CN116729385A

CN116729385A - Vehicle energy-saving auxiliary control method and device, vehicle and storage medium

Info

Publication number: CN116729385A
Application number: CN202310782361.5A
Authority: CN
Inventors: 吴浩; 魏广杰; 游道亮; 江乐生
Original assignee: Jiangling Motors Corp Ltd
Current assignee: Jiangling Motors Corp Ltd
Priority date: 2023-06-29
Filing date: 2023-06-29
Publication date: 2023-09-12

Abstract

The application relates to the technical field of vehicle control, and particularly discloses a vehicle energy-saving auxiliary control method, a device, a vehicle and a storage medium. The method comprises the steps of obtaining a target lane in which a vehicle is located in real time and target object information corresponding to the target lane, wherein the target object information comprises front traffic light information and obstacle information, calculating the relative speed, the relative distance and the safe following distance of the target vehicle and the front target object according to the target object information, judging which real-time scene the vehicle should enter, wherein the real-time scene comprises an energy-saving auxiliary scene, an energy-saving auxiliary scene with obstacles and traffic lights and an energy-saving auxiliary scene with traffic lights only, providing three control strategies for three different real-time scenes, improving the comfort of the vehicle, reducing the energy consumption of the vehicle, automatically recovering the energy, reducing the multiple energy conversion times of driving and power generation recovery, effectively reducing the efficiency loss of an electric driving system and the energy loss of a mechanical braking system, and reducing the occurrence of rear-end collision accidents.

Description

Vehicle energy-saving auxiliary control method and device, vehicle and storage medium

Technical Field

The present application relates to the field of vehicle control technologies, and in particular, to a vehicle energy-saving auxiliary control method and apparatus, a vehicle, and a storage medium.

Background

In a traffic light crossing scene, a driver needs to judge whether the traffic light can be passed according to the traffic light state, and controls the vehicle to decelerate when the traffic light is in a red light state and decelerate and brake the vehicle before stopping the traffic light; for an electric vehicle, a coasting operation and a braking operation of a driver together achieve a deceleration intention of the driver. In the sliding stage, the whole vehicle realizes vehicle deceleration through energy recovery torque; in the braking stage, the whole vehicle realizes the vehicle deceleration through the energy recovery torque and the braking torque.

Because the driver is difficult to accurately identify the speed reducing time, the following situations often exist in the speed reducing process of the traffic light intersection: too late braking results in deep stepping of the brake before stopping the line, resulting in poor vehicle comfort and vehicle energy consumption; the braking is too early to cause the vehicle to stop at a certain distance from the intersection stop line, the vehicle can be stopped at the stop line only by accelerating and decelerating again, the electric drive system has multiple energy conversion of driving, power generation recovery and driving, the efficiency loss of the electric drive system and the energy loss of the mechanical braking system cause poor energy consumption, and the conversion process of driving and recovery of battery pack electric energy generates larger efficiency loss.

Disclosure of Invention

The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides a vehicle energy-saving auxiliary control method, a vehicle energy-saving auxiliary control device, a vehicle and a storage medium.

In a first aspect, an embodiment of the present application provides a vehicle energy saving auxiliary control method, including:

step S1: acquiring current positioning information of a target vehicle, and determining a target lane where the target vehicle is located according to the current positioning information;

step S2: acquiring front target object information of a lane where the target vehicle is located according to the target lane, wherein the front target object information comprises front traffic light information and front obstacle information;

step S3: judging whether the vehicle enters an energy-saving auxiliary scene according to the traffic light information and the obstacle information, if so, executing the step S4, and if not, executing the step S62; the energy-saving auxiliary scene comprises an energy-saving auxiliary scene with obstacles and traffic lights and an energy-saving auxiliary scene with only the traffic lights;

step S4: acquiring the relative speed, the relative distance and the minimum safety distance of the target vehicle and the nearest obstacle to the target vehicle according to the obstacle information; acquiring a safe following distance of the target vehicle according to the relative speed and the minimum safe distance;

Step S5: judging whether the target vehicle needs to be decelerated according to whether the relative distance is smaller than the safe following distance, if so, executing step S61, and if not, executing step S62;

step S61: and acquiring a sliding deceleration working condition of the target vehicle, calculating an energy-saving auxiliary sliding recovery torque according to the sliding deceleration working condition, determining and recovering energy according to the energy-saving auxiliary sliding recovery torque.

Step S62: acquiring basic sliding recovery torque of the target vehicle, and recovering energy according to the basic sliding recovery torque;

in some embodiments, the acquiring, according to the target lane, front target object information of the lane where the target vehicle is located, where the front target object information includes front traffic light information and front obstacle information, includes:

judging the time required by the target vehicle to pass through a traffic light according to the traffic light information acquired by the target vehicle; the traffic light information comprises a traffic light color state, a current state residual time and a relative distance between the target vehicle and the traffic light;

and determining a target obstacle according to the obstacle information acquired by the target vehicle, wherein the obstacle information comprises the current distance between the obstacle and the target vehicle, the real-time speed and the real-time acceleration of the obstacle, and the target obstacle is the nearest obstacle to the target vehicle.

In some embodiments, the determining whether the vehicle enters the energy-saving auxiliary scene according to the traffic light information and the obstacle information includes:

step S31: judging whether the traffic light corresponding to the target lane is a red light or a yellow light according to the acquired traffic light information, if so, executing the step S32, and if not, executing the step S33;

step S32: judging whether an obstacle exists in front of the target lane according to the acquired obstacle information, if so, executing the step S34, and if not, executing the step S35;

step S33: judging whether the traffic light can pass through or not according to the current speed of the target vehicle, the residual time of the current state of the traffic light and the relative distance between the target vehicle and the traffic light; if yes, entering an energy-saving auxiliary scene, otherwise, executing step S34;

step S34: judging whether the obstacle in front of the target lane does not pass through a traffic light intersection, if so, executing the step S35, and if not, executing the step S36;

step S35: obtaining relative speed and relative distance according to the distance between the target vehicle and the obstacle and the distance between the target vehicle and the traffic light, and entering an energy-saving auxiliary scene with the obstacle and the traffic light at the same time;

Step S36: and obtaining relative speed and relative distance according to the distance between the target vehicle and the traffic light, and entering an energy-saving auxiliary scene with only the traffic light.

In some embodiments, the method comprises the steps of obtaining the relative speed, the relative distance and the minimum safety distance of the target vehicle and the nearest obstacle to the target vehicle according to the obstacle information; acquiring a safe following distance of the target vehicle according to the relative speed and the minimum safe distance; comprising the following steps:

the safe following distance calculation formula is as follows: s_safe=k dv+s ₀ ；

Wherein S is ₀ The minimum safety distance is defined when the relative vehicle speed is 0, dV is the relative speed, and k is the time adjustment coefficient.

In some embodiments, the obtaining the target vehicle base coast recovery torque, the energy recovery according to the base coast recovery torque, comprises:

by calling a presetIs fixed in deceleration of (a)Calculating a basic coasting recovery torque T, wherein the calculation formula is as follows:

wherein v is the speed of the vehicle, m is the mass of the whole vehicle,gravitational acceleration, f is the coefficient of friction resistance, +.>A is windage resistance coefficient, A is windage area, R is wheel rolling radius, and +.>Mechanical transmission efficiency- >Is the main speed reduction ratio.

In some embodiments, the obtaining the coasting deceleration condition of the target vehicle, calculating an energy-saving auxiliary coasting recovery torque according to the coasting deceleration condition, and performing energy recovery according to the energy-saving auxiliary coasting recovery torque includes:

judging whether the vehicle is in a sliding deceleration working condition currently according to the operation of a driver on an accelerator pedal and a brake pedal, if so, calculating energy-saving auxiliary sliding recovery torque, and carrying out energy recovery according to the energy-saving auxiliary sliding recovery torque; if not, carrying out voice prompt through the target vehicle information entertainment system;

in some embodiments, the calculating energy-saving auxiliary coasting recovery torque, and the energy recovery is performed according to the energy-saving auxiliary coasting recovery torque; comprising the following steps:

obtaining a target deceleration according to the relative speed, the relative distance and the safe following distance between the target vehicle and the nearest barrier to the target vehicle;

according to the obtained target deceleration, calculating to obtain energy-saving auxiliary sliding recovery torque;

the target deceleration calculation formula is as follows:

in the method, in the process of the application,for relative vehicle speed>For the relative distance>Is the safe following distance.

In a second aspect, an embodiment of the present application further provides a vehicle energy saving auxiliary control device, including:

The first acquisition module is configured to acquire a target lane in which a target vehicle is positioned, and front traffic light information and front obstacle information corresponding to the target lane;

the first judging module is configured to judge whether the target vehicle enters an energy-saving auxiliary scene or not according to the comparison between the data information acquired by the first acquiring module and preset data information;

the first determining module is configured to determine that the target vehicle enters a real-time scene according to the judging result of the first judging module, wherein the real-time scene comprises an energy-saving auxiliary scene without an energy-saving auxiliary scene, an energy-saving auxiliary scene with an obstacle and a traffic light and an energy-saving auxiliary scene with only the traffic light;

and the execution module is configured to execute a corresponding control strategy according to the real-time scene which the first determination module determines the target vehicle enters.

In a third aspect, an embodiment of the present application provides a vehicle including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

the method for assisting in controlling energy conservation of a vehicle in any one of the embodiments provided above is implemented.

In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of a vehicle energy saving auxiliary control method of any of the embodiments provided above.

The technical scheme provided by the embodiment of the application at least comprises the following beneficial effects: firstly, a target lane in which a target vehicle is located in real time and target object information corresponding to the target lane are obtained, wherein the target object information comprises front traffic light information and obstacle information, the relative speed, the relative distance and the safe following distance of the target vehicle and a front target object are calculated according to the target object information, and the real-time scene of the target vehicle is judged, wherein the real-time scene comprises an energy-saving auxiliary scene without an obstacle or a traffic light and an energy-saving auxiliary scene with only a traffic light; three control strategies are provided aiming at three different real-time scenes, the vehicle comfort is improved, the vehicle energy consumption is reduced, meanwhile, the energy recovery is automatically carried out, the frequency of multiple energy conversion from driving to power generation recovery to driving is reduced, the efficiency loss of an electric driving system and the energy loss of a mechanical braking system are effectively reduced, and the occurrence of rear-end collision accidents at traffic light intersections is reduced.

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

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flowchart illustrating a vehicle energy conservation auxiliary control method according to an exemplary embodiment;

FIG. 2 is another flow chart illustrating a vehicle energy conservation auxiliary control method according to an exemplary embodiment;

FIG. 3 is a block diagram illustrating a vehicle energy conservation auxiliary control device according to an exemplary embodiment;

fig. 4 is a block diagram illustrating an apparatus for energy saving auxiliary control according to an exemplary embodiment.

Detailed Description

The following detailed description of embodiments of the application, with reference to the accompanying drawings, is illustrative of the embodiments described herein, and it is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application.

The terms first, second, third and the like in the description and in the claims and in the drawings are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprising," "including," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a series of steps or elements may be included, or alternatively, steps or elements not listed or, alternatively, other steps or elements inherent to such process, method, article, or apparatus may be included.

Only some, but not all, of the details relating to the application are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.

As used in this specification, the terms "component," "module," "system," "unit," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a unit may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or being distributed between two or more computers. Furthermore, these units may be implemented from a variety of computer-readable media having various data structures stored thereon. The units may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., second unit data from another unit interacting with a local system, distributed system, and/or across a network).

Example 1

Referring to fig. 1, the present embodiment provides a vehicle energy-saving auxiliary control method, including:

in step S1, current positioning information of a target vehicle is obtained, and a target lane where the target vehicle is located is determined according to the current positioning information;

it should be understood that the vehicle energy-saving auxiliary control method provided by the application can be used for controlling a running vehicle, the current positioning information of the target vehicle is obtained through the internet connection in the running process of the vehicle, the current positioning information comprises the current position information and the current running direction, wherein the current positioning information of the target vehicle obtained through the internet connection is combined with a high-precision map pre-stored in the vehicle, and when a traffic light intersection exists in front of the vehicle, the corresponding target vehicle performs the subsequent energy-saving auxiliary control method steps;

it should be noted that, all actions of acquiring signals, information or data in the present application are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

In step S2, according to the target lane, acquiring front target object information of the lane where the target vehicle is located, where the front target object information includes front traffic light information and front obstacle information;

In the step, a target lane where a target vehicle is located is determined by acquiring current positioning information of the target vehicle, traffic light information corresponding to a lane is acquired according to the target lane where the target vehicle is located, and the traffic light information corresponding to the lane is also included in the corresponding traffic light information because the lane type includes left turn, straight turn and right turn, namely, when the target vehicle is located in the left turn lane, the traffic light information of the left turn lane needs to be focused; when the target vehicle is in the straight lane, paying attention to traffic light information of the straight lane; when the target vehicle is in a right turn lane, attention is required to traffic light information of the right turn lane. Forward obstacles include, but are not limited to, motor vehicles, pedestrians, bicycles, and the like; the obstacle information comprises the current distance between the obstacle and the target vehicle, the real-time speed and the real-time acceleration of the obstacle;

the method comprises the steps that a target vehicle obtains traffic light information from a cloud in real time through a wireless network and related software, and the target vehicle continuously updates the traffic light information in real time, wherein the traffic light information comprises a traffic light color state, a current state residual time and a relative distance between the target vehicle and the traffic light; judging the time required by the target vehicle to pass through a traffic light according to the traffic light information acquired by the target vehicle;

It can be understood that the target vehicle obtains the front obstacle information, and can detect the obstacle information around the target vehicle in real time through the millimeter wave radar and the image system of the vehicle, determine the positions of all the surrounding obstacles by combining with image processing, and select the obstacle in front of the lane where the target vehicle is located; and determining a target obstacle according to the obstacle information acquired by the target vehicle, wherein the target obstacle is the nearest obstacle to the target vehicle.

In step S3, whether the vehicle enters an energy-saving auxiliary scene is determined according to the traffic light information and the obstacle information, if yes, step S4 is executed, and if not, step S62 is executed; the energy-saving auxiliary scene comprises an energy-saving auxiliary scene with obstacles and traffic lights and an energy-saving auxiliary scene with only the traffic lights;

in this step, the traffic light information and the obstacle information of the target vehicle detected in front of the target lane at least include the following cases: when the traffic light corresponding to the target lane is a green light and no obstacle exists, the traffic light corresponding to the target lane is a green light, the front obstacle does not pass through the traffic light intersection, the traffic light corresponding to the target lane is a yellow light or a red light and no obstacle exists, and when the traffic light corresponding to the target lane is a yellow light or a red light and simultaneously has an obstacle, the energy-saving auxiliary scene is entered when the traffic light corresponding to the target lane is a green light and the target vehicle can pass through the traffic light intersection;

It should be understood that, except when the traffic light corresponding to the target lane is a green light and the target vehicle can pass through the traffic light intersection, the target vehicle can enter an energy-saving auxiliary scene with obstacles and traffic lights and an energy-saving auxiliary scene with only the traffic lights according to the current speed, the traffic light information and the front obstacle information under the other conditions;

in step S4, according to the obstacle information, acquiring a relative speed, a relative distance and a minimum safety distance between the target vehicle and the nearest obstacle to the target vehicle; acquiring a safe following distance of the target vehicle according to the relative speed and the minimum safe distance;

in some embodiments, when the target vehicle determines the nearest obstacle in front of the target lane, the speed of the nearest obstacle and the distance of the obstacle from the target vehicle are detected in real time by a millimeter wave radar and imaging system of the vehicle to obtain the relative speed and the relative distance, and then the minimum safe distance between the target vehicle and the front target object at the current speed is calculated according to the speed of the target vehicle.

In some embodiments, the safe following distance calculation formula is: s_safe=k dv+s ₀ ；

Wherein S is ₀ Defined as the minimum safe distance when the relative vehicle speed is 0, dV is the relative speed (the difference between the target vehicle speed and the nearest obstacle speed ahead), and k is the time adjustment coefficient.

It is important to note that S ₀ The value of (2) is not a fixed value, S ₀ The size of the target vehicle is selected according to the speed of the target vehicle, and it is understood that S is pre-stored in the target vehicle memory ₀ A value lookup table, when the current speed of the target vehicle is detected, a corresponding minimum safety distance S is called through the corresponding current speed ₀ For example, purposeThe standard vehicle speed (km/h) is: 10. 30, 60, 90, 120; corresponding minimum safety distance S ₀ The value (m) may be: 5. 20, 60, 90, 120;

in step S5, whether the target vehicle needs to be decelerated is determined according to whether the relative distance is smaller than the safe following distance, if yes, step S61 is executed, and if not, step S4 is executed;

in the step, the current speed of the target vehicle is detected, the preset minimum safe distance in the vehicle memory is called according to the actual value of the current speed, the safe following distance calculated by combining the relative speed is compared with the safe following distance through the target vehicle, and when the relative distance is greater than the safe following distance, namely the target vehicle does not need to be decelerated, the target vehicle executes the step S5 to acquire the basic sliding recovery torque of the target vehicle, and the target vehicle carries out energy recovery according to the basic sliding recovery torque;

For example, when the relative distance between the target vehicle and the obstacle is smaller than the safe following distance, i.e. the target vehicle is in dangerous driving, the target vehicle needs to be decelerated at this time, and the target vehicle performs step S7;

in step S61, a coasting deceleration condition of the target vehicle is obtained, an energy-saving auxiliary coasting recovery torque is calculated according to the coasting deceleration condition, and energy recovery is performed according to the energy-saving auxiliary coasting recovery torque.

In this step, the obtaining the sliding deceleration condition of the target vehicle specifically includes: the target vehicle judges whether the target vehicle is currently in a sliding deceleration working condition according to the operation of the accelerator pedal and the brake pedal by the driver, if the target vehicle is not in the sliding deceleration working condition and is in a dangerous driving condition at the moment, the target vehicle prompts the driver to conduct energy-saving driving operation guidance through the information entertainment system, and illustratively, the driver is guided to conduct the sliding deceleration operation through sound/light information, for example, the driver is prompted to 'please release the accelerator' through instrument voice, or/and the driver is prompted to move the foot away from the accelerator pedal through an icon.

It can be understood that in this step, the driver is prompted by voice through the infotainment system, so that the driver can accurately grasp the time for entering deceleration, and the target vehicle can automatically adjust and slide, more electric energy can be automatically recovered, and meanwhile, the braking energy loss and the system efficiency loss caused by braking intervention are reduced, the smoothness of the deceleration of the vehicle can be controlled in the sliding process, and meanwhile, the following distance is automatically controlled to reduce the occurrence of rear-end collision accidents at the traffic light intersection.

In some embodiments, when the target vehicle is in a coasting deceleration condition, obtaining a target deceleration according to a relative speed, a relative distance and a safe following distance of the target vehicle and a nearest obstacle to the target vehicle;

the target deceleration calculation formula is as follows:

in the method, in the process of the invention,for relative vehicle speed>For the relative distance>Is the safe following distance.

Based on this target deceleration, the energy recovery torque required to achieve the target deceleration is calculated from the vehicle running dynamics equation:

wherein m is the mass of the whole vehicle,gravitational acceleration, f is the coefficient of friction resistance, +.>Is windage coefficient, A is welcomeWind area, R is wheel rolling radius, +.>Mechanical transmission efficiency->Is the main speed reduction ratio.

The energy recovery torque T required by the target deceleration is further obtained through calculation to control the target vehicle to recover the electric energy, namely the target vehicle controls the driving motor to enable the working condition of the driving motor to be converted into a power generation mode;

in step S62, the target vehicle basic coasting recovery torque is acquired, and energy recovery is performed according to the basic coasting recovery torque;

In this step, it should be noted that, the traffic light corresponding to the target lane where the target vehicle is located is a green light, and the target vehicle may pass through the traffic light intersection, that is, the target vehicle does not enter the energy-saving auxiliary scene, at this time, the target vehicle invokes a preset fixed decelerationCalculating a basic coasting recovery torque T, wherein the calculation formula is as follows:

wherein v is the speed of the vehicle, m is the mass of the whole vehicle,gravitational acceleration, f is the coefficient of friction resistance, +.>A is windage resistance coefficient, A is windage area, R is wheel rolling radius, and +.>Mechanical transmission efficiency->Is the main speed reduction ratio.

Of course, the basic coasting recovery torque T can also be set by presetting a fixed value T ₀ By directly calling T ₀ The target vehicle is controlled to recover electric energy, namely when the target vehicle needs to perform speed reduction and sliding, the driving motor is controlled to enable the working condition of the driving motor to be converted into a power generation mode;

in the method steps, a target lane in which a target vehicle is located in real time and target object information corresponding to the target lane are obtained, wherein the target object information comprises front traffic light information and barrier information, the relative speed, the relative distance and the safe following distance of the target vehicle and a front target object are calculated according to the target object information, and the real-time scene of the target vehicle is judged, wherein the real-time scene comprises an energy-saving auxiliary scene without an energy-saving auxiliary scene, an energy-saving auxiliary scene with barriers and traffic lights and an energy-saving auxiliary scene with only traffic lights; three control strategies are provided aiming at three different real-time scenes, the vehicle comfort is improved, the vehicle energy consumption is reduced, meanwhile, the energy recovery is automatically carried out, the frequency of multiple energy conversion from driving to power generation recovery to driving is reduced, the efficiency loss of an electric driving system and the energy loss of a mechanical braking system are effectively reduced, and the occurrence of rear-end collision accidents at traffic light intersections is reduced.

Example 2

Referring to fig. 2, based on embodiment 1, the method for determining whether the vehicle enters the energy-saving auxiliary scene in step S3 according to the traffic light information and the obstacle information is specifically described, which includes:

Example 3

Referring to fig. 3, the present embodiment provides a vehicle energy-saving auxiliary control device of the present embodiment, and the vehicle energy-saving auxiliary control device 300 includes:

a first obtaining module 310, configured to obtain a target lane in which a target vehicle is located, and front traffic light information and front obstacle information corresponding to the target lane;

a second acquisition module 320 configured to acquire operation control information of an accelerator pedal and a brake pedal by a driver in the target vehicle;

a first judging module 330 configured to judge whether the target vehicle enters an energy-saving auxiliary scene according to the comparison between the data information acquired by the first acquiring module and the preset data information;

it should be noted that, the first determining module 330 further includes:

the first judging submodule is configured to judge traffic light working conditions corresponding to a lane where the target vehicle is located and judge whether the target vehicle can pass or not when the traffic light is green;

the second judging sub-module is configured to judge an obstacle closest to the front of the lane where the target vehicle is located, and compare the relative distance between the target vehicle and the obstacle with the safe following distance.

The second judging module 340 is configured to judge whether the target vehicle is currently under a sliding deceleration condition according to the operation control information of the driver on the accelerator pedal and the brake pedal in the target vehicle acquired by the second acquiring module;

a first determining module 350, configured to determine, according to a result of the first determining module, that the target vehicle enters a real-time scene, where the real-time scene includes an energy-saving auxiliary scene without an energy-saving auxiliary scene, an energy-saving auxiliary scene with an obstacle and a traffic light, and an energy-saving auxiliary scene with only a traffic light;

a second determining module 360, configured to determine, according to a result of the second determining module, that the target vehicle enters an energy-saving auxiliary scene with an obstacle and a traffic light, or to prompt a driver to perform energy-saving driving operation guidance through voice through an infotainment system;

a first execution module 370 configured to execute a first control strategy according to the first determination module determining that the target vehicle enters a non-energy saving auxiliary scene; the first control strategy comprises taking the basic coasting recovery torque of the target vehicle and carrying out energy recovery according to the basic coasting recovery torque;

a second execution module 380 configured to execute a second control strategy according to the first determination module determining that the target vehicle enters an energy-saving auxiliary scene with an obstacle and a traffic light; the first control strategy includes calculating, based on the target deceleration, an energy recovery torque required to achieve the target deceleration from an automobile travel dynamics equation: recovering electric energy according to the energy recovery torque;

A third execution module 390 configured to execute a third control strategy according to the first determination module determining that the target vehicle enters a traffic light only energy saving auxiliary scenario; the third control strategy includes controlling the target vehicle to coast down and calculating the energy recovery torque required to achieve the target deceleration based on the vehicle dynamics equation: and recovering electric energy according to the energy recovery torque.

Example 4

Referring to fig. 4, the present embodiment provides a vehicle, which may be a pure electric vehicle, and includes:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to: the method for realizing the auxiliary control of vehicle energy conservation in the embodiment comprises the steps;

and, as shown in fig. 4, a vehicle part component, such as a vehicle controller 450, is provided, and the vehicle controller 450 is electrically connected with the vehicle speed sensor 410, the accelerator opening sensor 420 and the brake opening sensor 430 by hard wires, respectively; the whole vehicle controller 410 is in communication connection with the real-time data network system 440, the image radar sensor 460, the HMI module 470 and the motor controller 480 through an in-vehicle bus; the motor controller 480 is connected with the driving motor 490 through a high-voltage wire harness;

In particular, the vehicle may include various subsystems, such as an infotainment system, a perception system, a decision control system, a drive system, and a computing platform. Alternatively, the vehicle may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and component of the vehicle may be interconnected by wire or wirelessly.

In some embodiments, the infotainment system may include a communication system, an entertainment system, and a navigation system.

The communication system may comprise a wireless communication system that may communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system may communicate with a wireless local area network (wireless local area network, WLAN) using WiFi. In some embodiments, the wireless communication system may communicate directly with the device using an infrared link, bluetooth, or ZigBee. Other wireless protocols, such as various vehicle communication systems, for example, wireless communication systems may include one or more dedicated short-range communication (dedicated short range communications, DSRC) devices, which may include public and/or private data communications between vehicles and/or roadside stations.

The entertainment system may include a display device, a microphone and an audio, and the user may listen to the broadcast in the vehicle based on the entertainment system, playing music; or the mobile phone is communicated with the vehicle, the screen of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate through touching the screen.

In the vehicle energy-saving auxiliary control method according to the embodiment, as provided in embodiment 1, a voice prompt is performed on a driver through a vehicle-mounted entertainment system;

in some cases, the user's voice signal may be obtained through a microphone and certain controls of the vehicle by the user may be implemented based on analysis of the user's voice signal, such as adjusting the temperature within the vehicle, etc. In other cases, music may be played to the user through sound.

The navigation system may include a map service provided by a map provider to provide navigation of a travel route for the vehicle, and may be used with a global positioning system, an inertial measurement unit of the vehicle. The map service provided by the map provider may be a two-dimensional map or a high-precision map.

The sensing system may include several sensors that sense information about the environment surrounding the vehicle. For example, the sensing system may include a global positioning system (which may be a GPS system, or may be a beidou system or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device. The sensing system may also include sensors of the internal systems of the monitored vehicle (e.g., in-vehicle air quality monitors, fuel gauges, oil temperature gauges, etc.). Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (location, shape, direction, speed, etc.). Such detection and identification are key functions for safe operation of the vehicle.

The inertial measurement unit is used for sensing the pose change of the vehicle based on inertial acceleration. In some embodiments, the inertial measurement unit may be a combination of an accelerometer and a gyroscope.

Lidar uses a laser to sense objects in the environment in which the vehicle is located. In some embodiments, the lidar may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

Millimeter wave radars use radio signals to sense objects within the surrounding environment of the vehicle. In some embodiments, millimeter wave radar may be used to sense the speed and/or heading of an object in addition to sensing the object.

Ultrasonic radar may utilize ultrasonic signals to sense objects around a vehicle.

The image pickup device is used for capturing image information of the surrounding environment of the vehicle. The image capturing device may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, etc., and the image information obtained by the image capturing device 626 may include still images or video stream information.

The decision control system comprises a computing system for making an analysis decision based on the information acquired by the sensing system, and also comprises a whole vehicle controller for controlling a power system of the vehicle, and a steering system, a throttle and a braking system for controlling the vehicle.

The computing system may be operable to process and analyze various information acquired by the perception system in order to identify targets, objects, and/or features in the vehicle surroundings. The targets may include pedestrians or animals and the objects and/or features may include traffic signals, road boundaries, and obstacles. The computing system may use object recognition algorithms, in-motion restoration structure (Structure from Motion, SFM) algorithms, video tracking, and the like.

In some embodiments, the computing system may be used to map the environment, track objects, estimate the speed of objects, and so forth. The computing system may analyze the acquired various information and derive a control strategy for the vehicle.

The whole vehicle controller can be used for carrying out coordinated control on a power battery and an engine of the vehicle so as to improve the power performance of the vehicle.

The steering system is operable to adjust a forward direction of the vehicle. For example, in one embodiment may be a steering wheel system.

The throttle is used to control the operating speed of the engine and thus the speed of the vehicle.

The braking system is used to control vehicle deceleration. The braking system may use friction to slow the wheels.

In some embodiments, the braking system may convert kinetic energy of the wheels into electrical current. The braking system may take other forms to slow the rotational speed of the wheels to control the speed of the vehicle.

The drive system may include components that provide powered movement of the vehicle. In one embodiment, the drive system may include an engine, an energy source, a transmission, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine of a gasoline engine and an electric motor, or a hybrid engine of an internal combustion engine and an air compression engine. The engine converts the energy source into mechanical energy; the energy source may provide energy to other systems of the vehicle.

Example 5

The present embodiment provides a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle energy saving auxiliary control method in the above-described embodiment.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves. It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.

It will be apparent that the described embodiments are only some, but not all, embodiments of the application. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application for the embodiment. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A vehicle energy saving auxiliary control method, characterized by comprising:

step S61: acquiring a sliding deceleration working condition of the target vehicle, calculating an energy-saving auxiliary sliding recovery torque according to the sliding deceleration working condition, determining and carrying out energy recovery according to the energy-saving auxiliary sliding recovery torque;

step S62: and acquiring the basic sliding recovery torque of the target vehicle, and recovering energy according to the basic sliding recovery torque.

2. The vehicle energy-saving auxiliary control method according to claim 1, wherein the acquiring, according to the target lane, front target object information of the lane in which the target vehicle is located, wherein the front target object information includes front traffic light information and front obstacle information, includes:

3. The method for auxiliary energy-saving control of a vehicle according to claim 1, wherein the determining whether the vehicle enters an auxiliary energy-saving scene according to the traffic light information and the obstacle information comprises:

4. The vehicle energy-saving auxiliary control method according to claim 1, wherein a relative speed, a relative distance and a minimum safety distance between the target vehicle and a nearest obstacle to the target vehicle are obtained based on the obstacle information; in the step of acquiring the safe following distance of the target vehicle according to the relative speed and the minimum safe distance, the following distance is acquired:

the calculation formula of the safe following distance is as follows: s_safe=k dv+s ₀ ；

5. The vehicle energy saving assist control method according to claim 1, characterized in that the obtaining the target vehicle base coast recovery torque, and the energy recovery according to the base coast recovery torque, comprises:

By modulating a predetermined fixed deceleration a ₀ Calculating a basic coasting recovery torque T, wherein the calculation formula is as follows:

wherein v is the vehicle speed, m is the mass of the whole vehicle, g is the gravitational acceleration, f is the friction resistance coefficient, C _d Is wind resistance coefficient, A is windward area, R is wheel rolling radius, eta ₀ Mechanical transmission efficiency, i ₀ Is the main speed reduction ratio.

6. The vehicle energy-saving assist control method according to claim 1, wherein the obtaining the coasting deceleration condition of the target vehicle, calculating an energy-saving assist coasting recovery torque according to the coasting deceleration condition, and performing energy recovery according to the energy-saving assist coasting recovery torque, comprises:

judging whether the vehicle is in a sliding deceleration working condition currently according to the operation of a driver on an accelerator pedal and a brake pedal;

if yes, calculating energy-saving auxiliary sliding recovery torque, and carrying out energy recovery according to the energy-saving auxiliary sliding recovery torque;

if not, voice prompt is carried out through the target vehicle information entertainment system.

7. The vehicle energy-saving auxiliary control method according to claim 6, wherein the calculation of the energy-saving auxiliary coasting recovery torque, and the energy recovery is performed based on the energy-saving auxiliary coasting recovery torque; comprising the following steps:

the target deceleration calculation formula is as follows:

in the formula, v _rel For the relative speed of the vehicle S _rel Is the relative distance S _safe Is the safe following distance.

8. An energy-saving auxiliary control device for a vehicle, comprising:

9. A vehicle, characterized by comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

the steps of implementing the vehicle energy-saving auxiliary control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, on which computer program instructions are stored, characterized in that the computer program instructions, when executed by a processor, implement the steps of the vehicle energy saving auxiliary control method according to any one of claims 1 to 7.