CN108482358A

CN108482358A - Mixing dynamical vehicle torsional moment distribution method, device and electronic equipment

Info

Publication number: CN108482358A
Application number: CN201810260919.2A
Authority: CN
Inventors: 阳向兰; 吴孝勤; 谭靖宇
Original assignee: Zhejiang Geely Holding Group Co Ltd; Geely Automobile Research Institute Ningbo Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Geely Automobile Research Institute Ningbo Co Ltd
Priority date: 2018-03-27
Filing date: 2018-03-27
Publication date: 2018-09-04

Abstract

The present invention provides a kind of mixing dynamical vehicle torsional moment distribution method, device and electronic equipments, wherein this method initially sets up system model, it calculates relevant parameter and is pre-designed the minimum object function of equivalent fuel consumption, according to the minimum object function of preset equivalent fuel consumption and initial Lagrange coefficient, according to dynamic programming algorithm and iterative algorithm, target Lagrange coefficient is determined；Then the target Lagrange coefficient is adjusted to obtain multiple adjusting Lagrange coefficients, calculate each control sequence for adjusting equivalent fuel consumption minimum under the corresponding specific operation of Lagrange coefficient, the control sequence for selecting comprehensive oil consumption smaller is optimal to reach oil consumption as engine and Motor torque allocation strategy.Therefore, the reasonable distribution of BSG Motor torques, engine torque, improves vehicle economy, reduces energy consumption, it is minimum to reach global oil consumption during the present invention realizes under specific operation to hybrid vehicle.

Description

Mixing dynamical vehicle torsional moment distribution method, device and electronic equipment

Technical field

The present invention relates to hybrid vehicle control technology fields, are distributed more particularly, to a kind of mixing dynamical vehicle torsional moment Method, apparatus and electronic equipment.

Background technology

With the high speed development of global economy, energy and environmental problem becomes increasingly conspicuous, and energy saving, environmental protection has become The significant challenge of countries in the world facing.Worldwide low-carbon economic policy promotes the development of new-energy automobile, newly Energy automobile technological progress, industrialization and application will drive downstream industry development thereon, root brought to the traffic and trip of the mankind This change.New-energy automobile technology-the Development of HEV Technology that can effectively reduce energy source of car consumption as one is Through becoming countries in the world government, one of the focus of enterprise and scientific research institution's convergence.

Wherein, 48V hybrid power systems are at low cost, and quality is small, can be that conventional fuel oil car realizes up to 12% (NEDC cycles Under operating mode) rate of economizing gasoline.Under the premise of not changing demand torque, the torque of reasonable distribution engine and BSG motors will start The control of machine operating point is in most efficient range and achievees the purpose that mimimum fuel consumption is extremely important；But current torque distributes plan Slightly it is not met by demand of the hybrid vehicle to energy saving and economy, it is still necessary to further improve.

Invention content

In view of this, the purpose of the present invention is to provide a kind of mixing dynamical vehicle torsional moment distribution method, device and electronics Equipment, with realize under specific operation to hybrid vehicle in BSG Motor torques, engine torque reasonable distribution, improve Vehicle economy reduces energy consumption, it is minimum to reach global oil consumption.

In a first aspect, the present invention provides a kind of mixing dynamical vehicle torsional moment distribution methods, including：

Calculate the corresponding vehicle demand torque of each sampled point in road cyclic process, according to the vehicle demand torque, Current vehicle driving parameters obtain multiple torque allocation plans according to default rule, and the torque allocation plan includes described The corresponding engine torque of sampled point, Motor torque and gear；

In the case where meeting constraints, corresponding oil consumption under each of each sampled point torque allocation plan is calculated With state-of-charge variable quantity, and stored respectively；

According to the minimum object function of preset equivalent fuel consumption and initial Lagrange coefficient, according to dynamic programming algorithm and repeatedly For algorithm, target Lagrange coefficient is determined；Parameter in the wherein described minimum object function of equivalent fuel consumption include the oil consumption, State-of-charge variable quantity and Lagrange coefficient；

The target Lagrange coefficient is adjusted within a preset range, multiple adjusting Lagrange coefficients is obtained, for every A adjusting Lagrange coefficient is obtained according to the minimum object function of preset equivalent fuel consumption according to dynamic programming algorithm respectively The corresponding consumption minimization of each sampled point is taken, and records the corresponding control variable of the consumption minimization, to obtain one group of control sequence Row, the control variable include at least battery SOC, engine torque, engine speed, Motor torque, motor speed；

The corresponding SOC differences of control sequence and fuel consumption described in each group are recorded, it is corresponding comprehensive to calculate every group of control sequence Close oil consumption；The control sequence for meeting comprehensive oil consumption requirement is chosen from each group control sequence as best torque distribution plan Slightly.

With reference to first aspect, an embodiment of the present invention provides the first possible embodiments of first aspect, wherein institute It states according to the minimum object function of preset equivalent fuel consumption and initial Lagrange coefficient, is calculated according to dynamic programming algorithm and iteration Method determines that target Lagrange coefficient includes：

According to the minimum object function of preset equivalent fuel consumption and initial Lagrange coefficient, according to dynamic programming algorithm and repeatedly For algorithm, the initial Lagrange coefficient is modified, until at the end of SOC when road cycle starts is recycled with road SOC is balanced, and it is target Lagrange coefficient to record corresponding Lagrange coefficient.

With reference to first aspect, an embodiment of the present invention provides second of possible embodiments of first aspect, wherein institute The corresponding SOC differences of control sequence and fuel consumption described in record each group are stated, the corresponding comprehensive oil consumption of every group of control sequence is calculated Including：

The corresponding SOC differences of each group control sequence and fuel consumption are recorded, is calculated according to the SOC differences and fuel consumption Fuel consumption quantity correction coefficient value；

According to the fuel consumption, the SOC differences and the fuel consumption quantity correction coefficient value, every group of control sequence is calculated Arrange corresponding comprehensive oil consumption.

With reference to first aspect, an embodiment of the present invention provides the third possible embodiments of first aspect, wherein institute Stating the minimum object function of equivalent fuel consumption is：

Wherein, λ indicates that Lagrange coefficient, the value of j are the positive integer more than or equal to 1 and less than or equal to N, and V (j) is indicated The corresponding consumption minimization of j-th of sampled point, Δ SOC (j) are the state-of-charge variation in the corresponding sampling step length of j-th of sampled point Amount, Q (j) are the oil consumption in the corresponding sampling step length of j-th of sampled point.

With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible embodiments of first aspect, wherein institute Stating corresponding oil consumption and state-of-charge variable quantity under each of each sampled point of the calculating torque allocation plan includes：

It determines and puts corresponding engine torque and engine under each of each sampled point torque allocation plan Rotating speed carries out piecewise linearity difference according to Universal Characteristics in IC Engine figure and electric efficiency curve, obtains corresponding engine consumption Rate and oil consumption；

Determine corresponding Motor torque and motor speed under each of each sampled point torque allocation plan, and Piecewise linearity difference is carried out according to electric efficiency MAP chart, obtains corresponding electric efficiency, and calculate power of motor；

Obtain direct current transducer DCDC power, according to the relevant electronic charge and discharge resistance curve of battery SOC, using segmentation Linear difference obtains the corresponding electromotive force of the SOC, discharge resistance；

The power of battery is calculated according to the power of motor, the electromotive force, according to the power of battery, the discharge resistance And coulombic efficiency calculates battery current, and obtain state-of-charge variable quantity.

With reference to first aspect, an embodiment of the present invention provides the 5th kind of possible embodiments of first aspect, wherein institute Stating constraints includes：

Tq_wheel=(Tq_Eng+Tq_BSG×i_BSG)×i₀i_g

ω_BSG=ω_Eng×i_BSG

0<ω_Eng<ω_{Eng_max}

0<ω_BSG<ω_{BSG_max}

Tq_{Eng_min}<Tq_Eng<Tq_{Eng_max}

Tq_{BSG_min}<Tq_BSG<Tq_{BSG_max}

SOC_min<SOC<SOC_max

P_{Bat_min}<P_Bat<P_{Bat_max}

Wherein, Tq_wheelIndicate vehicle demand torque, Tq_EngIndicate engine torque, Tq_{Eng_min}Indicate engine torque most Small value, Tq_{Eng_max}Indicate maximum engine torque, Tq_BSGIndicate Motor torque, Tq_{BSG_min}Indicate Motor torque minimum value, Tq_{BSG_max}Indicate Motor torque maximum value, i_gIndicate transmission gear ratio, i₀Indicate speed ratio of main reducer, i_BSGIndicate motor and hair Speed ratio between motivation, velocity indicate that speed, r indicate radius of wheel, ω_BSGIndicate motor speed, ω_{BSG_max}Indicate electricity Machine rotating speed maximum value, ω_EngIndicate engine speed, ω_{Eng_max}Indicate engine speed maximum value, SOC_minIndicate battery SOC Minimum value, SOC_maxIndicate the maximum value of the state-of-charge SOC of battery, P_BatIndicate the power of battery, P_{Bat_min}Indicate battery work( Rate minimum value, P_{Bat_max}Indicate power of battery maximum value.

With reference to first aspect, an embodiment of the present invention provides the 6th kind of possible embodiments of first aspect, wherein institute It includes charging optimal allocation sequence and electric discharge optimal allocation sequence to state best torque allocation strategy；

The control sequence for meeting comprehensive oil consumption requirement of being chosen from each group control sequence is as best torque point Include with strategy：

DeltaSOC% is chosen from each group control sequence>The minimum control sequence of 0 synthesis oil consumption is best as charging Assigned sequence chooses deltaSOC% from each group control sequence<The minimum control sequence of 0 synthesis oil consumption is best as electric discharge Assigned sequence；

Wherein deltaSOC% indicates the difference of the SOC and the SOC of finish time of road cycle start time.

With reference to first aspect, an embodiment of the present invention provides the 7th kind of possible embodiments of first aspect, wherein also Including：The state-of-charge SOC for obtaining the power battery of the hybrid vehicle divides the hybrid power according to the SOC The operating mode of automobile；The operating mode includes pure engine mode, discharge mode and charge mode；

According to the operation mode and best torque allocation strategy, the torque for carrying out engine and BSG motors distribute.

Second aspect, the embodiment of the present invention also provide a kind of mixing dynamical vehicle torsional moment distributor, including：

Scheme distribution module, for calculating the corresponding vehicle demand torque of each sampled point in road cyclic process, according to The vehicle demand torque, current vehicle driving parameters obtain multiple torque allocation plans, the torque according to default rule Allocation plan includes the corresponding engine torque of the sampled point, Motor torque and gear；

Charged computing module, in the case where meeting constraints, calculating each of each sampled point torque point With corresponding oil consumption under scheme and state-of-charge variable quantity, and stored respectively；

Iteration module is used for according to the minimum object function of preset equivalent fuel consumption and initial Lagrange coefficient, according to dynamic State planning algorithm and iterative algorithm determine target Lagrange coefficient；Ginseng in the wherein described minimum object function of equivalent fuel consumption Number includes the oil consumption, state-of-charge variable quantity and Lagrange coefficient；

Retrieval module obtains multiple adjustings and draws for adjusting the target Lagrange coefficient within a preset range Ge Lang coefficients, for each adjusting Lagrange coefficient, according to the minimum object function of preset equivalent fuel consumption, according to dynamic State planning algorithm obtains the corresponding consumption minimization of each sampled point respectively, and records the corresponding control variable of the consumption minimization, To obtain one group of control sequence, the control variable includes at least battery SOC, engine torque, engine speed, motor and turns round Square, motor speed；

Tactful determining module calculates every group for recording the corresponding SOC differences of control sequence described in each group and fuel consumption The corresponding comprehensive oil consumption of control sequence；It is chosen from each group control sequence and meets the control sequence conduct that comprehensive oil consumption requires Best torque allocation strategy.

The third aspect, the embodiment of the present invention also provide a kind of electronic equipment, including memory, processor, the memory On be stored with the computer program that can be run on the processor, the processor is realized when executing the computer program State the method described in first aspect and its any possible embodiment.

The embodiment of the present invention brings following advantageous effect：

In the embodiment of the present invention, mixing dynamical vehicle torsional moment distribution method initially sets up system model, calculates relevant parameter And it has been pre-designed the minimum object function of equivalent fuel consumption, according to the minimum object function of preset equivalent fuel consumption and initial Lagrange Coefficient determines target Lagrange coefficient according to dynamic programming algorithm and iterative algorithm；Then the target Lagrange system is adjusted Number calculates equivalent fuel oil under the corresponding specific operation of each adjusting Lagrange coefficient to obtain multiple adjusting Lagrange coefficients Minimum control sequence is consumed, select to integrate the smaller control sequence of oil consumption as engine and Motor torque allocation strategy, from And it is optimal to reach oil consumption.Therefore, technical solution provided in an embodiment of the present invention realizes under specific operation to hybrid power vapour The reasonable distribution of BSG Motor torques, engine torque in vehicle, improves vehicle economy, reduces energy consumption, reaches global Oil consumption is minimum.

Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages are in specification, claims And specifically noted structure is realized and is obtained in attached drawing.

To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate Appended attached drawing, is described in detail below.

Description of the drawings

It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor It puts, other drawings may also be obtained based on these drawings.

Fig. 1 is the flow diagram of mixing dynamical vehicle torsional moment distribution method provided in an embodiment of the present invention；

Fig. 2 is the system model schematic diagram in mixing dynamical vehicle torsional moment distribution method provided in an embodiment of the present invention；

Fig. 3 is that operating mode divides schematic diagram in mixing dynamical vehicle torsional moment distribution method provided in an embodiment of the present invention；

Fig. 4 is to determine that the flow of operating mode is shown in mixing dynamical vehicle torsional moment distribution method provided in an embodiment of the present invention It is intended to；

Fig. 5 is the structural schematic diagram of mixing dynamical vehicle torsional moment distributor provided in an embodiment of the present invention；

Fig. 6 is the structural schematic diagram of electronic equipment provided in an embodiment of the present invention.

Specific implementation mode

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise Lower obtained every other embodiment, shall fall within the protection scope of the present invention.

Torque allocation strategy is not met by demand of the hybrid vehicle to energy saving and economy at present, it is still necessary into One step improves.Based on this, a kind of mixing dynamical vehicle torsional moment distribution method, device and electronics provided in an embodiment of the present invention are set It is standby, the reasonable distribution to BSG Motor torques, engine torque in hybrid vehicle may be implemented, improve vehicle economy, drop It is minimum to reach global oil consumption for low energy expenditure.

Technology provided by the invention can be, but not limited to by carrying out analysis calculating under specific operation, such as NEDC (New European Driving Cycle, new Europe driving cycle) road state of cyclic operation, it is applied to the torque point of hybrid vehicle Match, passes through relevant hardware or software realization.It is public to institute of the embodiment of the present invention first for ease of understanding the present embodiment A kind of mixing dynamical vehicle torsional moment distribution method opened describes in detail.

Referring to the flow diagram of the mixing dynamical vehicle torsional moment distribution method provided in an embodiment of the present invention shown in Fig. 1. In the method, known to road state of cyclic operation under the premise of, the torsion to hybrid vehicle is realized by dynamic programming algorithm Square distributes.Specifically, N number of sampled point is set in road cycle, under certain constraints, using dynamic programming algorithm and The minimum object function of equivalent fuel consumption pre-established, optimal solution is calculated separately since n-th sampled point to first sampled point, To obtain the optimal torque allocation strategy under entire road state of cyclic operation.

As shown in Figure 1, the mixing dynamical vehicle torsional moment distribution method includes：

Step S101 calculates the corresponding vehicle demand torque of each sampled point in road cyclic process, according to vehicle demand Torque, current vehicle driving parameters obtain multiple torque allocation plans according to default rule.

Wherein torque allocation plan includes the corresponding engine torque of each sampled point, Motor torque and gear, can be with Including speed, SOC, vehicle demand torque.Specifically, if vehicle demand torque is 60Nm, the scheme that can be distributed can To be engine torque 55Nm, Motor torque 5Nm, gear is 3 grades；Either engine torque 60Nm, Motor torque 0Nm, gear are 3 grades；Either engine torque 65Nm, Motor torque -5Nm, gear are 4 grades.In possible implementation In example, the gear that can be selected according to determinations such as speeds, while torque interval is pre-set, if 5Nm is that interval carries out Variation, and vehicle demand torque is finally made to be the sum of Motor torque and engine torque, such as in vehicle for 50 (unit omission, under When together), the torque of engine and motor is respectively：50 and 0,45 and 5,55 and -5,40 and 10；60 and -10.Specific torque point It can be preset with scheme number.Specifically, multiple torque allocation plans are corresponding at each sampled point, if torque point Equipped with X kinds, gear selection has Y kinds, then last each corresponding torque allocation plan of sampled point has X × Y kinds.

Step S102 calculates corresponding oil under each torque allocation plan of each sampled point in the case where meeting constraints Consumption and state-of-charge variable quantity, and stored respectively.

Wherein, vehicle driving parameters include at least speed, complete vehicle weight, air resistance coefficient, front face area, radius of wheel, vapour Vehicle acceleration and vehicle rotary mass conversion coefficient.Each corresponding oil consumption of sampled point and state-of-charge variable quantity are present sample Oil consumption in the corresponding sampling step length of point and state-of-charge variable quantity.

Specifically, in above-mentioned steps S102：Calculate under each torque allocation plan of each sampled point corresponding oil consumption and State-of-charge variable quantity includes：

(a) corresponding engine torque and engine speed under each torque allocation plan of each sampled point, root are determined Piecewise linearity difference is carried out according to Universal Characteristics in IC Engine figure and electric efficiency curve, obtains corresponding engine consumption rate and oil Consumption；

(b) corresponding Motor torque and motor speed under each torque allocation plan of each sampled point are determined, and according to Electric efficiency MAP chart carries out piecewise linearity difference, obtains corresponding electric efficiency, and calculate power of motor；

(c) obtain direct current transducer DCDC power, according to the relevant electronic charge and discharge resistance curve of battery SOC, use Piecewise linearity difference obtains the corresponding electromotive force of the SOC, discharge resistance；

(d) power of battery is calculated according to power of motor, electromotive force, is imitated according to the power of battery, the discharge resistance and coulomb Rate calculates battery current, and obtains state-of-charge variable quantity.

In possible embodiment, above-mentioned steps S101 and step S102 can be realized by following mode：

System modelling is carried out first, as shown in Figure 2 (dotted line indicates that electrical connection, solid line indicate mechanical connection in Fig. 2), tool Body, ignore the rotary inertia that speed changer master subtracts gear, ignores shift time, clutch efficiency 100%, tyre resistance coefficient Constant, road adherence coefficient is fully big.

(1) calculating of vehicle demand torque is as follows：

Wherein, Tq_wheelIndicate that vehicle demand torque, Gf indicate that rolling resistance, Cd indicate that air resistance coefficient, A indicate windward side Product, r indicate radius of wheel, U_aIndicate speed,Indicate that pickup, M indicate that complete vehicle weight, δ indicate vehicle rotary quality Conversion coefficient.

(2) engine mockup

Referring specifically to above-mentioned steps (a), it is assumed that obtained engine consumption rate is Δ Q, and sampling step length is Δ t, then corresponds to Engine oil consumption be Q=Δs Q × Δ t.The oil consumption under the corresponding each torque allocation plan of each sampled point is calculated as a result, Rate and oil consumption.

(3) motor model

Referring specifically to above-mentioned steps (b), wherein engine carries out calculation specifications by taking internal combustion engine as an example, power of motor it is specific Calculation is as follows：

Wherein, P_eIndicate electric efficiency, Tq_BSGIndicate Motor torque, η_BSGIndicate electric efficiency, ω_BSGIndicate that motor turns Speed, wherein motor speed ω_BSGFormula can be passed throughAnd ω_BSG=ω_Eng×i_BSGIt calculates It arrives, wherein velocity indicates speed (with above-mentioned U_aIt is identical), ω_EngIndicate engine speed, i_gIndicate transmission gear ratio, i₀Table Show speed ratio of main reducer, i_BSGIndicate the speed ratio between motor and engine.The corresponding each torsion of each sampled point is calculated as a result, Power of motor under square allocation plan.

(4) battery model

Specifically, referring to above-mentioned steps (c) and step (d).Wherein, the current SOC of the power of DCDC, battery can be by controlling Device processed directly acquires, and the rated voltage of battery is 48V in a possible embodiment.Therefore it can be obtained accordingly according to step (c) Electromotive force and discharge resistance.State-of-charge variable quantity is calculated by the following formula：

P_bat=-P_DCDC-P_e (3)

Wherein, the oil consumption in the corresponding sampling step length of Δ SOC current sampling points and state-of-charge variable quantity ,-P_DCDCIt indicates The power of DCDC, P_batIndicate that the power of battery, E indicate that electromotive force, R indicate that discharge resistance, I indicate battery current, η_coulLibrary representation Human relations efficiency, C_coulIndicate battery total capacity (unit Ah).Thus, it is possible to calculate the corresponding each torque distribution of each sampled point State-of-charge variable quantity under scheme.

Wherein, it is contemplated that influence the dominant vector of performance indicator：Engine torque and gear, above-mentioned constraints include：

Tq_wheel=(Tq_Eng+Tq_BSG×i_BSG)×i₀i_g (7)

ω_BSG=ω_Eng×i_BSG (9)

0<ω_Eng<ω_{Eng_max} (10)

0<ω_BSG<ω_{BSG_max} (11)

Tq_{Eng_min}<Tq_Eng<Tq_{Eng_max} (12)

Tq_{BSG_min}<Tq_BSG<Tq_{BSG_max} (13)

SOC_min<SOC<SOC_max (14)

P_{Bat_min}<P_Bat<P_{Bat_max} (15)

Wherein, Tq_wheelIndicate vehicle demand torque, Tq_EngIndicate engine torque, Tq_{Eng_min}Indicate engine torque most Small value, Tq_{Eng_max}Indicate maximum engine torque, Tq_BSGIndicate Motor torque, Tq_{BSG_min}Indicate Motor torque minimum value, Tq_{BSG_max}Indicate Motor torque maximum value, i_gIndicate transmission gear ratio, i₀Indicate speed ratio of main reducer, i_BSGIndicate motor and hair Speed ratio between motivation, velocity indicate that speed, r indicate radius of wheel, ω_BSGIndicate motor speed, ω_{BSG_max}Indicate electricity Machine rotating speed maximum value, ω_EngIndicate engine speed, ω_{Eng_max}Indicate engine speed maximum value, SOC_minIndicate battery SOC Minimum value, SOC_maxIndicate the maximum value of battery SOC, P_BatIndicate the power of battery, P_{Bat_min}Indicate power of battery minimum value, P_{Bat_max}Indicate power of battery maximum value.

In a possible embodiment, after completing the process of above-mentioned modeling and calculating, by obtained oil consumption and state-of-charge Variable quantity is stored in in tagged table, and acquisition is called in order to subsequently calculate.

Further, it is carrying out before dynamic programming algorithm calculated, it is corresponding etc. to pre-establish road state of cyclic operation The minimum object function of oil consumption is imitated, the parameter in the minimum object function of the equivalent fuel consumption includes the oil consumption, state-of-charge variable quantity And Lagrange coefficient.I.e. while considering consumption minimization, introduce Lagrange coefficient, using state-of-charge variable quantity as A part for performance indicator.The minimum object function of the equivalent fuel consumption is as follows：

Wherein, λ indicates that Lagrange coefficient, the value of j are the positive integer more than or equal to 1 and less than or equal to N, and V (j) is indicated According to dynamic programming algorithm, the corresponding consumption minimization of j-th of sampled point, Δ SOC (j) is the corresponding sampling step of j-th of sampled point State-of-charge variable quantity in length, Q (j) are the oil consumption in the corresponding sampling step length of j-th of sampled point.

Have above-mentioned it is found that V (N) indicates n-th sampled point, i.e., at the last one sampled point, under multiple torque allocation plans Consumption minimization, V (N-1) be the corresponding sampling step length of the N-1 sampled point in consumption minimization and n-th sampled point at most The sum of low oil consumption, V (N-2) are the consumption minimization at the N-2 sampled point and the sum of the consumption minimization at the N-1 sampled point, And so on, V (1) is arrived until calculating, the consumption minimization at the 1st sampled point and the sum of the consumption minimization at the 2nd sampled point, It can obtain the consumption minimization under entire road cyclic process.

Step S103 is advised according to the minimum object function of preset equivalent fuel consumption and initial Lagrange coefficient according to dynamic Cost-effective method and iterative algorithm determine target Lagrange coefficient.

In possible embodiment, initial Lagrange coefficient can be determined according to advance experience.Specifically, may be used To be programmed calculating using MATLAB, according to dynamic programming algorithm, inversely derived (from n-th sampled point to first Sampled point), the corresponding consumption minimization of each sampled point is calculated successively, calculating is iterated in conjunction with above-mentioned constraints, So that it is determined that target Lagrange coefficient.

In a possible embodiment, in above-mentioned steps S103, according to the minimum object function of preset equivalent fuel consumption and initially Lagrange coefficient determines that target Lagrange coefficient includes according to dynamic programming algorithm and iterative algorithm：According to preset etc. The minimum object function of oil consumption and initial Lagrange coefficient are imitated, it is bright to initial glug according to dynamic programming algorithm and iterative algorithm Day, coefficient was modified, and SOC balances at the end of SOC when road cycle starts is recycled with road record corresponding glug Bright day coefficient is target Lagrange coefficient.

Specifically, it is carved at the beginning of road recycles and finish time obtains the SOC of battery respectively, and compared, In iterative process, if the difference of the SOC of the SOC and finish time of start time is 0, recording current Lagrange coefficient is Target Lagrange coefficient.

Step S104 adjusts target Lagrange coefficient, obtains multiple adjusting Lagrange coefficients within a preset range, right In each adjusting Lagrange coefficient, obtained respectively according to dynamic programming algorithm according to the minimum object function of preset equivalent fuel consumption The corresponding consumption minimization of each sampled point is taken, and records the corresponding control variable of consumption minimization, to obtain one group of control sequence.

Wherein, control variable includes at least battery SOC, vehicle demand torque, engine torque, engine speed, motor Torque, motor speed.Specifically, target Lagrange coefficient is finely adjusted, obtains including multiple adjusting Lagrange coefficients, Each Lagrange coefficient that adjusts corresponds to a road cycle.According to dynamic programming algorithm, Lagrange coefficient will be each adjusted It substitutes into respectively in the minimum object function of above-mentioned equivalent fuel consumption and carries out the calculating of consumption minimization, be such as programmed meter using MATLAB It calculates, is inversely derived (from n-th sampled point to first sampled point), successively to the corresponding consumption minimization of each sampled point, And the corresponding control variable of consumption minimization is recorded, to obtain the corresponding control sequence of each Lagrange coefficient.Wherein each control Include the corresponding control variable of consumption minimization of each sampled point in sequence processed.

In a possible embodiment, the quantity of above-mentioned adjusting Lagrange is at least 6, therefore can be included DeltaSOC%>0 and deltaSOC%<At least six groups of control sequences in the case of 0, wherein deltaSOC% indicate that SOC is poor Value.SOC differences indicate the difference of the SOC and the SOC of finish time of road cycle start time.

Step S105, the corresponding SOC differences of record each group control sequence and fuel consumption, calculate every group of control sequence and correspond to Synthesis oil consumption；The control sequence for meeting comprehensive oil consumption requirement is chosen from each group control sequence as best torque distribution plan Slightly.

Wherein, fuel consumption indicates the difference of the oil mass and the oil mass of finish time of road cycle start time.

In a possible embodiment, in above-mentioned steps S105：Record the corresponding SOC differences of control sequence and combustion described in each group Oil consumption, calculating the corresponding comprehensive oil consumption of every group of control sequence includes：Record the corresponding SOC differences of each group control sequence and fuel oil Consumption, according to SOC differences and fuel consumption calculated fuel consumption correction factor value；According to fuel consumption, SOC differences and fuel Quantity correction coefficient value is consumed, the corresponding comprehensive oil consumption of every group of control sequence is calculated.

Specifically, above-mentioned fuel consumption adjusted coefficient K fuel can be calculated with reference to national standard GBT-19753-2013. After obtaining Kfuel, the formula for calculating the corresponding comprehensive oil consumption of every group of control sequence is：

Q₀=Q₁- Kfuel × deltaSOC% (17)

Wherein, Q₀Indicate comprehensive oil consumption, Q₁Indicate that fuel consumption, deltaSOC% indicate SOC differences.

In possible embodiment, above-mentioned best torque allocation strategy includes that charging optimal allocation sequence and electric discharge are best Assigned sequence.Further, it in above-mentioned steps S105, is chosen from each group control sequence and meets the control sequence that comprehensive oil consumption requires It arranges as best torque allocation strategy and includes：DeltaSOC% is chosen from each group control sequence>The minimum control of 0 synthesis oil consumption Sequence processed chooses deltaSOC% as charging optimal allocation sequence from each group control sequence<The minimum control of 0 synthesis oil consumption Sequence processed is as electric discharge optimal allocation sequence.

Specifically, when the SOC of vehicle is relatively low, illustrate that vehicle needs charge, it can be according to deltaSOC%>0 Charging optimal allocation sequence charges；As the SOC higher of vehicle, illustrate that vehicle can discharge, in order to save oil, need by According to deltaSOC%<0 electric discharge optimal allocation sequence is discharged.In this way, rule-based control strategy combination global optimum Control, has obtained the micro hybrid vehicle torque allocation strategy of equivalent fuel consumption minimum.

Further, charging MAP is generated according to charging optimal allocation sequence；Electric discharge is generated according to electric discharge optimal allocation sequence MAP.Obtain obtaining the charging MAP and electric discharge MAP of equivalent fuel consumption minimum under specific operation using the method for Dynamic Programming, Torque distribution is carried out using charging MAP and electric discharge MAP to coordinate.

In order to prevent vehicle traveling in each operating mode (including pure engine mode, discharge mode and charge mode) it Between frequent switching, in possible embodiment, the above method further includes：Obtain the charged of the power battery of hybrid vehicle State SOC, according to SOC divide hybrid vehicle operating mode, operating mode include pure engine mode, discharge mode and Charge mode；According to operating mode and best torque allocation strategy, the torque distribution of engine and BSG motors is carried out.

Referring to Fig. 3, Fig. 4, charge threshold SOC_Charge and discharge threshold SOC_DisCharge can be pre-set, Middle SOC_DisCharge>SOC_Charge.In practical applications, read current vehicle battery SOC, by the current SOC with Charge threshold SOC_Charge and discharge threshold SOC_DisCharge are compared.Work as SOC>When SOC_DisCharge, vehicle Operating mode be discharge mode, BSG motors and engine according to electric discharge MAP coordinated allocation torques；Work as SOC<SOC_ When DisCharge, the operating mode of vehicle is charge mode, BSG motors and engine according to charging MAP coordinated allocation torques； As SOC_DisCharge≤SOC≤SOC_DisCharge, the operating mode of vehicle is pure engine mode, this pattern issues The torque of motivation is vehicle demand torque.In this way, using SOC judge operating mode, effectively prevent different working modes it Between frequent switching.

In the embodiment of the present invention, mixing dynamical vehicle torsional moment distribution method initially sets up system model, calculates relevant parameter And it is pre-designed the minimum object function of equivalent fuel consumption, it is according to the minimum object function of preset equivalent fuel consumption and initial Lagrange Number, according to dynamic programming algorithm and iterative algorithm, determines target Lagrange coefficient；Then the target Lagrange coefficient is adjusted To obtain multiple adjusting Lagrange coefficients, calculates equivalent fuel oil under the corresponding specific operation of each adjusting Lagrange coefficient and disappear Minimum control sequence is consumed, selects to integrate the smaller control sequence of oil consumption as engine and Motor torque allocation strategy, thus It is optimal to reach oil consumption.Therefore, technical solution provided in an embodiment of the present invention realizes under specific operation to hybrid vehicle The reasonable distribution of middle BSG Motor torques, engine torque, improves vehicle economy, reduces energy consumption, reaches global oil It consumes minimum.

Corresponding to above-mentioned mixing dynamical vehicle torsional moment distribution method, shown referring to Fig. 5 provided in an embodiment of the present invention mixed Close the structural schematic diagram of power vehicle torque distribution device.The mixing dynamical vehicle torsional moment distributor includes：

Scheme distribution module 11, for calculating the corresponding vehicle demand torque of each sampled point in road cyclic process, root According to vehicle demand torque, current vehicle driving parameters, multiple torque allocation plans, torque distribution side are obtained according to default rule Case includes the corresponding engine torque of the sampled point, Motor torque and gear；

Charged computing module 12, in the case where meeting constraints, calculating the torque distribution of each of each sampled point Corresponding oil consumption and state-of-charge variable quantity under scheme, and stored respectively；

Iteration module 13, for according to the minimum object function of preset equivalent fuel consumption and initial Lagrange coefficient, according to Dynamic programming algorithm and iterative algorithm determine target Lagrange coefficient；Parameter wherein in the minimum object function of equivalent fuel consumption Including oil consumption, state-of-charge variable quantity and Lagrange coefficient；

Retrieval module 14 obtains multiple adjustings for adjusting the target Lagrange coefficient within a preset range Lagrange coefficient, for each adjusting Lagrange coefficient, according to the minimum object function of preset equivalent fuel consumption, according to dynamic Planning algorithm obtains the corresponding consumption minimization of each sampled point respectively, and records the corresponding control variable of consumption minimization, to obtain One group of control sequence, control variable include at least battery SOC, engine torque, engine speed, Motor torque, motor speed；

Tactful determining module 15 calculates every group of control for recording the corresponding SOC differences of each group control sequence and fuel consumption The corresponding comprehensive oil consumption of sequence processed；The control sequence that the comprehensive oil consumption of satisfaction requires is chosen from each group control sequence is used as best torsion Square allocation strategy.

In the embodiment of the present invention, system model is initially set up, calculate relevant parameter and is pre-designed the minimum mesh of equivalent fuel consumption Scalar functions, according to the minimum object function of preset equivalent fuel consumption and initial Lagrange coefficient, according to dynamic programming algorithm and repeatedly For algorithm, target Lagrange coefficient is determined；Then the target Lagrange coefficient is adjusted to obtain multiple adjusting Lagranges Coefficient calculates each control sequence for adjusting equivalent fuel consumption minimum under the corresponding specific operation of Lagrange coefficient, selection The smaller control sequence of comprehensive oil consumption is optimal to reach oil consumption as engine and Motor torque allocation strategy.Therefore, this hair The technical solution that bright embodiment provides, BSG Motor torques, engine are turned round in realizing under specific operation to hybrid vehicle The reasonable distribution of square improves vehicle economy, reduces energy consumption, and it is minimum to reach global oil consumption.

Referring to Fig. 6, the embodiment of the present invention also provides a kind of electronic equipment 100, including：Processor 40, memory 41, bus 42 and communication interface 43, the processor 40, communication interface 43 and memory 41 connected by bus 42；Processor 40 is for holding The executable module stored in line storage 41, such as computer program.

Wherein, memory 41 may include high-speed random access memory (RAM, Random Access Memory), May further include nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.By at least One communication interface 43 (can be wired or wireless) realizes the communication between the system network element and at least one other network element Connection can use internet, wide area network, local network, Metropolitan Area Network (MAN) etc..

Bus 42 can be isa bus, pci bus or eisa bus etc..The bus can be divided into address bus, data Bus, controlling bus etc..Only indicated with a four-headed arrow for ease of indicating, in Fig. 6, it is not intended that an only bus or A type of bus.

Wherein, memory 41 is for storing program, and the processor 40 executes the journey after receiving and executing instruction Sequence, the method performed by device that the stream process that aforementioned any embodiment of the embodiment of the present invention discloses defines can be applied to handle In device 40, or realized by processor 40.

Processor 40 may be a kind of IC chip, the processing capacity with signal.During realization, above-mentioned side Each step of method can be completed by the integrated logic circuit of the hardware in processor 40 or the instruction of software form.Above-mentioned Processor 40 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network Processor (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal Processing, abbreviation DSP), application-specific integrated circuit (Application Specific Integrated Circuit, referred to as ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or other are programmable Logical device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute in the embodiment of the present invention Disclosed each method, step and logic diagram.General processor can be microprocessor or the processor can also be to appoint What conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be embodied directly in hardware decoding processing Device executes completion, or in decoding processor hardware and software module combination execute completion.Software module can be located at Machine memory, flash memory, read-only memory, programmable read only memory or electrically erasable programmable memory, register etc. are originally In the storage medium of field maturation.The storage medium is located at memory 41, and processor 40 reads the information in memory 41, in conjunction with Its hardware completes the step of above method.

Mixing dynamical vehicle torsional moment distributor and electronic equipment provided in an embodiment of the present invention are provided with above-described embodiment Mixing dynamical vehicle torsional moment distribution method technical characteristic having the same reach so can also solve identical technical problem Identical technique effect.

The computer program product for the progress mixing dynamical vehicle torsional moment distribution method that the embodiment of the present invention is provided, including Store the computer readable storage medium of the executable non-volatile program code of processor, the finger that said program code includes It enables and can be used for executing the method described in previous methods embodiment, specific implementation can be found in embodiment of the method, and details are not described herein.

It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description And the specific work process of electronic equipment, it can refer to corresponding processes in the foregoing method embodiment, details are not described herein.

Flow chart and block diagram in attached drawing show multiple embodiment method and computer program products according to the present invention Architecture, function and operation in the cards.In this regard, each box in flowchart or block diagram can represent one A part for module, section or code, the part of the module, section or code include it is one or more for realizing The executable instruction of defined logic function.It should also be noted that in some implementations as replacements, the work(marked in box Can also can in a different order than that indicated in the drawings it occur.For example, two continuous boxes can essentially be substantially parallel Ground executes, they can also be executed in the opposite order sometimes, this is depended on the functions involved.It is also noted that block diagram And/or the combination of each box in flow chart and the box in block diagram and or flow chart, work(as defined in executing can be used Can or the dedicated hardware based system of action realize, or can come using a combination of dedicated hardware and computer instructions real It is existing.

In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply phase To importance.Unless specifically stated otherwise, the opposite step of the component and step that otherwise illustrate in these embodiments, digital table It is not limit the scope of the invention up to formula and numerical value.

In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, in another example, multiple units or component can To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for The mutual coupling, direct-coupling or communication connection of opinion can be by some communication interfaces, device or unit it is indirect Coupling or communication connection can be electrical, machinery or other forms.

The unit illustrated as separating component may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme 's.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.

It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product It is stored in the executable non-volatile computer read/write memory medium of a processor.Based on this understanding, of the invention Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words The form of product embodies, which is stored in a storage medium, including some instructions use so that One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the present invention State all or part of step of method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read- Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with Store the medium of program code.

Finally it should be noted that：Embodiment described above, only specific implementation mode of the invention, to illustrate the present invention Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. a kind of mixing dynamical vehicle torsional moment distribution method, which is characterized in that including：

The corresponding vehicle demand torque of each sampled point in road cyclic process is calculated, according to the vehicle demand torque, current Vehicle driving parameters obtain multiple torque allocation plans according to default rule, and the torque allocation plan includes the sampling The corresponding engine torque of point, Motor torque and gear；

In the case where meeting constraints, corresponding oil consumption and lotus under each of each sampled point torque allocation plan are calculated Electricity condition variable quantity, and stored respectively；

According to the minimum object function of preset equivalent fuel consumption and initial Lagrange coefficient, calculated according to dynamic programming algorithm and iteration Method determines target Lagrange coefficient；Parameter in the wherein described minimum object function of equivalent fuel consumption includes the oil consumption, charged Amount of state variation and Lagrange coefficient；

The target Lagrange coefficient is adjusted within a preset range, obtains multiple adjusting Lagrange coefficients, for each institute Adjusting Lagrange coefficient is stated, according to the minimum object function of preset equivalent fuel consumption, according to dynamic programming algorithm, is obtained respectively every The corresponding consumption minimization of a sampled point, and the corresponding control variable of the consumption minimization is recorded, to obtain one group of control sequence, institute It states control variable and includes at least battery SOC, engine torque, engine speed, Motor torque, motor speed；

The corresponding SOC differences of control sequence and fuel consumption described in each group are recorded, the corresponding comprehensive oil of every group of control sequence is calculated Consumption；The control sequence for meeting comprehensive oil consumption requirement is chosen from each group control sequence as best torque allocation strategy.

2. according to the method described in claim 1, it is characterized in that, it is described according to the minimum object function of preset equivalent fuel consumption and Initial Lagrange coefficient determines that target Lagrange coefficient includes according to dynamic programming algorithm and iterative algorithm：

According to the minimum object function of preset equivalent fuel consumption and initial Lagrange coefficient, calculated according to dynamic programming algorithm and iteration Method is modified the initial Lagrange coefficient, until SOC at the end of SOC when road cycle starts is recycled with road Balance, it is target Lagrange coefficient to record corresponding Lagrange coefficient.

3. according to the method described in claim 1, it is characterized in that, the corresponding SOC of control sequence described in the record each group is poor Value and fuel consumption, calculating the corresponding comprehensive oil consumption of every group of control sequence includes：

The corresponding SOC differences of each group control sequence and fuel consumption are recorded, fuel is calculated according to the SOC differences and fuel consumption Consume quantity correction coefficient value；

According to the fuel consumption, the SOC differences and the fuel consumption quantity correction coefficient value, every group of control sequence pair is calculated The synthesis oil consumption answered.

4. according to the method described in claim 1, it is characterized in that, the minimum object function of the equivalent fuel consumption is：

Wherein, λ indicates that Lagrange coefficient, the value of j are the positive integer more than or equal to 1 and less than or equal to N, and V (j) indicates jth The corresponding consumption minimization of a sampled point, Δ SOC (j) are the state-of-charge variable quantity in the corresponding sampling step length of j-th of sampled point, Q (j) is the oil consumption in the corresponding sampling step length of j-th of sampled point.

5. according to the method described in claim 1, it is characterized in that, described calculate each of each sampled point torque Corresponding oil consumption and state-of-charge variable quantity include under allocation plan：

It determines and puts corresponding engine torque and engine speed under each of each sampled point torque allocation plan, Piecewise linearity difference is carried out according to Universal Characteristics in IC Engine figure and electric efficiency curve, obtains corresponding engine consumption rate and oil Consumption；

Corresponding Motor torque and motor speed under each of determining each described sampled point torque allocation plan, and according to Electric efficiency MAP chart carries out piecewise linearity difference, obtains corresponding electric efficiency, and calculate power of motor；

Obtain direct current transducer DCDC power, according to the relevant electronic charge and discharge resistance curve of battery SOC, using piecewise linearity Difference obtains the corresponding electromotive force of the SOC, discharge resistance；

The power of battery is calculated according to the power of motor, the electromotive force, according to the power of battery, the discharge resistance and library Human relations efficiency calculation battery current, and obtain state-of-charge variable quantity.

6. according to the method described in claim 1, it is characterized in that, the constraints includes：

Tq_wheel=(Tq_Eng+Tq_BSG×i_BSG)×i₀i_g

ω_BSG=ω_Eng×i_BSG

0<ω_Eng<ω_{Eng_max}

0<ω_BSG<ω_{BSG_max}

Tq_{Eng_min}<Tq_Eng<Tq_{Eng_max}

Tq_{BSG_min}<Tq_BSG<Tq_{BSG_max}

SOC_min<SOC<SOC_max

P_{Bat_min}<P_Bat<P_{Bat_max}

Wherein, Tq_wheelIndicate vehicle demand torque, Tq_EngIndicate engine torque, Tq_{Eng_min}Indicate that engine torque is minimum Value, Tq_{Eng_max}Indicate maximum engine torque, Tq_BSGIndicate Motor torque, Tq_{BSG_min}Indicate Motor torque minimum value, Tq_{BSG_max}Indicate Motor torque maximum value, i_gIndicate transmission gear ratio, i₀Indicate speed ratio of main reducer, i_BSGIndicate motor and hair Speed ratio between motivation, velocity indicate that speed, r indicate radius of wheel, ω_BSGIndicate motor speed, ω_{BSG_max}Indicate electricity Machine rotating speed maximum value, ω_EngIndicate engine speed, ω_{Eng_max}Indicate engine speed maximum value, SOC_minIndicate battery SOC Minimum value, SOC_maxIndicate the maximum value of the state-of-charge SOC of battery, P_BatIndicate the power of battery, P_{Bat_min}Indicate battery work( Rate minimum value, P_{Bat_max}Indicate power of battery maximum value.

7. according to the method described in claim 1, it is characterized in that, the best torque allocation strategy includes charging optimal allocation Sequence and electric discharge optimal allocation sequence；

The control sequence for meeting comprehensive oil consumption requirement of being chosen from each group control sequence is as best torque distribution plan Slightly include：

DeltaSOC% is chosen from each group control sequence>The minimum control sequence of 0 synthesis oil consumption is as charging optimal allocation Sequence；

DeltaSOC% is chosen from each group control sequence<The minimum control sequence of 0 synthesis oil consumption is as electric discharge optimal allocation Sequence；

8. according to the method described in claim 1, it is characterized in that, further including：

The state-of-charge SOC for obtaining the power battery of the hybrid vehicle divides the hybrid power vapour according to the SOC The operating mode of vehicle；The operating mode includes pure engine mode, discharge mode and charge mode；

9. a kind of mixing dynamical vehicle torsional moment distributor, which is characterized in that including：

Scheme distribution module, for calculating the corresponding vehicle demand torque of each sampled point in road cyclic process, according to described Vehicle demand torque, current vehicle driving parameters obtain multiple torque allocation plans, the torque distribution according to default rule Scheme includes the corresponding engine torque of the sampled point, Motor torque and gear；

Charged computing module, in the case where meeting constraints, calculating each of each sampled point torque distribution side Corresponding oil consumption and state-of-charge variable quantity under case, and stored respectively；

Iteration module, for according to the minimum object function of preset equivalent fuel consumption and initial Lagrange coefficient, being advised according to dynamic Cost-effective method and iterative algorithm determine target Lagrange coefficient；Parameter packet in the wherein described minimum object function of equivalent fuel consumption Include the oil consumption, state-of-charge variable quantity and Lagrange coefficient；

It is bright to obtain multiple adjusting glugs for adjusting the target Lagrange coefficient within a preset range for retrieval module Day coefficient advises each adjusting Lagrange coefficient according to the minimum object function of preset equivalent fuel consumption according to dynamic Cost-effective method obtains the corresponding consumption minimization of each sampled point respectively, and records the corresponding control variable of the consumption minimization, with To one group of control sequence, the control variable includes at least battery SOC, engine torque, engine speed, Motor torque, electricity Machine rotating speed；

Tactful determining module calculates every group of control for recording the corresponding SOC differences of control sequence described in each group and fuel consumption The corresponding comprehensive oil consumption of sequence；The control sequence for meeting comprehensive oil consumption requirement is chosen from each group control sequence as best Torque allocation strategy.

10. a kind of electronic equipment, including memory, processor, it is stored with and can runs on the processor on the memory Computer program, which is characterized in that the processor realizes the claims 1 to 8 when executing the computer program Method described in one.