost converter includes a two-phase bridge arm; determining the operating state of the boost converter according to the final target voltage further includes the steps of:

Acquiring the actual current difference and the preset target current difference of the bridge arms of the two phases;

performing current sharing loop control according to the actual current difference and the target current difference, and shifting the phase of the first duty cycle;

Determine the sum of the result of the current equalizing loop control and the result of the phase shift as the second duty ratio, wherein the first duty ratio and the second duty ratio are respectively the same as the two-phase corresponding to the bridge arm.

Further, the vehicle control method also includes the steps of:

Whether to stop the boost power supply is determined according to the currents and/or duty ratios of the bridge arms of the two phases.

Further, the determining whether to stop the boost power supply according to the currents and/or duty ratios of the bridge arms of the two phases includes the steps of:

In response to the request to stop boosting, when the average value of the duty ratios of the two-phase bridge arms is less than a preset average threshold, stop the boosted power supply; and/or

When the actual current difference of the bridge arms of the two phases is greater than a preset current difference, stop the step-up power supply; and/or

When the current value of any one of the bridge arms of the two phases is greater than a preset current value, stop the boost power supply; and/or

When the duty cycle difference of the bridge arms of the two phases is greater than a preset duty cycle difference threshold, the step-up power supply is stopped.

Further, the vehicle control method also includes the steps of:

When the vehicle is in a series mode, acquiring the charging power of the generator of the vehicle and the target output power of the driving motor, wherein the generator is used for generating electricity in the series mode;

When the target output power is less than or equal to the charging power, supplying power to the driving motor through the generator;

When the target output power is greater than the charging power, boost power is supplied to the drive motor through the battery and the boost converter.

The present invention also proposes a vehicle control device, which is applied to a vehicle. The vehicle includes a boost converter, a battery, and a drive motor. The boost converter is connected to the battery and the drive motor respectively. The vehicle Controls include:

An acquisition module, configured to acquire the target torque of the vehicle, the actual rotational speed of the motor and the battery voltage;

A first processing module, configured to determine an original target voltage according to the target torque and the actual rotational speed of the motor;

a comparison module, configured to use the maximum value of the original target voltage and the battery voltage as the final target voltage;

The second processing module is configured to determine the operating state of the boost converter according to the final target voltage, so as to provide boost power to the driving motor through the battery and the boost converter.

The vehicle control device of the present invention has technical effects similar to those of the above-mentioned vehicle control method, which will not be repeated here.

The present invention also proposes a vehicle, including the above-mentioned vehicle control device.

The vehicle of the present invention has technical effects similar to those of the above-mentioned vehicle control method and vehicle control device, which will not be repeated here.

The present invention also proposes a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned vehicle control method is realized.

The computer-readable storage medium in the present invention has technical effects similar to those of the above-mentioned vehicle control method, which will not be repeated here.

Description of drawings

FIG. 1 is a schematic diagram of motor drive in a series mode of a vehicle according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of motor drive in parallel mode of the vehicle described in the embodiment of the present invention;

FIG. 3 is a flowchart of a vehicle control method according to an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of the connection between the boost converter and the battery and the motor according to the embodiment of the present invention;

Fig. 5 is a schematic diagram of signal transmission of a vehicle according to an embodiment of the present invention;

Fig. 6 is a schematic diagram of transitions between different modes of the vehicle according to the embodiment of the present invention;

7 is a schematic diagram of the relationship between torque and system loss of the vehicle according to the embodiment of the present invention;

FIG. 8 is a schematic diagram of the determination process of the duty cycle of the boost converter according to the embodiment of the present invention;

Fig. 9 is a flow chart of boost control of the vehicle control method according to the embodiment of the present invention;

Fig. 10 is a schematic diagram of power distribution between a motor and a battery according to an embodiment of the present invention;

11 is a schematic diagram of the corresponding relationship between the actual rotational speed of the motor, the target torque and the original target voltage in the embodiment of the present invention;

Fig. 12 is a structural block diagram of a vehicle control device according to an embodiment of the present invention.

Detailed ways

In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein; A more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are for exemplary purposes only, and are not intended to limit the protection scope of the present invention.

It should be understood that the various steps described in the method implementation manners of the present invention may be executed in different orders, and/or executed in parallel. Additionally, method embodiments may include additional steps and/or omit performing illustrated steps. The scope of the invention is not limited in this respect.

As used herein, the term "comprise" and its variations are open-ended, ie "including but not limited to". The term "based on" is "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally " means "alternative embodiment". Relevant definitions of other terms will be given in the description below. It should be noted that concepts such as "first" and "second" mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the sequence of functions performed by these devices, modules or units or interdependence.

An embodiment of the present invention proposes a vehicle control method, which is applied to a vehicle, and the vehicle includes a boost converter, a battery, and a drive motor, and the boost converter is connected to the battery and the drive motor respectively.

The vehicle control method in this embodiment can be used in electric vehicles or hybrid vehicles, and the driving motor can be directly driven after boosting the voltage of the battery through a boost converter. For a hybrid vehicle, it may further include a generator, specifically, as shown in FIG. 1, FIG. 2 and FIG. This can charge the battery or directly power the drive motor.

The drive motor in the embodiment of the present invention is the P3 motor in Figure 1, Figure 2 and Figure 10, which represents the motor connected to the output shaft end of the transmission. In some operating scenarios, such as kinetic energy recovery mode, the P3 motor can also generate electricity The generator is the P1 motor in Fig. 1, Fig. 2 and Fig. 10, which represents the motor connected to the crankshaft of the engine. The motor can be engines such as diesel oil, gasoline and alcohol fuels, and the generator drives the generator to generate electricity, and then charges the battery Or supply power to the P3 motor. In some operating scenarios, the P1 motor can also be driven. For example, the P1 motor starts and stops the engine.

Referring to Figure 3, the vehicle control method of this embodiment includes steps:

The target torque of the vehicle, the actual speed of the motor and the voltage of the battery are acquired.

The relevant signals of the vehicle can be obtained through signal sampling and signal processing, and the mode to be entered by the vehicle or each motor can be determined.

Based on the user's operation, such as throttle control, etc., the target torque required by the vehicle's target operation requirements is obtained. Correspondingly, the actual speed of the current vehicle drive motor is obtained by sampling the drive motor data, which is obtained by sampling the vehicle's battery. current battery voltage.

An original target voltage is determined according to the target torque and the actual rotational speed of the motor.

Combined with the target torque and the actual speed of the motor, the voltage that needs to be controlled on the drive motor under the current driving demand can be determined as the original target voltage. At the same time, the output power of the drive motor can also be determined according to the actual speed of the motor and the target torque. The formula for determining the original target voltage includes:

V _{target_raw} = minloss(Torque, Speed);

Among them, V _{target_raw} represents the original target voltage, Torque represents the target torque, and Speed represents the actual speed of the motor.

Specifically, the original target voltage can be determined according to a look-up table method. Refer to FIG. 11 , which shows the corresponding relationship between the actual rotational speed of the motor, the target torque, and the original target voltage in a specific embodiment.

Among them, the vertical positioning column is the target torque, the horizontal positioning column is the actual speed of the motor, and the data in the intersecting cells is the original target voltage.

The maximum value of the original target voltage and the battery voltage is used as the final target voltage.

Specifically, the formula for determining the final target voltage includes:

表示原始目标电压，V_Battery表示电池电压，也即，在原始目标电压和电池电压中取最大值，在当前电机需求的电压小于电池电压时，以电池电压作为最终目标电压来进行后续供电，在当前电机需求的电压大于电池电压时，不会因电池电压存在限制，而降低最终目标电压，以此始终保证最终目标电压为最大值。Among them, V _{target_final} represents the final target voltage,

Represents the original target voltage, V _Battery represents the battery voltage, that is, take the maximum value between the original target voltage and the battery voltage, and when the voltage required by the current motor is lower than the battery voltage, the battery voltage is used as the final target voltage for subsequent power supply. When the voltage required by the current motor is greater than the battery voltage, the final target voltage will not be reduced due to the limitation of the battery voltage, so as to always ensure that the final target voltage is the maximum value.

The operating state of the boost converter is determined according to the final target voltage, so as to provide boost power to the drive motor through the battery and the boost converter.

Specifically, the duty cycle of the boost converter can be determined through the final target voltage, and the actual operation of the boost converter can be controlled to boost the battery, so that the battery and the boost converter cooperate to boost the drive motor. voltage supply.

Therefore, in the vehicle control method in the embodiment of the present invention, after determining the original target voltage of the motor through the target torque and the actual speed of the motor, compare it with the current battery voltage, and take the maximum value as the basis for determining the operation of the boost converter , so as to ensure a relatively higher target voltage value, or avoid reducing the target voltage value due to the limitation of the battery voltage. Further, the boost converter performs boost control based on the final target voltage, so as to boost the drive motor through the battery. Voltage power supply, after increasing the voltage of the driving motor, the working current of the driving motor decreases under the condition of the same working power required by the driving motor, so that the copper loss of the driving motor decreases to offset the efficiency loss of the step-up link , ultimately, can ensure that the overall efficiency of the vehicle rises. In addition, when the driving voltage of the driving motor is increased, it brings convenience to the driving control of the driving motor, and can increase the range of the constant torque area of the driving motor, thereby improving the acceleration performance of the driving motor, especially the acceleration performance of the high-speed section. Make the dynamic performance of the vehicle better.

Referring to Figure 7, which is a schematic diagram of the relationship between system loss and torque obtained during an actual test, it can be seen that under the same torque demand, as the voltage applied to the drive motor increases, the system loss can reach a relatively small small value.

Referring to the following table 1, in a specific embodiment, the vehicle control method of the present invention is applied to the working mode of the hybrid vehicle, the working status of the engine and the P1 motor and the P3 motor, as well as the target voltage strategy adopted and related applications. A description sheet for the scene.

Table 1 Vehicle working mode description table:

In pure electric drive, series hybrid (series mode) and parallel hybrid (parallel mode), the vehicle control method in the embodiment of the present invention can be used, that is, the speed/torque mode target voltage strategy is adopted to improve Vehicle performance and reduce vehicle wear and tear. Wherein, the pure electric drive is directly driven by the battery to drive the motor, so the vehicle control method in the present invention can also be adaptively used in pure electric vehicles.

In an optional embodiment of the present invention, the vehicle control method also includes the steps of:

determining a current limit for the boost converter based on the battery voltage to determine a power limit based on the current limit and the battery voltage;

determining a target output power according to the target torque and the actual rotational speed of the motor;

determining excess power according to the power limit and the target output power;

The operation of the generator is controlled according to the excess power, so as to supply power to the driving motor through cooperation of the generator and the battery.

In this embodiment, when the battery and the boost converter are used to boost the power supply to the drive motor, there is a limit to the maximum current that can flow in the boost converter at this time due to the difference in the specific value of the current battery voltage, which causes The boost voltage is limited, and eventually the boost power is limited. At this time, the battery cooperates with the boost converter to supply power to the drive motor, which cannot meet the actual demand of the drive motor. Therefore, the current boost converter current can be determined by the battery voltage. The current limit value is combined with the current limit value and the battery voltage to determine the current power limit value. Specifically, it can be determined according to the look-up table method, as shown in Table 2 below, which is a comparison table of current limit values and power limit values corresponding to different battery voltages when the final target voltage of the boost is 450V in a specific usage scenario.

Table 2 Comparison table of voltage, current and power limits:

Referring to Table 2 and Figure 10, in a specific embodiment, the final target voltage currently determined is 450V, and the battery voltage is 300V at this time, the determined current limit is 400A, and the corresponding power limits are 400A and 300V The product of , that is, 120kw, at this time, the power of 120kw can be provided by the battery, and the current target torque required to drive the motor and the actual speed of the motor correspond to 150kw, at this time it is determined that there is an excess power of 30kw, therefore, the Part of the excess power is allocated to the generator (P1 motor) that can generate electricity, and the P1 motor directly supplies power to the P3 motor, so that it is not subject to the boost power limit. Finally, the generator and the battery are used to supply power to the driving motor to meet the driving requirements. Motor high voltage and high power demand, which in turn improves vehicle performance and reduces losses.

In an optional embodiment of the present invention, the determining the operating state of the boost converter according to the final target voltage includes:

Obtain the actual bus voltage and bus actual current;

performing voltage loop control according to the actual voltage of the bus and the final target voltage to obtain a target current of the bus;

performing current loop control according to the target current of the bus and the actual current of the bus to obtain a first duty ratio of the boost converter.

In the embodiment of the present invention, the bus bar is the path between the boost converter and the drive motor.

For the convenience of expression, in the embodiment of the present invention, the process of judging and executing the step-up power supply for the driving motor through the step-up converter and the battery is named as step-up mode.

Referring to FIG. 6 , the vehicle can define multiple modes according to operating conditions, and switch modes when different signals are obtained.

In the normal mode of vehicle operation, it can include the direct mode and the above-mentioned boost mode. For example, in the series mode, the engine directly drives the P3 motor through the P1 motor, and the mode switching can be processed according to the vehicle signal collected by the vehicle controller After switching, among them, enter the boost (boost) state and meet the conditions, then enter the boost mode, enter the bypass state and meet the conditions, then exit the boost mode and enter the direct mode.

The initial state of the vehicle (initialization mode), that is, enters the free wheel mode, which can be entered after the vehicle's transmission control module wakes up.

The vehicle is in off mode, that is, the drive motor or generator mode is powered off, and it enters when there is no request for the variable speed control module to wake up.

Vehicle fault mode, such as over-current fault or over-voltage fault and other fault states, enter.

As shown in Figure 5, in a specific embodiment, combined with the CAN bus transmission signal of the system, the signal sampling of the vehicle can also include four-way IGBT temperature sampling, four-way pwm output, one-way output voltage sampling, two-way inductor current sampling And two-way inductor temperature sampling, after signal processing, can determine the target mode of the vehicle, as well as P1 motor mode request, P3 motor mode request, and boost mode request, after the state machine determines to enter the boost working mode, according to the torque of the motor The request and speed can determine the boost target voltage request, which can be combined with the battery voltage to determine the target voltage, and then determine the boost dual-loop control (voltage loop and current loop) combined with the boost converter, or further combined with the current sharing loop Control to control the specific operation of the P3 motor and the P1 motor.

Referring to Figure 9, when it is determined that the current operating condition of the vehicle is boost, a boost request is issued, and then it is determined to enter the boost mode. For the final target voltage, in the subsequent process of controlling the final target voltage, the slope can be limited, so as to prevent the voltage applied to the driving motor from rising too fast and cause failure.

After determining the final target voltage, the voltage loop control can be carried out in combination with the actual bus voltage of the current boost converter, and the result of the voltage loop control is used as the bus target current. Specifically, the PI regulator is used for control. Subsequently, the bus target current is used as the subsequent The basis of the current loop control is to perform current loop control in combination with the actual current of the busbar of the current boost converter to obtain the first duty ratio, so as to realize the control of the boost converter.

In an optional embodiment of the present invention, the boost converter includes two-phase bridge arms. Specifically, referring to FIG. 4 , the boost converter includes two-phase bridge arms connected in parallel, wherein each phase bridge arm It includes a series inductor and IGBT, and then the IGBT of the boost converter is connected to the IGBT of the motor. For the convenience of expression, the two phases are named as phase A and phase B respectively.

Based on the boost converter in the form of a two-phase bridge arm, the determining the operating state of the boost converter according to the final target voltage further includes the steps of:

The actual current difference and the preset target current difference of the bridge arms of the two phases are acquired.

Specifically, the actual current difference of the bridge arm can be calculated by collecting the current of each branch through the sensor, and the target current difference is a preset value set according to actual needs.

performing current sharing loop control according to the actual current difference and the target current difference, and shifting the phase of the first duty ratio;

Referring to Fig. 8, the above-mentioned first duty ratio obtained through the actual voltage of the bus, the final target voltage and the actual current of the bus is the duty ratio of the A phase, and by shifting its phase by 180 degrees, the second duty ratio of the B phase is obtained, At the same time, the result of the current sharing loop control according to the actual current difference and the target current difference is the first B-phase duty ratio.

Determine the sum of the result of the current equalizing loop control and the result of the phase shift as the second duty ratio, wherein the first duty ratio and the second duty ratio are respectively the same as the two-phase corresponding to the bridge arm.

Thus, the finally obtained B-phase duty ratio (second duty ratio) is the sum of the first B-phase duty ratio and the second B-phase duty ratio. In this way, the step-up converter of the two-phase bridge arm is controlled through the finally determined A-phase duty ratio and B-phase duty ratio, so as to ensure that the driving motor can be driven more stably.

In a specific embodiment of the present invention, the vehicle control method also includes the steps of:

Whether to stop the boost power supply is determined according to the currents and/or duty ratios of the bridge arms of the two phases.

In this embodiment, by detecting the actual current and duty ratio of the two-phase bridge arms, the switch from the boost mode to the through mode in the actual operation of the vehicle can be judged, so as to realize precise control of the boost converter and reduce the In case of a system failure.

Specifically, the determining whether to stop the boost power supply according to the currents and/or duty ratios of the bridge arms of the two phases includes:

In response to the request to stop boosting, when the average value of the duty ratios of the two-phase bridge arms is less than a preset average threshold, stop the boosted power supply; and/or

When the actual current difference of the bridge arms of the two phases is greater than a preset current difference, stop the step-up power supply; and/or

When the current value of any one of the bridge arms of the two phases is greater than a preset current value, stop the boost power supply; and/or

When the duty cycle difference of the bridge arms of the two phases is greater than a preset duty cycle difference threshold, the step-up power supply is stopped.

The request to stop boosting can be determined according to the user operation signal collected by the vehicle controller or the operating status data of each motor or engine in the vehicle. For example, when the P1 motor can meet the output power demand of the P3 motor in series mode, at this time, If it is determined that the average value of the sum of the duty ratios of the two-phase bridge arms is less than a preset average threshold, such as 0.5, the vehicle can be controlled to exit from the boost mode and enter the through mode, so that the P1 motor can directly supply power to the P3 motor, and also That is, exit boost mode.

At the same time, it can also actually detect the actual current flowing through each bridge arm in the boost converter of the two-phase bridge arm and the actual duty ratio of each bridge arm. If there is a large difference in the actual current of the two bridge arms, or a certain current If the value is large, or the difference between the duty cycle of the two bridge arms is too large, it indicates that the vehicle system may fail or there is a risk of boosting. Therefore, at this time, you can exit the boost mode and enter the direct mode to realize the Precise control of the vehicle.

In an optional embodiment of the present invention, the vehicle control method also includes the steps of:

When the vehicle is in a series mode, acquiring the charging power of the generator of the vehicle and the target output power of the driving motor, wherein the generator is used for generating electricity in the series mode;

When the target output power is less than or equal to the charging power, supplying power to the driving motor through the generator;

When the target output power is greater than the charging power, boost power is supplied to the drive motor through the battery and the boost converter.

In this embodiment, in series mode, the engine can work, and the generator (P1 motor) supplies power to the drive motor (P3 motor). When the target output power required by the drive motor is less than or equal to the charging power of the generator, It shows that there is currently no need for the battery to intervene to supply power to the driving motor, so the driving motor can be powered only by the generator to meet the working requirements of the series mode in the hybrid vehicle, and the extra charging power of the generator can be allocated to the battery for storage.

When the target output power is greater than the charging power, the generator cannot meet the needs of the drive motor. Therefore, at this time, the battery and the boost converter are introduced to supply power to the drive motor, that is, the boost mode is entered in the series mode, through the boost converter and The battery boosts the power supply to the drive motor. At this time, the generator can charge the battery and when the boost converter and the battery cannot meet the power demand of the drive motor, the generator can be used to supply power to the drive motor to meet the boost demand.

Referring to Figure 12, a vehicle control device is applied to a vehicle, the vehicle includes a boost converter, a battery and a drive motor, the boost converter is respectively connected to the battery and the drive motor, the Vehicle controls include:

An acquisition module, configured to acquire the target torque of the vehicle, the actual rotational speed of the motor and the battery voltage;

A first processing module, configured to determine an original target voltage according to the target torque and the actual rotational speed of the motor;

a comparison module, configured to use the maximum value of the original target voltage and the battery voltage as the final target voltage;

The second processing module is configured to determine the operating state of the boost converter according to the final target voltage, so as to provide boost power to the driving motor through the battery and the boost converter.

The vehicle control device of the present invention has technical effects similar to those of the above-mentioned vehicle control method, which will not be repeated here.

A vehicle according to another embodiment of the present invention includes the vehicle control device as described above, a boost converter, a battery, and a drive motor.

In a specific embodiment of the present invention, the vehicle is a hybrid vehicle, and the vehicle further includes a generator and an engine, and the generator is connected with the engine, the battery and the driving motor.

The vehicle of the present invention has technical effects similar to those of the above-mentioned vehicle control method and vehicle control device, which will not be repeated here.

A computer-readable storage medium according to another embodiment of the present invention, a computer program is stored on the storage medium, and when the computer program is executed by a processor, the above-mentioned vehicle control method is implemented.

The computer-readable storage medium in the present invention has technical effects similar to those of the above-mentioned vehicle control method, which will not be repeated here.

In general, computer instructions for implementing the method of the present invention can be carried by any combination of one or more computer-readable storage media. A non-transitory computer-readable storage medium may include any computer-readable medium except the transitory propagating signal itself.

A computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connections with one or more leads, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

Program code for carrying out the operations of the present invention may be written in one or more programming languages, or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, and conventional procedural Programming language—such as "C" language or similar programming language, especially Python language suitable for neural network computing and platform frameworks based on TensorFlow, PyTorch, etc. can be used. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through an Internet service provider). Internet connection).

Although the present invention is disclosed above, the protection scope of the present invention is not limited thereto. Operators skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will all fall within the protection scope of the present invention.

Claims (10)

1. A vehicle control method, characterized by being applied to a vehicle including a boost converter, a battery, and a drive motor, the boost converter being connected to the battery and the drive motor, respectively, the vehicle control method comprising:

acquiring target torque, actual rotating speed of a motor and battery voltage of the vehicle;

determining an original target voltage according to the target torque and the actual rotating speed of the motor;

taking the maximum value of the original target voltage and the battery voltage as a final target voltage;

and determining the operation state of the boost converter according to the final target voltage so as to boost power supply to the driving motor through the battery and the boost converter.

2. The vehicle control method according to claim 1, characterized in that the vehicle further includes a generator connected with the drive motor and the battery; the vehicle control method further includes:

determining a current limit of the boost converter from the battery voltage to determine a power limit from the current limit and the battery voltage;

determining a target output power according to the target torque and the actual rotating speed of the motor;

determining excess power from the power limit and the target output power;

and controlling the generator to operate according to the excess power so as to supply power to the driving motor through the cooperation of the generator and the battery.

3. The vehicle control method according to claim 1, characterized in that the determining of the operation state of the boost converter from the final target voltage includes:

acquiring actual bus voltage and actual bus current;

performing voltage loop control according to the actual bus voltage and the final target voltage to obtain bus target current;

and performing current loop control according to the bus target current and the bus actual current to obtain a first duty ratio of the boost converter.

4. The vehicle control method of claim 3, wherein the boost converter includes two-phase legs; the determining the operating state of the boost converter from the final target voltage further includes:

acquiring actual current differences of the bridge arms of two phases and preset target current differences;

performing current sharing loop control according to the actual current difference and the target current difference, and shifting the first duty ratio;

and determining the sum of the result of the current sharing loop control and the result of the phase shifting as a second duty ratio, wherein the first duty ratio and the second duty ratio respectively correspond to the bridge arms of two phases.

5. The vehicle control method according to claim 4, characterized by further comprising:

and determining whether to stop the boost power supply according to the current and/or the duty ratio of the bridge arms of the two phases.

6. The vehicle control method according to claim 5, characterized in that the determining whether to stop the boost supply according to the current and/or the duty ratio of the two-phase bridge arm includes:

responding to a request for stopping boosting, and stopping boosting power supply when the average value of the duty ratios of the two bridge arms is smaller than a preset average threshold value; and/or

Stopping boosting power supply when the actual current difference of the two bridge arms is larger than a preset current difference value; and/or

When the current value of any one of the two phase bridge arms is larger than a preset current value, stopping the boosting power supply; and/or

And stopping boosting power supply when the duty ratio difference value of the bridge arms of the two phases is larger than a preset duty ratio difference threshold value.

7. The vehicle control method according to any one of claims 1 to 6, characterized by further comprising:

acquiring charging power of a generator of the vehicle and target output power of the driving motor when the vehicle is in a series mode, wherein the generator is used for generating electricity in the series mode;

when the target output power is smaller than or equal to the charging power, supplying power to the driving motor through the generator;

and when the target output power is larger than the charging power, boosting and supplying power to the driving motor through the battery and the boosting converter.

8. A vehicle control apparatus, characterized by being applied to a vehicle including a boost converter, a battery, and a drive motor, the boost converter being connected to the battery and the drive motor, respectively, the vehicle control apparatus comprising:

the acquisition module is used for acquiring target torque, actual motor rotation speed and battery voltage of the vehicle;

the first processing module is used for determining an original target voltage according to the target torque and the actual rotating speed of the motor;

the comparison module is used for taking the maximum value of the original target voltage and the battery voltage as a final target voltage;

and the second processing module is used for determining the operation state of the boost converter according to the final target voltage so as to boost and supply power to the driving motor through the battery and the boost converter.

9. A vehicle comprising the vehicle control device according to claim 8.

10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the vehicle control method according to any one of claims 1 to 7.

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