Patent Description:
In particular, the hybrid propulsion system comprises an internal combustion engine, which may also be powered by hydrogen, one or more electric motors and at least one kinetic energy recovery system, possibly supported by one or more batteries.

Applications of the hybrid propulsion system, according to the present invention, may take place in the automotive sector, in particular heavy vehicles, buses, off-road vehicles, or in the sector of stationary installations for generating power (e.g. "GenSet") or combined heat and power.

The control strategy aims to optimize the hybrid propulsion system in terms of performance, fuel consumption, emissions, durability, comfort (noise, vibration and harshness, usually referred to as NVH) and rangeability.

Motor vehicles typically operate by using an internal combustion engine to convert energy from a fuel, such as petrol or diesel, into mechanical energy to drive the motor vehicle and thus provide motion to the vehicle's wheels. Unfortunately, fossil fuels are expensive and contribute to environmental pollution. Because of these drawbacks, attention has been paid to the problems of reducing fuel consumption and pollutants emitted by cars and other highway vehicles.

To alleviate some of these drawbacks, hybrid vehicles with hybrid propulsion systems have been proposed in different configurations. For example, in some known designs, the vehicle's batteries are used to power an electric motor that provides power to the wheels, while the internal combustion engine powers a generator and can be operated in its most efficient output power range in terms of fuel consumption, the internal combustion engine still allowing the electric motor to drive the vehicle. In another configuration, commonly referred to as a parallel hybrid vehicle, the internal combustion engine and electric motor are coupled via a complex gear train so that both can provide torque to drive the vehicle. In a parallel hybrid vehicle, the vehicle can be operated in several modes, including a mode where the engine runs at a constant speed and excess power is converted by a motor/generator to electrical energy for storage in batteries. Other arrangements and modes of operation of hybrid vehicles are also known.

Electrical energy can be stored using various devices which can also be used simultaneously.

The task of the control system is the management of energy flows between the various components of the hybrid propulsion system (internal combustion engine, electric motor(s), transmission) and the energy accumulators (batteries, super-capacitors, electrically driven flywheels) to meet a given power demand (torque and speed) from the driver. With respect to a traditional control system of delivered torque, this control system, which is typical of hybrid vehicles, lies somewhere in an intermediate position between the algorithms for interpreting the driver's command (transformation of the acceleration and brake pedals position into a request for torque) and those controlling individual components (engines, transmission, brakes). The energy management algorithms are inspired by the criteria of minimising overall energy consumption (fuel and electricity), while respecting a constant average evolution of the state of charge of the batteries, as well as the physical limits of the components and the constraints dictated by the requirements of comfort and/or pleasant driving.

The well-known control strategies for hybrid propulsion systems, although based on sophisticated algorithms of a heuristic or optimal control nature, fail to provide an output that optimises all relevant parameters such as performance, fuel consumption, emissions, durability, comfort and rangeability at any point in the vehicle's operation. They also require a lot of calibration effort and do not allow the self-learning of equally important parameters such as the route to be followed, the driver's driving style or road traffic conditions.

As an example, document <CIT> discloses a control method for a hybrid vehicle, which includes: creating a travel route from a starting point to a destination through a stopping point by referring to map information; estimating a parking time period of the hybrid vehicle at the stopping point; predicting a traveling load of the hybrid vehicle in each of sections divided in the created travel route by referring to the map information; and setting, for each of the sections, a traveling mode of an EV mode, in which the battery provides power for traveling as a main power supply, or an HV mode, in which the internal combustion engine provides the power for traveling as the main power supply, on the basis of the parking time period and the traveling load.

There is therefore a need to define an innovative control strategy for a hybrid propulsion system that avoids or at least minimises the above-mentioned drawbacks.

In order to substantially solve the technical problems outlined above, an object of the present invention is to define an innovative control strategy or method for a hybrid propulsion system equipped with a kinetic energy recovery system.

The control strategy aims to optimise overall system efficiency, emissions, durability and comfort.

The control strategy is developed according to an optimal and discrete selection of propulsion operating modes according to the load of the hybrid propulsion system and uses adaptive logic. In particular, three main operating modes of the hybrid propulsion system can be selected depending on the mission profile and the specific electrical and mechanical architecture. The propulsion operating modes include "park","economy" and "power".

This versatility and simplicity of control strategy makes the relevant hybrid propulsion system suitable for the automotive sector, in particular heavy vehicles, buses, off-road vehicles, but also for the stationary sector for power generation or power and heat generation in combined mode. In particular, the internal combustion engine can also be powered by hydrogen.

The control strategy according to the present invention is organised by means of a hierarchical control structure, specifically designed to control and optimise the applications and configurations of the hybrid propulsion system.

The hierarchical structure has two levels of control: an external control level called "Propulsion operating mode selection" and an internal control level called "Propulsion operating mode control".

Both control levels of the hierarchical structure combine a multivariable, optimal control technique with learning and adaptation strategies to ensure the best performance under all real-life operating conditions of the hybrid propulsion system.

Therefore, according to the present invention a control strategy for a hybrid propulsion system provided with a kinetic energy recovery system is provided, the control strategy having the features set forth in the independent process claim appended hereto.

Furthermore, the present invention relates to a hybrid propulsion system provided with an internal combustion engine and a kinetic energy recovery system, having the characteristics set forth in the independent product claim, appended to the present description.

Further preferred and/or particularly advantageous embodiments of the invention are described according to the characteristics set forth in the appended dependent claims.

The invention will now be described with reference to the appended drawings, which illustrate certain non-limiting implementation examples, wherein:.

By way of non-limiting example only, the present invention will now be described by reference to the above figures.

In particular, <FIG> illustrates a block diagram of the hierarchical structure of the control strategy or method for a hybrid propulsion system provided with a kinetic energy recovery system, according to an embodiment of the present invention.

In the course of the present description, the terminology "control strategy" or "control method" will be used indifferently, the same concept being intended.

The control strategy is developed according to an optimal and discrete selection of propulsion operating modes as a function of the load of the hybrid propulsion system. In particular, it is possible to select three main operating modes of the hybrid propulsion system depending on the mission profile and the specific electrical and mechanical architecture. The selected operating modes are "park", "economy" and "power".

The control method according to the present invention has been organised by means of a hierarchical control structure <NUM>, specifically designed to control and optimise the applications and configurations of the hybrid propulsion system <NUM>. The hierarchical control structure <NUM> has two layers of control: an outer control layer <NUM>, subservient to "Propulsion operating mode selection" and an inner control layer <NUM> subservient to "Propulsion operating mode control".

With reference to <FIG>, the hierarchical control structure <NUM> receives as input a plurality of exogenous inputs from the external environment and a plurality of feedbacks from the hybrid propulsion system <NUM>. Based on the two plurality of input data, the outer control layer <NUM>, using strategies that will be explained below, performs the selection of the most appropriate propulsion operating mode for the hybrid propulsion system <NUM>.

Once the propulsion operating mode has been selected, the inner control layer <NUM>, with the strategies to be explained below, performs control of all subsystems of the hybrid propulsion system. As exemplified in the figure, such subsystems may be: the internal combustion engine (in a preferred configuration, powered by hydrogen and therefore referred to in <FIG> as H2-ICE), at least one electric motor/generator, a kinetic energy recovery system (in the example in <FIG>, an electrically driven flywheel), preferably assisted by at least one battery, a mechanical transmission of motion. From each of said subsystems, depending on the operating mode acting, feedback signals are provided, which constitute the plurality of feedback inputs to the hierarchical control structure <NUM>.

As will be seen, both the outer control layer <NUM> and the inner control layer <NUM> use appropriate a functional layer <NUM> of learning strategies.

With reference to <FIG>, the outer control layer <NUM> is organised in a series of interacting functional blocks to arrive at the optimal selection and definition of the propulsion operating mode which, as mentioned above, is chosen from: "park", "economy" and "power". A first functional block <NUM> of the outer control layer <NUM> defines a propulsion operating mode model from a stochastic point of view. This stochastic modelling of the propulsion operating mode is suitable for providing real time information on the so-called "uncertain" variables: for example, driving style, traffic conditions, weather conditions, decay of the vehicle performance related to its ageing. Stochastic modelling also makes use a functional layer <NUM>) of learning strategies which, using artificial intelligence techniques, can, for example, "learn" and therefore predict the route the vehicle will take and the habits (driving style) of the driver.

The second functional block <NUM> of the outer control layer <NUM> receives the stochastic elaborations from the first functional block <NUM> and carries out the selection of the optimal propulsion operating mode. This selection is used to optimise the overall efficiency of the hybrid drive system and its performance.

Both the first function block <NUM> and the second function block <NUM> receive further information from a third function block <NUM> of the outer control layer <NUM>, which defines "online", i.e. real-time, adaptation strategies. These adaptation strategies are based on learning conditions during the real life of the vehicle and for each of the propulsion operating modes. Finally, a fourth functional block <NUM> of the outer control layer <NUM> is subservient to the propulsion operating mode transition strategies, i.e. the transition from one operating mode to another. The transition is managed in such a way that this transition is smoothed out and optimised for better entry into the next operating mode.

With reference to <FIG>, the inner control layer <NUM> subservient to the control of the selected propulsion operating mode is in turn organised in a series of interacting functional blocks.

A first function block <NUM> of the inner control layer <NUM> manages the power demand predictively and with the aid of the learning strategies of the functional layer <NUM>. In practice, in this functional block the future torque/power demand is estimated on the basis of the current torque/power demand and local and/or remote predictive information, as well as on the basis of "online" adaptive optimisation strategies based on the real-time learning strategies. This future, i.e. "wide-spectrum" optimisation is based on cloud-assisted adaptive mechanisms, for example.

A second functional block <NUM> of the inner control layer <NUM>, if receiving processing data from the first functional block <NUM>, distributes power to the front and rear axles to optimise the vehicle's propulsion performance and driveability.

Finally, a third function block <NUM> of the inner control layer <NUM>, receiving processing data from the first function block <NUM> or from the second function block <NUM>, manages the optimal and multi-variable coordinated control of the subsystems of the hybrid propulsion system (e.g., the internal combustion engine, the mechanical transmission, the electric motor, the electrically driven flywheel). The third functional block <NUM> is in turn organised into further functional sub-levels and for each propulsion operating mode selected by the outer control layer <NUM>, the propulsion operating mode control strategy performs further controls, as described below.

A first function sub-level <NUM> of function block <NUM> allocates torque between the internal combustion engine and the electric motor and manages the state of the mechanical transmission to optimise the efficiency and propulsion performance of the vehicle.

A second sub-function <NUM> of function block <NUM> defines optimal phlegmatisation with online adaptation to real-life conditions. Phlegmatisation refers to the optimisation of torque distribution between the internal combustion engine and the electric motor during transient manoeuvres, e.g. abrupt acceleration.

Finally, a third functional sub-level <NUM> of function block <NUM> manages the energy storage level of the electrically driven flywheel (and any batteries) to optimise component life and performance ranges.

The hybrid propulsion system <NUM>, managed by the control method described above, is provided with an internal combustion engine, preferably powered by hydrogen, a kinetic energy recovery system, for example an electrically driven flywheel, preferably assisted by at least one battery, and at least one electric motor/generator.

<FIG> schematises a dimensioned plan of the internal combustion engine which, as is well known, shows the abscissae the number of revolutions (N[rpm]) and in ordinates the average effective pressure developed in the engine (BMEP [bar]).

The curve called "Power" cal is the calibration curve of the engine under conditions of maximum power, for example, for a maximum power of about <NUM> kW and a specific power of about <NUM>-<NUM> kW/l. The curve named "Best BSFC" cal is the calibration curve of the engine under minimum fuel consumption conditions, e.g. for a power of about <NUM> kW and a specific power of about <NUM>-<NUM> kW/l.

<FIG> shows an example of a schematic representation of the optimal, discrete selection of load-dependent operating modes for the hybrid propulsion system.

Discretization is carried out by identifying three areas in the engine dimension plane: PARK, ECONOMY and POWER. Coordinated by the control strategy described above, the hybrid propulsion system always works in discrete mode on one of the three identified areas.

In particular, the "park" operating mode should not be understood as a traditional "Start&Stop" mode: a typical range of power developed by the engine in this mode of operation is between 10kW and 20kW. This power is used to sustain all the power accessories of the engine, the on-board utilities, the heating, ventilation and air conditioning system (HVAC) and the kinetic energy recovery system. The presence of this last component (and therefore its support) is indispensable, as will be seen below, to the hybrid propulsion system according to the present invention as it allows to eliminate or at least reduce to a minimum the need for a battery pack on board the vehicle.

The "economy" operating mode, where the engine power can vary, again by way of example, between <NUM> kW and <NUM> kW, is the one used for the majority of operating conditions. For example, in the case of a bus, this mode can be used during both the acceleration and the cruise phases of the vehicle.

Advantageously, the area of the "economy" operating mode can be representative of the average propulsive power of the corresponding application. Operating for most of the conditions and therefore of the time in the "economy" operating mode minimises wear on the internal combustion engine, an advantage which is even more relevant if the fuel used is hydrogen.

Finally, the third operating mode, "power" mode, will be sized so that the engine power can vary, again as an example, between <NUM> kW and <NUM> kW. The "power" operating mode (which is understood to be close to or equal to the engine's maximum power) is used to reach power peaks in cases of demanding requirements and/or sudden acceleration.

An example of the trajectory of the operating points of the hybrid propulsion system, i.e. the internal combustion engine and the kinetic energy recovery system, is shown with reference <NUM> in <FIG>. In the following, some electro-mechanical architectures of the hybrid propulsion system <NUM> operated by the control strategy according to the present invention will now be described.

With reference to <FIG>, a first electro-mechanical architecture of the hybrid propulsion system <NUM> using the control strategy according to <FIG> is presented, suitable for application on buses. In particular, the block diagram shows the front of the vehicle with its front wheels <NUM> and the rear of the vehicle with its rear wheels <NUM>. In this and subsequent figures, the mechanical connections are represented by continuous line segments, while the electrical connections are represented by line segments in strokes. This first electro-mechanical architecture comprises an internal combustion engine <NUM>, preferably powered by hydrogen, a mechanical transmission <NUM> mechanically connected to the internal combustion engine <NUM> and to a first differential <NUM> for transferring motion also differentially from the internal combustion engine <NUM> to the rear wheels <NUM>. A first electric motor/generator <NUM> is mechanically connected to the internal combustion engine <NUM>, according to a configuration referred to as P0 or P1.

The first electric motor/generator <NUM> is electrically connected to a kinetic energy recovery system, for example an electrically driven flywheel <NUM>, which in turn is electrically connected to a second electric motor/generator <NUM>, according to the hybrid configuration referred to as P4. This second electric motor/generator <NUM> is mechanically connected to a second differential <NUM> that transmits motion, also differentiated, to the front wheels <NUM>.

The operation of the internal combustion engine, the mechanical transmission and the differential are considered familiar to a technician in the sector and will not be discussed further.

Some mention will be made, however, of the configurations and positioning of the electric motors/generators. As is well known, the acronyms P0, P1, P2, P3 and P4 identify the "distance" between the electric motor and the wheels, which decreases from P0 to P4.

The first engine/electric generator <NUM> is arranged in configuration P0 or P1, i.e. it is directly connected to the internal combustion engine <NUM>. Depending on their size, smaller electrical units may be mounted in place of the alternator and then connected to the combustion engine by a belt in a configuration identified as P0. These engines are sometimes referred to as BAS (Belt Alternator Starter) and also act as a starter motor and generator. If the electric motor/generator is inserted directly, i.e. without the interposition of a drive belt, at the output of the internal combustion engine, we have the configuration P1, which sees the electric machine turn at the same speed as the drive shaft of the internal combustion engine. Regardless of its arrangement, in operation with an internal combustion engine, this first engine/electric generator <NUM> uses part of the power delivered by the internal combustion engine, working as an electric generator, to transfer electrical energy to the electrically driven flywheel <NUM> which stores it in the form of kinetic energy. During operation without a heat engine, the first electric motor/generator <NUM> will absorb electrical energy from the electrically driven flywheel <NUM> and, working this time as an electric motor will transfer mechanical energy to the mechanical transmission <NUM> and from this to the rear wheels <NUM>. For bus application, the first electric motor/generator <NUM> may have an electrical output in the range of <NUM> kW to <NUM> kW and possibly be of high supply voltage.

The second motor/electric generator <NUM> has a P4 configuration, i.e. it is an electric motor acting exclusively on the axle not connected to the internal combustion engine, in this case the front axle. In this way, acting as an electric motor, it can transfer mechanical energy to the front wheels <NUM> to realise an all-wheel drive without mechanical connection to the internal combustion engine <NUM>. By switching off the heat engine, purely electric operation can be realised. Functioning as an electric generator, for example by recovering energy during braking, the second electric motor/generator <NUM> can also transfer electrical energy to the electrically driven flywheel <NUM>. For bus application, the second electric motor/generator <NUM> may have an electrical output in the range of <NUM> kW and must have a high supply voltage.

Advantageously, in addition to the electrically driven flywheel <NUM>, which will in any case have to be of medium size (for example, in the range between <NUM> kJ to 700kJ), a small power supply battery can also be used.

With reference to <FIG>, a second electro-mechanical architecture of the hybrid propulsion system <NUM> using the control strategy of <FIG> is now presented, which is also suitable for application on buses. In particular, the block diagram shows the front of the vehicle with its front wheels <NUM> and the rear of the vehicle with its rear wheels <NUM>. This second electro-mechanical architecture comprises an internal combustion engine <NUM>, preferably supplied with hydrogen, a mechanical transmission <NUM> mechanically connected to the internal combustion engine <NUM> and to a differential <NUM> for transferring motion also differentially from the internal combustion engine <NUM> to the rear wheels <NUM>. An electric motor/generator <NUM> is mechanically connected between the internal combustion engine <NUM> and the transmission <NUM>, according to a configuration referred to as P2 or P3. The electric motor/generator <NUM> is electrically connected to a kinetic energy recovery system, for example an electrically driven flywheel <NUM>.

The electric motor/generator <NUM> is arranged according to configuration P2 or P3, i.e. it is inserted between the internal combustion engine <NUM> and the mechanical transmission <NUM> (configuration P2, as in <FIG>), or downstream of the mechanical transmission <NUM> (configuration P3, similarly operating and therefore not shown in <FIG>). By using a known type of clutch (not shown in <FIG>) between internal combustion engine <NUM> and electric motor/generator <NUM>, it is possible to connect the electric motor/generator to the transmission input and make it supply energy instead of the internal combustion engine. Alternatively, it is of course possible to move the vehicle with only the electric motor, keeping the internal combustion engine switched off. Regardless of its arrangement upstream or downstream of the mechanical transmission <NUM>, in operation with the internal combustion engine switched on, this electric motor/generator <NUM> uses part of the power delivered by the internal combustion engine, working as an electric generator, to transfer electrical energy to the electrically driven flywheel <NUM> which stores it in the form of kinetic energy. For application on buses, the engine/electric generator <NUM> may have an electrical power in the range of <NUM> kW to <NUM> kW and must necessarily have a high supply voltage.

Advantageously, in addition to the electrically-driven flywheel <NUM> which will in any case have to be of medium size, a small power supply battery can also be used.

With reference to <FIG>, a third electro-mechanical architecture of the hybrid propulsion system <NUM> using the control strategy of <FIG> is now presented, which is also suitable for bus application. In particular, the architecture of <FIG> represents a series hybrid or "range extender" and the block diagram shows the front of the vehicle with its front wheels <NUM> and the rear of the vehicle with its rear wheels <NUM>. This third electro-mechanical architecture comprises an internal combustion engine <NUM>, preferably powered by hydrogen, and a first electric motor/generator <NUM>, according to configuration P4, mechanically connected to a first differential <NUM> for transferring motion also in differential mode to the rear wheels <NUM>. In particular, acting as an electric motor it can transfer mechanical energy to the rear wheels <NUM> without there being any mechanical connection to the internal combustion engine <NUM>. By switching off the internal combustion engine, purely electrical operation can be achieved. Acting as an electric generator, for example by recovering energy during braking, the first electric motor/generator <NUM> can transfer electrical energy to the electrically driven flywheel <NUM>. The first electric motor/generator <NUM> may have an electrical output in the range of <NUM> kW and must have a high supply voltage.

A second electric motor/generator <NUM> is mechanically connected to the internal combustion engine <NUM>, in a P0 configuration, which in turn is electrically connected to a kinetic energy recovery system, for example an electrically driven flywheel <NUM>. The second electric motor/generator <NUM> uses part of the power delivered by the internal combustion engine, working as an electric generator, to transfer electrical energy to the electrically driven flywheel <NUM> which stores it in the form of kinetic energy. For bus application, the electric motor/generator <NUM> may have an electrical power in the range of <NUM> kW and will necessarily have to be of high supply voltage.

Advantageously, in addition to the electrically driven flywheel <NUM>, which must in any case be of medium size, a small power supply battery may also be used.

Preferably, a third electric motor/generator <NUM> may be electrically connected to the electrically driven flywheel <NUM>, in a P4 configuration. This third electric motor/generator <NUM> is mechanically connected to a second differential <NUM> that transmits motion, also differentiated, to the front wheels <NUM>. In this way, acting as an electric motor, it can transfer mechanical energy to the front wheels <NUM> to achieve all-wheel drive without mechanical connection to the internal combustion engine <NUM>. By switching off the heat engine, purely electric operation can be realised. Operating as an electric generator, for example by recovering energy during braking, the third motor/electric generator <NUM> can also transfer electrical energy to the electrically driven flywheel <NUM>. The third electric motor/generator <NUM> may have an electric power of up to <NUM> kW and must have a high supply voltage.

With reference to <FIG>, a fourth electro-mechanical architecture of the hybrid propulsion system <NUM> using the control strategy of <FIG> is now described, which is suitable for GenSet application. This fourth electro-mechanical architecture comprises an internal combustion engine <NUM>, preferably supplied with hydrogen, and an electric motor/generator <NUM>, according to configuration P1/P2, mechanically connected to the internal combustion engine <NUM>. In turn, the electric motor/generator <NUM> is mechanically connected to an operating machine, for example a hydraulic pump <NUM> provided with a user load <NUM>, and electrically connected to a kinetic energy recovery system, for example an electrically driven flywheel <NUM>. The electric motor/generator <NUM> uses part of the power delivered by the internal combustion engine, working as an electric generator, to transfer electrical energy to the electrically driven flywheel <NUM> which stores it in the form of kinetic energy. On the other hand, working as an electric motor, the electric motor/generator <NUM> will be able to directly power, with the heat engine switched off, the hydraulic pump <NUM>, drawing the necessary electrical energy from the electrically driven flywheel <NUM>.

Advantageously, in addition to the electrically driven flywheel <NUM>, which should in any case be of medium size, it is also possible to use a small supply battery.

Finally, with reference to <FIG>, a fifth electro-mechanical architecture of the hybrid propulsion system <NUM> using the control strategy of <FIG> is now described, which is also suitable for GenSet application. This fifth electro-mechanical architecture comprises an internal combustion engine <NUM>, preferably supplied with hydrogen, and an electric motor/generator <NUM>, according to configuration P1/P2, mechanically connected to the internal combustion engine <NUM>. The electric motor/generator <NUM> is electrically connected with a kinetic energy recovery system, for example an electrically driven flywheel <NUM>. The electric motor/generator <NUM> uses part of the power delivered by the internal combustion engine, working as an electric generator, to transfer electrical energy to the electrically driven flywheel <NUM> which stores it in the form of kinetic energy.

The electrically driven flywheel is electrically connected to an electric motor <NUM>, which in turn is mechanically connected to an operating machine, for example a hydraulic pump <NUM>, and an end user load <NUM>. The electric motor <NUM> absorbs electrical energy from the electrically driven flywheel <NUM> and produces the kinetic energy required to move the hydraulic pump <NUM> and its load <NUM>.

Advantageously, in addition to the electrically driven <NUM> flywheel, which must in any case be of medium size, a small supply battery can also be used.

Ultimately, the versatility and simplicity of the control strategy makes the relevant hybrid propulsion system suitable for both the automotive sector, in particular heavy goods vehicles, buses, off-road vehicles, but also for the sector of fixed installations for power generation or power and heat generation in combined mode. The examples of electro-mechanical architecture presented above are by no means limiting. Furthermore, the control strategy according to the present invention is also suitable in the preferred case where the internal combustion engine is supplied with hydrogen.

Claim 1:
Method of controlling a hybrid propulsion system (<NUM>), the method being organized in a hierarchical control structure (<NUM>) having an outer control layer (<NUM>), an inner control layer (<NUM>), and a functional layer (<NUM>) of learning strategies, the method comprising the following steps:
- receiving a plurality of exogenous inputs from the external environment and a plurality of feedbacks from the hybrid propulsion system (<NUM>),
- based on the previous step, selecting, using adaptive logic, a propulsion operating mode for the hybrid propulsion system (<NUM>) by means of the outer control layer (<NUM>),
- controlling subsystems of the hybrid propulsion system (<NUM>) by means of the inner control layer (<NUM>), wherein the step of controlling subsystems of the hybrid propulsion system (<NUM>) by means of the inner control layer (<NUM>), is executed by the following steps:
a) managing the power demand predictively and with the aid of the functional layer (<NUM>) of learning strategies by means of a first functional block (<NUM>), and
b) managing the coordinated and multi-variable control of subsystems of the hybrid propulsion system (<NUM>) by means of a third functional block (<NUM>),
the control method being characterised in that the step of controlling subsystems of the hybrid propulsion system (<NUM>) is executed by the following step which follows step a) and precedes step b):
- distributing the power of the hybrid propulsion system (<NUM>) to the front and rear axles by means of a second functional block (<NUM>).