CN117755265B - Hybrid power vehicle and control method and medium thereof - Google Patents
Hybrid power vehicle and control method and medium thereof Download PDFInfo
- Publication number
- CN117755265B CN117755265B CN202211140689.9A CN202211140689A CN117755265B CN 117755265 B CN117755265 B CN 117755265B CN 202211140689 A CN202211140689 A CN 202211140689A CN 117755265 B CN117755265 B CN 117755265B
- Authority
- CN
- China
- Prior art keywords
- engine
- adjustment operation
- condition
- adjustment
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000004590 computer program Methods 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 description 12
- 230000008859 change Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000005236 sound signal Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000004200 deflagration Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 201000001098 delayed sleep phase syndrome Diseases 0.000 description 1
- 208000033921 delayed sleep phase type circadian rhythm sleep disease Diseases 0.000 description 1
- 235000019800 disodium phosphate Nutrition 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004549 pulsed laser deposition Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
Landscapes
- Output Control And Ontrol Of Special Type Engine (AREA)
Abstract
The application discloses a hybrid vehicle, a control method and a medium thereof, wherein the method comprises the following steps: acquiring initial fluctuation state information of an engine; when the initial fluctuation state information is determined to meet a first preset condition, executing a first adjustment operation; when the initial fluctuation state information is determined to meet a second preset condition, executing a second adjustment operation; determining whether the adjustment operation is effective includes: judging whether the first adjustment operation is effective or not, and executing a second adjustment operation when the first adjustment operation is determined to be ineffective; judging whether the second adjustment operation is effective or not, and executing a third adjustment operation when the second adjustment operation is determined to be ineffective; wherein the first adjustment operation is configured to switch an operating condition of the engine; the second adjustment operation is configured to switch an engine operating state; the third regulation operation is configured to stop the engine and switch the power mode of the vehicle to the electric-only mode.
Description
Technical Field
The application relates to the technical field of hybrid vehicles, in particular to a hybrid vehicle, a control method thereof and a medium.
Background
The engine is a major component of the vehicle powertrain, and the performance of the engine directly affects the ride comfort and vehicle performance of the vehicle. In the running process of the engine, fluctuation conditions can be generated due to different reasons, and the rotation speed of the engine continuously and greatly fluctuates, so that abnormal sound and vibration of the whole vehicle are caused. Such as engine booming, generator rapid acceleration whistle, and sound transmitted into the vehicle may even cause discomfort to the driver.
Disclosure of Invention
In view of the foregoing drawbacks or shortcomings in the prior art, it is desirable to provide a hybrid vehicle, a control method thereof, and a medium that can solve the problem of engine hunting during running of the vehicle, and improve drivability and riding comfort.
In a first aspect, the present application provides a control method of a hybrid vehicle, the method including:
acquiring initial fluctuation state information of an engine;
according to the obtained initial fluctuation state information, executing adjustment operation, including:
when the initial fluctuation state information is determined to meet a first preset condition, executing a first adjustment operation; when the initial fluctuation state information is determined to meet a second preset condition, executing a second adjustment operation;
determining whether the adjustment operation is effective includes:
Judging whether the first adjustment operation is effective or not, and executing a second adjustment operation when the first adjustment operation is determined to be ineffective; judging whether the second adjustment operation is effective or not, and executing a third adjustment operation when the second adjustment operation is determined to be ineffective;
Wherein the first adjustment operation is configured to switch an operating condition of the engine; the second adjustment operation is configured to switch an engine operating state; the third regulation operation is configured to stop the engine and switch the power mode of the vehicle to the electric-only mode.
Optionally, the acquiring the initial fluctuation state information of the engine includes:
Collecting engine rotation speed information through a crankshaft sensor and a camshaft sensor;
and acquiring the fluctuation amplitude of the engine speed based on the engine speed information.
Optionally, the first preset condition is configured such that the engine speed fluctuation amplitude is greater than a first set value and smaller than a second set value, and the second preset condition is configured such that the engine speed fluctuation amplitude is not smaller than the second set value.
Optionally, the performing the first adjustment operation includes:
The operating conditions of the engine valves are switched to achieve switching of the operating conditions of the engine.
Optionally, the method comprises:
presetting a plurality of operation conditions of an engine, wherein each operation condition corresponds to different valve operation conditions;
the performing a first adjustment operation includes:
acquiring the current operation condition of an engine and the current operation condition of a valve;
and switching the operation condition of the valve according to a valve adjustment strategy based on the current operation condition of the engine and the current operation condition of the valve so as to realize the operation condition switching of the engine.
Optionally, the acquiring the current operation condition of the engine and the current operation condition of the valve includes:
acquiring current working phase information of a cam shaft;
and acquiring the current operation condition of the engine and the current operation condition of the valve based on the current operation phase information of the camshaft.
Optionally, the determining whether the first adjustment operation is valid includes:
Detecting a surge condition after the engine is adjusted after performing a first adjustment operation;
When it is determined that the engine-adjusted surge condition satisfies a first threshold range, it is determined that the first adjustment operation is invalid.
Optionally, the determining whether the second adjustment operation is effective includes:
detecting a surge condition after the engine adjustment after performing a second adjustment operation;
And when the fluctuation state after the engine adjustment is determined to meet a second threshold range, determining that the second adjustment operation is invalid.
Optionally, the performing the second adjustment operation includes:
Switching the rotational speed and/or torque of the engine to achieve switching the operating state of the engine while maintaining the operating power of the engine substantially unchanged.
Optionally, the method comprises: presetting a plurality of working states of an engine, wherein each working state corresponds to different target NVH performance information;
the performing a second adjustment operation includes:
acquiring the current rotating speed and the current torque of an engine, determining the current working state of the engine based on the current rotating speed and the current torque, and acquiring the target NVH performance information based on the current working state;
And acquiring current NVH performance information of the engine, and switching the rotating speed and/or torque of the engine to realize the switching of the working state of the engine based on the current NVH performance information and the target NVH performance information position of the engine under the condition of maintaining the running power of the engine basically unchanged.
In a second aspect, the present application provides a hybrid vehicle, employing a control method of a hybrid vehicle as described in any one of the above, the vehicle comprising an engine, an electric motor, and an acquisition module, a determination module and a control module connected to the engine,
The acquisition module is used for acquiring initial fluctuation state information of the engine;
The judging module is used for judging whether the initial fluctuation state information meets a first preset condition or a second preset condition according to the acquired initial fluctuation state information; and for determining whether the adjustment operation is valid, comprising: for determining whether the first adjustment operation is effective and for determining whether the second adjustment operation is effective;
The control module is used for controlling and executing adjustment operation, and comprises: when the initial fluctuation state information of the initial fluctuation state is determined to meet a first preset condition, the initial fluctuation state information is used for controlling to execute a first adjustment operation; when the initial fluctuation state information of the initial fluctuation state meets a second preset condition, the initial fluctuation state information is used for controlling to execute a second adjustment operation; for controlling the execution of a second adjustment operation when it is determined that the first adjustment operation is not effective; and judging whether the second adjusting operation is effective or not, and controlling to execute a third adjusting operation when the second adjusting operation is determined to be ineffective.
In a third aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling a hybrid vehicle as described in any of the above.
The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:
According to the vehicle control method provided by the embodiment of the application, when the fluctuation of the fluctuation engine is abnormal, the operation condition of the engine is switched by switching the valve operation condition, and when the operation condition is switched, the rotation speed of the engine is not obviously changed, and only the rotation fluctuation condition of the engine is changed; when the fluctuation of the engine cannot be improved by switching the valve operation mode, the rotating speed or torque of the engine is further switched under the condition that the power of the engine is basically unchanged, so that the operation state of the engine is effectively improved, and the fluctuation state of the engine is improved; when the fluctuation of the engine cannot be improved in the two modes, the engine is controlled to stop and recover, so that the shake disappears after the engine is restarted.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
fig. 1 is a flowchart of a control method of a hybrid vehicle according to an embodiment of the present application;
fig. 2 is a flowchart of a first adjustment operation performed by the hybrid vehicle according to the embodiment of the present application;
FIG. 3 is a flowchart of a method for determining that the first adjustment operation is invalid according to an embodiment of the present application;
Fig. 4 is a flowchart of a hybrid vehicle performing a second adjustment operation according to an embodiment of the present application;
Fig. 5 is a flowchart of a control method of a hybrid vehicle according to an embodiment of the present application;
fig. 6 is a block diagram of a hybrid vehicle according to an embodiment of the present application;
fig. 7 is a block diagram of a computer device according to an embodiment of the present application.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Referring to fig. 1 in detail, the present application provides a control method of a hybrid vehicle, the method includes:
s10, acquiring a fluctuation state of an engine;
S20, executing adjustment operation according to the obtained initial fluctuation state information, wherein the adjustment operation specifically comprises the following steps: s02, when the initial fluctuation state information is determined to meet a first preset condition, executing a first adjustment operation;
and S04, when the initial fluctuation state information is determined to meet a second preset condition, executing a second adjustment operation.
Wherein the first adjustment operation is configured to switch an operating condition of the engine; the second adjustment operation is configured to switch an engine operating state; the third regulation operation is configured to stop the engine and switch the power mode of the vehicle to the electric-only mode.
S30, judging whether the adjustment operation is effective or not, wherein the method specifically comprises the following steps:
s06, judging whether the first adjustment operation is effective, and executing a second adjustment operation when the first adjustment operation is determined to be ineffective;
S08, judging whether the second adjusting operation is effective, and executing a third adjusting operation when the second adjusting operation is determined to be ineffective.
The engine's surge condition in the present application may be characterized in a number of different ways, such as noise fluctuation, vibration fluctuation, rotational speed fluctuation, torque fluctuation, etc., and the present application is not limited to the surge condition, and in different embodiments, the preset conditions corresponding to different surge conditions are different depending on the engine's operating condition. The present application is described by way of example in terms of rotational speed fluctuations.
It is to be understood that the present application includes the inclusion of various sensors on the hybrid vehicle for obtaining various resulting operating conditions or performance parameters. For example, a camshaft sensor, a crankshaft sensor, a knock sensor, etc., which outputs a signal indicative of the cam position. The crank sensor outputs a signal indicating a rotational speed of the crankshaft (engine rotational speed) and a rotational angle of the crankshaft. The knock sensor outputs a signal indicative of the intensity of vibration of the engine.
The application exemplifies a method for acquiring initial fluctuation state information of an engine, wherein in step S10, the step of acquiring the fluctuation state of the engine includes:
collecting engine rotation speed information through a crankshaft sensor and a camshaft sensor; and acquiring the fluctuation amplitude of the engine speed based on the engine speed information.
It is understood that the method for acquiring the initial fluctuation state information of the engine in the embodiment of the present application may also be applied to determining whether the adjustment operation of the engine is effective after the first adjustment operation is performed on the engine in the subsequent step S111 or determining whether the adjustment operation of the engine is effective after the first adjustment operation is performed on the engine in the subsequent step S211. Of course, in different embodiments, the different engine fluctuation status information may be acquired in different manners, for example, a Circuit or a device with an information acquisition function may be implemented by a general-purpose integrated Circuit, for example, a CPU (Central Processing Unit ), or an ASIC (Application SPECIFIC INTEGRATED Circuit, application specific integrated Circuit), and the Circuit or the device with the information acquisition function may be the engine controller ECU (Electronic Control Unit) or the whole vehicle controller VCU (Vehicle Control Unit), or may be separately provided on the vehicle, which is not limited by the present application. In the embodiment of the application, the first preset condition is configured such that the engine speed fluctuation amplitude is greater than a first set value and smaller than a second set value, and the second preset condition is configured such that the engine speed fluctuation amplitude is not smaller than the second set value. It will be appreciated that the first setting value and the second setting value in the embodiments of the present application are not particularly limited, and may be selected according to the needs in different embodiments. In this embodiment the first set point is smaller than the second set point.
In step S02 of the present application, the performing a first adjustment operation includes:
The operating conditions of the engine valves are switched to achieve switching of the operating conditions of the engine.
It should be noted that, the operation conditions of the engine valve include one or more of opening/closing timing, valve lift and valve working angle, where the valve opening/closing timing may be controlled by a Variable valve timing system (VVT, variable VALVE TIMING) that is composed of an electromagnetic valve and a Variable camshaft phase adjuster, and the VVT principle is to change the time of opening and closing the valve or the valve overlap angle by adjusting the engine cam phase according to the operation condition of the engine, so as to implement switching between different engine operation conditions. The valve lift and the valve working angle are controlled by a Variable valve lift system (VVL, variable VALVE LIFT), generally, the Variable valve lift system comprises two cams with the same base circle and different molded lines, and the different cams change the opening of the valve by a cam switching mechanism controlled by an engine, so as to realize switching of different engine running conditions. The operating mode of the engine is directly controlled to change by switching the operating conditions of the engine.
It will be appreciated that the current operating condition of the engine may be characterized in a number of different ways, such as by operating conditions of the valve, rotational speed information, torque information, etc., which is not limiting in this regard, and in different embodiments, a number of different operating condition dividing ways may be set to improve the directionality and accuracy of the operating condition switching.
Specifically, as shown in fig. 2, the performing the first adjustment operation includes:
s101, presetting a plurality of operation conditions of an engine, wherein each operation condition corresponds to different valve adjustment strategies. In this embodiment, each operating condition includes a normal valve operating condition and an abnormal valve operating condition at the time of fluctuation; when the fluctuation state is normal, the valve is in a normal valve operation condition, and when the fluctuation is abnormal, the operation condition of the valve is switched into an abnormal valve operation condition by executing an adjustment strategy.
It should be noted that, in the present application, the operation conditions of the engine may be set according to the rotation speed condition, and may also be set according to the load condition, and in other embodiments, the engine may be adjusted according to different conditions of the vehicle, which is not limited in this aspect of the present application. Each of the different valve adjustment strategies of the present application may be set by way of a look-up table, although the present application is not limited in this regard.
The mode of setting the valve adjusting strategy for different operation conditions can be obtained through the modes of whole vehicle test calibration, experimental simulation, machine learning and the like. In different embodiments, the valve adjustment strategy may be set for a look-up table manner, i.e., the operating conditions corresponding to the targets of the valves under different operating conditions. Of course, in other embodiments, it may be implemented in other ways, and the application is not limited in this regard.
For example, when the engine is operating at low speed and low load (first operating condition), the intake valve opening time may be retarded, the valve overlap angle may be reduced, and the high-lift state may be switched to the low-lift state; when the engine runs at a low speed and under a large load (second running condition), the opening time of the intake valve can be advanced, the valve overlap angle is increased, and the engine is switched from a low-lift state to a high-lift state; when the engine is in a medium working condition (a third operating condition), the valve overlap angle can be reduced by relatively delaying the opening time of the intake valve; when the engine is operated at high speed and under a large load (fourth operating condition), the opening time of the intake valve can be delayed, and the valve overlap angle can be reduced.
In addition, the valve adjustment strategy includes one or more of adjusting an opening time of an intake valve, a closing time of the intake valve, a lift of the intake valve, an opening time of an exhaust valve, a closing time of the exhaust valve, a lift of the exhaust valve, a valve overlap angle, and the like. In specific application, the valve is selected according to the needs, and of course, in different embodiments, the combination of the different parameters can be based on, and the parameter combination with good effect can be selected as a valve adjustment strategy in combination with the fluctuation condition of the engine, and the operation condition of the valve is switched according to the parameter combination, so that the improvement of the fluctuation performance of the engine can be realized. S102, acquiring the current operation condition of the engine and the current operation condition of the valve.
Specifically, the method for acquiring the current operation condition of the engine and the current operation condition of the valve comprises the following steps:
and acquiring current working phase information of a camshaft, and acquiring current operating conditions of an engine and current operating conditions of a valve based on the current working phase information of the camshaft.
The camshaft is a component in a piston engine that functions to control the opening and closing actions of the valves. The current working phase information of the camshaft can be acquired by adopting a camshaft sensor, and the ignition time and the oil injection time are determined by acquiring the camshaft angle signals, so that sequential oil injection control, ignition time control and deflagration control are performed to determine the operation working condition of the valve.
In the embodiment of the application, the camshaft sensor can also be used for acquiring the rotating speed information of the engine, the current operating condition of the engine is acquired through the rotating speed information, and the like. For example, engine speed information is collected via a crankshaft sensor and a camshaft sensor, and a current operating condition of the engine is determined based on the engine speed information.
S103, switching the operation condition of the valve according to a valve adjustment strategy based on the current operation condition of the valve so as to realize switching the operation condition of the engine.
The application exemplifies various valve adjustment strategies, the valve adjustment strategies can be realized in a lookup table mode, the valve adjustment strategies are searched by determining the current operation condition of the engine, the operation condition of the valve is switched based on the current operation condition of the valve and the valve adjustment strategies, and the engine jumps out of the current operation condition through the adjustment of the valve operation condition. For example, it may be selected to adjust the phase of the camshaft so that the intake valve opens in advance and the exhaust valve closes in retard.
In the embodiment of the application, when abnormal fluctuation occurs in the engine, the operation condition of the valve of the engine is switched (the VVT or the VVL is changed), so that the engine enters a more stable combustion condition, the rotation speed of the engine is not changed immediately at the moment, passengers cannot perceive any change, the operation condition of the engine is effectively improved, and the drivability is improved.
In the present application, as shown in fig. 3, the determining whether the second adjustment operation is valid includes:
S111, detecting the fluctuation state of the engine after the first adjustment operation is executed.
If the fluctuation of the engine is in a normal state after the first adjustment operation, the initial operation condition of the engine is recovered; if the engine fluctuation is still in an abnormal state after the first adjustment operation, the step S112 is continued.
It may be appreciated that, in order to ensure the operating condition of the engine, when the fluctuation of the engine speed after adjustment is not great, in the embodiment of the present application, the method further includes recovering to the operating state before adjustment when the first adjustment operation is determined to be valid, for example, recovering the camshaft to the current phase before adjustment, so as to recover the operating condition of the valve to the current operating condition before adjustment.
And S112, when the fluctuation state after the engine adjustment is determined to meet a first threshold range, determining that the first adjustment operation is invalid.
It is to be appreciated that the first threshold range may be configured in the present application such that the engine speed fluctuation amplitude is greater than the first threshold. In a specific application, the first threshold value is less than or equal to a first set value, preferably the first set value. In the embodiment of the present application, the first threshold may be adjusted according to the requirement, which is not limited by the present application. In this embodiment, when it is determined that the engine still has large fluctuation after the first adjustment operation, the current operation condition of the engine is continuously adjusted through the second adjustment operation. The first adjustment operation and the second adjustment operation are different switching modes of the engine operation conditions, and the second adjustment operation will be described in detail below.
Whether the operation is effective or not can be indicated to be effective by collecting the fluctuation state of the engine after the adjustment, if the fluctuation is in a normal state, the operation is indicated to be ineffective if the fluctuation is in an abnormal state.
In the embodiment of the application, when the initial fluctuation state information of the engine meets the first preset condition, the adopted measures comprise three modes, wherein the first mode is to enable the fluctuation state of the engine to be in a normal state through the first adjustment operation, and then the first adjustment operation is determined to be effective and is restored to the working state before adjustment. The second is that the fluctuation of the engine still exists after the first adjustment operation, the first adjustment operation is determined to be invalid and the second adjustment operation is continuously executed; after the second adjustment operation is executed, the engine is in a normal state, and the second adjustment operation is determined to be effective and restored to the working state before the first adjustment operation. And thirdly, after the second adjustment operation is executed, the engine fluctuation still exists, and the second adjustment operation is determined to be invalid and the third adjustment operation is continuously executed.
In one possible embodiment of the present application, the performing the second adjustment operation includes:
Switching the rotational speed and/or torque of the engine to achieve switching the operating state of the engine while maintaining the operating power of the engine substantially unchanged.
Under the condition that the engine power is basically unchanged, the engine torque and the engine speed are switched, and the abnormal working condition is jumped out by changing the engine state, but the abnormal running of the vehicle is not caused at the same time. For example, increasing torque is employed to reduce rotational speed; or increasing the rotational speed to reduce torque. For example, the engine speed is decreased from the maximum speed at preset intervals, and the engine torque is increased from the minimum torque at preset interval intervals.
In the embodiment of the application, the running power is basically unchanged, that is, the power value of the engine after power adjustment is equal to the power value before power adjustment or the power change range is within a preset range (for example, the power change range is-10%), and meanwhile, the power value is basically unchanged in the adjustment process, so that the power of the whole vehicle does not suddenly drop, and the riding experience is improved. Based on the parameter combination of the engine torque and the engine rotating speed, the parameter combination with better effect is screened out to be used as a target parameter combination in combination with the engine fluctuation condition, and the engine transmission mechanism is configured according to the parameter combination, so that the improvement of the engine fluctuation performance can be realized.
The second adjustment operation in the application is realized by switching the rotation speed or the torque of the engine, and the working mode of the engine is directly controlled to be changed by switching the running state of the engine. It can be understood that in this embodiment, the current working state of the engine and the current operating condition of the engine may be represented by the same parameter, and may also be represented by different modes, for example, by the operating condition of the valve, the rotational speed information, the torque information, etc., which are not limited in this aspect of the present application, and in different embodiments, a plurality of different operating state dividing modes may be set to improve the directionality and accuracy of the operating state switching.
Illustratively, as shown in fig. 4, the performing the second adjustment operation includes:
S201, presetting a plurality of working states of an engine, wherein each working state corresponds to different target NVH performance information. Noise, vibration and harshness (Noise Vibration Harshness, NVH) performance, NVH performance information is directly related to a vehicle transmission system, and the transmission system refers to a device positioned between an engine and a driving wheel of a vehicle and used for transmitting power, and the basic function of the transmission system is to receive the power of the engine and transmit the power to the driving wheel. In this embodiment, the NVH performance information positions corresponding to different running states are constructed based on the running states of the engine, so that the drivability can be effectively improved.
It should be understood that in the embodiment of the present application, the target NVH performance information may be set by a look-up table, and may also be calibrated by a performance curve, which may, of course, be implemented in other manners, and the present application is not limited thereto. Since the NVH performance information relates to a plurality of different parameters such as noise, vibration, and harshness, in different embodiments, one or more of the parameters may be used, or a combination of performance parameters may be used, and may be selected according to requirements when applied.
S202, acquiring the current rotating speed and the current torque of the engine, determining the current working state of the engine based on the current rotating speed and the current torque, and acquiring the target NVH performance information based on the current working state.
For example, engine speed information and torque information are collected by a crankshaft sensor and a camshaft sensor, and a current operating state of the engine is determined based on the engine speed information and the torque information. The setting mode of the current running state of the engine is not limited in the application, and the current running state of the engine can be determined by combining other sensors in different embodiments, and the current running state of the engine is selected according to requirements when the current running state of the engine is applied.
It is to be understood that various scheme setting strategies may be set for the target NVH performance information in the present application, for example, the vibration noise map includes correspondence between each engine speed, each engine torque, and the vibration noise value. The vibration noise curve graph is obtained based on experimental data of the engine, and reflects the corresponding relation among the engine rotating speed, the engine torque and the vibration noise value when the engine of the hybrid electric vehicle is in operation. And switching the current torque and the current rotating speed of the engine according to the engine torque and the rotating speed data corresponding to the target noise on the vibration noise graph.
S203, acquiring current NVH performance information of the engine, and switching the rotating speed and/or torque of the engine to realize the switching of the working state of the engine based on the current NVH performance information and the target NVH performance information position of the engine under the condition that the running power of the engine is maintained to be basically unchanged.
In the embodiment of the application, the adjustment of the rotation speed and the torque has different effects on the NVH performance information to a certain extent, so that the adjustment modes of the torque and the rotation speed are not limited in the embodiment of the application. For example, the engine speed is decreased from the maximum speed at preset intervals, and the engine torque is increased from the minimum torque at preset interval intervals.
In an embodiment of the present application, the second preset policy further includes: and detecting the current NVH and the current engine fluctuation in real time, calculating the change rate of the rotation speed and the change rate of the torque after adjustment, dynamically adjusting the torque or the adjustment rate of the rotation speed, and dynamically adjusting the NVH target value according to the latest working state of the engine.
In the embodiment of the application, the change rate and the adjustment rate of the engine rotating speed and the torque during adjustment can be controlled by acquiring the NVH performance information parameters in real time. For example, the torque adjustment speed can be quickly adjusted by adopting a large-span value when the optimization of the monitored NVH performance information parameter is not obvious in the torque adjustment process, or the torque adjustment mode can be adopted to slowly approach the target NVH performance information when the monitored NVH performance information parameter approaches the target threshold value.
In the embodiment of the application, when the current fluctuation of the engine is obvious, the running state of the engine needs to be changed, the engine approaches to a set steady-state working condition point (target NVH performance information) from the current running condition, the NVH performance can be referred in the period, the proper speed is selected to approach to the steady-state working condition point, the approach can be carried out in a mode that the output power of the engine is basically consistent, the power of the whole vehicle does not suddenly drop, and the riding experience is improved.
With continued reference to fig. 3, in an embodiment of the present application, there is provided a method for determining whether the adjustment operation is valid, including:
s211, detecting the fluctuation state of the engine after the second adjustment operation is executed.
If the fluctuation of the engine is in a normal state after the second adjustment operation, the initial operation condition of the engine is recovered; if the engine fluctuation is still in an abnormal state after the second adjustment operation, step S212 is continued.
It may be appreciated that, in order to ensure the operating condition of the engine, when the fluctuation of the engine speed after adjustment is not great, in the embodiment of the present application, the method further includes recovering to the operating state before adjustment when the second adjustment operation is determined to be valid, for example, recovering the camshaft to the current phase before adjustment, so as to recover the operating condition of the valve to the current operating condition before adjustment. In this embodiment, the second adjustment operation is effective to include determining that the adjustment is effective only after the second adjustment operation, and further includes determining that the adjustment is effective after continuing to perform the second adjustment operation after the first adjustment operation.
S212, when the fluctuation state after the engine adjustment is determined to meet a second threshold range, determining that the second adjustment operation is invalid.
It is appreciated that the second threshold range is configured such that the engine speed fluctuation magnitude is greater than a second threshold. The specific value of the second threshold is not limited in this embodiment, and is selected according to the requirements in different embodiments. The first threshold value and the second threshold value may be set to the same value, and may be set to different values, which is not limited in the embodiment of the present application. Illustratively, the second threshold value may be selected to be equal to or less than a second set value, preferably the second set value.
In the embodiment of the application, when the initial fluctuation state information of the engine meets the second preset condition, the adopted measures comprise two modes, wherein the first mode is to enable the fluctuation state of the engine to be in a normal state through the second adjustment operation, and then the second adjustment operation is determined to be effective and is restored to the working state before adjustment. The second is by determining that the second adjustment operation is invalid and continuing to perform the third adjustment operation if the engine fluctuation still exists after the second adjustment operation is performed.
In step S08 of the present application, the third adjustment operation is configured to stop the engine and switch the power mode of the vehicle to the electric-only mode. The electric-only mode is (EV) driven only by the power of the motor supplied with power from the battery power source.
In this embodiment, when the amplitude of the engine fluctuation is large, the fluctuation of the engine can be directly adjusted by stopping. In the application, the operation condition of the engine is preferably adjusted through the first adjustment operation and/or the second adjustment operation, and the riding experience can be effectively improved through the first adjustment operation and the second adjustment operation. The hunting condition of the engine can be directly and effectively improved by the third adjustment operation.
It is understood that the vehicle 400 in the embodiment of the present application is a Hybrid vehicle 400 (HEV: hybrid ELECTRIC VEHICLE), and the engine 401 and the motor 402 may be driven in two driving modes as follows. For example, the "EV mode" and the "HEV mode" are included. In the "EV mode", the hybrid vehicle 400 runs by using the electric motor 402 as a power source in a state where the engine 401 is stopped, and in the "HEV mode", both the engine 401 and the electric motor 402 output torque to the transmission, and both the engine 401 and the electric motor 402 power the vehicle 400 under this operation condition. The embodiment of the present application is not limited to this, and may be selected according to requirements in different vehicles 400 or application scenarios.
It will be appreciated that in the embodiment of the present application, the period of time for switching to the EV mode, that is, the engine 401 off period is not limited. When the stop time of the engine 401 exceeds the set value, the engine 401 is restarted, and normal control is resumed, that is, the EV mode is resumed to the HEV mode.
As shown in fig. 5, an embodiment of a control method of a hybrid vehicle 400 is provided in the present application, the method including:
an initial rotational speed fluctuation state of the engine 401 is acquired.
When the initial rotational speed fluctuation amplitude of the engine 401 is not greater than the first set value, normal operation is performed.
When the initial rotational speed fluctuation amplitude of the engine 401 is larger than the first set value and smaller than the second set value, a first adjustment operation is performed, that is, the operation condition of the engine 401 is switched by switching the valve operation condition.
Acquiring a rotation speed fluctuation state of the engine 401 after adjustment, and determining that the first adjustment operation is effective when the rotation speed fluctuation amplitude of the engine 401 is not greater than a first threshold value, and recovering the operation condition of the engine 401 before adjustment; when the magnitude of the fluctuation in the rotational speed of the engine 401 is greater than the first threshold value, the second adjustment operation of switching the rotational speed and/or torque of the engine 401 is continued while maintaining the operating power of the engine 401 substantially unchanged. Continuously acquiring a rotation speed fluctuation state of the engine 401 after adjustment, determining that the first adjustment operation is effective (the second adjustment operation is effective at the same time) when the rotation speed fluctuation amplitude of the engine 401 is not more than a second threshold value, and recovering the operation condition of the engine 401 before adjustment; when the magnitude of the fluctuation in the rotation speed of the engine 401 is larger than the second threshold value, it is determined that the first adjustment operation is invalid (the second adjustment operation is simultaneously invalid), and the third adjustment operation is continued to be performed.
The second adjustment operation of switching the rotational speed and/or torque of the engine 401 is performed while maintaining the operating power of the engine 401 substantially unchanged, in a case where the initial rotational speed fluctuation amplitude of the engine 401 is not smaller than the second set value.
Acquiring a rotation speed fluctuation state of the engine 401 after adjustment, and determining that a second adjustment operation is effective when the rotation speed fluctuation amplitude of the engine 401 is not more than a second threshold value, and recovering the working state of the engine 401 before adjustment; when the magnitude of the fluctuation in the rotational speed of the engine 401 is greater than the second threshold value, it is determined that the second adjustment operation is invalid, and the third adjustment operation is continued. That is, the vehicle 400 is switched to the EV mode, and the engine 401 is stopped.
When the fluctuation of the fluctuation engine 401 is abnormal, the operation condition of the engine 401 is switched by switching the valve, and the rotation speed of the engine 401 is not obviously changed when the operation condition is switched, so that the rotation fluctuation condition of the engine 401 is only changed; when the fluctuation of the engine 401 cannot be improved by switching the valve, the rotating speed or torque of the engine 401 is further switched under the condition that the power of the engine 401 is basically unchanged, so that the running state of the engine 401 is effectively improved, and the fluctuation state of the engine 401 is improved; when the fluctuation of the engine 401 cannot be improved in both the above two modes, the engine 401 is controlled to stop and restore, so that the shake is eliminated after the engine 401 is restarted.
Based on the same inventive concept, as shown in fig. 6, the present application provides a hybrid vehicle 400 including: comprises an engine 401, an electric motor 402, an acquisition module 403 connected with the engine 401, a judgment module 404 and a control module 405.
The acquisition module 403 is configured to acquire initial fluctuation status information of the engine 401;
The judging module 404 is configured to judge whether the initial fluctuation status information meets a first preset condition or whether the initial fluctuation status information meets a second preset condition according to the acquired initial fluctuation status information; and for determining whether the adjustment operation is valid, comprising: for determining whether the first adjustment operation is effective and for determining whether the second adjustment operation is effective;
The control module 405 is configured to control performing an adjustment operation, including: when the initial fluctuation state information of the initial fluctuation state is determined to meet a first preset condition, the initial fluctuation state information is used for controlling to execute a first adjustment operation; when the initial fluctuation state information of the initial fluctuation state meets a second preset condition, the initial fluctuation state information is used for controlling to execute a second adjustment operation; for controlling the execution of a second adjustment operation when it is determined that the first adjustment operation is not effective; and judging whether the second adjusting operation is effective or not, and controlling to execute a third adjusting operation when the second adjusting operation is determined to be ineffective.
It should be appreciated that the modules described in the vehicle 400 correspond to the various steps in the method described with reference to fig. 2. Thus, the operations and features described above with respect to the method are equally applicable to the vehicle 400 and the modules contained therein, and are not described in detail herein. Where the respective modules in the vehicle 400 may cooperate with units in the computer device 600 to implement aspects of embodiments of the application, each module may, of course, also be the engine 401 controller ECU (Electronic Control Unit) or the overall vehicle controller VCU (Vehicle Control Unit) in the vehicle 400.
The division of the modules or units mentioned in the above detailed description is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
Fig. 7 is a block diagram of a vehicle 400 computer device 600, according to an exemplary embodiment. As shown in fig. 7, the computer device 600 may include: a processor 601, memory 602, multimedia components 603, input/output (I/O) interfaces 604, and communication components 605.
Wherein the processor 601 is configured to control the overall operation of the computer device 600 to perform all or part of the steps of the control method of the hybrid vehicle 400 described above. The memory 602 is used to store various types of data to support operation on the computer device 600, which may include, for example, instructions for any application or method operating on the computer device 600, as well as application-related data, such as user biometric information, trunk opening height, and the like. The Memory 602 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 603 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen, the audio component being for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in the memory 602 or transmitted through the communication component 605. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface 604 provides an interface between the processor 601 and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 605 is used for wired or wireless communication between the computer device 600 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, near field Communication (NFC for short), 2G, 3G, or 4G, or a combination of one or more thereof, and accordingly the Communication component 605 may include: wi-Fi module, bluetooth module, NFC module.
In an exemplary embodiment, the computer device 600 may be implemented by one or more Application-specific integrated circuits (ASICs), digital signal processors (DIGITAL SIGNAL processors, DSPs), digital signal processing devices (DIGITAL SIGNAL Processing Device, DSPDs), programmable logic devices (Programmable Logic Device, PLDs), field programmable gate arrays (Field Programmable GATE ARRAY, FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-described methods of controlling the hybrid vehicle 400.
In another exemplary embodiment, a computer readable storage medium is also provided, such as a memory 602, including program instructions executable by the processor 601 of the computer device 600 to perform the control method of the hybrid vehicle 400 described above.
With respect to the vehicle 400 in the above-described embodiment, the specific manner in which the respective devices perform the operations has been described in detail in the embodiment regarding the method, and will not be described in detail herein.
Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the invention. Terms such as "disposed" or the like as used herein may refer to either one element being directly attached to another element or one element being attached to another element through an intermediate member. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features unless the features are not applicable or otherwise indicated in the other embodiment.
The present invention has been described in terms of the above embodiments, but it should be understood that the above embodiments are for purposes of illustration and description only and are not intended to limit the invention to the embodiments described. Those skilled in the art will appreciate that many variations and modifications are possible in light of the teachings of the invention, which variations and modifications are within the scope of the invention as claimed.
Claims (10)
1. A control method of a hybrid vehicle, characterized by comprising:
acquiring initial fluctuation state information of an engine;
according to the obtained initial fluctuation state information, executing adjustment operation, including:
when the initial fluctuation state information is determined to meet a first preset condition, executing a first adjustment operation; when the initial fluctuation state information is determined to meet a second preset condition, executing a second adjustment operation;
determining whether the adjustment operation is effective includes:
Judging whether the first adjustment operation is effective or not, and executing a second adjustment operation when the first adjustment operation is determined to be ineffective; judging whether the second adjustment operation is effective or not, and executing a third adjustment operation when the second adjustment operation is determined to be ineffective;
Wherein the first adjustment operation is configured to switch an operating condition of the engine; the second adjustment operation is configured to switch an operating state of the engine; the third regulation operation is configured to stop the engine and switch the power mode of the vehicle to an electric-only mode;
the performing a second adjustment operation includes: switching the rotating speed and/or torque of the engine under the condition of maintaining the running power of the engine to be basically unchanged so as to realize the switching of the working state of the engine; the method specifically comprises the following steps:
presetting a plurality of working states of an engine, wherein each working state corresponds to different target NVH performance information;
Acquiring current rotation speed information and current torque information of an engine, determining a current working state of the engine based on the current rotation speed information and the current torque information, and acquiring the target NVH performance information based on the current working state;
and acquiring current NVH performance information of the engine, and switching the rotating speed and/or torque of the engine to realize the switching of the working state of the engine under the condition of maintaining the running power of the engine basically unchanged based on the current NVH performance information and the target NVH performance information of the engine.
2. The method of claim 1, wherein the obtaining initial surge condition information of the engine comprises:
Collecting engine rotation speed information through a crankshaft sensor and a camshaft sensor;
and acquiring the fluctuation amplitude of the engine speed based on the engine speed information.
3. The method according to claim 2, wherein the first preset condition is configured such that the engine speed fluctuation amplitude is greater than a first set value and smaller than a second set value, the second preset condition being configured such that the engine speed fluctuation amplitude is not smaller than the second set value.
4. The method of claim 1, wherein the performing a first adjustment operation comprises:
The operating conditions of the engine valves are switched to achieve switching of the operating conditions of the engine.
5. The method according to claim 4, characterized in that the method comprises:
presetting a plurality of operation conditions of an engine, wherein each operation condition corresponds to different valve operation conditions;
the performing a first adjustment operation includes:
acquiring the current operation condition of an engine and the current operation condition of a valve;
and switching the operation condition of the valve according to a valve adjustment strategy based on the current operation condition of the engine and the current operation condition of the valve so as to realize the operation condition switching of the engine.
6. The method of claim 5, wherein the obtaining the current operating conditions of the engine and the current operating conditions of the valve comprises:
acquiring current working phase information of a cam shaft;
and acquiring the current operation condition of the engine and the current operation condition of the valve based on the current operation phase information of the camshaft.
7. The method of claim 1, wherein the determining whether the first adjustment operation is valid comprises:
acquiring the fluctuation state information of the engine after the first adjustment operation is executed;
And when the fluctuation state information after the engine adjustment is determined to meet a first threshold range, determining that the first adjustment operation is invalid.
8. The method of claim 1, wherein the determining whether the second adjustment operation is effective comprises:
acquiring the fluctuation state information after the engine is adjusted after the second adjustment operation is executed;
And determining that the second adjusting operation is invalid when the fluctuation state after the engine adjustment is determined to meet a second threshold range.
9. A hybrid vehicle, characterized in that a control method of the hybrid vehicle according to any one of claims 1 to 8 is employed, the vehicle comprising an engine, an electric motor, and an acquisition module, a judgment module and a control module connected to the engine,
The acquisition module is used for acquiring initial fluctuation state information of the engine;
The judging module is used for judging whether the initial fluctuation state information meets a first preset condition or a second preset condition according to the acquired initial fluctuation state information; and for determining whether the adjustment operation is valid, comprising: for determining whether the first adjustment operation is effective and for determining whether the second adjustment operation is effective;
The control module is used for controlling and executing adjustment operation, and comprises: when the initial fluctuation state information is determined to meet a first preset condition, the initial fluctuation state information is used for controlling to execute a first adjustment operation; when the initial fluctuation state information is determined to meet a second preset condition, the initial fluctuation state information is used for controlling to execute a second adjustment operation; for controlling the execution of a second adjustment operation when it is determined that the first adjustment operation is not effective; and judging whether the second adjusting operation is effective or not, and controlling to execute a third adjusting operation when the second adjusting operation is determined to be ineffective.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the control method of a hybrid vehicle according to any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211140689.9A CN117755265B (en) | 2022-09-19 | 2022-09-19 | Hybrid power vehicle and control method and medium thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211140689.9A CN117755265B (en) | 2022-09-19 | 2022-09-19 | Hybrid power vehicle and control method and medium thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117755265A CN117755265A (en) | 2024-03-26 |
| CN117755265B true CN117755265B (en) | 2024-10-11 |
Family
ID=90309138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211140689.9A Active CN117755265B (en) | 2022-09-19 | 2022-09-19 | Hybrid power vehicle and control method and medium thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117755265B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802170A (en) * | 2021-01-29 | 2022-07-29 | 上海汽车集团股份有限公司 | Adaptive control method and device for power system, electronic equipment and storage medium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100435683B1 (en) * | 2001-10-16 | 2004-06-12 | 현대자동차주식회사 | Charge controlling method of hybrid electric vehicle |
| CN1896476A (en) * | 2005-07-15 | 2007-01-17 | 中国第一汽车集团公司 | Control for decreasing idling generating rotation-speed fluctuation of engine for mixed-kinetic automobile |
| CN107559096B (en) * | 2016-06-30 | 2020-03-06 | 长城汽车股份有限公司 | Diesel engine control method and system |
| CN110281905B (en) * | 2019-06-28 | 2021-01-15 | 浙江吉利控股集团有限公司 | Control method, device, equipment and terminal of range-extending electric automobile |
| CN113002547B (en) * | 2021-03-31 | 2022-05-17 | 安徽江淮汽车集团股份有限公司 | Vehicle backlash fitting control method, device, equipment and storage medium |
-
2022
- 2022-09-19 CN CN202211140689.9A patent/CN117755265B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802170A (en) * | 2021-01-29 | 2022-07-29 | 上海汽车集团股份有限公司 | Adaptive control method and device for power system, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117755265A (en) | 2024-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9488116B2 (en) | Supplementing engine control via a diagnostics port | |
| US7509201B2 (en) | Sensor feedback control for noise and vibration | |
| KR101807034B1 (en) | Method for controlling of valve timing of continuous variable valve duration engine | |
| CN107152343B (en) | Engine control device | |
| US20170175659A1 (en) | Vehicle behavior control device | |
| US9523314B2 (en) | Method for operating a combustion engine in order to prevent excessive switching between at least two modes of operation | |
| JP2008121683A (en) | Control method for engine according to driver input and control system for vehicle | |
| JP2002371877A (en) | Automatic stop control device for on-vehicle internal combustion engine | |
| US8521377B1 (en) | OBD compliant rationality check system for adaptive cruise control | |
| US10351164B2 (en) | Vehicle control device | |
| US10336364B2 (en) | Vehicle control device | |
| US9599038B2 (en) | Method and device for controlling an internal combustion engine with a variable compression ratio | |
| CN109591566B (en) | Hybrid electric vehicle and active vibration damping control method and device thereof | |
| CN117755265B (en) | Hybrid power vehicle and control method and medium thereof | |
| KR20150018458A (en) | Method and device for operating a engine system with a internal combustion engine when operational modes are switched over | |
| US9663095B2 (en) | Traction control device | |
| KR20160011828A (en) | Cylinder deactivation control device and method for engine | |
| US20180345976A1 (en) | Control device for vehicle | |
| US10408146B2 (en) | Vehicle control device | |
| JP2002514711A (en) | How to control ignition | |
| JP6790984B2 (en) | Hybrid vehicle | |
| JP2017036714A (en) | Control method and device for internal combustion engine including variable compression ratio mechanism | |
| JP5946342B2 (en) | Engine output control device | |
| JP6695289B2 (en) | Internal combustion engine controller | |
| JP4760793B2 (en) | Control device for internal combustion engine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |