CN116923400A - Limit energy consumption intelligent cruise control method and device for pure electric vehicle - Google Patents
Limit energy consumption intelligent cruise control method and device for pure electric vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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Abstract
The embodiment of the application discloses a limit energy consumption intelligent cruise control method and device for a pure electric vehicle, wherein the expected running speed of the vehicle is determined in the intelligent driving process of the pure electric vehicle, and road condition information of the pure electric vehicle is obtained; and selecting a target mode from a plurality of modes for intelligent driving, wherein the plurality of modes comprise an acceleration mode, a uniform speed mode and a deceleration mode, and the target mode comprises the following modes: the acceleration mode comprises the steps of solving an optimal acceleration working point track from the current speed to the expected running speed, and distributing acceleration and uniform mileage according to the optimal acceleration working point track; the uniform speed mode comprises the steps of obtaining a total mileage of a uniform speed stage when the motor runs to an intersection, and obtaining an accelerating working point and an optimal allocation proportion of the motor by interpolation according to the total mileage of the uniform speed stage and an expected running speed; the deceleration mode includes determining an optimal deceleration moment, and effecting deceleration by regenerative braking. The application effectively relieves the problem of insufficient energy consumption when driving the pure electric vehicle.
Description
Technical Field
The application relates to the technical field of automobile electrodynamic technology, in particular to a limit energy consumption intelligent cruise control method and device for a pure electric automobile.
Background
With the development of automobile technology, electric automobiles gradually enter the field of vision of people. Compared with the traditional fuel oil automobile, the pure electric automobile has the outstanding advantages of zero emission, simple driving and maintenance and the like. However, there are still many factors restricting the development of electric vehicles, wherein the biggest obstacle is that the endurance mileage of the battery is limited, and it is difficult to meet the distance requirement of people for daily travel.
At present, the existing battery technology is not mature, the construction of foundation equipment such as a charging pile and the like also needs time, the battery state estimation is not accurate enough, and the pure electric vehicle is difficult to charge at any time and any place. Under the conditions that the battery energy is limited and the electric quantity is difficult to supplement in time, the electric quantity is consumed completely before the electric quantity reaches a destination, so that the vehicle is stranded and the expected driving range cannot be reached. Therefore, a method for prolonging the driving range of the pure electric vehicle to the greatest extent under the condition of limited energy consumption is urgently needed, so that the problem of insufficient energy consumption when the pure electric vehicle is driven is solved.
Disclosure of Invention
In view of the above, the application provides a limit energy consumption intelligent cruising control method and device for a pure electric vehicle, which can save the energy consumption of the vehicle in the driving process as much as possible and prolong the driving mileage to the greatest extent.
The embodiment of the application discloses the following technical scheme:
in a first aspect, an embodiment of the present application provides a method for intelligent cruise control of limit energy consumption of a pure electric vehicle, where the method includes:
in the intelligent driving process of the pure electric vehicle, determining the expected running speed of the vehicle;
acquiring road condition information of the pure electric vehicle;
according to the road condition information, selecting a target mode from a plurality of modes for intelligent driving, wherein the plurality of modes comprise an acceleration mode, a uniform speed mode and a deceleration mode, and the method comprises the following steps of:
the acceleration mode comprises the steps of solving an optimal acceleration working point track from the current speed to the expected running speed, and distributing acceleration and uniform mileage according to the optimal acceleration working point track;
the uniform speed mode comprises the steps of obtaining a total mileage of a uniform speed stage when the motor runs to an intersection, and obtaining an accelerating working point and an optimal distribution proportion of the motor by interpolation according to the total mileage of the uniform speed stage and the expected running speed;
the deceleration mode includes determining an optimal deceleration moment, and effecting deceleration by regenerative braking.
Optionally, the plurality of modes further includes: an interference judgment mode;
the interference judging mode comprises the steps of predicting the running working condition of a front vehicle according to the road condition information, detecting the road conditions of two lanes, and adjusting the speed of the vehicle to follow the front vehicle or change lanes; if the speed of the vehicle needs to be regulated, calculating a speed reduction requirement according to the predicted working condition of the front vehicle, and realizing speed reduction through regenerative braking; if the lane is required to be changed, after the lane is changed, the interference mode is exited, and the mode selection is re-entered.
Optionally, selecting a target mode from a plurality of modes for intelligent driving according to the road condition information specifically includes:
determining whether the road ahead is smooth or not according to the road condition information;
if the front road is not smooth, selecting an interference judging mode;
if the front road is clear, determining whether a red light exists in front or not when a preset distance is reserved from the intersection according to the road condition information;
if the front intersection has a red light, selecting a deceleration mode;
and if the front intersection has no red light, selecting an acceleration mode or a uniform speed mode.
Optionally, the acceleration mode further includes: and optimizing a motor working point by taking the expected running speed as a target according to the set acceleration lower limit and the acceleration upper limit specified by the rule as acceleration ranges.
Optionally, the uniform speed mode further includes: when the speed of the vehicle is within a preset range, the uniform running is split into acceleration to a high-efficiency area and small torque sliding.
Optionally, the road condition information is obtained according to the camera, the laser radar and the internet of vehicles big data of the pure electric vehicle.
Optionally, the method further comprises:
setting an initial place and a destination of a vehicle, and dividing a driving process into sub-working conditions of each section according to intersections or obstacles according to the initial place and the destination.
In a second aspect, an embodiment of the present application provides an intelligent cruise control device for limiting energy consumption of a pure electric vehicle, where the device includes:
the vehicle speed preset unit is used for determining the expected running vehicle speed of the vehicle in the intelligent driving process of the pure electric vehicle;
the road condition information acquisition unit is used for acquiring the road condition information of the pure electric vehicle;
the mode selection unit is used for selecting a target mode from a plurality of modes to carry out intelligent driving according to the road condition information, wherein: the acceleration mode comprises the steps of solving an optimal acceleration working point track from the current speed to the expected running speed, and distributing acceleration and uniform mileage according to the optimal acceleration working point track; the uniform speed mode comprises the steps of obtaining a total mileage of a uniform speed stage when the motor runs to an intersection, and obtaining an accelerating working point and an optimal distribution proportion of the motor by interpolation according to the total mileage of the uniform speed stage and the expected running speed; the deceleration mode includes determining an optimal deceleration moment, and effecting deceleration by regenerative braking.
It can be seen that the application has the following beneficial effects:
in the method provided by the embodiment of the application, the working point of the motor is predicted and optimized by utilizing the road condition information, the power consumption is saved by utilizing the braking energy recovery, the global limit energy consumption of intelligent cruising of the vehicle is realized by solving the optimal solution of the local energy consumption in different modes, the driving range is prolonged to the greatest extent, and the problem of insufficient energy consumption when the pure electric vehicle is driven is effectively solved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a limit energy consumption intelligent cruise control method of a pure electric vehicle according to an embodiment of the present application;
FIG. 2 is a flow chart of the limit energy consumption intelligent cruise mode selection provided by the embodiment of the application;
FIG. 3 is a line graph of intelligent cruise acceleration ranges provided by an embodiment of the present application;
FIG. 4 is a graph showing simulation comparisons of vehicle speed, power and efficiency of different acceleration modes when the vehicle speed is set to 15 m/s;
fig. 5 is a schematic diagram illustrating uniform-speed motor operating point splitting at a certain rotating speed according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a full-stage process of the intelligent driving mode with limited energy consumption according to the embodiment of the present application;
fig. 7 is a schematic diagram of a limit energy consumption intelligent cruise control device of a pure electric vehicle according to an embodiment of the present application.
Detailed Description
In order to make the present application better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all 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.
The applicant finds that under the background that the prior battery technology is still immature and the basic equipment such as a charging pile is not perfect, the battery state estimation is not accurate enough, and the pure electric vehicle is difficult to charge at any time and any place, so that the driver is easy to trigger mileage anxiety when the vehicle is low in electric quantity; meanwhile, the intelligent driving related technology has paid a great deal of attention, the pure electric vehicle type with momentum is increasingly equipped with related hardware devices such as a laser radar and a camera, and the working condition information acquired by the intelligent driving hardware device can well act on the pure electric vehicle energy consumption optimization control method.
Therefore, the application adds a limit energy consumption intelligent cruise control (Economic Intelligent Cruise Control, EICC) function for the vehicle on the basis of the Intelligent Cruise Control (ICC) function. Under the premise of starting ICC function, the driver can select to start EICC function, in this state, the expected running speed of the vehicle is set, road condition information is obtained through hardware equipment such as cameras, laser radars and the like and large data of the Internet of vehicles, on the basis of the road condition information, the working point of the motor is predicted and optimized, braking energy is utilized to recover and save electricity consumption, and the optimal solution of local energy consumption is solved under different modes, so that the optimal optimizing of the intelligent cruising global limit energy consumption is realized.
Based on the above thought, the embodiment of the application provides a limit energy consumption intelligent cruising control method of a pure electric vehicle, which is used for determining the expected running speed of the vehicle and obtaining the road condition information of the pure electric vehicle in the intelligent driving process of the pure electric vehicle; and selecting a target mode from a plurality of modes for intelligent driving, wherein the plurality of modes comprise an acceleration mode, a uniform speed mode and a deceleration mode, and the target mode comprises the following modes: the acceleration mode comprises the steps of solving an optimal acceleration working point track from the current speed to the expected running speed, and distributing acceleration and uniform mileage according to the optimal acceleration working point track; the uniform speed mode comprises the steps of obtaining a total mileage of a uniform speed stage when the motor runs to an intersection, and obtaining an accelerating working point and an optimal allocation proportion of the motor by interpolation according to the total mileage of the uniform speed stage and an expected running speed; the deceleration mode includes determining an optimal deceleration moment, and effecting deceleration by regenerative braking.
In order to facilitate understanding of the method provided by the embodiments of the present application, the following description will be made with reference to the accompanying drawings.
Referring to fig. 1, the flow chart of the intelligent cruise control method for limiting energy consumption of a pure electric vehicle according to the embodiment of the present application is shown in fig. 1, and the method may include:
step 101: and in the intelligent driving process of the pure electric vehicle, determining the expected running speed of the vehicle.
In this embodiment, during intelligent driving of the pure electric vehicle, that is, in a state in which the driver turns on the EICC function, the driver may set the expected running vehicle speed of the vehicle. The expected running speed of the vehicle may be set by the machine, or the expected running speed recommended by the system may be used, and the main body for setting the expected running speed is not limited at all.
Step 102: and acquiring the road condition information of the pure electric vehicle.
In some cases, the road condition information of the pure electric vehicle may include information such as a congestion degree of a front road, whether a front intersection has a red light, and the like.
In some possible implementations, the road condition information may be obtained through hardware devices such as cameras, lidar, and internet of vehicles.
Step 103: and selecting a target mode from a plurality of modes to carry out intelligent driving according to the road condition information.
The plurality of modes includes an acceleration mode, a uniform velocity mode, and a deceleration mode. In some possible implementations, the plurality of modes further includes an interference mode.
Specifically, the target mode may be selected according to the following method:
determining whether the front road is smooth or not according to the road condition information; if the road ahead is not smooth, selecting an interference judging mode; if the road ahead is clear, determining whether a red light exists in front or not when the road ahead is a preset distance away from the intersection according to the road condition information; if the front intersection has a red light, selecting a deceleration mode; and if the front intersection has no red light, selecting an acceleration mode or a uniform speed mode.
In practical application, the condition of the intersection can be judged by selecting 200 meters before the intersection, and certainly, whether the front intersection has a red light or not can be determined at a longer distance or a shorter distance from the intersection according to practical conditions, and the specific numerical value of the preset distance of the intersection is not limited.
In some possible implementations, the driver may choose to exit the limit energy consumption intelligent cruise control, see fig. 2, which is a flowchart of the limit energy consumption intelligent cruise mode selection provided in the embodiment of the present application, where the operation performed after determining the road clear condition and the red light condition of the intersection corresponds to the possible intelligent control modes of different modes.
The following describes the intelligent control mode of each mode in detail:
and the acceleration mode comprises the steps of solving an optimal acceleration working point track from the current speed to the expected running speed, and distributing acceleration and uniform mileage according to the optimal acceleration working point track.
Specifically, the acceleration mode further includes optimizing a motor operating point with an expected running vehicle speed as a target according to the set lower acceleration limit and the upper acceleration limit specified by the regulations as an acceleration range.
Referring to fig. 3, the graph is a line graph of an intelligent cruising acceleration range provided by an embodiment of the present application, where a maximum acceleration curve of a rule reflects a relationship between a maximum acceleration and a vehicle speed in a cruising process under the standard of ISO 22179-2019; in order to avoid the influence of the tortoise speed driving in the acceleration process on traffic, the application sets the lower acceleration limit of the acceleration mode under each driving mode, and the specific acceleration change range is shown in the shadow area of fig. 3. And (3) taking the expected running speed as a target, taking the acceleration range as a constraint condition, optimizing a motor working point, and always keeping the comprehensive power consumption of the motor in an acceleration stage to be the lowest.
And the constant speed mode comprises the steps of obtaining a total mileage in a constant speed stage when the motor runs to the intersection, and obtaining an accelerating working point and an optimal distribution proportion of the motor by interpolation according to the total mileage in the constant speed stage and the expected running speed.
In some possible implementations, the constant speed mode further includes splitting constant speed travel into acceleration to a high efficiency zone and low torque coasting when the vehicle speed is within a preset range.
In the embodiment, in a uniform speed mode, the motor working point is optimized within the range of the expected running speed +/-5 km/h, the motor efficient working area is reasonably utilized, meanwhile, intersection information is obtained through the Internet of vehicles big data, and the lowest comprehensive power consumption of the motor in the process of running to the next intersection is ensured. In addition, the maximum speed change rate of the constant speed section optimizing speed regulating process is set to be 0.06g, so that passengers are prevented from dizziness caused by frequent acceleration and deceleration of the optimizing process.
The deceleration mode includes determining an optimal deceleration moment, and effecting deceleration by regenerative braking.
In this embodiment, if the red light at the front intersection needs to stop, the vehicle enters a deceleration mode, and the minimum energy consumption in the whole deceleration process is used as a target, and the vehicle is in a deceleration range of 0.1 g-0.4 g (the deceleration of the vehicle equipped with Ibooster is about 0.1g during sliding and regenerative braking, and the maximum regenerative braking deceleration is 0.4 g), so as to optimize the regenerative braking intensity, and reasonably plan the distance distribution of uniform speed, sliding and deceleration conditions, and ensure that the vehicle is just braked to the intersection.
The interference mode comprises the steps of predicting the running condition of a front vehicle according to the road condition information, detecting the road conditions of two lanes, and adjusting the speed of the vehicle to follow the front vehicle or change lanes; if the speed of the vehicle needs to be regulated, calculating a speed reduction requirement according to the predicted working condition of the front vehicle, and realizing speed reduction through regenerative braking; if the lane is required to be changed, after the lane is changed, the interference mode is exited, and the mode selection is re-entered.
The principles and specific implementations of energy consumption optimization in each mode in the embodiments of the present application are described in detail below, and it should be noted that the following description is only one possible implementation of the present application.
In the process of optimizing the working point of the motor, the comprehensive efficiency is firstly defined as the product of the motor efficiency and the transmission efficiency of the gearbox; and secondly, defining an optimization target as the lowest comprehensive power consumption of the motor. In combination with the constraint conditions, the vehicle dynamics model expression is established as follows:
wherein, road a,b,c Is a vehicle road resistance function, i is a transmission ratio, r is a wheel radius, θ is a motor comprehensive efficiency, and E is a motor comprehensive power consumption. The specific implementation mode of energy consumption optimization under each mode of the intelligent cruise control method of the limit energy consumption is as follows:
optimizing a motor working point in an acceleration mode: it can be seen from the vehicle dynamics model that if acceleration is performed at the highest efficiency operating point of the motor, the acceleration increases, the mileage from acceleration to the expected running speed is shortened, and although the energy consumption in the acceleration process is reduced, the vehicle still needs to run at a constant speed for a period of time, resulting in an increase in the average speed in the acceleration stage. Analysis was performed in connection with specific cases: assuming that the expected running vehicle speed is 15m/S, the total mileage s1=120m in the acceleration phase. Three acceleration processes are selected for simulation comparison (the first is to complete the whole acceleration process by using the lower limit of 0.1g of acceleration, the second is to uniformly travel to 120m after the acceleration of 0.2g to the target vehicle speed, and the third is to uniformly travel to 120m after the acceleration of 0.25g to the target vehicle speed). As shown in FIG. 4, the graph is a simulation comparison graph of vehicle speeds, power and efficiency of different acceleration modes when the vehicle speed is set to 15m/s, and the graph shows that the acceleration process time of the first mode is longest, and the average vehicle speed is lowest, but the time for reaching a motor efficient working area is the latest; the third way is that the motor efficient working area is reached earlier, but the starting stage has a section of inefficient working process; the second mode avoids the low-efficiency area and can reach the high-efficiency working point of the motor earlier. From the results, the energy consumption of the acceleration process of the first mode is 0.0756kWh, the energy consumption of the acceleration process of the third mode is 0.0749kWh, and the energy consumption of the acceleration process of the second mode is 0.0747kWh, which respectively saves 1.2% and 0.27% of energy compared with the two modes, so that the motor working point of the acceleration mode has an optimized space. Therefore, the method can be used for solving the optimal acceleration working point track of the motor under each target speed offline in a set acceleration range by combining the comprehensive efficiency and dynamic parameters of the motor of the vehicle, reasonably distributing acceleration and uniform mileage in the acceleration mode process, and ensuring the lowest energy consumption in the whole acceleration mode process.
Optimizing a motor working point in a constant speed mode: according to the map of motor efficiency, the efficiency of the working point used for constant-speed running is often not the highest under the common vehicle speed, so that the original constant-speed running can be split into two working conditions of accelerating to a high-efficiency area and small torque sliding in a small vehicle speed range. Referring to fig. 5, the split schematic diagram of the uniform speed working point of the motor at a certain rotating speed is shown in the fig. 5, and it can be seen that the average efficiency can be improved by reasonably distributing the proportion α of the two working conditions. Thus, the expected running speed V can be calculated according to the vehicle dynamics model set And in the range that the speed change rate is not more than 0.06g, solving the motor acceleration high-efficiency working point and the optimal distribution proportion alpha under each set speed and uniform mileage in an offline mode, and ensuring the lowest energy consumption under the uniform mode. Firstly, acquiring a total mileage S of a uniform speed section running to an intersection through a camera and internet of vehicles data, and obtaining the total mileage S according to S and V set And the motor acceleration working point and the optimal distribution proportion alpha are obtained through interpolation, and the running process of the uniform speed mode is completed through a mode of accelerating to a high-efficiency area and then sliding with small torque.
Optimizing in deceleration mode: similar to the acceleration mode, the braking process can realize the optimization of the energy consumption of the braking section by reasonably distributing the constant speed, the sliding distance and the braking distance. Thus according to the expected running speed V of the driver set The optimal braking distance can be calculated off-line. When the camera and the internet of vehicles data identify the front intersection red light, entering an intersection stopping stage, determining an optimal braking point by combining the current set vehicle speed interpolation, and stopping the vehicle at the intersection by optimizing regenerative braking with the lowest energy loss.
Optimizing in interference mode: and when the laser radar and the camera recognize that the vehicle is in front, entering a lane changing/braking state. The working condition of the front vehicle is predicted by using a Markov chain-Monte Carlo method, the speed is adjusted to the following speed by regenerative braking, or the lanes are changed on the premise of allowing lanes at two sides.
In some possible implementations, the driver may also exit the EICC function at any time by depressing the brake pedal or turning the steering wheel and regain vehicle control.
Furthermore, in some possible implementations, the method further includes:
setting an initial place and a destination of a vehicle, and dividing a driving process into sub-working conditions of each section according to intersections or obstacles according to the initial place and the destination.
In this embodiment, for the global optimum problem that the energy consumption is the lowest in the whole cruising process, it is difficult to perform well in engineering terms due to its huge calculation amount. Therefore, the embodiment of the application comprehensively considers the constraint on the aspects of drivability, expected speed of a driver and the like, sets the limitation on acceleration and speed of the vehicle, divides the whole cruising process into all sub-working conditions according to the intersections, and solves the optimal solutions of the local energy consumption in the acceleration mode, the uniform speed mode and the deceleration mode in all the sub-working conditions so as to achieve the effect of global optimization. And dividing each sub-working condition into the following three stages according to mileage to optimize the limit energy consumption:
acceleration phase: setting the driving mileage of the minimum acceleration to the set vehicle speed as S1 corresponding to the acceleration mode, and defining the former S1 mileage of the sub-working condition as an acceleration stage;
a deceleration stage: setting the driving mileage from the current vehicle speed to the stopping speed at the minimum deceleration as S2 corresponding to the deceleration mode, and defining the final S2 mileage of the sub-working condition as a deceleration stage;
constant speed stage: and defining the total mileage of the sub-working conditions of the section after subtracting the acceleration and deceleration stages to be a uniform speed stage according to the uniform speed mode.
The whole electric automobile controller (Vehicle Control Unit, VCU) optimizes the working point of the motor in the acceleration and uniform running processes of the automobile, improves the comprehensive efficiency (motor efficiency and transmission efficiency of a gearbox) and reduces the driving energy consumption; in the vehicle deceleration working condition, judging the optimal deceleration moment, realizing deceleration only through regenerative braking, avoiding mechanical braking loss and improving energy consumption recovery; in addition, the limit energy consumption intelligent driving cruising mode executes the whole process, and the vehicle speed is limited and protected by regulations.
Referring to fig. 6, a full-stage flow chart of the intelligent driving mode with limited energy consumption is provided, wherein the starting stage corresponds to an acceleration stage in the embodiment, namely, a control process in the acceleration mode, the uniform-speed stage corresponds to a control process in the uniform-speed mode, the vehicle or the obstacle in front corresponds to a control process in the interference mode, and the stopping stage corresponds to a control process in the deceleration mode. In some possible implementation manners, each sub-working condition can be divided into stages corresponding to different modes before running, and local energy consumption is optimized in a limited mileage of each stage, so that global optimal solution is realized.
Based on the above method embodiment, the embodiment of the application provides a limit energy consumption intelligent cruise control device of a pure electric vehicle, and referring to fig. 7, the diagram is a schematic diagram of limit energy consumption intelligent cruise control of the pure electric vehicle. As shown in fig. 7, the apparatus may include:
a vehicle speed preset unit 201, configured to determine an expected running vehicle speed of the vehicle during an intelligent driving process of the pure electric vehicle;
the road condition information obtaining unit 202 is configured to obtain road condition information of the pure electric vehicle;
the mode selection unit 203 is configured to select a target mode from a plurality of modes for intelligent driving according to the road condition information, where the plurality of modes include an acceleration mode, a uniform speed mode, and a deceleration mode, and the method includes: the acceleration mode comprises the steps of solving an optimal acceleration working point track from the current speed to the expected running speed, and distributing acceleration and uniform mileage according to the optimal acceleration working point track; the uniform speed mode comprises the steps of obtaining a total mileage of a uniform speed stage when the motor runs to an intersection, and obtaining an accelerating working point and an optimal distribution proportion of the motor by interpolation according to the total mileage of the uniform speed stage and the expected running speed; the deceleration mode includes determining an optimal deceleration moment, and effecting deceleration by regenerative braking.
It should be noted that, in this embodiment, the implementation of each unit may refer to the above method embodiment, and this embodiment is not described herein again.
In addition, the embodiment of the application also provides equipment, which comprises: a processor and a memory; the memory is used for storing instructions; and the processor is used for executing the instruction in the memory and executing the limit energy consumption intelligent cruise control method of the pure electric vehicle.
The embodiment of the application provides a computer readable storage medium, which stores program codes or instructions, when the computer readable storage medium runs on a computer, the computer is caused to execute the limit energy consumption intelligent cruise control method of the pure electric vehicle.
Therefore, the method and the device solve the problem of insufficient energy consumption when driving pure electric vehicles by solving the optimal solution of the local energy consumption in different modes, so that the intelligent cruising global limit energy consumption of the vehicle is realized, the driving range is prolonged to the greatest extent, and the problem of insufficient energy consumption when driving pure electric vehicles is effectively solved.
It should be noted that, in the present description, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The system or the device disclosed in the embodiments are relatively simple in description, and the relevant points refer to the description of the method section because the system or the device corresponds to the method disclosed in the embodiments.
It is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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 the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above description is only of the preferred embodiment of the present application, and is not intended to limit the present application in any way. While the application has been described with reference to preferred embodiments, it is not intended to be limiting. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present application or modifications to equivalent embodiments using the methods and technical contents disclosed above, without departing from the scope of the technical solution of the present application. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present application still fall within the scope of the technical solution of the present application.
Claims (8)
1. The limit energy consumption intelligent cruise control method for the pure electric vehicle is characterized by comprising the following steps of:
in the intelligent driving process of the pure electric vehicle, determining the expected running speed of the vehicle;
acquiring road condition information of the pure electric vehicle;
according to the road condition information, selecting a target mode from a plurality of modes for intelligent driving, wherein the plurality of modes comprise an acceleration mode, a uniform speed mode and a deceleration mode, and the method comprises the following steps of:
the acceleration mode comprises the steps of solving an optimal acceleration working point track from the current speed to the expected running speed, and distributing acceleration and uniform mileage according to the optimal acceleration working point track;
the uniform speed mode comprises the steps of obtaining a total mileage of a uniform speed stage when the motor runs to an intersection, and obtaining an accelerating working point and an optimal distribution proportion of the motor by interpolation according to the total mileage of the uniform speed stage and the expected running speed;
the deceleration mode includes determining an optimal deceleration moment, and effecting deceleration by regenerative braking.
2. The method of claim 1, wherein the plurality of modes further comprises: an interference judgment mode;
the interference judging mode comprises the steps of predicting the running working condition of a front vehicle according to the road condition information, detecting the road conditions of two lanes, and adjusting the speed of the vehicle to follow the front vehicle or change lanes; if the speed of the vehicle needs to be regulated, calculating a speed reduction requirement according to the predicted working condition of the front vehicle, and realizing speed reduction through regenerative braking; if the lane is required to be changed, after the lane is changed, the interference mode is exited, and the mode selection is re-entered.
3. The method according to claim 2, wherein selecting a target mode from a plurality of modes for intelligent driving according to the traffic information comprises:
determining whether the road ahead is smooth or not according to the road condition information;
if the front road is not smooth, selecting an interference judging mode;
if the front road is clear, determining whether a red light exists in front or not when a preset distance is reserved from the intersection according to the road condition information;
if the front intersection has a red light, selecting a deceleration mode;
and if the front intersection has no red light, selecting an acceleration mode or a uniform speed mode.
4. The method of claim 1, wherein the acceleration mode further comprises: and optimizing a motor working point by taking the expected running speed as a target according to the set acceleration lower limit and the acceleration upper limit specified by the rule as acceleration ranges.
5. The method of claim 1, wherein the constant velocity mode further comprises: when the speed of the vehicle is within a preset range, the uniform running is split into acceleration to a high-efficiency area and small torque sliding.
6. The method of claim 1, wherein the road condition information is obtained according to a camera, a laser radar and internet of vehicles big data of the pure electric vehicle.
7. The method according to claim 1, wherein the method further comprises:
setting an initial place and a destination of a vehicle, and dividing a driving process into sub-working conditions of each section according to intersections or obstacles according to the initial place and the destination.
8. An intelligent cruise control device for limiting energy consumption of a pure electric vehicle, which is characterized by comprising:
the vehicle speed preset unit is used for determining the expected running vehicle speed of the vehicle in the intelligent driving process of the pure electric vehicle;
the road condition information acquisition unit is used for acquiring the road condition information of the pure electric vehicle;
the mode selection unit is used for selecting a target mode from a plurality of modes to carry out intelligent driving according to the road condition information, wherein the plurality of modes comprise an acceleration mode, a uniform speed mode and a deceleration mode, and the mode selection unit is used for selecting the target mode from the plurality of modes to carry out intelligent driving according to the road condition information, wherein: the acceleration mode comprises the steps of solving an optimal acceleration working point track from the current speed to the expected running speed, and distributing acceleration and uniform mileage according to the optimal acceleration working point track; the uniform speed mode comprises the steps of obtaining a total mileage of a uniform speed stage when the motor runs to an intersection, and obtaining an accelerating working point and an optimal distribution proportion of the motor by interpolation according to the total mileage of the uniform speed stage and the expected running speed; the deceleration mode includes determining an optimal deceleration moment, and effecting deceleration by regenerative braking.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117656862A (en) * | 2023-11-14 | 2024-03-08 | 湖南行必达网联科技有限公司 | Energy-saving cruise control method, system and storage medium for electric vehicles |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117656862A (en) * | 2023-11-14 | 2024-03-08 | 湖南行必达网联科技有限公司 | Energy-saving cruise control method, system and storage medium for electric vehicles |
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