CN115352265A

CN115352265A - Hybrid drive system and hybrid drive method

Info

Publication number: CN115352265A
Application number: CN202211277736.4A
Authority: CN
Inventors: 徐伟; 宋任波; 郑志刚; 沈正奇
Original assignee: Suzhou Asia Pacific Jingrui Transmission Technology Co ltd
Current assignee: Suzhou Asia Pacific Jingrui Transmission Technology Co ltd
Priority date: 2022-10-19
Filing date: 2022-10-19
Publication date: 2022-11-18

Abstract

The utility model relates to the technical field of vehicle driving, in particular to a hybrid driving system and a hybrid driving method.A motor is connected with a first driving module or a second driving module through a switch module, the first driving module and the second driving module are respectively connected with an output shaft, the first driving module comprises a first motor and a first gear unit, and the first motor is connected with the output shaft through the first gear unit; the second driving module comprises a second motor and a second gear unit, and the second motor is connected with the output shaft through the second gear unit; the control module is used for acquiring the operation condition information and outputting a control signal according to the operation condition information, and the control signal is used for controlling the hybrid driving circuit to enter a first working mode, a second working mode or a third working mode. The control module selects a proper driving mode according to the motion working condition information, and enables the generator, the first driving module and/or the second driving module to output torque power, so that the effects of energy conservation and emission reduction and strong scene adaptability are achieved.

Description

Hybrid drive system and hybrid drive method

Technical Field

The invention relates to the technical field of vehicle driving, in particular to a hybrid driving system and a hybrid driving method.

Background

The diesel oil consumed by the current mining truck every year is a rather huge number, but the use of the pure electric mining truck is greatly limited because the current mining dump truck has the problem of difficult charging due to the fact that the use environment is anhydrous and non-electric. Meanwhile, the mining truck of the pure electric drive system only is suitable for working conditions of full load downhill and no load uphill and cannot adapt to all working conditions of mining areas.

Disclosure of Invention

Therefore, a hybrid drive system and a hybrid drive method are needed to be provided for solving the problem that the current pure electric drive system cannot be applied to all working conditions.

A hybrid driving system comprises a hybrid driving circuit and a control module, wherein the hybrid control circuit comprises an engine, a switch module, a first driving module, a second driving module and an output shaft, the engine is connected with the first driving module or the second driving module through the switch module, the first driving module and the second driving module are respectively connected with the output shaft, the first driving module comprises a first motor and a first gear unit, and the first motor is connected with the output shaft through the first gear unit; the second driving module comprises a second motor and a second gear unit, and the second motor is connected with the output shaft through the second gear unit; the control module is connected with the hybrid driving circuit and used for acquiring operation condition information and outputting a control signal according to the operation condition information, wherein the control signal is used for controlling the hybrid driving circuit to enter a first working mode, a second working mode or a third working mode; when the hybrid driving circuit is in a first working mode, the torque power of the engine and the torque power of the first driving module or the second driving module are superposed and then output to the output shaft; when the hybrid driving circuit is in a second working mode, the torque power of the first driving module and the torque power of the second driving module are respectively output to the output shaft; when the hybrid driving circuit is in a third working mode, the torque power of the engine and the torque power of the first driving module are superposed and output to the output shaft, the torque power of the second driving module is output to the output shaft, or the torque power of the engine and the torque power of the second driving module are superposed and output to the output shaft, and the torque power of the first driving module is output to the output shaft.

In one embodiment, the first gear unit includes a first reduction gear, a first shift structure, and a first drive output shaft, the first reduction gear is connected with the first drive output shaft through the first shift structure, and the first drive output shaft is connected with the output shaft; the second gear unit comprises a second reduction gear, a second gear shifting structure and a second driving output shaft, the second reduction gear is connected with the second driving output shaft through the second gear shifting structure, and the second driving output shaft is connected with the output shaft.

In one embodiment, the first gear unit includes three first reduction gears and two first shift structures, one of the first reduction gears is connected with the first drive output shaft through one of the first shift structures, the other two first reduction gears are connected with the first drive output shaft through the other one of the first shift structures, and the second gear unit includes three second reduction gears and two second shift structures, one of the second reduction gears is connected with the second drive output shaft through one of the second shift structures, and the other two second reduction gears are connected with the second drive output shaft through the other one of the second shift structures.

In one embodiment, the first gear unit includes four first reduction gears and two first shift structures, two of the first reduction gears are connected with the first drive output shaft through one of the first shift structures, the other two of the first reduction gears are connected with the first drive output shaft through the other one of the first shift structures, the second gear unit includes two of the second reduction gears and one of the second shift structures, and the two of the second reduction gears are connected with the second drive output shaft through one of the second shift structures.

In one embodiment, the switch module comprises a first clutch and a second clutch, the first clutch is respectively connected with the engine and the first driving module, the second clutch is respectively connected with the engine and the second driving module, and when the first clutch is closed, the torque power of the engine and the torque power of the first driving module are superposed and output to the output shaft; when the second clutch is closed, the torque power of the engine and the torque power of the second driving module are superposed and output to the output shaft.

In one embodiment, the hybrid driving circuit further includes energy storage modules respectively connected to the first motor and the second motor for storing energy.

A hybrid driving method is applied to the hybrid driving system according to any one of the embodiments, where the hybrid driving system includes a hybrid driving circuit, and the method includes acquiring operation condition information; outputting a control signal according to the operation condition information; the control signal is used for controlling the hybrid driving circuit to enter a first working mode, a second working mode or a third working mode.

In one embodiment, the operation condition information comprises vehicle speed information and torque information, and the outputting the control signal according to the operation condition information comprises outputting a first control signal when the vehicle speed information is smaller than a first preset threshold value and the torque information is smaller than a second preset threshold value; the first control signal is used for controlling the hybrid driving circuit to enter a first working mode; when the vehicle speed information is smaller than the first preset threshold value, and the torque information is larger than a second preset threshold value and smaller than a third preset threshold value, outputting a second control signal; the second control signal is used for controlling the hybrid driving circuit to enter a second working mode; when the vehicle speed information is greater than a first preset threshold value and the torque information is greater than a third preset threshold value, outputting third control information; the third control information is used for controlling the hybrid driving circuit to enter a third working mode.

In one embodiment, the hybrid driving circuit further comprises an energy storage module, and after the control signal is output according to the operation condition information, the method further comprises acquiring energy storage information of the energy storage module and driving information of the hybrid driving circuit; determining the charging power or the discharging power of the energy storage module according to the energy storage information and the driving information; and determining output torque information of the hybrid driving system according to the energy storage information, the driving information, the charging power and the discharging power.

In one embodiment, the driving information includes engine discharging power and driving power, and the determining the charging power or the discharging power of the energy storage module according to the energy storage information and the driving information includes subtracting the driving power from the engine discharging power when the energy storage information is greater than a first electric energy threshold and less than or equal to a second electric energy threshold; the second power threshold is greater than the first power threshold; when the energy storage information is larger than the second electric energy threshold and smaller than or equal to a third electric energy threshold, the charging power of the energy storage module is obtained by subtracting the driving power from the discharging power of the engine; the third power threshold is greater than the second power threshold; when the energy storage information is larger than the third electric energy threshold and smaller than a fourth electric energy threshold, the discharging power of the energy storage module is obtained by subtracting the discharging power of the engine from the driving power; the fourth power threshold is greater than the third power threshold.

According to the hybrid driving system, the engine is connected with the first driving module or the second driving module through the switch module, the engine is driven by fuel oil, the first driving module and the second driving module are both driven by electric power, the control module can select a proper driving mode according to the current motion working condition information of the whole vehicle, the generator, the first driving module and/or the second driving module can output torque power, and the power can be transmitted to the wheel end through the output shaft to drive the whole vehicle. Through the oil-electricity mixing mode, the fuel consumption of the whole vehicle can be greatly saved, and the effects of saving the use cost, saving energy and reducing emission are achieved. The engine, the first driving module and/or the second driving module are mixed to serve as a power source, and the engine, the first driving module and/or the second driving module can adapt to different working condition characteristics.

Drawings

In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the specification, and other drawings can be obtained by those skilled in the art without inventive labor.

FIG. 1 is a schematic diagram of a hybrid propulsion system according to one embodiment of the present disclosure;

FIG. 2 is a schematic diagram of the connections of the hybrid propulsion system according to one embodiment of the present disclosure;

FIG. 3 is a schematic diagram of the connection of a hybrid propulsion system according to another embodiment of the present disclosure;

FIG. 4 is a schematic flow chart of a method of a hybrid driving method according to an embodiment of the present disclosure;

FIG. 5 is a flowchart illustrating a method for outputting a control signal according to information of operating conditions according to one embodiment of the present disclosure;

FIG. 6 is a flow diagram illustrating a method for energy management policy in one embodiment of the present disclosure;

FIG. 7 is a flowchart illustrating a method for determining a charging power or a discharging power of an energy storage module according to one embodiment of the present disclosure;

FIG. 8 is a graphical illustration of energy management control in one embodiment of the present disclosure.

Reference numbers in the figures: 10. a hybrid drive circuit; 20. a control module; 100. an engine; 200. a switch module; 300. a first driving module; 400. a second driving module; 500. an output shaft; 210. a first clutch; 220. a second clutch; 310. a first motor; 320. a first gear unit; 321. a first reduction gear; 322. a first shift structure; 323. a first drive output shaft; 410. a second motor; 420. a second gear unit; 421. a second reduction gear; 422. a second shift structure; 423. a second drive output shaft.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The existing mining truck with the pure electric driving system has the problems that the mining truck is only suitable for working conditions of full load downhill and no load uphill and cannot adapt to all working conditions of mining areas, and electric energy used by the pure electric driving system is derived from heavy pollution energy sources such as thermal power and the like, so that the optimal power driving system under the current heavy-load working condition is also a hybrid power driving system, and the development of a high-efficiency energy-saving hybrid power driving system is a necessary and urgent task.

Fig. 1 is a schematic structural diagram of a hybrid drive system according to an embodiment of the present disclosure, and in an embodiment, the hybrid drive system may include a hybrid drive circuit 10 and a control module 20. The hybrid driving circuit 10 may include an engine 100, a switching module 200, a first driving module 300, a second driving module 400, and an output shaft 500, among others.

Engine 100 is a machine capable of converting other forms of energy into mechanical energy, such as an internal combustion engine that generates chemical energy, typically from fuel, and converts the chemical energy into mechanical energy. The engine 100 is connected to the first driving module 300 or the second driving module 400 through the switch module 200, so as to be connected in series with the first driving module 300 or the second driving module 400, and the torque output by the engine 100 can be superposed with the torque output by the first driving module 300 or the second driving module 400. The first driving module 300 and the second driving module 400 are respectively connected to an output shaft 500, and the output shaft 500 may be connected to a wheel end of the entire vehicle, so as to transmit torque to the wheel end to drive the entire vehicle.

When the switch module 200 switches on the connection between the engine 100 and the first driving module 300, the torque output by the engine 100 and the torque output by the first driving module 300 are superimposed and then transmitted to the output shaft 500, and the torque of the second driving module 400 may be separately transmitted to the output shaft 500. Similarly, when the switching module 200 switches on the connection between the engine 100 and the second driving module 400, the torque output by the engine 100 and the torque output by the second driving module 400 are superimposed and transmitted to the output shaft 500, and the torque of the first driving module 300 may be transmitted to the output shaft 500 alone.

The first driving module 300 may include a first motor 310 and a first gear unit 320, and the first motor 310 may be connected with the output shaft 500 through the first gear unit 320. The second driving module 400 may include a second motor 410 and a second gear unit 420, and the second motor 410 may be connected with the output shaft 500 through the second gear unit 420. The motor is an electromagnetic device for realizing electric energy conversion or transmission according to an electromagnetic induction law, and in some embodiments of the present disclosure, the entire vehicle can be driven in a pure electric mode by using a high-efficiency working range of the motor.

The vehicle speed change of the vehicle is correlated with the torque, and the vehicle speed is increased along with the increase of the torque output. As the vehicle speed increases, the gear of the gearbox will also increase accordingly. As torque increases, the first and second

electric machines

310 and 410 and the engine 100 may be sequentially engaged as required by the operating conditions.

The control module 20 is connected to the hybrid driving circuit 10. The vehicle controller of the vehicle can monitor various information of the vehicle in real time, so the control module 20 can be connected with the vehicle controller of the vehicle to acquire the operating condition information of the vehicle, and a proper driving mode is selected according to the operating condition of the vehicle. The operation condition information may include vehicle speed information, environment information, vehicle information, current driving power, historical driving power, and other information related to the vehicle operation condition. After determining the optimal driving mode according to the operating condition information, the control module 20 may output a corresponding control signal. After the control module 20 transmits the control signal to the hybrid driving circuit 10, the hybrid driving circuit 10 enters different operation modes according to the control signal. The working modes comprise a first working mode, a second working mode and a third working mode.

When the hybrid driving circuit 10 is in the first operating mode, the engine 100 is connected in series with the first driving module 300 through the switch module 200, and the control information enables the engine 100 and the first motor 310 to operate, and enables the second motor 410 not to operate, and the torque powers of the engine 100 and the first motor 310 are superimposed and then transmitted to the output shaft 500 through the first gear unit 320, so as to drive the whole vehicle by using the superimposed torque powers. Or, the engine 100 is connected in series with the second motor 410 through the switch module 200, and the control information enables the engine 100 and the second motor 410 to work, and enables the first motor 310 not to work, and the torque powers of the engine 100 and the second motor 410 are superposed and then transmitted to the output shaft 500 through the second gear unit 420, so as to drive the whole vehicle by using the superposed torque powers. That is, in the first operation mode, the generator 100 operates in series with one of the motors to output the superimposed torque power, and the other motor does not operate.

When the hybrid drive circuit 10 is in the second operating mode, the control information may cause the first motor 310 and the second motor 410 to operate, cause the engine 100 to be inactive, and enter the electric-only mode. The first driving module 300 and the second driving module 400 are in a parallel state, and output power independently, so that the whole vehicle is driven in a pure electric mode. The torque power of the first motor 310 is transmitted to the output shaft 500 through the first gear unit 320, and the torque power of the second motor 410 is transmitted to the output shaft 500 through the second gear unit 420.

When the hybrid driving circuit 10 is in the third operating mode, the engine 100 is connected in series with the first driving module 300 through the switch module 200, the engine 100 and the first driving module 300 are connected in parallel with the second driving module 400, and the control information enables the engine 100, the first motor 310 and the second motor 410 to operate. The torque power of the engine 100 and the first motor 310 is superimposed and then transmitted to the output shaft 500 through the first gear unit 320, and the torque power of the second motor 410 is also transmitted to the output shaft 500 through the second gear unit 420, so as to drive the whole vehicle by using the hybrid power of oil and electricity.

Alternatively, the engine 100 is connected in series with the second driving module 400 through the switch module 200, the engine 100 and the second driving module 400 are both connected in parallel with the first driving module 300, and the control information enables the engine 100, the first motor 310 and the second motor 410 to operate. After the torque powers of the engine 100 and the second motor 410 are superimposed, the torque powers are transmitted to the output shaft 500 through the second gear unit 420, and the torque power of the first motor 310 is also transmitted to the output shaft 500 through the first gear unit 320, so that the whole vehicle is driven by the hybrid power of oil and electricity.

For example, since engine 100 is operated at a low speed with a low speed and a high torque condition requires engine 100 to output a high torque, engine 100 is fuel inefficient at a low speed with a high torque, which is seen as an inefficient condition driven by engine 100 at a low speed with a high torque condition. When the control module 20 determines that the current vehicle is under the working condition of low speed and high torque according to the motion working condition information, the control signal may be output to enable the hybrid driving circuit 10 to enter the second working mode, where the second working mode may be a pure electric working condition. In some embodiments of the present disclosure, the control signals may cause the engine 100 to be inactive and the first and second

electric machines

310 and 410 to be active such that the hybrid drive circuit 10 enters an electric-only mode. At this time, the first driving module 300 and the second driving module 400 are in a parallel state, and respectively and independently output power to the output shaft 500. The high-efficiency working range of the motor is utilized, the pure electric working condition replaces the low-efficiency fuel working condition of the traditional whole vehicle under the low-speed and high-torque working condition, the fuel consumption of the whole vehicle can be greatly saved, the vehicle driving efficiency is improved, and the vehicle driving cost is saved. The control module 20 can also control the engine 100 to intervene in the driving operation of the whole vehicle after the speed of the whole vehicle is increased.

The present disclosure designs a hybrid driving system with multiple working modes, in which a control module 20 can determine in real time whether the engine 100, the first driving module 300, and the second driving module 400 operate in series, in parallel, or in series/parallel according to the current load of the entire vehicle, the working state information of the motor and/or the engine 100, the vehicle speed, and other information, and can adapt to the application requirements of various rotating speeds and torques of the vehicle under various working conditions. The hybrid driving system can greatly save the fuel consumption of the whole vehicle in a fuel-electric hybrid driving mode, thereby achieving the effects of saving cost, saving energy and reducing emission.

In one embodiment, engine 100 may include two start-up control methods, the first being according to starting engine 100 by an inherent starter motor; the second start control method is to start the engine 100 by reverse-dragging the first electric machine 310 or the second electric machine 410. The engine 100 is reversely dragged to start by the first motor 310 or the second motor 410, so that on one hand, the cost can be saved, and on the other hand, the starting is more efficient and faster.

Fig. 2 is a schematic connection diagram of a hybrid drive system according to one embodiment of the present disclosure, in which the first gear unit 320 may include a first reduction gear 321, a first shift structure 322, and a first drive output shaft 323, the first reduction gear 321 may be connected with the first drive output shaft 323 through the first shift structure 322, and the first drive output shaft 323 is connected with the output shaft 500. One end of the first reduction gear 321 is connected with the first motor 310, and the other end of the first reduction gear 321 is connected with the first gear shifting structure 322. The first shift structure 322 may or may not be connected to one end of the first drive output shaft 323, and the other end of the first drive output shaft 323 is connected to the output shaft 500. When the first gear shift structure 322 is lapped on one end of the first driving output shaft 323, the connection between the first driving output shaft 323 and the output shaft 500 may be conducted, so that the torque power of the first motor 310 is transmitted to the output shaft 500 through the first reduction gear 321, the first gear shift structure 322, and the first driving output shaft 323, respectively.

Likewise, the second gear unit 420 may include a second reduction gear 421, a second gear shifting structure 422, and a second drive output shaft 423, and the second reduction gear 421 may be connected with the second drive output shaft 423 through the second gear shifting structure 422, and the second drive output shaft 423 is connected with the output shaft 500. One end of the second reduction gear 421 is connected to the second motor 410, and the other end of the second reduction gear 421 is connected to the second gear shift structure 422. The second shift structure 422 may be connected to one end of the second drive output shaft 423 or may be disconnected, and the other end of the second drive output shaft 423 is connected to the output shaft 500. When the second gear shift structure 422 is lapped on one end of the second driving output shaft 423, the connection between the second driving output shaft 423 and the output shaft 500 can be conducted, so that the torque power of the second motor 410 is transmitted to the output shaft 500 through the second reduction gear 421, the second gear shift structure 422 and the second driving output shaft 423, respectively.

In one embodiment, as shown in fig. 2, the first gear unit 320 may include three first reduction gears 321 and two first gear shifting structures 322, wherein one of the first reduction gears 321 may be connected with the first drive output shaft 323 through one of the first gear shifting structures 322, and the other two first reduction gears 321 are connected with the first drive output shaft 323 through the other first gear shifting structure 322. That is, one first gear shift structure 322 can achieve the shift of two adjacent first reduction gears 321, and therefore, three first reduction gears 321 are provided with two first gear shift structures 322 to achieve the three-step gear shift.

Likewise, the second gear unit 420 may include three second reduction gears 421 and two second shift structures 422, wherein one of the second reduction gears 421 may be connected with the second drive output shaft 423 through one of the second shift structures 422, and the other two second reduction gears 421 are connected with the second drive output shaft 423 through the other second shift structures 422. That is, one second gear shift structure 422 can realize the shift of two adjacent second reduction gears 421, and therefore, three second reduction gears 421 are provided with two second gear shift structures 422 to realize the three-step gear shift.

Through the combined action of tertiary planet row, can be so that hybrid drive system can satisfy user's various use operating modes, through being connected to planet carrier input power respectively with first motor 310 and second motor 410, replace the engine input under the original hybrid structure scheme, the sun gear of first order planet row reforms transform and connects the gearbox casing, has realized the hybrid drive mode of oil and electricity, can save oil consumption greatly, improves drive efficiency.

Fig. 3 is a schematic connection diagram of a hybrid drive system according to another embodiment of the present disclosure, in which the first gear unit 320 includes four first reduction gears 321 and two first shift structures 322, two of the first reduction gears 321 are connected to the first drive output shaft 323 through one of the first shift structures 322, and the other two first reduction gears 321 are connected to the first drive output shaft 323 through the other first shift structure 322. One first shifting structure 322 can realize the shifting of two adjacent first reduction gears 321, and therefore, four first reduction gears 321 are provided with two first shifting structures 322 to realize the four-stage gear shifting.

The second gear unit 420 includes two second reduction gears 421 and a second gear shift structure 422, and the two second reduction gears 421 are connected to the second drive output shaft 423 through the second gear shift structure 422. One second shifting structure 422 can realize the shifting of two adjacent second reduction gears 421, and therefore, one second shifting structure 422 is provided for two second reduction gears 421 to realize the two-step gear shifting.

In one embodiment, the switch module 200 may be a single-pole double-throw switch, and one switch may be toggled to both sides to perform a double control function. The single-pole double-throw switch can comprise a movable end and a fixed end, and the movable end is switched on to which side to conduct with the fixed end. In the present embodiment, the stationary end is connected to the engine 100, and the movable end may be shifted to be connected to the first driving module 300 or to be connected to the second driving module 400.

In one embodiment, as shown in fig. 2, the switch module 200 may further include a first clutch 210 and a second clutch 220. The first clutch 210 is connected to the engine 100 and the first driving module 300, the second clutch 220 is connected to the engine 100 and the second driving module 400, and the first clutch 210 and the second clutch 220 are alternatively closed.

By closing the first clutch 210, the engine 100 is connected to the first drive module 300, the torque power of the engine 100 is transmitted to the first gear unit 320 of the first drive module 300 through the first clutch 210, the torque power of the first electric machine 310 is also transmitted to the first gear unit 320, and the torque power of the engine 100 is superposed with the torque power of the first electric machine 310 and output to the wheel end through the output shaft 500 to drive the whole vehicle.

The engine 100 is connected to the second driving module 400 by closing the second clutch 220, the torque power of the engine 100 is transmitted to the second gear unit 420 of the second driving module 400 through the second clutch 220, the torque power of the second motor 410 is also transmitted to the second gear unit 420, and the torque power of the engine 100 and the torque power of the second motor 410 are overlapped and output to the wheel end through the output shaft 500 to drive the whole vehicle.

In one embodiment, the hybrid driving circuit 10 may further include an energy storage module. The energy storage module can be a storage battery and/or a fuel cell. The energy storage module is connected to the first motor 310 and the second motor 410, respectively, for storing energy. Under different conditions, the sum of the currents of the first electric machine 310 and the second electric machine 410 can act together on the energy storage module. When the sum of the currents is less than 0, the energy storage module enters a charging working condition at the moment. When the sum of the currents is larger than 0, the energy storage module enters a discharging working condition at the moment.

The first motor 310 and/or the second motor 410 may be in a driving condition or a generating condition during power take-off. The energy storage module may be charged when the first electric machine 310 and/or the second electric machine 410 are in a generating condition. The control module 20 may determine whether the first motor 310 and/or the second motor 410 is in the driving condition or the generating condition according to the energy storage condition in the energy storage module. The control module 20 may also perform energy management of the entire vehicle according to the driving requirement of the vehicle, and the actual charging and discharging power of the battery may be the sum of the power of the first motor 310 and the power of the second motor 410.

The hybrid driving circuit 10 can also convert kinetic energy of the whole vehicle under the downhill working condition into electric energy and store the electric energy into the energy storage module, and the electric energy stored in the energy storage module can be used for auxiliary driving under the flat road and uphill working conditions, so that the full utilization of the energy is realized.

In one embodiment, the hybrid drive system described above may also enable accurate torque management. The hybrid drive system may further include a torque sensor with which the torques of the first motor 310, the second motor 410, and the engine 100 can be accurately measured. The control module 20 can accurately calculate the torque of the hybrid drive system according to the torque fed back by the torque sensor and the calculation formula of the dynamics of the transmission system, so that the output torque of the hybrid drive system can be accurately managed.

Based on the description of the hybrid drive system embodiments above, the present disclosure also provides a hybrid drive method. The hybrid drive system described above may include a system (including a distributed system), software (applications), modules, components, servers, clients, etc. that use the methods described in the embodiments of the present specification in conjunction with any necessary hardware-implemented devices. Based on the same innovative concept, embodiments of the present disclosure provide methods in one or more embodiments as described in the following embodiments. Because the implementation scheme of the method for solving the problem is similar to that of the device, the specific implementation of the method in the embodiment of the present description may refer to the implementation of the device, and repeated details are not repeated. As used hereinafter, the term "unit" or "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.

The present disclosure further provides a hybrid driving method, which is applied to the hybrid driving system according to any one of the above embodiments, where the hybrid driving system may include the hybrid driving circuit 10, and fig. 4 is a schematic method flow diagram of the hybrid driving method according to one embodiment of the present disclosure, and the hybrid driving method may include the following steps S100 to S200.

Step S100: and acquiring the operating condition information.

The vehicle controller of the vehicle can monitor various information of the vehicle in real time, so the control module 20 can be connected with the vehicle controller of the vehicle to acquire the operating condition information of the vehicle, and a proper driving mode is selected according to the operating condition of the vehicle. The operation condition information may include vehicle speed information, environment information, vehicle information, current driving power, historical driving power, and other information related to the vehicle operation condition.

Step S200: outputting a control signal according to the operation condition information; the control signal is used for controlling the hybrid driving circuit to enter a first working mode, a second working mode or a third working mode.

The control module 20 determines an optimal driving mode of the vehicle according to the operating condition information and outputs a corresponding control signal according to the determination result. After the control module 20 transmits the control signal to the hybrid driving circuit 10, the hybrid driving circuit 10 enters different operation modes according to the control signal. The working modes comprise a first working mode, a second working mode and a third working mode.

According to the hybrid driving method, the current load of the whole vehicle, the working state information of the motor and/or the engine 100, the vehicle speed and other information can be determined according to the running condition information by acquiring the running condition information of the vehicle, so that the engine 100, the first driving module 300 and the second driving module 400 can be determined to work in a serial connection mode, a parallel connection mode or a serial/parallel connection mode, and the application requirements of the vehicle on various rotating speeds and torques under various working conditions can be met. According to the hybrid driving method, the hybrid driving circuit 10 is controlled to enter different working modes according to different operation conditions, so that the driving of the whole vehicle is realized by using the most appropriate driving method, the fuel consumption of the whole vehicle can be greatly reduced, and the effects of saving cost, saving energy and reducing emission are achieved.

FIG. 5 is a flowchart illustrating a method for outputting control signals according to operating condition information according to one embodiment of the present disclosure, where the operating condition information may include vehicle speed information and torque information, and the control signals may include a first control signal, a second control signal, and a third control signal. Outputting the control signal according to the operating condition information may include the following steps S210 to S230.

Step S210: when the vehicle speed information is smaller than a first preset threshold value and the torque information is smaller than a second preset threshold value, outputting a first control signal; the first control signal is used for controlling the hybrid driving circuit to enter a first working mode.

The control module 20 can learn the operating speed condition of the vehicle based on the vehicle speed information and can learn the power demand of the vehicle based on the torque information. When the vehicle speed information is less than the first preset threshold, it may be determined that the vehicle is in a low speed state, and when the torque information is less than the second preset threshold, it may be determined that the vehicle has a low requirement for torque, and therefore, the control module 20 may output a first control signal to enable the hybrid driving circuit 10 to enter the first operating mode.

When the hybrid driving circuit 10 is in the first operating mode, the engine 100 is connected in series with the first driving module 300 through the switch module 200, and the control information enables the engine 100 and the first motor 310 to operate, and enables the second motor 410 not to operate, and the torque powers of the engine 100 and the first motor 310 are superimposed and then transmitted to the output shaft 500 through the first gear unit 320, so as to drive the whole vehicle by using the superimposed torque powers. Or, the engine 100 is connected in series with the second motor 410 through the switch module 200, and the control information enables the engine 100 and the second motor 410 to work, and enables the first motor 310 not to work, and the torque powers of the engine 100 and the second motor 410 are superposed and then transmitted to the output shaft 500 through the second gear unit 420, so as to drive the whole vehicle by using the superposed torque powers. That is, the generator 100 operates in series with one of the motors to output the superimposed torque power, while the other motor does not operate. Because the fuel efficiency of the generator 100 is high under the working condition of low speed and low torque, the generator 100 and one of the electric drive modules can be connected in series to form a driving mode of overlapping power. For example, when the entire vehicle is in a low-speed hill climbing condition, the torque power of the engine 100 and the first motor 310 may be superimposed to drive the entire vehicle.

Step S220: when the vehicle speed information is smaller than a first preset threshold value, and the torque information is larger than a second preset threshold value and smaller than a third preset threshold value, outputting a second control signal; the second control signal is used for controlling the hybrid driving circuit to enter a second working mode.

When the vehicle speed information is less than a first preset threshold, the vehicle can be judged to be in a low-speed state, and when the torque information is greater than a second preset threshold and less than a third preset threshold, the vehicle can be judged to have a high requirement on the torque.

Since engine 100 is operated at a low speed with a low speed and a high torque condition requires engine 100 to output a high torque, engine 100 is inefficient in terms of fuel consumption at low speed with a high torque, which means that the condition driven by engine 100 is inefficient at low speed with a high torque condition. When the vehicle speed information is smaller than the first preset threshold and the torque information is greater than the second preset threshold and smaller than the third preset threshold, the control module 20 may determine that the current vehicle is in a low-speed and high-torque working condition, and may output a second control signal to enable the hybrid driving circuit 10 to enter a second working mode, where the second working mode may be a pure electric working condition.

In some embodiments of the present disclosure, the control signals may cause the engine 100 to be inactive and the first and second

electric machines

310 and 410 to be active such that the hybrid drive circuit 10 enters an electric-only mode. At this time, the first driving module 300 and the second driving module 400 are in a parallel state, and respectively and independently output power to the output shaft 500. The high-efficiency working range of the motor is utilized, the pure electric working condition replaces the low-efficiency fuel working condition of the traditional whole vehicle under the low-speed and high-torque working condition, the fuel consumption of the whole vehicle can be greatly saved, the vehicle driving efficiency is improved, and the vehicle driving cost is saved. For example, when the whole vehicle is in an idling low-speed starting condition, the engine 100 may not be operated and is completely operated by the first motor 310 and the second motor 410, and at this time, the power output of the first motor 310 and the second motor 410 is in a parallel mode. The control module 20 can also control the engine 100 to intervene in the driving operation of the whole vehicle after the speed of the whole vehicle is increased.

Step S230: when the vehicle speed information is greater than the first preset threshold value and the torque information is greater than a third preset threshold value, outputting third control information; the third control information is used for controlling the hybrid driving circuit to enter a third working mode.

When the vehicle speed information is greater than the first preset threshold value, the vehicle can be judged to be in a high-speed state, and when the torque information is greater than the third preset threshold value, the requirement of the vehicle on the torque can be judged to be high. The power output by the pure electric mode alone may not be enough to drive the whole vehicle, so that the engine 100, the first motor 310 and the second motor 410 are all in a working state at this time, and oil-electric hybrid driving is realized.

Alternatively, the engine 100 is connected in series with the second driving module 400 through the switch module 200, the engine 100 and the second driving module 400 are both connected in parallel with the first driving module 300, and the control information enables the engine 100, the first motor 310 and the second motor 410 to operate. The torque power of the engine 100 and the second motor 410 is superimposed and then transmitted to the output shaft 500 through the second gear unit 420, and the torque power of the first motor 310 is also transmitted to the output shaft 500 through the first gear unit 320, so as to drive the whole vehicle by using the hybrid power of oil and electricity.

In the hybrid driving method provided by the present disclosure, the control module 20 may select a suitable driving manner according to the current motion condition information of the entire vehicle, and enable the generator, the first driving module 300 and/or the second driving module 400 to enter the first working mode, the second working mode or the third working mode, output a suitable torque power, and transmit the power to the wheel end through the output shaft 500 to drive the entire vehicle. By selecting a proper oil-electricity hybrid power driving mode, the fuel consumption of the whole vehicle can be greatly saved, and therefore the effects of saving the use cost, saving energy and reducing emission are achieved.

Unlike the prior art, which focuses only on fuel economy, the present disclosure also takes power performance as one of the most important performance indicators. The hybrid driving method provided by the disclosure further comprises a real-time energy management strategy designed based on the PI controller, the energy storage condition of the energy storage module is adjusted by controlling the output torque and the speed of the motor and the engine 100, and the real-time energy management strategy based on multi-objective optimization is designed to balance fuel economy and power performance.

Fig. 6 is a flowchart illustrating a method of an energy management strategy according to an embodiment of the present disclosure, in which in one embodiment, the hybrid driving circuit may further include an energy storage module, and after outputting the control signal according to the operating condition information, the method may further include the following steps S300 to S500.

Step S300: and acquiring energy storage information of the energy storage module and driving information of the hybrid driving circuit.

The control module 20 may perform energy management according to the driving requirements of the entire vehicle. The control module 20 may obtain the energy storage information of the energy storage module through a battery controller, where the battery controller is used to monitor the energy storage condition of the energy storage module. The control module 20 may also obtain the operating condition information of the vehicle through the vehicle controller, and obtain the driving information of the hybrid driving circuit 10 according to the control condition of the control module 20 itself. The driving information may include information of the torque of the generator 100, the first motor 310 and the second motor 410, the operation mode of the hybrid driving circuit 10, and the like.

Step S400: and determining the charging power or the discharging power of the energy storage module according to the energy storage information and the driving information.

Step S500: and determining the output torque information of the hybrid driving system according to the energy storage information, the driving information, the charging power and the discharging power.

Based on the above information, the control module 20 may determine the energy storage module charging power or discharging power according to a predetermined energy management strategy. In some embodiments of the present disclosure, the energy storage module charging power or discharging power may be the sum of the torque power of the first electric machine 310 and the torque power of the second electric machine 410. The control module 20 can accurately calculate the torque of the hybrid drive system according to the acquired information and the dynamic calculation formula of the transmission system, so that the output torque of the hybrid drive system can be accurately managed.

Fig. 7 is a flowchart illustrating a method for determining charging power or discharging power of an energy storage module according to one embodiment of the present disclosure, in which in one embodiment, the information for determining whether the motor is in a power generation condition, a driving condition, or a driving condition or a power generation condition during power output is energy storage information sent by the battery controller. The driving information may further include engine discharging power and driving power, and determining the charging power or the discharging power of the energy storage module according to the energy storage information and the driving information may include the following steps S410 to S430.

Step S410: when the energy storage information is larger than the first electric energy threshold and smaller than or equal to the second electric energy threshold, the charging power of the energy storage module is obtained by subtracting the driving power from the discharging power of the engine; the second power threshold is greater than the first power threshold.

FIG. 8 is a graphical illustration of an energy management control in one embodiment of the present disclosure, wherein the abscissa is time and the ordinate is SOC percent (State Cf Charge, ratio of battery remaining capacity to its fully charged State capacity), SOC _max At maximum battery capacity, SOC _min As minimum value of battery capacity, SOC _hig For a larger value of battery capacity, SOC _low Is a low value of battery capacity, wherein, SOC _min <SOC _low <SOC _hig <SOC _max 。

The first power threshold may be SOC _min Of 1 atThe second electric energy threshold can be SOC _low . When the energy storage information SOC of the energy storage module is in an energy interval which is greater than the first electric energy threshold value and less than the second electric energy threshold value, namely the SOC is _min <SOC≤SOC _low At this time, the energy in the energy storage module is low and in a power-down state, and the energy storage module can be charged through the engine 100. Therefore, the engine discharge power P at this time _eng Besides the output power of the whole vehicle, the charging power needs to be provided for the energy storage module, and the extra power of the engine 100 at the moment is supplemented to the battery for charging. I.e. the charging power P of the energy storage module _chg For discharging power P of engine _eng Minus the drive power P _out ，P _chg =P _eng -P _ou t。

Step S420: when the energy storage information is larger than the second electric energy threshold and smaller than or equal to a third electric energy threshold, the charging power of the energy storage module is obtained by subtracting the driving power from the discharging power of the engine; the third power threshold is greater than the second power threshold.

The third power threshold may be SOC _hig . When the energy storage information SOC is in an energy interval which is larger than the second electric energy threshold value and smaller than the third electric energy threshold value, namely the SOC _low <SOC≤SOC _hig At the moment, the energy storage information SOC in the energy storage module is in an average state, and the energy storage module can be charged or discharged. At this time, the discharge power of the engine 100 may satisfy only the driving power P of the entire vehicle _out I.e. the charging power P of the energy storage module _chg For discharging power P of engine _eng Minus the drive power P _out ，P _chg =P _eng -P _out 。

Step S430: when the energy storage information is larger than the third electric energy threshold and smaller than the fourth electric energy threshold, the discharging power of the energy storage module is the driving power minus the discharging power of the engine; the fourth power threshold is greater than the third power threshold.

The fourth power threshold may be SOC _max . When the energy storage information SOC is in an energy interval which is larger than the third electric energy threshold and smaller than the fourth electric energy threshold, namely the SOC _hig <SOC<SOC _max The energy in the energy storage information is abundant, and can be used for driving the whole vehicleA portion of the drive power is provided. Therefore, at this time, the power provided by the engine 100 is smaller than the power required by the whole vehicle, and the insufficient power can be supplemented by the discharge power of the energy storage module. I.e. the discharge power P of the energy storage module _dchg To drive power P _out Minus the engine discharge power P _eng ，P _dchg =P _out -P _eng 。

In one embodiment, when the energy storage information SOC is less than or equal to the first electric energy threshold value, namely the SOC is less than or equal to the SOC _min In the process, no matter how large the discharging demand of the whole vehicle driving system is, the energy storage module is in a charging state so as to ensure that the energy storage module can be returned to the lowest electric quantity SOC as soon as possible _min And equipment failure caused by over-discharge of the energy storage module is prevented. When the SOC of the energy storage information is greater than or equal to the fourth electric energy threshold, the SOC is greater than or equal to the SOC _max And at the moment, the energy storage module can only discharge and is not allowed to charge, so that the device fault caused by the over-charging of the energy storage module is prevented.

The throttle state of the vehicle can also be taken into account in determining the charging or discharging power of the energy storage module. When the energy storage module is in SOC _min <SOC≤SOC _low When the throttle is larger than a preset threshold value, the energy storage module can respond to a small amount of discharging requirements; when the energy storage module is in SOC _min <SOC≤SOC _low The energy storage module can respond to the charging requirement when the throttle is less than or equal to the preset threshold value. Wherein the preset threshold may be 50%. When the energy storage module is in SOC _low ≤SOC≤SOC _hig The energy storage module can charge and discharge to normally respond during the energy interval. When the energy storage module is in SOC _hig ≤SOC≤SOC _max The energy storage module can respond to the discharging requirement preferentially, and the charging capacity can be not released completely.

In one embodiment, before the control module 20 determines the charging power or the discharging power of the energy storage module according to the energy storage information and the driving information, the flow direction may be determined according to an engine operating mode (EngWorkMode), and then the output torque information of the hybrid drive system may be determined according to the driving system dynamics calculation formula and the acquired information.

When the EngWorkMode =0, that is, the engine 100 does not work, the hybrid drive circuit 10 is in the pure electric drive mode, at this time, the discharge power of the generator is 0, and the energy storage module is used for providing the drive power for the whole vehicle. I.e. P _dchg =P _out ，P _eng And =0. The information of the output torque, the output rotating speed and the like of the system can be obtained by calculation according to a kinetic calculation formula. The dynamics calculation formula in the pure electric drive mode is as follows:

in the formula, T _out Outputting torque for the system; t is _eng Outputting torque for the engine; t is _E1 Outputting a torque for the first motor; t is _E2 Outputting torque for the second motor.

When EngWorkMode =1, that is, the engine 100 operates, the hybrid drive circuit 10 is in the hybrid drive mode, at this time, the energy storage module and the engine 100 are used to simultaneously provide driving power to the entire vehicle, and the charging and discharging power of the energy storage module and the discharging power of the engine are determined according to the method for determining the charging power or the discharging power of the energy storage module in the previous embodiment. The information of the output torque, the output rotating speed and the like of the system can be obtained by calculation according to a dynamic calculation formula. The dynamics calculation in the hybrid drive mode is:

in the formula, T _out Outputting torque for the system; p _out Outputting power for the system; eta is the system efficiency; t is _eng Outputting torque for the engine; n is _veh Outputting the rotating speed for the gearbox; t is a unit of _E1 Outputting a torque for the first motor; t is _E2 Outputting torque for the second motor.

The system described in the above parameters may be a hybrid drive system.

It should be understood that, although the steps in the flowcharts of the figures in the specification are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a part of the steps in the flowcharts of the figures of the specification may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or the stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or the stages in other steps.

In an exemplary embodiment, there is further provided a computer device including a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the hybrid driving method according to any one of the above embodiments or the steps of the hybrid driving method according to any one of the above embodiments when executing the computer program.

In an exemplary embodiment, a computer-readable storage medium comprising instructions, such as a memory comprising instructions, executable by a processor of a hybrid drive system to perform the above method is also provided. The storage medium may be a computer-readable storage medium, which may be, for example, a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

In an exemplary embodiment, a computer program product is also provided, which includes instructions executable by a processor of a hybrid drive system to perform the above method.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the hardware + program class embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to part of the description of the method embodiment for relevant points.

It should be noted that, the descriptions of the apparatus, the electronic device, the server, and the like according to the method embodiments may also include other embodiments, and specific implementations may refer to the descriptions of the related method embodiments. Meanwhile, the new embodiment formed by the mutual combination of the features of the methods, the devices, the equipment and the server embodiments still belongs to the implementation range covered by the present disclosure, and the details are not repeated herein.

In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A hybrid driving system is characterized by comprising a hybrid driving circuit and a control module,

the hybrid control circuit comprises an engine, a switch module, a first driving module, a second driving module and an output shaft, wherein the engine is connected with the first driving module or the second driving module through the switch module, the first driving module and the second driving module are respectively connected with the output shaft,

the first driving module comprises a first motor and a first gear unit, and the first motor is connected with the output shaft through the first gear unit;

the second driving module comprises a second motor and a second gear unit, and the second motor is connected with the output shaft through the second gear unit;

the control module is connected with the hybrid driving circuit and used for acquiring operation condition information and outputting a control signal according to the operation condition information, wherein the control signal is used for controlling the hybrid driving circuit to enter a first working mode, a second working mode or a third working mode;

when the hybrid driving circuit is in a first working mode, the torque power of the engine and the torque power of the first driving module or the second driving module are superposed and then output to the output shaft; when the hybrid driving circuit is in a second working mode, the torque power of the first driving module and the torque power of the second driving module are respectively output to the output shaft;

when the hybrid driving circuit is in a third working mode, the torque power of the engine and the torque power of the first driving module are superposed and output to the output shaft, the torque power of the second driving module is output to the output shaft, or the torque power of the engine and the torque power of the second driving module are superposed and output to the output shaft, and the torque power of the first driving module is output to the output shaft.

2. The hybrid drive system of claim 1, wherein the first gear unit includes a first reduction gear, a first shift structure, and a first drive output shaft, the first reduction gear being connected with the first drive output shaft through the first shift structure, the first drive output shaft being connected with the output shaft;

the second gear unit comprises a second reduction gear, a second gear shifting structure and a second driving output shaft, the second reduction gear is connected with the second driving output shaft through the second gear shifting structure, and the second driving output shaft is connected with the output shaft.

3. The hybrid drive system according to claim 2, wherein said first gear unit includes three of said first reduction gears and two of said first shift structures, one of said first reduction gears being connected with said first drive output shaft through one of said first shift structures, and the other two of said first reduction gears being connected with said first drive output shaft through the other one of said first shift structures,

the second gear unit includes three second reduction gears and two second shift structures, one of the second reduction gears is connected to the second drive output shaft through one of the second shift structures, and the other two second reduction gears are connected to the second drive output shaft through the other second shift structure.

4. The hybrid drive system according to claim 2, wherein said first gear unit includes four of said first reduction gears and two of said first shift structures, two of said first reduction gears being connected with said first drive output shaft through one of said first shift structures, and the other two of said first reduction gears being connected with said first drive output shaft through the other one of said first shift structures,

the second gear unit includes two second reduction gears and one second shift structure, and the two second reduction gears are connected to the second drive output shaft through the one second shift structure.

5. The hybrid drive system of claim 1 or 2, wherein the switch module comprises a first clutch and a second clutch, the first clutch being connected with the engine and the first drive module, respectively, and the second clutch being connected with the engine and the second drive module, respectively,

when the first clutch is closed, the torque power of the engine and the torque power of the first driving module are superposed and output to the output shaft; when the second clutch is closed, the torque power of the engine and the torque power of the second driving module are superposed and output to the output shaft.

6. The hybrid drive system of claim 1, wherein the hybrid drive circuit further comprises:

and the energy storage module is respectively connected with the first motor and the second motor and used for storing energy.

7. A hybrid driving method applied to the hybrid driving system according to any one of claims 1 to 6, the hybrid driving system including a hybrid driving circuit, the method comprising:

acquiring operation condition information;

outputting a control signal according to the operation condition information; the control signal is used for controlling the hybrid driving circuit to enter a first working mode, a second working mode or a third working mode.

8. The hybrid driving method according to claim 7, wherein the operating condition information includes vehicle speed information and torque information, and the outputting the control signal according to the operating condition information includes:

when the vehicle speed information is smaller than a first preset threshold value and the torque information is smaller than a second preset threshold value, outputting a first control signal; the first control signal is used for controlling the hybrid driving circuit to enter a first working mode;

when the vehicle speed information is smaller than the first preset threshold value, and the torque information is larger than a second preset threshold value and smaller than a third preset threshold value, outputting a second control signal; the second control signal is used for controlling the hybrid driving circuit to enter a second working mode;

when the vehicle speed information is greater than a first preset threshold value and the torque information is greater than a third preset threshold value, outputting third control information; the third control information is used for controlling the hybrid driving circuit to enter a third working mode.

9. The hybrid driving method according to claim 7, wherein the hybrid driving circuit further includes an energy storage module, and after outputting a control signal according to the operation condition information, the method further includes:

acquiring energy storage information of the energy storage module and driving information of the hybrid driving circuit;

determining the charging power or the discharging power of the energy storage module according to the energy storage information and the driving information;

and determining output torque information of the hybrid driving system according to the energy storage information, the driving information, the charging power and the discharging power.

10. The hybrid driving method according to claim 9, wherein the driving information includes engine discharge power and driving power, and the determining of the charging power or the discharging power of the energy storage module from the energy storage information and the driving information includes:

when the energy storage information is larger than a first electric energy threshold and smaller than or equal to a second electric energy threshold, the charging power of the energy storage module is obtained by subtracting the driving power from the discharging power of the engine; the second power threshold is greater than the first power threshold;

when the energy storage information is larger than the second electric energy threshold and smaller than or equal to a third electric energy threshold, the charging power of the energy storage module is obtained by subtracting the driving power from the discharging power of the engine; the third power threshold is greater than the second power threshold;

when the energy storage information is larger than the third electric energy threshold and smaller than a fourth electric energy threshold, the discharging power of the energy storage module is obtained by subtracting the discharging power of the engine from the driving power; the fourth power threshold is greater than the third power threshold.