KR20220073615A - Hybrid electric vehicle control method and soc trajectory generation method for controlling hybrid electric vehicle - Google Patents

Abstract

Disclosed are a method for controlling a hybrid vehicle in which fuel efficiency can be improved and a method for generating an SOC trajectory for controlling the hybrid vehicle. The disclosed hybrid vehicle control method includes: collecting driving environment information of the hybrid vehicle; determining an economical driving speed of the hybrid vehicle by using the driving environment information and driving tendency information of a driver of the hybrid vehicle; and controlling the hybrid vehicle based on the economic driving speed.

Description

Hybrid vehicle control method and SOC trajectory generation method for hybrid vehicle control

The present invention relates to a method for controlling a hybrid vehicle and a method for generating an SOC trajectory for controlling a hybrid vehicle, and to a method for controlling a hybrid vehicle capable of improving fuel efficiency and a method for generating an SOC trajectory for controlling the hybrid vehicle.

As regulations on fuel efficiency and emissions are tightened around the world, research is being conducted to improve fuel efficiency, such as electric vehicle (EV) and hybrid electric vehicle (HEV), and engine downsizing. A lot is being done

Since a hybrid vehicle uses an engine and a motor together, fuel efficiency may vary depending on power distribution between the engine and the motor. As a power distribution method for a hybrid vehicle, an ECMS (Equivalent Consumption Minimization Strategy) method has been widely studied.

ECMS is based on the concept that all energy generated in a hybrid vehicle is ultimately generated from fuel. Accordingly, the operating point of the engine and motor that minimizes the price function as in [Equation 1] is determined as a power distribution control command. . When the price function shows a minimum value, it means that the fuel consumption rate is minimum.

및

는 시간 t에서 동력 분배 비율이 u일 때, 단위 시간동안 소모되는 연료 에너지 및 전기 에너지를 나타낸다.Here, J(t,u) is a price function, s(t) is an equivalent factor,

and

denotes fuel energy and electric energy consumed per unit time when the power distribution ratio is u at time t.

The equivalence factor is a parameter for converting electric energy into fuel energy, and since the value at which the electric energy is converted into fuel energy varies according to the equivalence factor, the tendency of power distribution by ECMS is affected by the equivalence factor.

The hybrid vehicle distributes power between the engine and the motor so that the fuel consumption rate is minimized as described above, and also distributes power between the engine and the motor to follow the target battery SOC.

As related prior art, there are Korean Patent Laid-Open Nos. 2016-0071989 and 2020-0064203.

An object of the present invention is to provide a method for controlling a hybrid vehicle and a method for calculating an SOC trajectory for controlling the hybrid vehicle, which can increase fuel efficiency of the hybrid vehicle.

According to an embodiment of the present invention for achieving the above object, the method comprising: collecting driving environment information of a hybrid vehicle; determining an economical driving speed of the hybrid vehicle by using the driving environment information and driving tendency information of a driver of the hybrid vehicle; and controlling the hybrid vehicle based on the economic driving speed.

According to another embodiment of the present invention for achieving the above object, the method includes: calculating an expected driving torque for each segment by using the predicted driving speed for each segment of a road to be driven of the hybrid vehicle; determining an SOC variation for each segment and a driving mode for each segment by using the predicted driving torque; and calculating a target SOC trajectory for the driving planned road by using the SOC variation amount for each segment and the driving mode.

According to an embodiment of the present invention, fuel efficiency of the hybrid vehicle may be improved by controlling the vehicle based on the economic driving speed calculated from information on the driving environment.

In addition, according to an embodiment of the present invention, a more reliable SOC trajectory may be obtained by calculating the SOC trajectory using the estimated driving speed calculated based on the information on the driving environment.

1 is a view for explaining a control system of a hybrid vehicle according to an embodiment of the present invention.
2 is a view for explaining a hybrid vehicle control method according to an embodiment of the present invention.
3 is a view for explaining a method of calculating an SOC trajectory for controlling a hybrid vehicle according to an embodiment of the present invention.
4 is a diagram illustrating a target SOC trajectory according to an embodiment of the present invention.
5 is a diagram for explaining a method of calculating an SOC trajectory for controlling a hybrid vehicle according to another embodiment of the present invention.

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. In describing each figure, like reference numerals have been used for like elements.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a view for explaining a control system of a hybrid vehicle according to an embodiment of the present invention.

Referring to FIG. 1 , a control system for a hybrid vehicle according to an embodiment of the present invention includes a driving situation recognition unit 110 and a vehicle control unit 120 , and may be mounted on the hybrid vehicle to control the hybrid vehicle.

The driving situation recognition unit 110 includes a map DB 111 , a V2X communication unit 112 , a sensor unit 113 , a road-geography information extraction unit 114 , a traffic-driving situation estimation unit 115 , and a driving tendency estimation unit 116 , the LDM generating unit 117 is included, and the vehicle control unit 120 includes an economic driving induction unit 121 and a power control unit 122 .

The map DB 111 stores a 3D digital map of a road to be driven by the hybrid vehicle.

The road-geographic information extracting unit 114 uses the 3D digital map stored in the map DB 111 to simplify the planned driving road and divides the simplified road into a preset number of segments. In addition, information such as curvature, inclination, and speed limit of the road to be driven is extracted. The number of segments may vary depending on the computational performance of the control system.

The V2X communication unit 112 collects traffic information by communicating with the surrounding vehicle or surrounding infrastructure of the hybrid vehicle, and the sensor unit 113 collects driving information of the surrounding vehicle of the hybrid vehicle.

The traffic-driving situation estimator 115 estimates the traffic and driving conditions of the road on which the hybrid vehicle travels by using the collected traffic information and driving information. As an embodiment, the traffic-driving situation estimator 115 may estimate an average speed of a planned driving road, an abrupt situation, and a forward/backward driving situation of the hybrid vehicle.

The LDM generating unit 117 generates a local dynamic map (LDM) by using the information extracted from the road-geography information extracting unit 114 and the information estimated by the traffic-driving situation estimating unit 115 . LDM is a dynamic map used for autonomous driving standards.

The driving tendency estimator 116 estimates the driving tendency of the driver by using vehicle manipulation information of the driver of the hybrid vehicle. The driver's disposition may be expressed as sensitivity, extreme level, and immaturity, and sensitivity, extreme level, and immaturity may be divided into six levels, respectively. The higher the level, the greater the sensitivity, radicality, and immaturity.

The economic driving induction unit 121 determines the economic driving speed for improving fuel efficiency of the hybrid vehicle by using the LDM and the driving tendency of the driver. The economic driving guidance unit 121 determines the economic driving speed for each segment of the driving planned road based on the road limit speed, the road average speed, and traffic light information of the driving planned road. In this case, the economic driving induction unit 121 may determine the economic driving speed that minimizes the driver's discomfort by reflecting the driver's driving tendency.

In addition, the economic driving induction unit 121 may provide the determined economic driving speed to the driver through a display device or the like to induce the driver to drive economically. Alternatively, economic driving may be controlled so that the hybrid vehicle follows the economic driving speed by the power control unit 122 to be described later.

The power control unit 122 distributes power between the engine and the motor based on the economical driving speed to support fuel efficiency improvement of the hybrid vehicle. In addition, the power control unit 122 may calculate the expected power of the hybrid vehicle for the economic driving speed, generate a target SOC trajectory according to the budget power, and then control the power distribution so that the battery SOC follows the target SOC trajectory. In this case, the power control unit 122 may distribute power by reflecting the driving tendency of the driver.

According to an embodiment of the present invention, fuel efficiency of the hybrid vehicle may be improved by controlling the vehicle based on the economic driving speed calculated from information on the driving environment.

FIG. 2 is a diagram for explaining a hybrid vehicle control method according to an embodiment of the present invention. In FIG. 2 , a control method performed in a hybrid vehicle is described as an embodiment.

Referring to FIG. 2 , the hybrid vehicle according to an embodiment of the present invention collects driving environment information of the hybrid vehicle ( S210 ). Here, the driving environment information may be collected through the above-described driving situation recognizing unit 110 as information on a road on which the hybrid vehicle travels, terrain information, and traffic information on a road on which the hybrid vehicle travels.

The hybrid vehicle according to an embodiment of the present invention determines the economical driving speed of the hybrid vehicle using the driving environment information collected in step S210 and the driving tendency information of the driver of the hybrid vehicle ( S220 ). Driving tendency information may also be generated through the above-described driving situation recognition unit 110 .

As an embodiment, the driving tendency information is information divided according to the driver's tendency, sensitivity, extreme level, and immaturity, and the sensitivity is the degree to which the speed of the vehicle is rapidly changed by repeating acceleration and braking according to the surrounding driving situation. As driving tendency information representing , the higher the sensitivity level, the higher the repetition number of acceleration and braking. The extreme degree is driving tendency information indicating the speed at which the reference speed is reached. The higher the level of the extreme, the shorter the time required to reach the reference speed through rapid acceleration. Finally, the immaturity is driving tendency information indicating a response delay time according to the departure of the vehicle in front, and the higher the level of immaturity, the longer the departure time after the departure of the vehicle in front.

The hybrid vehicle periodically determines the economic driving speed in step S220. In this process, the change range of the economic driving speed may be adjusted in proportion to the magnitude of extremity and sensitivity, and inversely proportional to the magnitude of immaturity. Through this, the hybrid vehicle can adjust the economic driving speed by reflecting the driver's driving tendency, and reduce the driver's sense of heterogeneity according to the economic driving speed.

In addition, the hybrid vehicle according to an embodiment of the present invention controls the hybrid vehicle based on the economic driving speed determined in step S220 ( S230 ).

The hybrid vehicle may control the hybrid vehicle by providing an economic driving speed to the driver or generating a target SOC trajectory of the hybrid vehicle based on the economic driving speed in step S230 .

The hybrid vehicle may generate a target SOC trajectory of the hybrid vehicle and control the power of the hybrid vehicle such that the SOC of the battery follows the target SOC trajectory. In this case, the hybrid vehicle may calculate an expected power of the hybrid vehicle with respect to driving environment information and economic driving speed, and may generate a target SOC trajectory according to the predicted power. A method of generating the target SOC trajectory is described in more detail with reference to FIG. 3 .

3 is a diagram for explaining a method of calculating an SOC trajectory for controlling a hybrid vehicle according to an embodiment of the present invention, and FIG. 4 is a diagram illustrating a target SOC trajectory according to an embodiment of the present invention.

The method for calculating the SOC trajectory according to an embodiment of the present invention may be performed in a computing device including a processor and a memory. In FIG. 3 , the method for calculating the SOC trajectory performed in a hybrid vehicle is described as an embodiment. In addition, in FIG. 4 , a solid line indicates a planned driving road 410 on which an inclination is expressed, and a dotted line indicates a target SOC trajectory 420 .

Referring to FIG. 3 , the hybrid vehicle according to an embodiment of the present invention calculates the predicted driving torque for each segment by using the predicted driving speed for each segment of the road to be driven of the hybrid vehicle ( S310 ). The driving plan road may be set by the driver's selection. In addition, the expected driving speed may be determined according to the traffic condition of the driving planned road, and may be the economic driving speed described above.

The road to be driven may be divided into various segments according to embodiments. Since the inclination of the road has a great influence on the driving torque, as an embodiment, the segments may be divided according to the inclination of the road to be driven. Here, the slope means the longitudinal slope of the road. For example, as shown in FIG. 4 , if the driving scheduled road 410 is composed of an uphill road, a flat road, and a downhill road, the driving scheduled road is divided into three segments 411, respectively, into an uphill road, a flat road, and a downhill road. , 412, 413). In addition, the planned driving road may be classified according to the presence or absence of an intersection, a speed limit, and the like. When an intersection exists, segments may be divided by a boundary line based on the location of the intersection, and segments may be divided according to a section in which a speed limit is set.

Also, the number of segments may be determined according to an expected driving speed or calculation performance of the vehicle. When the expected driving speed is fast, the position change of the hybrid vehicle is fast, so the number of segments may be reduced, and if the calculation performance is low, the number of segments may be reduced.

Meanwhile, in step S310, the hybrid vehicle may calculate the predicted driving torque for each segment for the wheel, and [Equation 2] may be used.

은 구름저항 토크,

는 휠 반지름,

은 구름저항 계수, m은 하이브리드 차량의 질량, g는 중력 가속도,

은 도로 경사도,

는 등판저항 토크,

는 공기저항 토크,

은 공기저항 계수,

는 세그먼트별 예상 주행 속도,

는 휠에 대한 세그먼트별 예상 주행 토크를 나타낸다.here,

is the rolling resistance torque,

is the wheel radius,

is the rolling resistance coefficient, m is the mass of the hybrid vehicle, g is the gravitational acceleration,

silver road slope,

is the climbing resistance torque,

is the aerodynamic torque,

is aerodynamic coefficient,

is the estimated driving speed for each segment,

represents the predicted driving torque for each segment for the wheel.

Referring back to FIG. 3 , the hybrid vehicle according to an embodiment of the present invention determines the SOC change amount for each segment and the driving mode for each segment by using the estimated driving torque calculated in step S310 ( S320 ).

The hybrid vehicle determines the driving mode of the target segment as the regenerative braking mode when the expected driving torque of the target segment is 0 or less, and selects the driving mode of the target segment when the expected driving torque of the target segment is greater than 0 and equal to or less than the EV driving limit torque. Decide on EV mode. Also, when the expected driving torque of the target segment is greater than the EV driving limit torque, the driving mode of the target segment is determined as the HEV mode. In regenerative braking mode, the battery is charged, in EV mode, power is provided by the motor, and in HEV mode, power is provided by the engine and motor.

In addition, the hybrid vehicle may calculate the amount of change in SOC for each segment using [Equation 3] as an embodiment. At this time, when the driving mode is the HEV mode, the hybrid vehicle calculates the expected driving torque by the motor from the expected driving torque using the power distribution ratio between the engine and the motor, and calculates the expected driving torque by the motor [Mathematics] By applying Equation 3], it is possible to calculate the SOC variation of the segment in which the driving mode is the HEV mode.

는 휠에 대한 예상 파워,

는 휠에 대한 예상 속도,

는 배터리에 대한 예상 파워,

는 휠에서 배터리까지의 동력 전달 효율,

는 세그먼트별 SOC 변화량,

는 세그먼트별 주행 시간,

는 배터리 전압,

는 배터리 용량을 나타낸다.here, ,

is the estimated power for the wheel,

is the expected speed for the wheel,

is the estimated power for the battery,

is the power transmission efficiency from the wheel to the battery,

is the amount of SOC change by segment,

is the driving time for each segment,

is the battery voltage,

represents the battery capacity.

In FIG. 4 , the first target segment 411 is an uphill road, and since the expected driving torque will be greater than the EV driving limit torque, all driving in the first target segment 411 may be in the HEV mode, and the second target segment Reference numeral 412 denotes a flat road, and since the expected driving torque is greater than 0 and equal to or less than the EV driving limit torque, the driving mode in the second target segment 412 may be the EV mode. In addition, since the third target segment 413 is a downhill road and the expected driving torque is 0 or less, the driving mode in the third target segment 413 may be a regenerative braking mode.

Referring back to FIG. 3 , the hybrid vehicle according to an embodiment of the present invention calculates a target SOC trajectory for a road to be driven by using the SOC variation for each segment and the driving mode ( S330 ).

The hybrid vehicle calculates the target SOC trajectory after calculating the SOC variation for each target segment in different ways depending on the driving mode. Here, the calculated SOC of the segment is the SOC for the end point of the segment, and as shown in FIG. 4 , the hybrid vehicle connects the SOC for the end points of the segments 411 , 412 , and 413 to the target SOC trajectory 420 . can be calculated. The hybrid vehicle calculates a target SOC trajectory by calculating SOC variations for segments following a current segment in which the hybrid vehicle is located. The target SOC trajectory for the first segment 411 may be generated by connecting the SOC for the end point of the first segment 411 in the SOC at the current position of the hybrid vehicle, and the current position is the first segment 411 . ) may be the entry point.

When the driving mode of the target segment determined in step S320 is the regenerative braking mode or the EV mode, the hybrid vehicle determines the SOC of the target segment by adding the SOC of the previous segment to the target segment and the SOC variation of the target segment. In the regenerative braking mode, the SOC variation is positive, and in the EV mode, the SOC variation is negative.

When the driving mode of the target segment determined in step S320 is the HEV mode, the hybrid vehicle determines the SOC of the target segment by adding the SOC of the previous segment to the target segment and the SOC variation of the target segment, but According to the driving mode, the SOC of the target segment is determined.

Since the battery SOC is reduced in the EV mode, when the driving mode of the next segment is the EV mode, the hybrid vehicle determines the SOC of the target segment that is the HEV mode so that the SOC of the next segment is greater than a preset minimum value. In addition, since the battery SOC increases in the regenerative braking mode, when the driving mode of the next segment is the regenerative braking mode, the hybrid vehicle determines the SOC of the target segment that is the HEV mode so that the SOC of the next segment is smaller than a preset maximum value.

The hybrid vehicle may determine the SOC of the target segment by correcting the SOC variation of the target segment and adding it to the SOC of the previous segment so that the SOC of the next segment is smaller than a preset maximum value or greater than a preset minimum value as an embodiment. have.

In step S330 , the hybrid vehicle may update the target SOC trajectory whenever a segment in which the hybrid vehicle is located is changed. Alternatively, even if the segment in which the hybrid vehicle is located is not changed, when the traffic condition of the road to be driven is rapidly changed, the hybrid vehicle may update the target SOC trajectory.

According to an embodiment, when the hybrid vehicle exists for more than a threshold time in a segment in which the hybrid vehicle is located, the hybrid vehicle may determine that the traffic condition has changed and update the target SOC trajectory. Alternatively, according to the passage of time, when the decrease in the expected traveling speed of at least one of the segments is equal to or less than the threshold value, the hybrid vehicle may update the target SOC trajectory.

According to an embodiment of the present invention, a more reliable SOC trajectory can be obtained by calculating the battery SOC trajectory using the predicted driving power of the hybrid vehicle based on the predicted driving speed, and the SOC trajectory is utilized for vehicle control. , the fuel efficiency of the hybrid vehicle may be improved.

5 is a view for explaining a method of calculating an SOC trajectory for controlling a hybrid vehicle according to another embodiment of the present invention.

In the above-described step S330, when the SOC of one of the segments is smaller than the preset minimum value or greater than the preset maximum value, the hybrid vehicle adjusts the SOC variation of the target segment in which the driving mode is determined to be the HEV mode, so that the driving mode is set to the HEV mode. It is possible to modify the SOC of the target segment determined by .

The hybrid vehicle calculates the SOC of the segment by adding the SOC of the previous segment to the target segment and the SOC variation of the target segment (S510), and then whether the SOC of one of the segments is less than a preset minimum value or greater than a preset maximum value is determined (S520). And when the SOC of one of the segments is less than the preset minimum value (SOC _min ) or greater than the preset maximum value (SOC _max ), the driving mode adjusts the SOC variation of the target segment determined as the HEV mode, so that the driving mode is set to the HEV mode. The SOC of the determined target segment is corrected (S530).

In step S530, when the SOC of one of the segments is greater than the preset maximum value (SOC _max ), the hybrid vehicle subtracts the SOC variation of the next segments for the target segment and the SOC of the previous segment from the maximum value, and the SOC of the target segment The amount of change can be modified. Here, the next segments include a segment from the next segment adjacent to the target segment to the next segment in which the SOC exceeds the maximum value.

For example, when the segment is divided as shown in Fig. 4, the first segment 411 is the target segment, and the SOC exceeds the maximum value in the third segment 413, the hybrid vehicle uses [Equation 4], It is possible to modify the SOC variation of the target segment. Then, the SOC of the target segment is determined by adding the modified SOC variation with the SOC of the previous segment.

은 제1세그먼트(411)의 수정된 SOC 변화량,

,

는 제2 및 제3세그먼트(412, 413)의 SOC 변화량,

는 SOC 궤적이 갱신되는 현재 위치에서의 SOC를 나타낸다.here,

is the corrected SOC variation of the first segment 411,

,

is the SOC variation of the second and third segments 412 and 413,

denotes the SOC at the current position where the SOC trajectory is updated.

And in step S530, when the SOC of one of the segments is smaller than the preset minimum value (SOC _max ), the hybrid vehicle subtracts the SOC change amount of the next segments and the SOC of the previous segment from the minimum value, and the SOC change amount of the target segment can be modified. Here, the next segments include a segment from the next segment adjacent to the target segment to the next segment in which the SOC is less than the minimum value.

For example, when the segment is divided as shown in FIG. 4 , the first segment 411 is the target segment, and the SOC in the second segment 413 is less than the minimum value, the hybrid vehicle uses [Equation 5] to obtain the target segment It is possible to modify the amount of change in SOC of . Then, the SOC of the target segment is determined by adding the modified SOC variation with the SOC of the previous segment.

In this way, as the SOC of the target segment is modified, the SOC of the next segment is also modified, and a result in which the SOC becomes larger than the maximum value or smaller than the minimum value in the target SOC trajectory can be prevented.

The technical contents described above may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiments or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic such as floppy disks. - includes magneto-optical media, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. A hardware device may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, in the present invention, specific matters such as specific components, etc., and limited embodiments and drawings have been described, but these are only provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , various modifications and variations are possible from these descriptions by those of ordinary skill in the art to which the present invention pertains. Therefore, the spirit of the present invention should not be limited to the described embodiments, and not only the claims described below, but also all of the claims and all equivalents or equivalent modifications to the claims will be said to belong to the scope of the spirit of the present invention. .

Claims (15)

collecting driving environment information of the hybrid vehicle;
determining an economical driving speed of the hybrid vehicle by using the driving environment information and driving tendency information of a driver of the hybrid vehicle; and
controlling the hybrid vehicle based on the economic driving speed
A hybrid vehicle control method comprising a.
The method of claim 1,
The driving environment information is
Information on the road and terrain on which the hybrid vehicle travels, and traffic information on the road
A hybrid vehicle control method comprising a.
The method of claim 1,
The step of controlling the hybrid vehicle includes:
providing the economic driving speed to the driver
Hybrid vehicle control method.
The method of claim 1,
The step of controlling the hybrid vehicle includes:
calculating an expected power of the hybrid vehicle with respect to the driving environment information and the economic driving speed;
generating a target SOC trajectory of the hybrid vehicle according to the predicted power; and
controlling the power of the hybrid vehicle to follow the target SOC trajectory
A hybrid vehicle control method comprising a.
The method of claim 1,
The driving tendency information
The driver's driving propensity is information classified according to sensitivity, radicality, and immaturity,
The range of change in the economic driving speed is
proportional to the magnitude of the extremity and the sensitivity, and inversely proportional to the magnitude of the immaturity
Hybrid vehicle control method.
calculating an expected driving torque for each segment by using the predicted driving speed for each segment of the driving plan road of the hybrid vehicle;
determining an SOC variation for each segment and a driving mode for each segment by using the predicted driving torque; and
Calculating a target SOC trajectory for the driving planned road by using the SOC variation for each segment and driving mode
SOC trajectory calculation method for hybrid vehicle control comprising a.
7. The method of claim 6,
Calculating the predicted driving torque for each segment includes:
Calculate the predicted driving torque for each segment for the wheel by using Equation 1 below,
The step of calculating the SOC variation for each segment is
Using Equation 2 below to calculate the SOC variation for each segment
SOC trajectory calculation method for hybrid vehicle control.
[Equation 1]

[Equation 2]

here,

is the rolling resistance torque,

is the wheel radius,

is the rolling resistance coefficient, m is the mass of the hybrid vehicle, g is the gravitational acceleration,

silver road slope,

is the climbing resistance torque,

is the aerodynamic torque,

is aerodynamic coefficient,

is the estimated driving speed for each segment,

is the predicted driving torque for each segment for the wheel,

is the estimated power for the wheel,

is the expected speed for the wheel,

is the estimated power for the battery,

is the power transmission efficiency from the battery to the wheel,

is the SOC variation for each segment,

is the driving time for each segment,

is the battery voltage,

indicates the battery capacity.
7. The method of claim 6,
The step of determining the driving mode for each segment
When the expected driving torque is 0, determining the driving mode as a regenerative braking mode,
when the expected driving torque is greater than 0 and equal to or less than the EV driving limit torque, determining the driving mode as the EV mode;
determining the driving mode as the HEV mode when the expected driving torque is greater than the EV driving limit torque
SOC trajectory calculation method for hybrid vehicle control.
9. The method of claim 8,
The step of calculating the target SOC trajectory includes
When the driving mode of the target segment is the regenerative braking mode or the EV mode, the SOC of the target segment is determined by adding the SOC variation of the previous segment to the target segment and the SOC variation of the target segment,
SOC trajectory calculation method for hybrid vehicle control.
9. The method of claim 8,
The step of calculating the target SOC trajectory includes
when the driving mode of the target segment is the HEV mode, determining the SOC of the target segment according to the driving mode of the next segment for the target segment;
SOC trajectory calculation method for hybrid vehicle control.
11. The method of claim 10,
The step of calculating the target SOC trajectory includes
When the driving mode of the next segment is the EV mode, the SOC of the target segment is determined so that the SOC of the next segment is greater than a preset minimum value by correcting the SCO variation of the target segment;
When the driving mode of the next segment is the regenerative braking mode, the SOC of the target segment is determined so that the SOC of the next segment is smaller than a preset maximum value by correcting the SCO variation of the target segment;
SOC trajectory calculation method for hybrid vehicle control.
9. The method of claim 8,
The step of calculating the target SOC trajectory includes
When the SOC of one of the segments is smaller than the preset minimum value or greater than the preset maximum value, the SOC of the target segment is corrected by adjusting the SOC variation of the target segment in which the driving mode is determined as the HEV mode
SOC trajectory calculation method for hybrid vehicle control.
13. The method of claim 12,
The step of calculating the target SOC trajectory includes
adjusting the SOC variation of the target segment by subtracting the SOC variation of the next segments for the target segment from the SOC variation of the previous segment with respect to the target segment from the maximum or the minimum value;
The following segments are
in the next segment adjacent to the target segment, including a segment up to the next segment in which the SOC exceeds the maximum value or the SOC is less than the minimum value.
SOC trajectory calculation method for hybrid vehicle control.
7. The method of claim 6,
The step of calculating the target SOC trajectory includes
Each time the segment in which the hybrid vehicle is located is changed, the target SOC trajectory is updated.
SOC trajectory calculation method for hybrid vehicle control.
7. The method of claim 6,
The segment of the road to be driven is
It is divided according to at least one of the slope of the road to be driven, the presence of an intersection, and the speed limit,
The number of segments is
determined according to the expected driving speed or calculation performance of the vehicle
SOC trajectory calculation method for hybrid vehicle control.

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