CN116653912A - Vehicle idle speed control method and device and hybrid vehicle - Google Patents

Abstract

The invention discloses a vehicle idle speed control method and device and a hybrid vehicle. Wherein the method comprises the following steps: determining that the target vehicle enters an idle speed control state based on vehicle control information of the target vehicle; in an idle speed control state, in response to the current battery capacity of the target vehicle being higher than a first threshold value, performing motor speed control on the target vehicle according to a first control instruction, and in response to the current battery capacity being lower than a second threshold value, performing motor speed control and engine torque control on the target vehicle according to a second control instruction; the first control command is determined by a first target idle speed corresponding to the target vehicle in an electric driving state, and the second control command is determined by a second target idle speed and a target idle torque corresponding to the target vehicle in a hybrid driving state. The invention solves the technical problems of low accuracy and poor comfort of the whole vehicle of the vehicle idle speed control method provided by the related technology.

Description

Vehicle idle speed control method and device and hybrid vehicle

Technical Field

The invention relates to the field of automobiles, in particular to a method and a device for controlling idle speed of a vehicle and a hybrid power vehicle.

Background

The idle speed control of the vehicle refers to that before the rotation speed of the engine of the vehicle and the speed of the vehicle reach or exceed a preset threshold, the engine does not output external driving power and runs against the friction resistance of internal parts of the engine. The idle speed control performance of the vehicle can be used for reflecting technical indexes such as the technical index, the stability index, the dynamic property index, the economical efficiency index and the like of the whole vehicle. However, the vehicle idle speed control method provided in the prior art also has the technical problem of low accuracy in the idle speed control process, which results in poor idle speed control performance and poor comfort of the whole vehicle.

Aiming at the problems of low accuracy and poor comfort of the whole vehicle of the vehicle idle speed control method provided by the related technology, no effective solution is proposed at present.

Disclosure of Invention

The embodiment of the invention provides a vehicle idle speed control method and device and a hybrid power vehicle, and aims to at least solve the technical problems of low accuracy and poor overall comfort of the vehicle idle speed control method provided by the related technology.

According to an aspect of an embodiment of the present invention, there is provided a method of vehicle idle speed control, including:

determining that the target vehicle enters an idle speed control state based on vehicle control information of the target vehicle, wherein the target vehicle is configured in a plug-in hybrid configuration, and the vehicle control information at least comprises: accelerator pedal opening, brake pedal opening, and vehicle speed; in an idle speed control state, in response to the current battery capacity of the target vehicle being higher than a first threshold value, performing motor speed control on the target vehicle according to a first control instruction, and in response to the current battery capacity being lower than a second threshold value, performing motor speed control and engine torque control on the target vehicle according to a second control instruction; the first control command is determined by a first target idle speed corresponding to the target vehicle in an electric driving state, and the second control command is determined by a second target idle speed and a target idle torque corresponding to the target vehicle in a hybrid driving state.

Optionally, determining that the target vehicle enters the idle speed control state based on the vehicle control information of the target vehicle includes: controlling the target vehicle to enter an idle speed control state in response to vehicle control information of the target vehicle satisfying a first condition, wherein the first condition includes: the opening degree of the accelerator pedal is smaller than the third threshold value, the opening degree of the brake pedal is larger than the fourth threshold value, and the vehicle speed is smaller than the fifth threshold value.

Optionally, performing motor rotation speed control on the target vehicle according to the first control instruction includes: calculating based on vehicle control information to obtain a first target idle speed; generating a first control command using the first target idle speed, wherein the first control command includes: a first motor control command and a first transmission control command; a driving motor of a control target vehicle executes a first motor control instruction, so that the rotating speed of the driving motor is adjusted to a first target idle rotating speed; a transmission of a control target vehicle executes a first transmission control instruction so that a clutch in the transmission performs a first slip operation.

Optionally, the vehicle control information further includes a gear and a brake master cylinder pressure, calculating based on the vehicle control information, and obtaining the first target idle speed includes: determining a first target idle speed to be a first preset speed in response to the vehicle control information meeting a second condition and detecting that a transmission control unit of a transmission transmits an input shaft speed increasing request message; determining a first target idle speed to be a second preset speed in response to the vehicle control information not meeting a second condition or detecting that a transmission control unit of the transmission does not send an input shaft speed-up request message, wherein the transmission demand speed is issued in real time by the transmission control unit; wherein the second condition comprises: the opening degree of the brake pedal is a fourth threshold value, the pressure of the brake master cylinder is smaller than a sixth threshold value, the gear is switched from the parking gear or the neutral gear to the forward gear or the reverse gear, and the forward gear or the reverse gear is kept within a preset time range.

Optionally, performing motor speed control and engine torque control on the target vehicle according to the second control instruction includes: determining a second target idle speed based on the engine idle speed demand speed, the transmission demand speed and a third preset speed, wherein the engine idle speed demand speed is issued in real time by the engine control unit, and the transmission demand speed is issued in real time by the transmission control unit; determining a target idle torque based on the current battery capacity and a current torque and a current rotational speed of a drive motor of the target vehicle; generating a second control command using the second target idle speed and the target idle torque, wherein the second control command includes: the second motor control command, the second transmission control command and the engine control command are closed-loop control commands; the driving motor of the target vehicle is controlled to execute a second motor control instruction, so that the rotating speed of the driving motor is adjusted to a second target idle rotating speed through closed-loop control; executing a second transmission control instruction by a transmission of the control target vehicle, so that a clutch in the transmission performs a second slip grinding operation; an engine of a control target vehicle executes an engine control command such that an output torque of the engine is adjusted to a target idle torque by closed-loop control.

Optionally, determining the target idle torque based on the current battery capacity and the current torque and the current rotational speed of the drive motor of the target vehicle includes: determining target charging power by using the current battery capacity, wherein the target charging power is input charging power required by a power battery of a target vehicle under the current battery capacity; calculating the current torque and the current rotating speed to obtain the current output power of the driving motor; and calculating the target idle torque by using a closed-loop control algorithm based on the target charging power and the current output power.

Optionally, determining the target charging power using the current battery capacity includes: determining that the target charging power is zero in response to the current battery capacity being higher than a driving charging threshold of the target vehicle; determining the target charging power as the accessory electric power corresponding to the target vehicle in response to the current battery capacity being higher than the starting threshold of the target vehicle and the current battery capacity being lower than the driving charging threshold; and determining the target charging power as the sum of the accessory electric power and the preset forced charging power corresponding to the target vehicle in response to the current battery capacity being lower than the starting threshold.

Optionally, calculating the target idle torque using a closed-loop control algorithm based on the target charging power and the current output power includes: calculating the target charging power and the current output power by using a closed-loop control algorithm to obtain deviation torque; determining a feed-forward torque of the drive motor based on the current battery capacity; and determining the target idle torque according to the feedforward torque and the deviation torque.

According to another aspect of the embodiment of the present invention, there is also provided an apparatus for controlling idle speed of a vehicle, including:

the determining module is configured to determine that the target vehicle enters an idle speed control state based on vehicle control information of the target vehicle, where the target vehicle is configured in a plug-in hybrid configuration, and the vehicle control information at least includes: accelerator pedal opening, brake pedal opening, and vehicle speed; the control module is used for responding to the fact that the current battery capacity of the target vehicle is higher than a first threshold value in an idle speed control state, controlling the motor rotation speed of the target vehicle according to a first control command, and responding to the fact that the current battery capacity is lower than a second threshold value, controlling the motor rotation speed and controlling the engine torque of the target vehicle according to a second control command; the first control command is determined by a first target idle speed corresponding to the target vehicle in an electric driving state, and the second control command is determined by a second target idle speed and a target idle torque corresponding to the target vehicle in a hybrid driving state.

Optionally, the determining module is further configured to: determining that the target vehicle enters the idle speed control state based on the vehicle control information of the target vehicle includes: controlling the target vehicle to enter an idle speed control state in response to vehicle control information of the target vehicle satisfying a first condition, wherein the first condition includes: the opening degree of the accelerator pedal is smaller than the third threshold value, the opening degree of the brake pedal is larger than the fourth threshold value, and the vehicle speed is smaller than the fifth threshold value.

Optionally, the control module is further configured to: the motor speed control of the target vehicle according to the first control command includes: calculating based on vehicle control information to obtain a first target idle speed; generating a first control command using the first target idle speed, wherein the first control command includes: a first motor control command and a first transmission control command; a driving motor of a control target vehicle executes a first motor control instruction, so that the rotating speed of the driving motor is adjusted to a first target idle rotating speed; a transmission of a control target vehicle executes a first transmission control instruction so that a clutch in the transmission performs a first slip operation.

Optionally, the control module is further configured to: the vehicle control information further includes a gear and a master cylinder pressure, and the calculating based on the vehicle control information, the obtaining a first target idle speed includes: determining a first target idle speed to be a first preset speed in response to the vehicle control information meeting a second condition and detecting that a transmission control unit of a transmission transmits an input shaft speed increasing request message; determining a first target idle speed to be a second preset speed in response to the vehicle control information not meeting a second condition or detecting that a transmission control unit of the transmission does not send an input shaft speed-up request message, wherein the transmission demand speed is issued in real time by the transmission control unit; wherein the second condition comprises: the opening degree of the brake pedal is a fourth threshold value, the pressure of the brake master cylinder is smaller than a sixth threshold value, the gear is switched from the parking gear or the neutral gear to the forward gear or the reverse gear, and the forward gear or the reverse gear is kept within a preset time range.

Optionally, the control module is further configured to: the motor speed control and the engine torque control of the target vehicle according to the second control command include: determining a second target idle speed based on the engine idle speed demand speed, the transmission demand speed and a third preset speed, wherein the engine idle speed demand speed is issued in real time by the engine control unit, and the transmission demand speed is issued in real time by the transmission control unit; determining a target idle torque based on the current battery capacity and a current torque and a current rotational speed of a drive motor of the target vehicle; generating a second control command using the second target idle speed and the target idle torque, wherein the second control command includes: the second motor control command, the second transmission control command and the engine control command are closed-loop control commands; the driving motor of the target vehicle is controlled to execute a second motor control instruction, so that the rotating speed of the driving motor is adjusted to a second target idle rotating speed through closed-loop control; executing a second transmission control instruction by a transmission of the control target vehicle, so that a clutch in the transmission performs a second slip grinding operation; an engine of a control target vehicle executes an engine control command such that an output torque of the engine is adjusted to a target idle torque by closed-loop control.

Optionally, the control module is further configured to: determining the target idle torque based on the current battery capacity and the current torque and current rotational speed of the drive motor of the target vehicle includes: determining target charging power by using the current battery capacity, wherein the target charging power is input charging power required by a power battery of a target vehicle under the current battery capacity; calculating the current torque and the current rotating speed to obtain the current output power of the driving motor; and calculating the target idle torque by using a closed-loop control algorithm based on the target charging power and the current output power.

Optionally, the control module is further configured to: determining the target charging power using the current battery capacity includes: determining that the target charging power is zero in response to the current battery capacity being higher than a driving charging threshold of the target vehicle; determining the target charging power as the accessory electric power corresponding to the target vehicle in response to the current battery capacity being higher than the starting threshold of the target vehicle and the current battery capacity being lower than the driving charging threshold; and determining the target charging power as the sum of the accessory electric power and the preset forced charging power corresponding to the target vehicle in response to the current battery capacity being lower than the starting threshold.

Optionally, the control module is further configured to: based on the target charging power and the current output power, calculating the target idle torque by using a closed-loop control algorithm comprises: calculating the target charging power and the current output power by using a closed-loop control algorithm to obtain deviation torque; determining a feed-forward torque of the drive motor based on the current battery capacity; and determining the target idle torque according to the feedforward torque and the deviation torque.

According to another aspect of an embodiment of the present invention, there is also provided a hybrid vehicle including an on-board memory having a computer program stored therein and an on-board processor configured to run the computer program to perform the method of vehicle idle speed control of any one of the preceding claims.

In the embodiment of the invention, firstly, the target vehicle is determined to enter an idle speed control state based on vehicle control information of the target vehicle, wherein the target vehicle is configured into a plug-in hybrid power configuration, and the vehicle control information at least comprises: the method comprises the steps of controlling the motor speed of a target vehicle according to a first control instruction in response to the fact that the current battery capacity of the target vehicle is higher than a first threshold value in an idle speed control state, controlling the motor speed of the target vehicle according to a second control instruction in response to the fact that the current battery capacity is lower than a second threshold value, and controlling the motor speed and the engine torque of the target vehicle according to a second control instruction, wherein the first control instruction is determined by a first target idle speed corresponding to the target vehicle in an electric driving state, and the second control instruction is determined by a second target idle speed corresponding to the target vehicle in a hybrid driving state and the target idle torque.

It is easy to understand that under the condition that the target vehicle is determined to enter the idle speed control state, the method provided by the invention controls the motor of the target vehicle to execute different rotating speeds and different torques according to the current battery capacity of the target vehicle and the preset threshold (comprising the first threshold and the second threshold) so as to adapt to different idle speed states (comprising the electric driving state and the hybrid driving state), thereby achieving the purpose of accurately controlling the idle speed state of the target vehicle, further realizing the technical effects of improving the accuracy of idle speed control of the vehicle and improving the comfort of the whole vehicle, and further solving the technical problems of low accuracy and poor comfort of the whole vehicle of the idle speed control method of the vehicle provided by the related art.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:

FIG. 1 is a block diagram of an alternative vehicle terminal for a vehicle idle speed control method according to an embodiment of the present invention;

FIG. 2 is a flow chart of a vehicle idle speed control method according to an embodiment of the present invention;

FIG. 3 is a schematic illustration of a vehicle with an alternative vehicle idle speed control in accordance with an embodiment of the invention;

FIG. 4 is a flow chart of an alternative vehicle idle speed control process according to an embodiment of the present invention;

fig. 5 is a block diagram of an alternative vehicle idle speed control device according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In accordance with an embodiment of the present invention, there is provided a method embodiment of vehicle idle speed control, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer executable instructions, and, although a logical sequence is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in a different order than that illustrated herein.

Fig. 1 is a block diagram of an alternative vehicle terminal for a vehicle idle speed control method according to an embodiment of the invention, as shown in fig. 1, a vehicle terminal 10 (or a mobile device 10 associated with a vehicle having communication) may include one or more processors 102 (the processors 102 may include, but are not limited to, a processing means such as a microprocessor (Microcontroller Unit, MCU) or programmable logic device (Field Programmable Gate Array, FPGA), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, the method may further include: display device 110, input/output device 108 (i.e., I/O device), universal serial bus (Universal Serial Bus, USB) port (which may be included as one of the ports of a computer bus, not shown), network interface (not shown), power supply (not shown), and/or camera (not shown). It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the vehicle terminal 1 described above. For example, the vehicle terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.

It should be noted that the one or more processors 102 and/or other data processing circuits described above may be embodied in whole or in part in software, hardware, firmware, or any combination thereof. Further, the data processing circuitry may be a single stand-alone processing module, or incorporated in whole or in part into any of the other elements in the vehicle terminal 10 (or mobile device).

The memory 104 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the vehicle idle speed control method in the embodiment of the present invention, and the processor 102 executes the software programs and modules stored in the memory 104 to perform various functional applications and data processing, that is, implement the vehicle idle speed control method described above. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the vehicle terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used to receive or transmit data via a network. The specific examples of the network described above may include a wireless network provided by a communication provider of the vehicle terminal 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module for communicating with the internet wirelessly.

In the above-mentioned operating environment, the embodiment of the present invention provides a vehicle idle speed control method as shown in fig. 2, and fig. 2 is a flowchart of a vehicle idle speed control method according to an embodiment of the present invention, as shown in fig. 2, the embodiment shown in fig. 2 may at least include implementation steps, that is, may be a technical solution implemented by steps S21 to S22.

Step S21, determining that the target vehicle enters an idle speed control state based on vehicle control information of the target vehicle, wherein the target vehicle is configured in a plug-in hybrid configuration, and the vehicle control information at least includes: accelerator pedal opening, brake pedal opening, and vehicle speed;

In an alternative provided in the step S21, the vehicle control information may be collected by a plurality of sensors of the vehicle (including, but not limited to, an accelerator pedal displacement sensor, a brake pedal displacement sensor) or directly read through an instrument panel of the vehicle.

In the technical scheme provided by the invention, it can be further understood that a Plug-in hybrid vehicle (PHEV) can be divided into a plurality of configurations according to the Position (Position) of the motor in the power system: the target vehicles P0, P1, P2, P3, and P4 in the present invention may be plug-in hybrid vehicles of P2 configuration, and the configuration of the target vehicles is further described below with reference to fig. 3.

FIG. 3 is a schematic illustration of a vehicle with an alternative vehicle idle speed control, as shown in FIG. 3, in which a configuration of a P2 configuration plug-in hybrid vehicle may include: the engine 301 and its control unit 302, clutch 303, motor 304, gearbox 305, in addition, may also comprise a whole vehicle controller, a motor control unit, a drive motor, a transmission control unit (Transmission Control Unit, TCU), a power battery control unit, an accelerator pedal displacement sensor, a brake master cylinder pressure sensor, a hard wire unit, a CAN communication unit.

As an alternative embodiment, based on the vehicle control information of the target vehicle, it is determined that the target vehicle enters the idle speed control state, and the specific method may be: the vehicle control information of the target vehicle includes an accelerator pedal opening, a brake pedal opening, and a vehicle speed, and when the accelerator pedal opening is less than 2%, the brake pedal is depressed, and the vehicle speed is 10Km/h or less, it is determined that the target vehicle enters an idle speed control state.

Step S22, in an idle speed control state, responding to the fact that the current battery capacity of the target vehicle is higher than a first threshold value, performing motor rotation speed control on the target vehicle according to a first control command, and responding to the fact that the current battery capacity is lower than a second threshold value, performing motor rotation speed control and engine torque control on the target vehicle according to a second control command; the first control command is determined by a first target idle speed corresponding to the target vehicle in an electric driving state, and the second control command is determined by a second target idle speed and a target idle torque corresponding to the target vehicle in a hybrid driving state.

In an alternative solution provided in the step S22, the first threshold value and the second threshold value may be battery capacity threshold values preset by a technician according to the performance of the power battery of the target vehicle, and it should be further noted that, in the solution provided in the present invention, the first threshold value and the second threshold value may be set to the same value (e.g., 35%), or may be set to different values (e.g., 35% for the first threshold value and 33% for the second threshold value).

As an alternative embodiment, assuming that the first threshold value and the second threshold value are both 35%, the target vehicle may be controlled to enter the electric-only idle state when the current battery capacity of the target vehicle is 50%, specifically: turning off an engine of a target vehicle, and controlling the rotation speed of the motor to be a first target idle rotation speed (such as 600 rpm); when the current battery capacity of the target vehicle is 30%, the target vehicle may be controlled to enter a hybrid idle state, specifically: the rotation speed of the motor is controlled to be a second target idle rotation speed (such as 800 rpm), and the torque of the engine is controlled to be a target idle torque (such as 150 N.m).

In the embodiment of the invention, firstly, the target vehicle is determined to enter an idle speed control state based on vehicle control information of the target vehicle, wherein the target vehicle is configured into a plug-in hybrid power configuration, and the vehicle control information at least comprises: the method comprises the steps of controlling the motor speed of a target vehicle according to a first control instruction in response to the fact that the current battery capacity of the target vehicle is higher than a first threshold value in an idle speed control state, controlling the motor speed of the target vehicle according to a second control instruction in response to the fact that the current battery capacity is lower than a second threshold value, and controlling the motor speed and the engine torque of the target vehicle according to a second control instruction, wherein the first control instruction is determined by a first target idle speed corresponding to the target vehicle in an electric driving state, and the second control instruction is determined by a second target idle speed corresponding to the target vehicle in a hybrid driving state and the target idle torque.

It is easy to understand that under the condition that the target vehicle is determined to enter the idle speed control state, the method provided by the invention controls the motor of the target vehicle to execute different rotating speeds and different torques according to the current battery capacity of the target vehicle and the preset threshold (comprising the first threshold and the second threshold) so as to adapt to different idle speed states (comprising the electric driving state and the hybrid driving state), thereby achieving the purpose of accurately controlling the idle speed state of the target vehicle, further realizing the technical effects of improving the accuracy of idle speed control of the vehicle and improving the comfort of the whole vehicle, and further solving the technical problems of low accuracy and poor comfort of the whole vehicle of the idle speed control method of the vehicle provided by the related art.

The above-described methods of embodiments of the present invention are further described below.

In an alternative embodiment, in step S21, determining that the target vehicle enters the idle control state based on the vehicle control information of the target vehicle includes:

step S211 of controlling the target vehicle to enter an idle speed control state in response to the vehicle control information of the target vehicle satisfying a first condition, wherein the first condition includes: the opening degree of the accelerator pedal is smaller than the third threshold value, the opening degree of the brake pedal is larger than the fourth threshold value, and the vehicle speed is smaller than the fifth threshold value.

As an alternative embodiment, the first condition may be: the opening degree of the accelerator pedal is less than 2%, the opening degree of the brake pedal is 1, the vehicle speed is less than 10Km/h, and the collected control information of the vehicle can be: the target vehicle can be determined to enter the idle control state at the time when the accelerator pedal opening is 1%, the brake pedal opening is 1, and the vehicle speed is 510 Km/h.

In an alternative embodiment, in step S22, performing motor speed control on the target vehicle in accordance with the first control instruction includes:

step S2211, calculating based on vehicle control information to obtain a first target idle speed;

step S2212, generating a first control command using the first target idle speed, where the first control command includes: a first motor control command and a first transmission control command;

step S2213, controlling a driving motor of a target vehicle to execute a first motor control command so that a rotation speed of the driving motor is adjusted to a first target idle rotation speed;

in step S2214, the transmission of the control target vehicle executes a first transmission control instruction so that a clutch in the transmission performs a first slip operation.

In an alternative provided in the foregoing steps S2211 to S2214, the first motor control command may be a command for controlling the rotation speed of the motor to be adjusted to a first target idle rotation speed in the electric driving state of the vehicle, and the first transmission control command may be a command for controlling the clutch in the transmission to perform a target operation (i.e., the first slip operation) in the electric driving state of the vehicle. Here, the first motor control command and the first transmission control command may be generated by a vehicle controller of the target vehicle and transmitted to the target vehicle component (motor control unit, transmission control unit).

In an alternative embodiment, in step S2211, the vehicle control information further includes a gear and a master cylinder pressure, and calculating based on the vehicle control information, the obtaining the first target idle speed includes:

step S22111, in response to the vehicle control information satisfying the second condition and detecting that the transmission control unit of the transmission issues an input shaft speed-up request message, determining that the first target idle speed is a larger value of the transmission demand speed and the first preset speed;

step S22112, in response to the vehicle control information not meeting the second condition or detecting that the transmission control unit of the transmission does not send the input shaft speed-up request message, determining that the first target idle speed is a second preset speed, wherein the transmission demand speed is issued in real time by the transmission control unit; wherein the second condition comprises: the opening degree of the brake pedal is a fourth threshold value, the pressure of the brake master cylinder is smaller than a sixth threshold value, the gear is switched from the parking gear or the neutral gear to the forward gear or the reverse gear, and the forward gear or the reverse gear is kept within a preset time range.

In an alternative provided in the foregoing steps S22111 to S22112, the input shaft speed increase request message may be used to determine that there is a speed increase requirement for the rotational speed of the transmission input shaft, where it should also be noted that the vehicle control unit and the transmission control unit of the target vehicle may determine in advance that there is a speed increase requirement for the rotational speed of the transmission input shaft when detecting that the requested rotational speed of the transmission is greater than the rotational speed corresponding to the speed sign.

In the technical scheme provided by the invention, the required rotating speed of the transmission can be 600rpm, the first preset rotating speed can be 800rpm, the second preset rotating speed can be 200rpm, the fourth threshold can be 1, the sixth threshold can be 6bar, the preset time range can be 2s, as an optional implementation mode, the transmission control unit sends out an input shaft up-in request message, the collected brake pedal opening is 1, the brake master cylinder pressure is 4bar, the vehicle gear is switched from a parking gear or neutral gear to a forward gear or reverse gear, and the forward gear or reverse gear is maintained within 2s, at this time, the idle speed control state of the target vehicle can be determined to be an electric-only idle high rotating speed state, and the first target idle speed is 800rpm.

As another alternative embodiment, the transmission control unit does not issue an input shaft up request message, the collected brake pedal opening is 1, the brake master cylinder pressure is 22bar, the vehicle gear is shifted from the parking gear or neutral gear to the forward gear or reverse gear, and the forward gear or reverse gear is maintained for 2s, at which time it may be determined that the idle control state of the target vehicle is the electric only idle low rotation state, and the first target idle rotation speed is 200rpm.

In the above alternative embodiments, the following technical effects may be achieved: based on vehicle control information and whether the transmission control unit sends an input shaft lift-in request message, determining a first target idle speed of a motor of a target vehicle and controlling the target vehicle to enter a target state (including a pure electric idle high-speed state and a pure electric idle low-speed state) of a pure electric idle state, so that accurate division of the pure electric idle state of the target vehicle is realized, the target state of the target vehicle entering the pure electric idle state is accurately controlled, namely, the accuracy of idle control of the vehicle is improved, and the comfort of the whole vehicle of the target vehicle is further improved.

In an alternative embodiment, in step S22, performing motor speed control and engine torque control on the target vehicle in accordance with the second control instruction includes:

step S2221, determining a second target idle speed based on the engine idle speed demand speed, the transmission demand speed, and a third preset speed, wherein the engine idle speed demand speed is issued in real time by the engine control unit, and the transmission demand speed is issued in real time by the transmission control unit;

step S2222 of determining a target idle torque based on the current battery capacity and the current torque and current rotation speed of the driving motor of the target vehicle;

step S2223, generating a second control command using the second target idle speed and the target idle torque, wherein the second control command includes: the second motor control command, the second transmission control command and the engine control command are closed-loop control commands;

step S2224, controlling the driving motor of the target vehicle to execute a second motor control instruction, so that the rotation speed of the driving motor is adjusted to a second target idle rotation speed through closed-loop control;

step S2225, controlling the transmission of the target vehicle to execute a second transmission control instruction so that the clutch in the transmission performs a second slip operation;

In step S2226, the engine of the target vehicle is controlled to execute the engine control command such that the output torque of the engine is adjusted to the target idle torque by the closed-loop control.

In an alternative provided in the foregoing steps S2221 to S2226, the second target idle speed may be a maximum value of an engine idle speed demand rotational speed, a transmission demand rotational speed, and a third preset rotational speed. The closed-loop control command may be a control command based on a PID (proportional Integral Differential) control algorithm, and it should be further described herein that the control command based on the PID control algorithm has higher accuracy, that is, the control command may accurately control the corresponding component (e.g., motor, transmission). The second motor control command may be a command to control the rotation speed of the motor to be adjusted to a second target idle rotation speed in the hybrid driving state of the vehicle, the second transmission control command may be a command to control the clutch in the transmission to perform a target operation (i.e., the second slip operation) in the hybrid driving state of the vehicle, and the engine control command may be a command to control the output torque of the engine to be adjusted to the target idle torque by closed loop control in the hybrid driving state of the vehicle.

In an alternative embodiment, in step S2222, determining the target idle torque based on the current battery capacity and the current torque and the current rotational speed of the drive motor of the target vehicle includes:

step S22221, determining a target charging power by using the current battery capacity, wherein the target charging power is an input charging power required by the power battery of the target vehicle at the current battery capacity;

step S22222, calculating the current torque and the current rotation speed to obtain the current output power of the driving motor;

step S22223 calculates the target idle torque using a closed-loop control algorithm based on the target charging power and the current output power.

In an alternative provided in the above steps S22221 to S22223, the target charging power (denoted as P _target ) It should be noted that, when the target vehicle is in the hybrid driving State, the actual charging power Of the driving motor may be adjusted by using a closed-loop control algorithm so that the actual charging power approaches the target charging power. As an alternative embodiment, the battery capacity-charging power table of the target vehicle may be as shown in table 1 below:

TABLE 1

In the technical scheme provided by the invention, the current torque of the driving motor is recorded as T, the current rotation speed is recorded as n, and the current output power P is calculated according to the current torque and the current rotation speed _act Can be represented by the following formula (1):

in an alternative embodiment, in step S22221, determining the target charge power using the current battery capacity includes:

step S222211, determining that the target charging power is zero in response to the current battery capacity being higher than the driving charging threshold of the target vehicle;

step S222212, determining the target charging power as the accessory electric power corresponding to the target vehicle in response to the current battery capacity being higher than the starting threshold of the target vehicle and the current battery capacity being lower than the driving charging threshold;

in step S222213, in response to the current battery capacity being lower than the start threshold, the target charging power is determined to be the sum of the accessory electric power and the preset forced charging power corresponding to the target vehicle.

As an alternative embodiment, the driving charge threshold of the target vehicle is 33%, when the current battery capacity of the power battery satisfies 33% < SOC < 35% under the condition that the target vehicle is determined to enter the idle speed control state, the idle speed control state of the target vehicle is determined to be the first hybrid idle speed control state, and at this time, it is confirmed that the current battery capacity is high, and the target charge power is determined to be 0 in order to keep the SOC balance of the power battery.

As another alternative embodiment, the driving charge threshold of the target vehicle is 33%, the starting threshold is 30%, when the current battery capacity of the power battery satisfies 30% < SOC < 33% under the condition that the target vehicle is determined to enter the idle speed control state, the idle speed control state of the target vehicle is determined to be the second hybrid idle speed control state, in order to keep the SOC balance of the power battery, the target charge power is determined to be the accessory electric power, and the current battery capacity is kept unchanged.

As yet another alternative embodiment, the driving charge threshold of the target vehicle is 33%, the starting threshold is 30%, and when the current battery capacity of the power battery satisfies 28% < SOC < 30% under the condition that the target vehicle is determined to enter the idle speed control state, the idle speed control state of the target vehicle is determined to be the third hybrid idle speed control state, and in order to keep the SOC balance of the power battery, the target charge power is determined to be the sum of the accessory electric power and the forced charge power.

In the above alternative embodiments, the following technical effects may be achieved: under the condition that the target vehicle is determined to enter the idle speed control state, the hybrid idle speed state of the target vehicle can be accurately divided based on the current battery capacity, the starting threshold and the driving charging threshold of the power battery, and the target state (one of the first hybrid idle speed control state, the second hybrid idle speed control state and the third hybrid idle speed control state) of the target vehicle entering the hybrid idle speed state is accurately controlled, namely, the accuracy of idle speed control of the vehicle is improved, and the overall comfort of the target vehicle is further improved.

In an alternative embodiment, in step S22221, calculating the target idle torque using the closed-loop control algorithm based on the target charging power and the current output power includes:

step S222231, calculating the target charging power and the current output power by using a closed-loop control algorithm to obtain deviation torque;

step S222232, determining a feed-forward torque of the drive motor based on the current battery capacity;

step S222233, determining a target idle torque from the feedforward torque and the deviation torque.

In the technical scheme provided by the invention, the proportional parameter q and the integral parameter i of the closed-loop control algorithm are utilized to base on the target charging power P _target And the current output power P _act Calculating the deviation torque T _pi Can be represented by the following formula (2):

in the technical scheme provided by the invention, as an optional implementation manner, the feedforward torque of the driving motor can be obtained by inquiring a battery capacity-feedforward torque table of the target vehicle, and it is to be noted that the battery capacity-feedforward torque table can be prestored in a storage device of the target vehicle by a technician, and specifically, the whole vehicle controller can read the battery capacity-feedforward torque table from the storage device of the target vehicle according to the current battery capacity transmitted by the power battery so as to determine the feedforward torque of the driving motor.

In the technical scheme provided by the invention, as another alternative embodiment, the feedforward torque (marked as T _pre ) Can be based on torque loss T sent by a transmission control unit _TCU Actual charging power P _act (calculated based on the current torque and the current rotation speed of the drive motor), the current rotation speed n of the drive motor, as shown in the following formula (3):

further, according to the feedforward torque T _pre And deviation torque T _pi The determination of the target idle torque T may be as shown in the following equation (4):

T＝T _pre +T _pi formula (4)

Further, based on the second motor control command, the rotational speed of the drive motor is made to adjust to a second target idle rotational speed by closed-loop control, based on the second transmission control command, the clutch in the transmission is made to perform a second slip operation, and based on the engine control command, the output torque of the engine is made to adjust to the target idle torque by closed-loop control.

The method provided by the present invention is further described below in conjunction with fig. 4.

FIG. 4 is a flowchart of an alternative vehicle idle speed control process according to an embodiment of the present invention, as shown in FIG. 4, firstly acquiring vehicle control information of a target vehicle, judging whether the target vehicle enters an idle speed control state based on the vehicle control information, when the target vehicle is determined to enter the idle speed control state, determining a target idle speed control mode of the target vehicle according to the acquired current battery capacity of a power battery and a preset electric quantity threshold value, specifically, when the current battery capacity of the power battery is greater than the preset electric quantity threshold value (35%), controlling the target vehicle to enter a pure electric idle speed control mode; and when the current battery capacity of the power battery is smaller than a preset electric quantity threshold value (35%), controlling the target vehicle to enter a hybrid idle speed control mode.

The technical scheme provided by the invention has the following technical effects: the method for finely dividing the idle speed control state of the target vehicle and determining the method for controlling the target vehicle to enter each idle speed control state improves the accuracy of idle speed control of the vehicle, and based on the method provided by the invention, the whole vehicle SOC can be kept balanced in the idle speed control state of the target vehicle so as to ensure that the target vehicle is in a stable idle speed control state, thereby improving the whole vehicle comfort of the target vehicle.

In this embodiment, a vehicle idle speed control device is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, and the description is omitted herein. As used below, a combination of software and/or hardware that belongs to a "module" may implement a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

FIG. 5 is a block diagram of an alternative vehicle idle speed control apparatus according to an embodiment of the present invention, as shown in FIG. 5, including:

a determining module 501, configured to determine that the target vehicle enters an idle speed control state based on vehicle control information of the target vehicle, where the target vehicle is configured in a plug-in hybrid configuration, the vehicle control information at least includes: accelerator pedal opening, brake pedal opening, and vehicle speed;

The control module 502 is configured to perform motor speed control on the target vehicle according to a first control instruction in response to the current battery capacity of the target vehicle being higher than a first threshold value, and perform motor speed control and engine torque control on the target vehicle according to a second control instruction in response to the current battery capacity being lower than a second threshold value, in an idle speed control state; the first control command is determined by a first target idle speed corresponding to the target vehicle in an electric driving state, and the second control command is determined by a second target idle speed and a target idle torque corresponding to the target vehicle in a hybrid driving state.

Optionally, the determining module 501 is further configured to: determining that the target vehicle enters the idle speed control state based on the vehicle control information of the target vehicle includes: controlling the target vehicle to enter an idle speed control state in response to vehicle control information of the target vehicle satisfying a first condition, wherein the first condition includes: the opening degree of the accelerator pedal is smaller than the third threshold value, the opening degree of the brake pedal is larger than the fourth threshold value, and the vehicle speed is smaller than the fifth threshold value.

Optionally, the control module 502 is further configured to: the motor speed control of the target vehicle according to the first control command includes: calculating based on vehicle control information to obtain a first target idle speed; generating a first control command using the first target idle speed, wherein the first control command includes: a first motor control command and a first transmission control command; a driving motor of a control target vehicle executes a first motor control instruction, so that the rotating speed of the driving motor is adjusted to a first target idle rotating speed; a transmission of a control target vehicle executes a first transmission control instruction so that a clutch in the transmission performs a first slip operation.

Optionally, the control module 502 is further configured to: the vehicle control information further includes a gear and a master cylinder pressure, and the calculating based on the vehicle control information, the obtaining a first target idle speed includes: determining a first target idle speed to be a first preset speed in response to the vehicle control information meeting a second condition and detecting that a transmission control unit of a transmission transmits an input shaft speed increasing request message; determining a first target idle speed to be a second preset speed in response to the vehicle control information not meeting a second condition or detecting that a transmission control unit of the transmission does not send an input shaft speed-up request message, wherein the transmission demand speed is issued in real time by the transmission control unit; wherein the second condition comprises: the opening degree of the brake pedal is a fourth threshold value, the pressure of the brake master cylinder is smaller than a sixth threshold value, the gear is switched from the parking gear or the neutral gear to the forward gear or the reverse gear, and the forward gear or the reverse gear is kept within a preset time range.

Optionally, the control module 502 is further configured to: the motor speed control and the engine torque control of the target vehicle according to the second control command include: determining a second target idle speed based on the engine idle speed demand speed, the transmission demand speed and a third preset speed, wherein the engine idle speed demand speed is issued in real time by the engine control unit, and the transmission demand speed is issued in real time by the transmission control unit; determining a target idle torque based on the current battery capacity and a current torque and a current rotational speed of a drive motor of the target vehicle; generating a second control command using the second target idle speed and the target idle torque, wherein the second control command includes: the second motor control command, the second transmission control command and the engine control command are closed-loop control commands; the driving motor of the target vehicle is controlled to execute a second motor control instruction, so that the rotating speed of the driving motor is adjusted to a second target idle rotating speed through closed-loop control; executing a second transmission control instruction by a transmission of the control target vehicle, so that a clutch in the transmission performs a second slip grinding operation; an engine of a control target vehicle executes an engine control command such that an output torque of the engine is adjusted to a target idle torque by closed-loop control.

Optionally, the control module 502 is further configured to: determining the target idle torque based on the current battery capacity and the current torque and current rotational speed of the drive motor of the target vehicle includes: determining target charging power by using the current battery capacity, wherein the target charging power is input charging power required by a power battery of a target vehicle under the current battery capacity; calculating the current torque and the current rotating speed to obtain the current output power of the driving motor; and calculating the target idle torque by using a closed-loop control algorithm based on the target charging power and the current output power.

Optionally, the control module 502 is further configured to: determining the target charging power using the current battery capacity includes: determining that the target charging power is zero in response to the current battery capacity being higher than a driving charging threshold of the target vehicle; determining the target charging power as the accessory electric power corresponding to the target vehicle in response to the current battery capacity being higher than the starting threshold of the target vehicle and the current battery capacity being lower than the driving charging threshold; and determining the target charging power as the sum of the accessory electric power and the preset forced charging power corresponding to the target vehicle in response to the current battery capacity being lower than the starting threshold.

Optionally, the control module 502 is further configured to: based on the target charging power and the current output power, calculating the target idle torque by using a closed-loop control algorithm comprises: calculating the target charging power and the current output power by using a closed-loop control algorithm to obtain deviation torque; determining a feed-forward torque of the drive motor based on the current battery capacity; and determining the target idle torque according to the feedforward torque and the deviation torque.

It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.

According to another aspect of an embodiment of the present invention, there is also provided a hybrid vehicle including an on-board memory having a computer program stored therein and an on-board processor configured to run the computer program to perform the method of vehicle idle speed control of any one of the preceding claims.

Alternatively, in the present embodiment, the above-described in-vehicle memory may be configured to store a computer program for executing the steps of:

Step S1, determining that the target vehicle enters an idle speed control state based on vehicle control information of the target vehicle, wherein the target vehicle is configured into a plug-in hybrid power configuration, and the vehicle control information at least comprises: accelerator pedal opening, brake pedal opening, and vehicle speed;

step S2, in an idle speed control state, responding to the fact that the current battery capacity of the target vehicle is higher than a first threshold value, performing motor rotation speed control on the target vehicle according to a first control command, and responding to the fact that the current battery capacity is lower than a second threshold value, performing motor rotation speed control and engine torque control on the target vehicle according to a second control command; the first control command is determined by a first target idle speed corresponding to the target vehicle in an electric driving state, and the second control command is determined by a second target idle speed and a target idle torque corresponding to the target vehicle in a hybrid driving state.

Alternatively, in the present embodiment, the above-mentioned on-vehicle memory may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media in which a computer program can be stored.

Alternatively, in the present embodiment, the above-described in-vehicle processor may be configured to execute the following steps by a computer program:

step S1, determining that the target vehicle enters an idle speed control state based on vehicle control information of the target vehicle, wherein the target vehicle is configured into a plug-in hybrid power configuration, and the vehicle control information at least comprises: accelerator pedal opening, brake pedal opening, and vehicle speed;

step S2, in an idle speed control state, responding to the fact that the current battery capacity of the target vehicle is higher than a first threshold value, performing motor rotation speed control on the target vehicle according to a first control command, and responding to the fact that the current battery capacity is lower than a second threshold value, performing motor rotation speed control and engine torque control on the target vehicle according to a second control command; the first control command is determined by a first target idle speed corresponding to the target vehicle in an electric driving state, and the second control command is determined by a second target idle speed and a target idle torque corresponding to the target vehicle in a hybrid driving state.

Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and alternative implementations thereof, and this embodiment is not described herein.

The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present invention, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims (10)

1. A method of vehicle idle speed control, comprising:

determining that a target vehicle enters an idle speed control state based on vehicle control information of the target vehicle, wherein the target vehicle is configured in a plug-in hybrid configuration, and the vehicle control information at least comprises: accelerator pedal opening, brake pedal opening, and vehicle speed;

in the idle speed control state, responding to the fact that the current battery capacity of the target vehicle is higher than a first threshold value, performing motor rotating speed control on the target vehicle according to a first control command, and responding to the fact that the current battery capacity is lower than a second threshold value, performing motor rotating speed control and engine torque control on the target vehicle according to a second control command;

the first control instruction is determined by a first target idle speed corresponding to the target vehicle in an electric driving state, and the second control instruction is determined by a second target idle speed and a target idle torque corresponding to the target vehicle in a hybrid driving state.

2. The method of claim 1, wherein determining that the target vehicle enters an idle control state based on vehicle control information of the target vehicle comprises:

controlling the target vehicle to enter the idle speed control state in response to vehicle control information of the target vehicle satisfying a first condition, wherein the first condition includes: the accelerator pedal opening is smaller than a third threshold, the brake pedal opening is larger than a fourth threshold, and the vehicle speed is smaller than a fifth threshold.

3. The method of claim 1, wherein controlling the motor speed of the target vehicle in accordance with the first control command comprises:

calculating based on the vehicle control information to obtain the first target idle speed;

generating the first control command by using the first target idle speed, wherein the first control command comprises: a first motor control command and a first transmission control command;

controlling a driving motor of the target vehicle to execute the first motor control instruction, so that the rotating speed of the driving motor is adjusted to the first target idle rotating speed;

and controlling a transmission of the target vehicle to execute the first transmission control instruction so that a clutch in the transmission performs a first sliding operation.

4. The method of claim 3, wherein the vehicle control information further includes a gear and a brake master cylinder pressure, calculating based on the vehicle control information, the first target idle speed includes:

in response to the vehicle control information meeting a second condition and detecting that a transmission control unit of the transmission sends an input shaft speed increasing request message, determining that the first target idle speed is a larger value of a transmission required speed and a first preset speed;

determining that the first target idle speed is a larger value of a second preset speed in response to the vehicle control information not meeting the second condition or detecting that a transmission control unit of the transmission does not send an input shaft speed-up request message, wherein the transmission demand speed is issued in real time by the transmission control unit;

wherein the second condition includes: the brake pedal opening is a fourth threshold value, the brake master cylinder pressure is smaller than a sixth threshold value, and the gear is switched from a parking gear or neutral gear to a forward gear or a reverse gear and keeps the forward gear or the reverse gear within a preset time range.

5. The method according to claim 1, wherein the motor speed control and the engine torque control of the target vehicle in accordance with the second control command include:

Determining the second target idle speed based on an engine idle speed demand speed, a transmission demand speed and a third preset speed, wherein the engine idle speed demand speed is issued in real time by an engine control unit, and the transmission demand speed is issued in real time by a transmission control unit;

determining the target idle torque based on the current battery capacity and a current torque and a current rotational speed of a drive motor of the target vehicle;

generating the second control command using the second target idle speed and the target idle torque, wherein the second control command includes: the system comprises a second motor control command, a second transmission control command and an engine control command, wherein the second motor control command and the engine control command are closed-loop control commands;

controlling a driving motor of the target vehicle to execute the second motor control instruction, so that the rotating speed of the driving motor is adjusted to the second target idle rotating speed through closed-loop control;

controlling a transmission of the target vehicle to execute the second transmission control instruction so that a clutch in the transmission performs a second slip grinding operation;

and controlling an engine of the target vehicle to execute the engine control command so that an output torque of the engine is adjusted to the target idle torque through closed-loop control.

6. The method of claim 5, wherein determining the target idle torque based on the current battery capacity and a current torque and a current rotational speed of a drive motor of the target vehicle comprises:

determining a target charging power by utilizing the current battery capacity, wherein the target charging power is an input charging power required by a power battery of the target vehicle under the current battery capacity;

calculating the current torque and the current rotating speed to obtain the current output power of the driving motor;

and calculating the target idle torque by using a closed-loop control algorithm based on the target charging power and the current output power.

7. The method of claim 6, wherein determining a target charge power using the current battery capacity comprises:

determining that the target charging power is zero in response to the current battery capacity being above a driving charging threshold of the target vehicle;

determining that the target charging power is accessory electric power corresponding to the target vehicle in response to the current battery capacity being higher than a starting threshold of the target vehicle and the current battery capacity being lower than the driving charging threshold;

And determining that the target charging power is the sum of the accessory electric power and the preset forced charging power corresponding to the target vehicle in response to the current battery capacity being lower than the starting threshold.

8. The method of claim 6, wherein calculating the target idle torque using a closed-loop control algorithm based on the target charge power and the current output power comprises:

calculating the target charging power and the current output power by using a closed-loop control algorithm to obtain deviation torque;

determining a feed-forward torque of the drive motor based on the current battery capacity;

and determining the target idle torque according to the feedforward torque and the deviation torque.

9. An apparatus for idle speed control of a vehicle, comprising:

the determining module is configured to determine that a target vehicle enters an idle speed control state based on vehicle control information of the target vehicle, wherein the target vehicle is configured in a plug-in hybrid configuration, and the vehicle control information at least includes: accelerator pedal opening, brake pedal opening, and vehicle speed;

the control module is used for responding to the fact that the current battery capacity of the target vehicle is higher than a first threshold value in the idle speed control state, conducting motor rotating speed control on the target vehicle according to a first control command, and conducting motor rotating speed control and engine torque control on the target vehicle according to a second control command in response to the fact that the current battery capacity is lower than a second threshold value;

The first control instruction is determined by a first target idle speed corresponding to the target vehicle in an electric driving state, and the second control instruction is determined by a second target idle speed and a target idle torque corresponding to the target vehicle in a hybrid driving state.

10. A hybrid vehicle comprising an on-board memory and an on-board processor, wherein the on-board memory has a computer program stored therein, the on-board processor being arranged to run the computer program to perform the method of vehicle idle speed control of any one of claims 1 to 8.