CN117841967A

CN117841967A - Hybrid vehicle, control method thereof, whole vehicle controller and storage medium

Info

Publication number: CN117841967A
Application number: CN202211216649.8A
Authority: CN
Inventors: 廉玉波; 罗红斌; 钟益林; 李高林; 廖银生; 李跃; 张丰; 赵高明
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2024-04-09

Abstract

The application discloses a hybrid vehicle and a control method thereof, a whole vehicle controller and a storage medium, wherein the control method comprises the following steps: determining whether the vehicle enters a four-wheel-drive mode according to the first vehicle state information, wherein the four-wheel-drive mode comprises an EV four-wheel-drive mode and a hybrid four-wheel-drive mode; determining that the four-wheel drive mode is an EV four-wheel drive mode or a hybrid four-wheel drive mode according to the second vehicle state information; in EV four-wheel drive mode, the first motor and the second motor drive the front wheel and the rear wheel, respectively; in the hybrid four-wheel drive mode, at least the engine drives the front wheels and the second motor drives the rear wheels. According to the control method, the driving mode of the vehicle is determined according to the state information of the vehicle, and the matched driving mode is used under different working conditions, so that the driving safety of the vehicle is improved, the energy consumption is reduced, and the performance of the whole vehicle can be improved.

Description

Hybrid vehicle, control method thereof, whole vehicle controller and storage medium

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a control method of a hybrid vehicle, a vehicle controller, a computer readable storage medium, and a hybrid vehicle.

Background

At present, the driving mode of the hybrid power vehicle has the following problems that the driving mode is single and can not meet the requirements of different working conditions depending on the driving parts of the vehicle.

Disclosure of Invention

The present application aims to solve, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present application is to provide a control method for a hybrid vehicle, which determines a driving mode of the vehicle according to state information of the vehicle, and uses matched driving modes under different working conditions, so that not only is driving safety of the vehicle improved, but also energy consumption is reduced, and vehicle performance is improved.

A second object of the present application is to provide a vehicle control unit.

A third object of the present application is to propose a computer readable storage medium.

A fourth object of the present application is to propose a hybrid vehicle.

To achieve the above object, an embodiment of a first aspect of the present application provides a method for controlling a hybrid vehicle, including: determining whether the vehicle enters a four-wheel-drive mode according to the first vehicle state information, wherein the four-wheel-drive mode comprises an EV four-wheel-drive mode and a hybrid four-wheel-drive mode; determining that the four-wheel drive mode is an EV four-wheel drive mode or a hybrid four-wheel drive mode according to the second vehicle state information; in EV four-wheel drive mode, the first motor and the second motor drive the front wheel and the rear wheel, respectively; in the hybrid four-wheel drive mode, at least the engine drives the front wheels and the second motor drives the rear wheels.

According to the control method of the hybrid vehicle, whether the vehicle enters a four-wheel drive mode is determined according to the first vehicle state information, when the vehicle enters the four-wheel drive mode is determined, the four-wheel drive mode is determined to be an EV four-wheel drive mode or a hybrid four-wheel drive mode according to the second vehicle state information, when the four-wheel drive mode is the EV four-wheel drive mode, the first motor and the second motor respectively drive front wheels and rear wheels, and when the four-wheel drive mode is the hybrid four-wheel drive mode, the engine drives the front wheels and/or the second motor drives the rear wheels. Therefore, the method determines the driving mode of the vehicle according to the state information of the vehicle, and uses the matched driving mode under different working conditions, so that the driving safety of the vehicle is improved, the energy consumption is reduced, and the performance of the whole vehicle is improved.

In addition, the control method of the hybrid vehicle according to the above-described embodiment of the present application may further have the following additional technical features:

according to one embodiment of the present application, the first vehicle state information includes vehicle slip information; determining whether the vehicle enters the four-wheel drive mode based on the first vehicle state information includes: and determining that the vehicle enters a four-wheel drive mode when the vehicle slip information characterizes the vehicle slip.

According to one embodiment of the application, the first vehicle state information includes at least a vehicle required power, a first battery SOC value, and a current driving mode; determining whether the vehicle enters the four-wheel drive mode based on the first vehicle state information includes: and if the vehicle required power is greater than the power set value in the current vehicle running mode and the first battery SOC value is greater than the threshold value corresponding to the current running mode, determining that the vehicle enters the four-wheel drive mode.

According to one embodiment of the application, when the current running mode is a hybrid series rear-drive mode, a threshold value corresponding to the current running mode is a first preset value; and when the current running mode is the EV rear-drive mode or the hybrid parallel precursor mode, the threshold value corresponding to the current running mode is a second preset value, and the second preset value is smaller than the first preset value.

According to one embodiment of the present application, the second vehicle state information includes at least a current running mode, and determining that the four-wheel drive mode is the EV four-wheel drive mode or the hybrid four-wheel drive mode according to the second vehicle state information includes: if the current vehicle running mode is a hybrid parallel precursor mode, determining that the four-wheel-drive mode is a hybrid four-wheel-drive mode; in the hybrid parallel precursor mode, at least the engine drives the front wheels.

According to one embodiment of the present application, the second vehicle state information includes at least a current running mode, and determining that the four-wheel drive mode is the EV four-wheel drive mode or the hybrid four-wheel drive mode according to the second vehicle state information includes: if the current vehicle running mode is the EV rear-drive mode, determining that the four-drive mode is the EV four-drive mode; in the EV drive mode, the second electric machine is used to drive the rear wheels.

According to one embodiment of the application, the hybrid four-wheel drive mode comprises a hybrid four-wheel drive emergency mode and a hybrid four-wheel drive normal mode; the transmission ratio from the engine to the front wheels in the hybrid four-drive emergency mode is greater than the transmission ratio from the engine to the front wheels in the hybrid four-drive normal mode.

According to one embodiment of the present application, the second vehicle state information further includes a current running mode, a first vehicle speed, and a first battery SOC value; determining that the four-wheel drive mode is the EV four-wheel drive mode or the hybrid four-wheel drive mode according to the second vehicle state information includes: when the current vehicle running mode is a hybrid series rear-drive mode; if the first vehicle speed is greater than the first vehicle speed threshold, determining that the four-wheel drive mode is a hybrid four-wheel drive normal mode; if the first vehicle speed is smaller than the first vehicle speed threshold value and the first battery SOC value is larger than the second threshold value, determining that the four-wheel drive mode is an EV four-wheel drive mode; if the first vehicle speed is smaller than the first vehicle speed threshold value and the first battery SOC value is smaller than the second threshold value, determining that the four-wheel drive mode is a hybrid four-wheel drive emergency mode; in the hybrid series rear drive mode, the engine is configured to output power to the first motor to cause the first motor to generate power and the second motor to drive the rear wheels.

According to one embodiment of the present application, the second vehicle state information includes a first battery SOC value and first vehicle speed information, and determining that the four-wheel drive mode is the EV four-wheel drive mode or the hybrid four-wheel drive mode according to the second vehicle state information includes: when the current running mode is the EV rear-drive mode, if the SOC value of the first battery is larger than a first preset value, determining that the four-drive mode is the EV four-drive mode; if the first battery SOC value is smaller than or equal to a first preset value and the first vehicle speed is larger than a first vehicle speed threshold value, determining that the four-wheel drive mode is a hybrid four-wheel drive mode; if the first vehicle speed is smaller than or equal to the first vehicle speed threshold, and the first battery SOC value is smaller than or equal to a first preset value and larger than a second preset value, the four-wheel-drive mode is determined to be the EV four-wheel-drive mode.

According to one embodiment of the present application, the second vehicle state information is first vehicle state information, and determining that the four-wheel drive mode is the EV four-wheel drive mode or the hybrid four-wheel drive mode according to the second vehicle state information includes: and determining the four-wheel drive mode as an EV four-wheel drive mode when the current running mode is a hybrid series rear-wheel drive mode.

According to one embodiment of the application, the first vehicle state information and the second vehicle state information comprise a current running mode, a first vehicle speed and a first vehicle speed SOC value; when the current running mode is a hybrid series rear-drive mode; if the vehicle required power is larger than the power set value in the current vehicle running mode, and the first battery SOC value is smaller than or equal to a first preset value, when the first vehicle speed meets the preset condition, determining that the vehicle enters a four-wheel-drive mode and determining that the four-wheel-drive mode is a hybrid four-wheel-drive mode.

According to an embodiment of the present application, the control method of a hybrid vehicle further includes: determining a current driving mode according to the third vehicle state information; the current driving mode comprises an EV rear-drive mode, a hybrid parallel precursor mode and a hybrid series rear-drive mode; in the EV rear drive mode, the second motor is used to drive the rear wheels; in a hybrid parallel precursor mode, at least the engine drives the front wheels; in the hybrid series rear drive mode, the engine is configured to output power to the first motor to cause the first motor to generate power and the second motor to drive the rear wheels.

According to one embodiment of the present application, the third vehicle state information includes a second battery SOC value and a second vehicle speed; determining the current driving mode according to the third vehicle state information includes: if the second battery SOC value is larger than a third preset value, determining that the current running mode is an EV rear-drive mode; if the second battery SOC value is smaller than a third preset value and the second vehicle speed is larger than a second vehicle speed threshold value, determining that the current running mode is a hybrid parallel precursor mode; if the second battery SOC value is smaller than a third preset value, the second vehicle speed is smaller than or equal to a second vehicle speed threshold value and is larger than a third vehicle speed threshold value, the current running mode is determined to be a hybrid series rear-drive mode, and the third vehicle speed threshold value is smaller than the second vehicle speed threshold value; if the second vehicle speed is smaller than or equal to a third vehicle speed threshold value, and the second battery SOC value is smaller than or equal to a third preset value and larger than a fourth preset value, determining that the current running mode is an EV rear-drive mode, wherein the third preset value is larger than the fourth preset value; and if the second vehicle speed is smaller than or equal to the third vehicle speed threshold value and the second battery SOC value is smaller than or equal to a fourth preset value, determining that the current running mode is a hybrid series rear-drive mode.

The selection of the current driving mode may also be manually adjusted.

According to an embodiment of the present application, the control method of a hybrid vehicle further includes: and determining the battery charging power in the hybrid parallel precursor mode and the hybrid series rear-drive mode according to the fourth vehicle state information.

According to one embodiment of the present application, the fourth vehicle state information includes a third battery SOC value; the determining the battery charging power in the hybrid parallel precursor mode and the hybrid series rear-drive mode according to the fourth vehicle state information comprises: determining the output power of the engine according to the difference value between the third battery SOC value and the fifth preset value; the larger the difference, the greater the output power of the engine.

According to one embodiment of the present application, the rate of change of the output power of the engine with the difference value decreases with increasing difference value.

In order to achieve the above objective, an embodiment of a second aspect of the present application provides a vehicle control unit, which includes a memory, a processor, and a control program of a hybrid vehicle stored in the memory and capable of running on the processor, where the processor implements the control method of the hybrid vehicle when executing the control program of the hybrid vehicle.

According to the whole vehicle controller, the driving mode of the vehicle can be determined according to the state information of the vehicle by executing the control method of the hybrid power vehicle, and the matched driving mode is used under different working conditions, so that the driving safety of the vehicle is improved, the energy consumption is reduced, and the whole vehicle performance is improved.

To achieve the above object, an embodiment of a third aspect of the present application proposes a computer-readable storage medium having stored thereon a control program of a hybrid vehicle, which when executed by a processor, implements the above-described control method of the hybrid vehicle.

According to the computer readable storage medium, through executing the control method of the hybrid electric vehicle, the driving mode of the vehicle can be determined according to the state information of the vehicle, and the matched driving mode is used under different working conditions, so that the driving safety of the vehicle is improved, the energy consumption is reduced, and the whole vehicle performance is improved.

In order to achieve the above objective, a fourth aspect of the present application provides a hybrid vehicle, which includes the above vehicle controller.

According to the hybrid power vehicle, the driving mode of the vehicle is determined according to the state information of the vehicle, and the matched driving mode is used under different working conditions, so that the driving safety of the vehicle is improved, the energy consumption is reduced, and the performance of the whole vehicle can be improved.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

FIG. 1 is a flow chart of a method of controlling a hybrid vehicle according to an embodiment of the present application;

FIG. 2 is a schematic illustration of a hybrid vehicle according to some embodiments of the present application;

3-5 are flowcharts of methods of controlling a hybrid vehicle according to some embodiments of the present application;

FIG. 6 is a flow chart of a method of controlling a hybrid vehicle according to some embodiments of the present application;

FIG. 7 is a graph of charge power of a power cell in hybrid series-backdrive/hybrid parallel-precursor mode according to some embodiments of the present application;

fig. 8 is a block schematic diagram of a vehicle controller according to an embodiment of the present application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.

A control method of a hybrid vehicle, a vehicle controller, a computer-readable storage medium, and a hybrid vehicle according to embodiments of the present application are described below with reference to the accompanying drawings.

The control method of the drive mode of the hybrid vehicle of the present application is described in detail below.

Fig. 1 is a flowchart of a control method of a hybrid vehicle according to an embodiment of the present application.

As shown in fig. 1, the control method of the hybrid vehicle of the embodiment of the present application may include the steps of:

s1, determining whether the vehicle enters a four-wheel-drive mode according to first vehicle state information, wherein the four-wheel-drive mode comprises an EV four-wheel-drive mode and a hybrid four-wheel-drive mode.

According to some embodiments of the present application, the first vehicle state information may include vehicle slip information; determining whether the vehicle enters the four-wheel drive mode based on the first vehicle state information includes: and determining that the vehicle enters a four-wheel drive mode when the vehicle slip information characterizes the vehicle slip.

Specifically, the rotational speed information of each wheel may be obtained by a wheel speed sensor, and whether the wheel is slipping is determined according to the wheel speed information of the wheels, for example, the wheel speeds of four wheels are much higher than the wheel speeds of the other wheels, and at this time, the wheel corresponding to the wheel speed is considered to be slipping. Judging whether the vehicle is controlled to enter four-wheel drive according to the vehicle slip information, for example, when the slip information exceeds a set threshold value, the vehicle is considered to need to enter a four-wheel drive mode so as to ensure driving safety; when the slip information does not exceed the set threshold, the slip degree is considered to be light, the driving safety can be ensured by using the current driving mode, and the current driving mode can be kept unchanged at the moment. Whether the vehicle slips or not can be represented by parameters such as the slip rate and the like, and detailed description is omitted.

According to further embodiments of the present application, the first vehicle state information includes at least a vehicle required power, a first battery SOC value, and a current driving mode; determining whether the vehicle enters the four-wheel drive mode based on the first vehicle state information includes: and if the vehicle required power is greater than the power set value in the current vehicle running mode and the first battery SOC value is greater than the threshold value corresponding to the current running mode, determining that the vehicle enters the four-wheel drive mode.

Wherein, when the current running mode is a hybrid series rear-drive mode, the threshold value corresponding to the current running mode is a first preset value; and when the current running mode is the EV rear-drive mode or the hybrid parallel precursor mode, the threshold value corresponding to the current running mode is a second preset value, wherein the first preset value and the second preset value can be calibrated according to actual conditions, and the second preset value is smaller than the first preset value.

Specifically, when the current running mode is the hybrid series rear-drive mode, the power set value in the current running mode of the vehicle is the power set value of the second motor, when the current running mode is the EV rear-drive mode, the power set value in the current running mode of the vehicle is the power set value of the second motor, and when the current running mode is the hybrid parallel front-drive mode, the maximum power of the current running mode of the vehicle is the sum of the power set value of the first motor and the power set value of the engine. Specifically, the power set point of the second motor may be the maximum power of the second motor, the power set point of the first motor may be the maximum power of the first motor, and the power set point of the engine may be the maximum power of the engine. It is to be understood that the set value may also be the product of the corresponding maximum power and the corresponding coefficient, and the set value is not particularly limited in this scheme.

Specifically, the present invention relates to a method for manufacturing a semiconductor device; when the current running mode is a hybrid series rear-drive mode, if the required power of the vehicle is greater than the maximum power of the second motor and the SOC value of the first battery is greater than a first preset value, determining that the vehicle enters a four-drive mode; when the current running mode is the EV rear-drive mode, if the vehicle required power is greater than the maximum power of the second motor and the first battery SOC value is greater than a second preset value, determining that the vehicle enters a four-drive mode; when the current running mode is the hybrid parallel precursor mode, if the vehicle required power is greater than the sum of the maximum power of the first motor and the maximum power of the engine and the first battery SOC is greater than a second preset value, determining that the vehicle enters the four-wheel drive mode.

According to further embodiments of the present application, whether to enter the four-wheel drive mode may also be determined according to the vehicle slip information, the first battery SOC value, and the current running mode, for example, when the vehicle slip information indicates that the vehicle is slipping and the first battery SOC value exceeds a threshold corresponding to the current running mode, the vehicle is determined to enter the four-wheel drive mode. The driving mode of the vehicle will be described in detail in connection with the first vehicle information in the following embodiments, and will not be explained here.

S2, determining that the four-wheel drive mode is an EV four-wheel drive mode or a hybrid four-wheel drive mode according to the second vehicle state information.

S3, in the EV four-wheel drive mode, the first motor and the second motor respectively drive the front wheels and the rear wheels.

S4, in the hybrid four-wheel drive mode, at least the engine drives the front wheels, and the second motor drives the rear wheels.

The following details how the present application enters the EV four-drive mode or the hybrid four-drive mode with reference to fig. 3 to 5.

According to some embodiments of the present application, the second vehicle state information includes at least a current driving mode, and determining that the four-wheel drive mode is the EV four-wheel drive mode or the hybrid four-wheel drive mode according to the second vehicle state information includes: if the current vehicle running mode is a hybrid parallel precursor mode, determining that the four-wheel-drive mode is a hybrid four-wheel-drive mode; in the hybrid parallel precursor mode, at least the engine drives the front wheels, the first motor selectively drives the front wheels, when the power is insufficient, the first motor is in an electric state to output power to the front wheels, and if the power is excessive, the first motor is in an idling state and generates electricity under the driving of the engine.

Specifically, when the current vehicle driving mode is the hybrid parallel precursor mode, if the vehicle required power is greater than the sum of the maximum power of the first motor and the maximum power of the engine, and the first battery SOC is greater than a second preset value, the vehicle enters the hybrid four-wheel drive mode. When the vehicle slip information indicates that the vehicle slips, namely the slip information exceeds a set threshold value, the vehicle enters a hybrid four-wheel drive mode. If the vehicle required power is smaller than or equal to the sum of the maximum power of the first motor and the maximum power of the engine, or the first battery SOC is smaller than or equal to a second preset value, or the current hybrid parallel precursor mode is kept unchanged.

When the vehicle slip information indicates the vehicle slip and controls the vehicle to enter a four-wheel drive mode, if the current running mode is the EV rear-wheel drive mode, the four-wheel drive mode is determined to be the EV four-wheel drive mode. In the EV drive mode, the second electric machine is used to drive the rear wheels.

When the vehicle slip information characterizes the vehicle slip and controls the vehicle to enter a four-wheel drive mode, the mixed four-wheel drive mode comprises a mixed four-wheel drive emergency mode and a mixed four-wheel drive normal mode, and the transmission ratio from an engine to front wheels in the mixed four-wheel drive emergency mode is larger than the transmission ratio from the engine to the front wheels in the mixed four-wheel drive normal mode.

According to some embodiments of the present application, in the case of entering the four-wheel drive mode according to the vehicle slip information characterizing the vehicle slip, the second vehicle state information further includes a current travel mode, a first vehicle speed, and a first battery SOC value; determining that the four-wheel drive mode is the EV four-wheel drive mode or the hybrid four-wheel drive mode according to the second vehicle state information includes: when the current vehicle running mode is a hybrid series rear-drive mode; if the first vehicle speed is greater than the first vehicle speed threshold, determining that the four-wheel drive mode is a hybrid four-wheel drive normal mode; if the first vehicle speed is smaller than the first vehicle speed threshold value and the first battery SOC value is larger than the second threshold value, determining that the four-wheel drive mode is an EV four-wheel drive mode; if the first vehicle speed is smaller than the first vehicle speed threshold value and the first battery SOC value is smaller than the second threshold value, determining that the four-wheel drive mode is a hybrid four-wheel drive emergency mode; in the hybrid series rear drive mode, the engine is used for outputting power to the first motor so that the first motor generates power, and the second motor drives the rear wheels. The first vehicle speed threshold may be calibrated according to the actual situation.

In the hybrid four-wheel drive emergency mode, the clutch is allowed to slide and grind, and the rotating speed of the engine is asynchronous with the rotating speed of the whole vehicle. Wherein slipping of the clutch can be achieved by the ABS system operating intermittently at high frequencies. According to the technical scheme, the engine is allowed to intervene under the condition that the vehicle speed is low and the vehicle slips, so that the stability of the vehicle in an extreme state can be improved, the situation that the vehicle cannot automatically enter a four-wheel drive mode due to the fact that the vehicle is trapped in the limitation of the vehicle running mode under the condition of instability is avoided, and the stability of the vehicle is improved.

It is understood that when the vehicle slip information indicates that the vehicle is not slipping, it is determined that the vehicle remains in the current travel mode.

Under the condition that the vehicle enters the four-wheel drive mode by judging the vehicle required power, the first battery SOC value and the current running mode:

if the current running mode is the hybrid parallel precursor mode, determining that the four-wheel drive mode is the hybrid four-wheel drive mode. At this time, the second state information includes the current running mode.

If the current driving mode is the EV rear-drive mode, it is necessary to further determine what the four-drive mode is according to the first battery SOC value and the first vehicle speed, and at this time, the second state information includes the first battery SOC value and the first vehicle speed.

Specifically, if the first battery SOC value is greater than a first preset value, determining that the four-wheel drive mode is an EV four-wheel drive mode; if the first battery SOC value is smaller than or equal to a first preset value and the first vehicle speed is larger than a first vehicle speed threshold value, determining that the four-wheel drive mode is a hybrid four-wheel drive mode; it can be understood that the precondition for entering the four-wheel drive mode at this time is that the first battery SOC value is greater than the second preset value. Therefore, the first battery SOC value at this time is smaller than or equal to the first preset value and larger than the second preset value.

And if the first vehicle speed is smaller than or equal to the first vehicle speed threshold value, determining that the four-wheel drive mode is the EV four-wheel drive mode when the first battery SOC value is smaller than or equal to a first preset value. It can be understood that the precondition for entering the four-wheel drive mode at this time is that the first battery SOC value is greater than the second preset value. Therefore, the first battery SOC value at this time is smaller than or equal to the first preset value and larger than the second preset value.

Therefore, after the four-wheel drive mode is judged according to different conditions, the selection conditions of the four-wheel drive mode are different. This is because the conditions for determining the entry into the four-wheel drive mode are different, and the states representing the vehicles are different, and therefore, the control methods are also different.

According to the method and the device, after the four-wheel drive mode is judged according to different vehicle states, the four-wheel drive mode is judged according to different conditions, and therefore flexibility of vehicle control is improved.

When the vehicle is judged to enter the four-wheel drive mode according to the first vehicle state information including the vehicle required power, the adaptation of the vehicle required power and the battery SOC is mainly used as a judging condition, so that the battery SOC and the vehicle speed value are required to be judged together.

When the first battery SOC value is not in the optimal state, for example, the first battery SOC value is smaller than or equal to a first preset value, but the vehicle speed is also smaller, for example, the first vehicle speed is smaller than or equal to a first vehicle speed threshold value, and the EV four-wheel drive mode is entered at this time, so that not only can the power requirement be met, but also the low engine efficiency caused by direct driving of the engine in a low-speed state can be avoided, thereby taking into consideration the economical efficiency and the dynamic property of the vehicle.

Further, according to some embodiments of the present application, the second vehicle state information is the first vehicle state information, and determining that the four-wheel drive mode is the EV four-wheel drive mode or the hybrid four-wheel drive mode according to the second vehicle state information includes: and determining the four-wheel drive mode as an EV four-wheel drive mode when the current running mode is a hybrid series rear-wheel drive mode.

When the current driving mode is the hybrid series rear-drive mode, if the vehicle required power is greater than the maximum power of the second motor and the first battery SOC value is greater than a first preset value, determining that the four-drive mode is the EV four-drive mode. And if the vehicle required power is smaller than or equal to the maximum power of the second motor, keeping the current hybrid series rear drive mode unchanged.

The type of the four-wheel drive mode is determined while the four-wheel drive mode is judged according to the first vehicle state information including the vehicle required power, namely, in the hybrid series rear-wheel drive mode, if the four-wheel drive mode is judged to be entered according to the vehicle required power and the first battery SOC value, the four-wheel drive mode is determined to be the EV four-wheel drive mode.

In another embodiment, when it is determined that the four-wheel drive mode is not entered according to the first vehicle state information including the vehicle required power, further determination may be performed according to the first vehicle speed, that is, when the current running mode is the hybrid series rear-drive mode; when the vehicle required power is larger than the power set value in the current vehicle running mode and the first battery SOC value is smaller than or equal to a first preset value and the first vehicle speed meets a preset condition, determining that the vehicle enters a four-wheel drive mode and determining that the four-wheel drive mode is a hybrid four-wheel drive mode.

Specifically, the first vehicle speed satisfies a preset condition that the first vehicle speed is greater than a first vehicle speed threshold.

At this time, the first vehicle state information and the second vehicle state information both include the current running mode, the first vehicle speed and the first battery SOC value, so that it is also realized that whether to enter the four-wheel-drive mode is determined, and what mode the four-wheel-drive mode is.

It is known that the selection conditions of the four-wheel drive mode are different after the four-wheel drive mode is judged to be entered based on the slip information and the information including the required power of the vehicle. When the vehicle is judged to enter the four-wheel drive mode according to the information including the power required by the vehicle, the hybrid four-wheel drive emergency mode is not set, and the stability of the vehicle is higher than the dynamic property of the vehicle, so that the situation that the clutch is allowed to slide and rub in order to pursue the dynamic property is avoided under the condition that the battery SOC is not much left and the vehicle speed is not high, and the service life of related components is prolonged.

It is understood that in the embodiment of the present application, the hybrid four-wheel drive mode is a hybrid four-wheel drive normal mode, unless specifically described. The four-wheel drive mode may be switched from the two-wheel drive mode to the four-wheel drive mode, and may be used as a holding condition for the four-wheel drive mode. If the control method is a control method for converting the two-drive mode into the four-drive mode, if the condition for entering the four-drive mode is not satisfied, the current running is kept unchanged.

According to some embodiments of the present application, the control method of a hybrid vehicle further includes: determining a current driving mode according to the third vehicle state information; the current driving mode comprises an EV rear-drive mode, a hybrid parallel precursor mode and a hybrid series rear-drive mode; in the EV rear drive mode, the second motor is used to drive the rear wheels; in a hybrid parallel precursor mode, at least the engine drives the front wheels, and the first motor selectively drives the front wheels; in the hybrid series rear drive mode, the engine is configured to output power to the first motor to cause the first motor to generate power and the second motor to drive the rear wheels.

Further, according to some embodiments of the present application, the third vehicle state information includes a second battery SOC value and a second vehicle speed; determining the current driving mode according to the third vehicle state information includes: if the second battery SOC value is larger than a third preset value, determining that the current running mode is an EV rear-drive mode; if the second battery SOC value is smaller than a third preset value and the second vehicle speed is larger than a second vehicle speed threshold value, determining that the current running mode is a hybrid parallel precursor mode; if the second battery SOC value is smaller than a third preset value, the second vehicle speed is smaller than or equal to a second vehicle speed threshold value and is larger than a third vehicle speed threshold value, the current running mode is determined to be a hybrid series rear-drive mode, and the third vehicle speed threshold value is smaller than the second vehicle speed threshold value; if the second vehicle speed is smaller than or equal to a third vehicle speed threshold value, and the second battery SOC value is smaller than or equal to a third preset value and larger than a fourth preset value, determining that the current running mode is an EV rear-drive mode, wherein the third preset value is larger than the fourth preset value; and if the second vehicle speed is smaller than or equal to the third vehicle speed threshold value and the second battery SOC value is smaller than or equal to a fourth preset value, determining that the current running mode is a hybrid series rear-drive mode. The third preset value, the second vehicle speed threshold value, the third vehicle speed threshold value and the fourth preset value can be calibrated according to actual conditions.

As described with reference to fig. 6, as shown in fig. 6, the control method of the hybrid vehicle of the present application may include the steps of:

s101, acquiring a second battery SOC value and a second vehicle speed;

s102, judging whether the second battery SOC value is larger than a third preset value. If yes, go to step S106; if not, step S103 is performed.

S103, judging whether the second vehicle speed is larger than a second vehicle speed threshold value. If yes, step S107 is performed; if not, step S104 is performed.

S104, judging whether the second vehicle speed is larger than a third vehicle speed threshold value. If yes, execute S108; if not, step S105 is performed.

S105, judging whether the second battery SOC value is larger than a fourth preset value. If yes, go to step S106; if not, step S108 is performed.

S106, determining that the current running mode is the EV rear-drive mode.

S107, determining that the current running mode is a hybrid parallel precursor mode.

S108, determining that the current running mode is a hybrid series rear-drive mode.

According to some embodiments of the present application, the control method of a hybrid vehicle further includes: and determining the battery charging power in the hybrid parallel precursor mode and the hybrid series rear-drive mode according to the fourth vehicle state information.

Further, in some embodiments of the present application, the fourth vehicle state information includes a third battery SOC value; the determining the battery charging power in the hybrid parallel precursor mode and the hybrid series rear-drive mode according to the fourth vehicle state information comprises: determining the output power of the engine according to the difference value between the third battery SOC value and the fifth preset value; the larger the difference, the greater the output power of the engine. The rate of change of the output power of the engine with the difference value decreases with an increase in the difference value. The fifth preset value can be calibrated according to actual conditions.

Specifically, as shown in fig. 7, after the vehicle enters the hybrid series rear-drive mode and the hybrid parallel front-drive mode, the relationship between the output power of the engine (the battery pack charging power) and Δsoc (the fifth preset value—the third battery SOC value) is set under the condition that the third battery SOC value is smaller than the fifth set value. At a certain Δsoc, the corresponding battery pack charge power can be found. Wherein, the output power of the engine is in positive correlation with Δsoc.

In summary, whether the vehicle enters the four-wheel drive mode is determined according to the first vehicle state information, when the vehicle enters the four-wheel drive mode is determined, the four-wheel drive mode is determined to be the EV four-wheel drive mode or the hybrid four-wheel drive mode according to the second vehicle state information, when the four-wheel drive mode is the EV four-wheel drive mode, the first motor and the second motor respectively drive the front wheel and the rear wheel, and when the four-wheel drive mode is the hybrid four-wheel drive mode, the engine drives the front wheel and/or the second motor drives the rear wheel. Therefore, the method determines the driving mode of the vehicle according to the state information of the vehicle, and uses the matched driving mode under different working conditions, so that the driving safety of the vehicle is improved, the energy consumption is reduced, and the performance of the whole vehicle is improved.

Corresponding to the above embodiment, the present application further provides a vehicle controller.

As shown in fig. 8, the vehicle control unit 100 of the present application includes a memory 110, a processor 120, and a control program of the hybrid vehicle stored in the memory 110 and capable of running on the processor 120, and when the processor executes the control program of the hybrid vehicle, the control method of the hybrid vehicle is implemented.

Corresponding to the above embodiment, the present application also proposes a computer-readable storage medium having stored thereon a control program of a hybrid vehicle, which when executed by a processor, implements the above-described control method of the hybrid vehicle.

Corresponding to the above embodiment, the present application also proposes a hybrid vehicle.

As shown in fig. 2, the hybrid vehicle includes the vehicle controller described above, and may further include: the vehicle control system comprises a power battery 5, a first motor 2, a second motor 6, an engine 1, a first transmission 3, a second transmission 7 and a vehicle controller.

The first transmission 3 includes a transmission shaft, a first clutch assembly 32 and a second clutch assembly 33, the transmission shaft is provided with a first power input part, the first power input part is sleeved outside the transmission shaft, the first clutch assembly 32 includes a first clutch part and a driving part, the first clutch part is provided with the first power input part, the first clutch part and the driving part are selectively engaged, the driving part is provided with a second power input part, the second clutch assembly 33 includes a second clutch part and a driven part, the second clutch part is provided with the first output part, the first clutch assembly 32 and the second clutch assembly 33 are respectively positioned at two sides of the first power input part in the axial direction of the transmission shaft, the first output part is linked with a first driving wheel (front wheel) of the hybrid vehicle, the first motor 2 is connected with the first power input part, the engine 1 is connected with the second power input part, the second transmission 7 has a third power input part and a second power output part, the third power input part is connected with the second output part, the second power input part is linked with the second power input part, the second power output part is connected with a second power battery 6, and the second power input part is connected with a second power input 6 of the hybrid vehicle and a second power input 6 is connected with a second power input 6 of the hybrid vehicle.

Referring to fig. 2, the engine 1, the first transmission 3 and the first motor 2 are all mechanically connected to form a front power assembly, the second motor 6, the second transmission 7 and the rear differential 8 are all mechanically connected to form a rear electric assembly, and the power battery 5, the first motor 2 and the second motor 6 are electrically connected. The first transmission 3 is provided with a first clutch assembly 32 and a second clutch assembly 33, which can break the mechanical connection between the engine 1, the first transmission 3 and the first electric machine 2. The first transmission 3 is also provided with a reversing gear, so that the rotation direction of the engine 1 can be the same as the rotation direction of the wheels. Referring to fig. 2, the hybrid vehicle further includes: the clutch housing 31, the primary pinion 21, and the primary bull 341 are integrated.

The hybrid vehicle of the present application can realize the following functions.

When the first electric machine 2 is in an idle state to start the engine function, the second clutch assembly 33 is disconnected from the integrated clutch housing 31 and the first electric machine 2 is in a stationary state. The power battery 5 starts to supply power to the first motor 2, the first motor 2 starts to operate from a static state, then the first clutch assembly 32 is combined with the integrated clutch housing 31, and power is transmitted to the engine 1 through the primary pinion 21, the primary large gear 341, the integrated clutch housing 31, the first clutch assembly 32 and the second power input part thereof, so that the engine 1 is dragged to start ignition.

When the engine function is started in the loaded state of the first electric machine 2, the second clutch assembly 33 is already combined with the integrated clutch housing 31, the power battery 5 supplies power to the first electric machine 2, and the first electric machine 2 is in the loaded state. The first clutch assembly 32 starts to be in sliding engagement with the integrated clutch housing 31, and power is transmitted to the engine 1 through the first clutch driven assembly 32 and the second power input part thereof, so that the engine 1 is dragged to start ignition.

When the series engine power generation function is achieved, the engine 1 is already in the ignition operation, and the second clutch assembly 33 is disconnected from the integrated clutch housing 31. The first clutch pack 32 starts to be combined with the integrated clutch housing 31, the engine 1 transmits power to the first electric motor 2 through the first clutch pack 32 and its second power input part, the integrated clutch housing 31, the primary large gear 341, the primary small gear 21, the first electric motor 2 operates to generate electricity, and supplies the electric power to the power battery 5 or the second electric motor 6.

When the parallel power generation function of the engine is realized, the engine 1 is in ignition operation, the second clutch assembly 33 is combined with the integrated clutch housing 31, the first clutch assembly 32 is combined with the integrated clutch housing 31, the engine 1 drives the vehicle to operate and drags the first motor 2 to rotate, at this time, the first motor 2 becomes a generator mode, the engine 1 generates power by electrically driving the first motor 2, and electric energy is supplied to the power battery 5 or the second motor 6.

As shown in connection with fig. 6, the hybrid vehicle of the present application implements a plurality of drive modes of the hybrid vehicle.

EV precursor mode: in this mode, the second clutch assembly 33 is engaged with the integrated clutch housing 31, and the first clutch assembly 32 is disengaged from the integrated clutch housing 31. The power battery 5 supplies power to the first motor 2, and the first motor 2 operates and transmits power to wheels through the primary pinion 21, the primary large gear 341, the integrated clutch housing 31, the second clutch assembly 33, the secondary pinion 331, the reversing gear 391, the differential gear 41, the differential 4 and the transmission shaft to drag the whole vehicle to operate.

EV drive-after mode: in this mode, the second clutch assembly 33 is disconnected from the integrated clutch housing 31, and the first clutch assembly 32 is disconnected from the integrated clutch housing 31. The power battery 5 supplies power to the second motor 6, the second motor 6 operates and transmits power to wheels through the second speed changer 7, the second differential mechanism 8 and the rear transmission shaft, and the whole vehicle is dragged to operate.

EV four-drive mode: in this mode, the second clutch assembly 33 is engaged with the integrated clutch housing 31, and the first clutch assembly 32 is disengaged from the integrated clutch housing 31. The power battery 5 supplies power to the first motor 2, and the first motor 2 operates and transmits power to wheels through the primary pinion 21, the primary large gear 341, the integrated clutch housing 31, the second clutch driven assembly 33, the secondary pinion 331, the reversing gear 391, the differential gear 41, the differential 4, and the propeller shaft. The power battery 5 supplies power to the second motor 6 at the same time, the second motor 6 operates and transmits power to wheels through the second transmission 7, the second differential 8 and the rear transmission shaft, and the first motor 2 and the second motor 6 work together to drag the whole vehicle to operate.

Hybrid parallel precursor mode: in this mode, the engine 1 is in the ignition operation state, the second clutch assembly 33 is coupled with the integrated clutch housing 31, and the first clutch assembly 32 is coupled with the integrated clutch housing 31. The engine 1 transmits power to wheels through the first clutch assembly 32 and the second power input part thereof, the integrated clutch housing 31, the second clutch assembly 33, the secondary pinion 331, the reversing gear 391, the differential gear 41, the differential 4 and the transmission shaft, and drags the whole vehicle to run. When the power is insufficient, the power battery 5 supplies power to the first motor 2 to assist the engine 1 to drive the whole vehicle; when the power is excessive, the first motor 2 generates electricity and supplies the power to the power battery 5. That is, the first motor 2 may be in an electric state or may be in an idle state so as to be able to selectively output power to the first motor 2.

Hybrid tandem backdriving mode: in this mode, the engine 1 is in the ignition operation state, the second clutch assembly 33 is disconnected from the integrated clutch housing 31, and the first clutch assembly 32 is coupled with the integrated clutch housing 31. The engine 1 transmits power to the first electric motor 2 through the first clutch pack 32 and its second power input, the integrated clutch housing 31, the primary large gear 341, the primary small gear 21, and the first electric motor 2 operates to generate electricity and supply the electric power to the second electric motor 6. The second motor 6 operates and transmits power to wheels through the second speed changer 7, the second differential mechanism 8 and the rear transmission shaft, and the whole vehicle is dragged to operate. When the power is insufficient, the power battery 5 supplements electricity for the second motor 6 to drive the whole vehicle in a cooperative way; when the power is excessive, the first motor 2 supplies the excessive electric power to the power battery 5.

Hybrid four-wheel drive normal mode: in this mode, the engine 1 is in the ignition operation state, the second clutch assembly 33 is coupled with the integrated clutch housing 31, and the first clutch assembly 32 is coupled with the integrated clutch housing 31. The engine 1 transmits power to wheels through the first clutch assembly 32 and the second power input part thereof, the integrated clutch housing 31, the second clutch driven assembly 33, the secondary pinion 331, the reversing gear 391, the differential gear 41, the differential 4 and the transmission shaft, and drags the whole vehicle to run. Meanwhile, the power battery 5 supplies power to the second motor 6, the second motor 6 operates and transmits power to wheels through the second transmission 7, the second differential 8 and the rear transmission shaft, and the wheels drag the whole vehicle to operate. When the power is insufficient, the power battery 5 supplies power to the first motor 2 to assist in driving the whole vehicle; when the power is excessive, the first motor 2 generates electricity and supplies the power to the power battery 5.

Hybrid four-wheel drive emergency mode: in this mode, the engine 1 is in the ignition operation state, the second clutch assembly 33 is coupled with the integrated clutch housing 31, and the first clutch assembly 32 is coupled with the integrated clutch housing 31. The engine 1 transmits power to wheels through the first clutch assembly 32 and the second power input part thereof, the integrated clutch housing 31, the second clutch assembly 33, the secondary pinion 331, the reversing gear 391, the differential gear 41, the differential 4 and the transmission shaft, and drags the whole vehicle to run. Meanwhile, the second motor 6 operates and transmits power to wheels through the second transmission 7, the second differential 8 and the rear transmission shaft to drag the whole vehicle to operate. In this mode, the engine speed 1 is not synchronized with the vehicle speed, and a skid exists between the second clutch assembly 33 and the integrated clutch housing 31, and the first clutch assembly 32 is combined with the integrated clutch housing 31.

It should be noted that, for details not disclosed in the hybrid vehicle of the present application, please refer to details disclosed in the control method of the hybrid vehicle of the present application, and details are not described herein.

It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims

1. A control method of a hybrid vehicle, characterized by comprising:

determining whether a vehicle enters a four-wheel-drive mode according to first vehicle state information, wherein the four-wheel-drive mode comprises an EV four-wheel-drive mode and a hybrid four-wheel-drive mode;

determining that the four-wheel drive mode is an EV four-wheel drive mode or a hybrid four-wheel drive mode according to the second vehicle state information;

in EV four-wheel drive mode, the first motor and the second motor drive the front wheel and the rear wheel, respectively;

in the hybrid four-wheel drive mode, at least the engine drives the front wheels and the second motor drives the rear wheels.

2. The control method according to claim 1, characterized in that the first vehicle state information includes vehicle slip information;

the determining whether the vehicle enters the four-wheel drive mode according to the first vehicle state information comprises:

and determining that the vehicle enters a four-wheel drive mode when the vehicle slip information characterizes the vehicle slip.

3. The control method according to claim 1, wherein the first vehicle state information includes at least a vehicle required power, a first battery SOC value, and a current running mode;

And if the vehicle required power is greater than the power set value in the current vehicle running mode and the first battery SOC value is greater than the threshold value corresponding to the current running mode, determining that the vehicle enters the four-wheel drive mode.

4. The control method according to claim 3, wherein,

when the current running mode is a hybrid series rear-drive mode, the threshold value corresponding to the current running mode is a first preset value;

and when the current running mode is the EV rear-drive mode or the hybrid parallel precursor mode, the threshold value corresponding to the current running mode is a second preset value, and the second preset value is smaller than the first preset value.

5. A control method according to claim 2 or 3, wherein the second vehicle state information includes at least a current running mode,

the determining that the four-wheel drive mode is the EV four-wheel drive mode or the hybrid four-wheel drive mode according to the second vehicle state information includes:

if the current vehicle running mode is a hybrid parallel precursor mode, determining that the four-wheel-drive mode is a hybrid four-wheel-drive mode;

in the hybrid parallel precursor mode, at least the engine drives the front wheels.

6. The control method according to claim 2, wherein the second vehicle state information includes at least a current running mode,

if the current vehicle running mode is the EV rear-drive mode; determining the four-wheel drive mode as an EV four-wheel drive mode;

in the EV drive mode, the second electric machine is used to drive the rear wheels.

7. The control method according to claim 2, wherein the hybrid four-drive mode includes a hybrid four-drive emergency mode and a hybrid four-drive normal mode;

the transmission ratio from the engine to the front wheel in the mixed four-wheel drive emergency mode is larger than the transmission ratio from the engine to the front wheel in the mixed four-wheel drive normal mode.

8. The control method according to claim 7, characterized in that the second vehicle state information further includes a current running mode, a first vehicle speed, and a first battery SOC value;

determining that the four-wheel drive mode is the EV four-wheel drive mode or the hybrid four-wheel drive mode according to the second vehicle state information includes:

when the current vehicle running mode is a hybrid series rear-drive mode;

if the first vehicle speed is greater than the first vehicle speed threshold, determining that the four-wheel drive mode is a hybrid four-wheel drive normal mode;

if the first vehicle speed is smaller than the first vehicle speed threshold value and the first battery SOC value is larger than the second threshold value, determining that the four-wheel drive mode is an EV four-wheel drive mode;

If the first vehicle speed is smaller than the first vehicle speed threshold value and the first battery SOC value is smaller than the second threshold value, determining that the four-wheel drive mode is a hybrid four-wheel drive emergency mode;

in the hybrid series rear drive mode, the engine is configured to output power to the first motor to generate power from the first motor, and the second motor drives the rear wheels.

9. The control method according to claim 4, wherein the second vehicle state information includes a first battery SOC value and first vehicle speed information, and the determining that the four-wheel drive mode is the EV four-wheel drive mode or the hybrid four-wheel drive mode based on the second vehicle state information includes:

when the current running mode is the EV drive mode,

if the SOC value of the first battery is larger than a first preset value, determining that the four-wheel drive mode is an EV four-wheel drive mode;

if the first battery SOC value is smaller than or equal to a first preset value and the first vehicle speed is larger than a first vehicle speed threshold value, determining that the four-wheel drive mode is a hybrid four-wheel drive mode;

and if the first vehicle speed is smaller than or equal to a first vehicle speed threshold value, determining that the four-wheel drive mode is an EV four-wheel drive mode when the first battery SOC value is smaller than or equal to a first preset value.

10. The control method according to claim 3, characterized in that the second vehicle state information is the first vehicle state information, and the determining that the four-wheel drive mode is the EV four-wheel drive mode or the hybrid four-wheel drive mode based on the second vehicle state information includes:

And determining the four-wheel drive mode as an EV four-wheel drive mode when the current running mode is a hybrid series rear-wheel drive mode.

11. The control method according to claim 1, characterized in that the first vehicle state information and the second vehicle state information each include a current running mode, a first vehicle speed, a first battery SOC value;

when the current running mode is a hybrid series rear-drive mode;

if the vehicle required power is larger than the power set value in the current vehicle running mode, and the first battery SOC value is smaller than or equal to a first preset value, and the first vehicle speed meets the preset condition, determining that the vehicle enters a four-wheel drive mode and determining that the four-wheel drive mode is a hybrid four-wheel drive mode.

12. The control method according to claim 1, characterized in that the method further comprises:

determining a current driving mode according to the third vehicle state information;

the current driving mode comprises an EV rear-drive mode, a mixed parallel precursor mode and a mixed series rear-drive mode;

in the EV rear-drive mode, the second motor is used for driving the rear wheels;

in a hybrid parallel precursor mode, at least the engine drives the front wheels;

13. The control method according to claim 12, characterized in that the third vehicle state information includes a second battery SOC value and a second vehicle speed;

the determining the current driving mode according to the third vehicle state information includes:

if the second battery SOC value is larger than a third preset value, determining that the current running mode is an EV rear-drive mode;

if the second battery SOC value is smaller than a third preset value and the second vehicle speed is larger than a second vehicle speed threshold value, determining that the current running mode is a hybrid parallel precursor mode;

if the second battery SOC value is smaller than a third preset value, the second vehicle speed is smaller than or equal to a second vehicle speed threshold value and is larger than a third vehicle speed threshold value, the current running mode is determined to be a hybrid series rear-drive mode, and the third vehicle speed threshold value is smaller than the second vehicle speed threshold value;

if the second vehicle speed is smaller than or equal to a third vehicle speed threshold value, and the second battery SOC value is smaller than or equal to the third preset value and larger than a fourth preset value, determining that the current running mode is an EV rear-drive mode, wherein the third preset value is larger than the fourth preset value;

and if the second vehicle speed is smaller than or equal to the third vehicle speed threshold value and the second battery SOC value is smaller than or equal to a fourth preset value, determining that the current running mode is a hybrid series rear-drive mode.

14. The control method according to claim 12, characterized in that the method further comprises:

and determining the battery charging power in the hybrid parallel precursor mode and the hybrid series rear-drive mode according to the fourth vehicle state information.

15. The control method according to claim 14, characterized in that the fourth vehicle state information includes a third battery SOC value;

the determining the battery charging power in the hybrid parallel precursor mode and the hybrid series rear drive mode according to the fourth vehicle state information comprises the following steps:

determining the output power of the engine according to the difference value between the third battery SOC value and the fifth preset value;

the larger the difference, the larger the output power of the engine.

16. The control method according to claim 15, characterized in that a rate of change of the output power of the engine with the difference value decreases with an increase of the difference value.

17. A vehicle control unit comprising a memory, a processor and a control program for a hybrid vehicle stored in the memory and operable on the processor, wherein the processor, when executing the control program for the hybrid vehicle, implements the control method for the hybrid vehicle according to any one of claims 1-16.

18. A computer-readable storage medium, characterized in that a control program of a hybrid vehicle is stored thereon, which when executed by a processor implements the control method of a hybrid vehicle according to any one of claims 1-16.

19. A hybrid vehicle comprising the vehicle control unit according to claim 17.