CN119037431A - Vehicle energy recovery method and related equipment - Google Patents

Abstract

The present application discloses a vehicle energy recovery method and related equipment, and relates to the field of vehicle engineering technology. The method includes: obtaining driving status information of a second vehicle and a third vehicle, wherein the second vehicle is a vehicle in the first lane and is the current following target of the first vehicle, and the third vehicle is a vehicle in the second lane, the first lane is the lane where the first vehicle is located, and the second lane is the lane adjacent to the first lane; based on the driving status information, determining the driving intention of the third vehicle; when it is determined that the driving intention is to change lanes to the first lane, updating the following target of the first vehicle and performing energy recovery. The present application can manage energy use more efficiently, reduce unnecessary energy consumption, and maximize energy recovery without affecting driving safety, thereby achieving efficient energy recovery in the adaptive cruise process.

Description

Vehicle energy recovery method and related equipment

Technical Field

The application relates to the technical field of vehicle engineering, in particular to a vehicle energy recovery method and related equipment.

Background

With the increasing severity of global energy crisis and environmental pollution problems, improving energy utilization efficiency and reducing carbon emissions has become a global consensus. In the field of transportation, automobiles are taken as large households of energy consumption and emission, and the research and development and application of energy conservation and emission reduction technology are particularly important. The vehicle energy recovery technology is an important innovation in the field of new energy automobiles, and aims to improve the energy utilization efficiency, prolong the endurance mileage of the vehicle and reduce the dependence on traditional energy and environmental pollution by recovering and utilizing the energy generated by the vehicle in the running process.

In the related art, along with the continuous development of an automatic driving technology, an adaptive cruise system becomes an important component of an advanced driving auxiliary system, the system can automatically adjust the speed of a vehicle according to the speed of the front vehicle, keep a safe vehicle distance, and frequently accelerate and decelerate the vehicle in the adaptive cruise process, so that a rich application scene is provided for energy recovery. However, conventional adaptive cruise control methods tend to ignore the energy recovery potential in this process, resulting in inefficient energy utilization. That is, there is a technical problem in the related art that energy recovery efficiency is low in the adaptive cruise process.

Disclosure of Invention

In the summary of the application, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description section. The summary of the application is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

The vehicle energy recovery method and the related device provided by the application can more efficiently manage energy use, reduce unnecessary energy consumption and maximize energy recovery on the premise of not influencing driving safety, thereby realizing efficient energy recovery in the self-adaptive cruising process.

In a first aspect, the application provides a vehicle energy recovery method, which comprises the steps of obtaining driving state information of a second vehicle and a third vehicle, wherein the second vehicle is a vehicle which is in a first lane and is used as a current following target of the first vehicle, the third vehicle is a vehicle which is in a second lane, the first lane is a lane in which the first vehicle is located, the second lane is a lane adjacent to the first lane, determining the driving intention of the third vehicle based on the driving state information, and updating the following target of the first vehicle and carrying out energy recovery when the driving intention is determined to be a lane change to the first lane.

In a possible implementation, the simulation definition operation further comprises the steps of updating a following target of the first vehicle and recovering energy when the driving intention is determined to change lanes to the first lane, and comprises the steps of determining a first projection vehicle after the third vehicle changes lanes to the second vehicle according to the longitudinal position and the longitudinal speed of the third vehicle when the driving intention is determined to change lanes to the second vehicle, and updating the following target of the first vehicle to the first projection vehicle and recovering energy.

In a possible implementation mode, when the driving intention is determined to be lane changing to the first lane, the following target of the first vehicle is updated and energy recovery is carried out, wherein when the driving intention is determined to be lane changing to the front of the second vehicle, the following target of the first vehicle is updated to the third projection vehicle and energy recovery is carried out according to the longitudinal position and the longitudinal speed of the third vehicle, the second projection vehicle after the lane changing of the third vehicle to the front of the second vehicle is determined, the third projection vehicle with the expected following distance of the second vehicle in the first lane is determined according to the position of the second projection vehicle, and the following target of the first vehicle is updated to the third projection vehicle.

In one possible embodiment, the updating the following target of the first vehicle to the third projection vehicle and recovering energy includes updating the following target of the first vehicle to the third projection vehicle and recovering energy when the acceleration of the third projection vehicle is smaller than the acceleration of the second vehicle.

In one possible implementation, the determining the driving intention of the third vehicle based on the driving state information includes inputting the driving state information into an intention prediction model to obtain an output of the driving intention of the third vehicle, wherein the driving state information includes a longitudinal speed, a lateral speed, a longitudinal acceleration, a lateral acceleration, a lane line distance, and a lane change benefit, and the intention prediction model is a long-short neural memory network model.

In one possible embodiment, the energy recovery includes determining a desired acceleration of the first vehicle during a following process according to an intelligent driver model, calculating a desired torque of the first vehicle based on the desired acceleration, and providing some or all of the desired torque by an energy recovery system when the desired torque is less than zero.

In one possible embodiment, the providing of a portion or all of the desired torque by the energy recovery system when the desired torque is less than zero includes providing a portion or all of the desired torque by the energy recovery system when the battery temperature of the first vehicle is within a preset temperature interval, the battery charge is less than a preset charge, and the desired torque is less than zero.

The application further provides a vehicle energy recovery device, which comprises an information acquisition unit and an energy recovery unit, wherein the information acquisition unit is used for acquiring driving state information of a second vehicle and a third vehicle, the second vehicle is a vehicle which is positioned in a first lane and is used as a current following target of the first vehicle, the third vehicle is a vehicle which is positioned in a second lane, the first lane is a lane in which the first vehicle is positioned, the second lane is a lane adjacent to the first lane, the intention determination unit is used for determining the driving intention of the third vehicle based on the driving state information, and the energy recovery unit is used for updating the following target of the first vehicle and carrying out energy recovery when the driving intention is determined to be changed to the first lane.

In a third aspect, the application also provides an electronic device comprising a memory and a processor for implementing the steps of the vehicle energy recovery method of the first aspect when executing a computer program stored in the memory.

In a fourth aspect, the present application also provides a computer readable storage medium storing a computer program which when executed by a processor implements the steps of the vehicle energy recovery method of the first aspect.

In a fifth aspect, the present application also provides a computer program product, including a computer program or computer executable instructions, which when executed by a processor, implement the vehicle energy recovery method provided by the embodiment of the present application.

In summary, the application enables the first vehicle to establish a comprehensive perception of the current traffic environment by acquiring driving state information of the second vehicle and the third vehicle so as to realize subsequent decision and action, ensures pertinence and effectiveness of an energy recovery strategy, enables the first vehicle to react in advance by determining the driving intention of the third vehicle based on the driving state information instead of taking action when the third vehicle actually starts lane change, can reduce unnecessary braking and acceleration, and maintains or slows down the speed so as to help to save energy sources and energy recovery, adjusts a following target in time after confirming that the third vehicle is about to change lanes, avoids energy loss caused by emergency braking, and starts decelerating before the third vehicle changes lanes, the first vehicle can utilize kinetic energy of the vehicle to convert into electric energy so as to realize energy recovery, and the predictability deceleration helps to maximize energy recovery efficiency because the efficiency of converting the kinetic energy of the vehicle into electric energy is higher in the deceleration process, and in addition, the deceleration and the conventional braking system can reduce the service life of the braking system by decelerating and reducing the service frequency. In summary, the vehicle energy recovery method provided by the application can more efficiently manage energy use, reduce unnecessary energy consumption and maximize energy recovery on the premise of not affecting driving safety, thereby realizing efficient energy recovery in the self-adaptive cruising process.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 is a schematic flow chart of a vehicle energy recovery method according to an embodiment of the present application;

fig. 2 is a schematic view of a vehicle projection after determining a driving intention according to an embodiment of the present application;

FIG. 3 is a schematic view of another vehicle projection after determining a driving intention according to an embodiment of the present application;

fig. 4 is a schematic diagram of a composition structure of a vehicle energy recovery device according to an embodiment of the present application;

fig. 5 is a schematic diagram of a composition structure of an electronic device according to an embodiment of the present application.

Detailed Description

The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, references to the terms "yes" and "having" and any variations thereof in this specification are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements that are expressly listed or inherent to such process, method, article, or apparatus.

The term "module" or "unit" in the present application refers to a computer program or a part of a computer program having a predetermined function and working together with other relevant parts to achieve a predetermined object, and may be implemented in whole or in part by using software, hardware (such as a processing circuit or a memory), or a combination thereof. Also, a processor (or multiple processors or memories) may be used to implement one or more modules or units. Furthermore, each module or unit may be part of an overall module or unit that incorporates the functionality of the module or unit.

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.

Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle energy recovery method according to an embodiment of the present application, where the method is applied to a first vehicle, and specifically may include the following steps 101 to 103:

Step 101, obtaining driving state information of a second vehicle and a third vehicle, wherein the second vehicle is a vehicle which is positioned in a first lane and serves as a current following target of the first vehicle, the third vehicle is a vehicle which is positioned in a second lane, the first vehicle is a lane in which the first vehicle is positioned, and the second vehicle is a lane adjacent to the first vehicle;

The first vehicle is provided with an intelligent system capable of performing adaptive cruising and energy recovery, is positioned on a first lane, and adjusts driving behaviors of the first vehicle according to the dynamics of surrounding vehicles. The second vehicle is a direct preceding vehicle of the first vehicle on the first lane, i.e. the current following target of the first vehicle, and in the adaptive cruise control system, the first vehicle adjusts its own speed according to the speed and position of the second vehicle to maintain a safe following distance. The third vehicle refers to a vehicle located on a second lane adjacent to the first lane, and the driving state information of the third vehicle may be used to predict its driving intention, such as whether a lane change to the first lane is intended. The following target is a vehicle to which the vehicle is used as a reference in an adaptive cruise system (Adaptive Cruise Control, ACC) which is an intelligent driving assistance system capable of automatically adjusting the vehicle speed to maintain a safe distance from the preceding vehicle, and the adaptive cruise system of the first vehicle adjusts its own speed accordingly to maintain a preset following distance when the second vehicle (following target) changes speed or position.

For example, the driving state information of the second and third vehicles may be acquired in real time using on-board sensors (e.g., radar, lidar, cameras, etc.) and/or inter-vehicle communication techniques (e.g., V2V communication).

Through implementation of step 101, driving state information of the second vehicle and the third vehicle is acquired, so that the first vehicle can establish comprehensive perception of the current traffic environment, subsequent decision and action can be realized, and pertinence and effectiveness of the energy recovery strategy are ensured.

Step 102, determining the driving intention of the third vehicle based on the driving state information;

In particular, the driving state information refers to a series of data related to the current driving behavior of the vehicle, which may be obtained from sensors, cameras, radar or other on-board monitoring devices of the vehicle. The driving intention refers to a driving behavior that a driver of the third vehicle intends to perform in a future period of time, and prediction of the driving intention can be achieved by analyzing driving state information of the vehicle by an automatic driving or assisted driving system.

By implementing step 102, determining the driving intent of the third vehicle based on the driving state information, allowing the first vehicle to react ahead of time, rather than taking action when the third vehicle actually begins lane changes, unnecessary braking and acceleration may be reduced, while maintaining or slowing down speed may help to conserve energy and energy recovery.

Step 103, when the driving intention is determined to be lane change to the first lane, updating the following target of the first vehicle and recovering energy;

Specifically, once it is determined that the third vehicle is about to change lanes to the first lane, the following target of the first vehicle may be updated based on the predicted lane change position of the third vehicle (e.g., forward or rearward of the second vehicle) to re-evaluate the relative position and speed between the first vehicle and the new potential following target to determine an optimal following strategy. While updating the following target, it can be assessed whether the current driving conditions are suitable for energy recovery, and if conditions allow (e.g., the first vehicle does not need to accelerate sharply to maintain the distance between vehicles, etc.), some or all of the energy that would otherwise be wasted can be recovered by adjusting the output of the powertrain (e.g., activating the braking energy recovery system, etc.).

Through the implementation of step 103, after confirming that the third vehicle is about to change lanes, the first vehicle can timely adjust the following target to avoid energy loss caused by emergency braking, and start decelerating before the third vehicle changes lanes, the first vehicle can convert kinetic energy of the vehicle into electric energy to realize energy recovery, and the prejudged deceleration helps to maximize energy recovery efficiency because the efficiency of converting the kinetic energy of the vehicle into electric energy is higher in the deceleration process, and in addition, the use frequency of a traditional braking system can be reduced by decelerating in advance and recovering the energy, so that the abrasion of the braking system is reduced, and the service life of the braking system is prolonged.

In summary, the embodiment of the application enables the first vehicle to establish comprehensive perception of the current traffic environment by acquiring driving state information of the second vehicle and the third vehicle so as to realize subsequent decision and action, ensures pertinence and effectiveness of an energy recovery strategy, enables the first vehicle to react in advance by determining the driving intention of the third vehicle based on the driving state information instead of taking action when the third vehicle actually starts lane change, can reduce unnecessary braking and acceleration, and maintains or slows down the speed so as to help to save energy sources and energy recovery, can timely adjust a following target after confirming that the third vehicle is about to change lanes, avoids energy loss caused by emergency braking, and can utilize kinetic energy of the vehicle to be converted into electric energy before the third vehicle changes lanes, so that energy recovery is realized, the pre-determined deceleration helps to maximize energy recovery efficiency because the kinetic energy of the vehicle is converted into electric energy in a high efficiency in the deceleration process, and in addition, the service life of a braking system can be prolonged by decelerating and reducing the service frequency of the conventional braking system. In summary, the vehicle energy recovery method provided by the embodiment of the application can more efficiently manage energy use, reduce unnecessary energy consumption and maximize energy recovery on the premise of not affecting driving safety, thereby realizing efficient energy recovery in the self-adaptive cruising process.

In some embodiments, the step 103 may include determining a first projected vehicle after the third vehicle lane change to the rear of the second vehicle based on the longitudinal position and the longitudinal speed of the third vehicle when it is determined that the driving intention is lane change to the rear of the second vehicle, and updating the following target of the first vehicle to the first projected vehicle and performing energy recovery.

Specifically, the longitudinal position refers to a position of the third vehicle in the vehicle traveling direction within the lane, and the longitudinal position may be represented by a relative distance of the vehicle from a certain fixed reference point (such as a road start point or a certain mark). Longitudinal speed refers to the speed of the third vehicle in the direction of travel of the vehicle, and is a vector that includes not only the magnitude of the speed (i.e., the velocity) but also the direction of the speed (typically the direction in which the vehicle is traveling). The first projection vehicle is a virtual concept, and is based on the current longitudinal position and longitudinal speed of the third vehicle, the predicted expected position and state of the third vehicle behind the second vehicle after the lane change is completed, and the prediction is based on a mathematical model and an algorithm, and the dynamic behavior of the third vehicle is mapped to the result behind the second vehicle. In the specific implementation process, when the driving intention of the third vehicle is determined to be lane change to the rear of the second vehicle, the position of the third vehicle after lane change is predicted according to the current longitudinal position and the longitudinal speed of the third vehicle and road conditions (such as lane width, curvature and the like), the position is the position of a first projection vehicle and represents the expected position of the third vehicle on a first lane after lane change, once the position of the first projection vehicle is determined, a following target of the first vehicle can be updated from the original second vehicle to the first projection vehicle, the first vehicle can start to adjust the driving speed and the distance of the first vehicle so as to keep a safe following distance between the first projection vehicle and the following target can be updated, and an energy recovery mechanism can be started to recover part or all of braking energy by adjusting the output of a power system.

For example, as shown in fig. 2, automobile i is a first vehicle, automobile k is a third vehicle, automobile j is a second vehicle, automobile k' is a first projected vehicle, and automobile l is another vehicle.

By implementing the embodiment, the lane changing behavior of the third vehicle is predicted, the first vehicle can react in advance, and emergency braking of the first vehicle due to a suddenly appearing new front vehicle can be avoided, so that energy waste is reduced, and energy recovery efficiency is improved.

In some embodiments, the step 103 may include determining a second projected vehicle after the third vehicle is lane-changed to the front of the second vehicle based on the longitudinal position and the longitudinal speed of the third vehicle when it is determined that the driving intention is lane-changed to the front of the second vehicle, determining a third projected vehicle with a desired following distance in the first vehicle based on the position of the second projected vehicle, and updating the following target of the first vehicle to the third projected vehicle and performing energy recovery.

Specifically, the second projected vehicle is a predicted position and state of the third vehicle in front of the second vehicle on the first lane after the lane change is completed based on the current longitudinal position and longitudinal speed of the third vehicle, and the second projected vehicle is a virtual reference vehicle which can help the adaptive cruise control system of the first vehicle understand the relative position of the third vehicle after the lane change. The desired following distance refers to the reasonable distance that the vehicle should maintain from the lead vehicle during travel in order to maintain safe driving and response time. The third projection vehicle is a virtual vehicle calculated based on the expected following distance after the position of the second projection vehicle is determined and represents the virtual position for keeping the expected following distance in front of the second vehicle in the first lane, and the third projection vehicle is a new following target of the first vehicle in the adaptive cruise control and helps the first vehicle maintain a safe following distance after the third vehicle changes lanes to the front.

For example, as shown in fig. 3, automobile i is a first vehicle, automobile k is a third vehicle, automobile j is a second vehicle, automobile k 'is a second projected vehicle, automobile j' is a third projected vehicle, and automobile l is another vehicle.

By implementing the above embodiments, the first projection vehicle is created, and the first vehicle can more accurately simulate and predict the travel track of the third vehicle after lane change, thereby more effectively managing vehicle speed and energy recovery.

In some embodiments, updating the following target of the first vehicle to the third projected vehicle and performing energy recovery may include updating the following target of the first vehicle to the third projected vehicle and performing energy recovery when the acceleration of the third projected vehicle is less than the acceleration of the second vehicle.

In particular, the acceleration of the third projected vehicle is the acceleration expected by the virtual third projected vehicle on the first lane, which is based on the prediction of the behavior of the third vehicle after lane change and the simulation of how it will travel on the first lane, since the third projected vehicle is a virtual vehicle predicted based on an algorithm, the acceleration is also calculated to represent the possible acceleration or deceleration behavior of the third vehicle after lane change. The acceleration of the second vehicle refers to the acceleration of the second vehicle on the first lane, which is actually existed, and the acceleration can be measured in real time by an on-board sensor and reflects the current actual acceleration or deceleration state of the second vehicle.

The method includes comparing an expected acceleration of the third projected vehicle with an actual acceleration of the second vehicle, if the acceleration of the third projected vehicle is less than the acceleration of the second vehicle, meaning that the speed of the third vehicle increases at a slower rate than the second vehicle after the third vehicle changes lanes to the first lane, and thus the first vehicle needs to adjust its travel strategy to accommodate the slower acceleration of the third vehicle. That is, if the acceleration of the third projection vehicle is detected to be smaller than the acceleration of the second vehicle, the adaptive cruise control system of the first vehicle updates the following target from the second vehicle to the third projection vehicle, so that the first vehicle can adjust the speed of the first vehicle according to the acceleration of the third projection vehicle, unnecessary acceleration is avoided, energy consumption is reduced, and an energy recovery mechanism is started to recover and reuse energy.

By implementing the above embodiment, the acceleration of the third projection vehicle is compared with the acceleration of the second vehicle, and when the third projection vehicle decelerates faster, the following target is updated and the energy recovery is started, and this condition judgment further improves the accuracy and effectiveness of the energy recovery, and avoids unnecessary energy waste.

In some embodiments, the foregoing step 102 may include inputting driving state information to an intention prediction model to obtain an output of a driving intention of the third vehicle, wherein the driving state information includes a longitudinal speed, a lateral speed, a longitudinal acceleration, a lateral acceleration, a lane line distance, and a lane change benefit, and the intention prediction model is a long-short neural memory network model.

Specifically, the intention prediction model is a mathematical model based on a machine learning algorithm, which can analyze and process input data to predict potential behaviors or intention of a driver or a vehicle, and the Long Short-Term Memory (LSTM) model is a special cyclic neural network (RNN) which can learn Long-Term dependency of sequence data, and is very suitable for processing time-series data, such as behaviors of a vehicle. The driving state information refers to various data related to the current driving state of the vehicle, which is used as input to train or run an intention prediction model, and may include a longitudinal speed, a speed of the vehicle in the driving direction, a lateral speed, a lateral movement speed of the vehicle relative to the driving direction, which is generally non-zero when the vehicle performs a lane change operation, a longitudinal acceleration, an acceleration of the vehicle in the driving direction, reflecting a rate of change of the speed of the vehicle, a lateral acceleration of the vehicle relative to the driving direction, reflecting a dynamic change of the vehicle in the lateral direction, a lane line distance, a distance between the vehicle and a lane line, which may help to determine whether the vehicle remains in a lane or has a tendency to change lanes, a lane change benefit, an evaluation of a potential benefit of a lane change behavior of the vehicle, and may include a comprehensive consideration of factors such as a vehicle speed, a traffic flow, a lane condition, and the like.

Through implementation of the embodiment, the long and short neural memory network model (LSTM) is adopted as the intention prediction model, so that complex driving state information can be processed and analyzed more effectively, the accuracy of third vehicle driving intention prediction is improved, and a reliable basis is provided for subsequent decision and energy recovery.

In some embodiments, the foregoing energy recovery process may include determining a desired acceleration of the first vehicle during the following according to the intelligent driver model, calculating a desired torque of the first vehicle based on the desired acceleration, and providing some or all of the desired torque by the energy recovery system when the desired torque is less than zero.

Specifically, an intelligent driver Model is a mathematical Model simulating human driver behavior and is capable of simulating a driver's decision process according to current traffic conditions and vehicle states, and generally comprises simulation of driver perception, judgment and operation behaviors in order to enable a vehicle to autonomously make driving decisions similar to a human driver, and in an automatic driving and assisted driving system, an intelligent driver Model (INTELLIGENT DRIVER Model, IDM) is used for controlling actions such as acceleration, deceleration and steering of the vehicle. The expected acceleration is calculated according to an intelligent driver model, the acceleration which the vehicle should reach in the current running state is the result of comprehensive consideration based on the following strategy, traffic rules, road conditions, safe distance and other factors of the vehicle, and the expected acceleration is an important reference for adjusting the speed of a vehicle power system. The desired torque is calculated according to the desired acceleration, and the torque is the torque for driving the vehicle to rotate and determines the acceleration/deceleration performance of the vehicle. The desired torque, which is typically in newton meters (Nm), is the basis for the vehicle power control unit (e.g., motor or engine) to adjust the output power, and may be positive (acceleration) or negative (deceleration). The energy recovery system is capable of recovering kinetic energy during deceleration or braking of the vehicle and converting it into electrical energy for storage, typically in the battery of the vehicle, and comprises mainly a regenerative braking control unit, an electric machine (functioning as a generator), a battery and other associated electronic control means.

The embodiment of the application adopts an intelligent driver model to calculate the speed change condition in the following process, and the formula is as follows:

where v _i is the current speed of the first vehicle, The acceleration of the first vehicle, a is the maximum acceleration, v ₀ is the expected speed of the first vehicle, δ is the acceleration index, Δv _ij is the difference between the speeds of the first vehicle and the preceding vehicle, si _j is the distance between the first vehicle and the preceding vehicle, s ^*(v_i,Δv_ij) is the desired following distance of the first vehicle, s ₀ is the minimum inter-vehicle distance, T is the safe time interval, and b is the comfortable deceleration.

The inputs of the IDM model are the speed v _i of the own vehicle, the speed difference Δv _ij from the preceding vehicle, and the distance s _ij from the preceding vehicle, so the change in acceleration of the current vehicle i with respect to the preceding vehicle j can be written as follows.

After calculating the acceleration in heel, the moment distribution needs to be calculated. In the running process of the vehicle, the vehicle mainly receives four resistances, namely rolling resistance, air resistance, gradient resistance and acceleration resistance, and the stress is calculated as follows.

Wherein T _tq is engine torque, i _g is transmission gear ratio, i ₀ is main reducer gear ratio, eta _T is drive train mechanical efficiency, r is wheel radius, m is automobile mass, g is gravitational acceleration, f is rolling resistance coefficient, theta is road surface and horizontal plane included angle, ρ is air density, C is air resistance coefficient, A is windward area, v is current vehicle speed, delta is automobile rotating mass conversion coefficient, and a is automobile acceleration.

In the running process of the first vehicle, the storage battery converts chemical energy into electric energy, the electric energy is transmitted to the motor to generate rotation moment, and finally the rotation moment is converted into running power. When the speed is required to be reduced, different strategies are adopted according to different conditions of the request moment.

① When the required deceleration is small, the sum of the friction resistance, the air resistance and the gradient resistance exceeds the absolute value of the acceleration resistance, and the storage battery is still required to provide a part of power, and no energy recovery process exists at the moment, namely the process is shown as follows.

Wherein T _max is the maximum torque of the motor.

② When the magnitude of the required deceleration is moderate, the braking force can be completely provided by the energy recovery torque, so that the energy recovery is carried out, and the cruising is promoted, namely as shown below.

Where T _er is the maximum energy recovery torque (negative).

If the battery output power is constant, the motor output torque and power have the following relationship.

Wherein T is motor torque, N is the rated rotation speed of the motor, r/min, P is power, and kW is the unit.

Defining the maximum recoverable power as P _er (negative), the maximum energy recovery torque can be calculated as T _er, which is the following equation.

The energy recovery torque at this time is calculated as follows.

③ When the demand deceleration is further raised, it has been difficult to meet the demand by providing braking resistance solely by the recuperation torque, requiring the braking system to provide additional braking force, which is calculated as follows.

Wherein F mu is a braking force and T _μ is a braking torque.

At this time, the first vehicle is braked together by the energy recovery torque and the braking torque, as calculated below.

Wherein T _brk is the energy recovery torque.

Through implementation of the embodiment, the expected acceleration and the expected torque are determined by combining the intelligent driver model, so that the first vehicle can be more intelligent in the following process, the power demand is automatically adjusted according to the driving condition, conditions are created for energy recovery, and further, part or all of the torque is provided through the energy recovery system, so that braking energy is effectively recovered, and the energy utilization efficiency is improved.

In some embodiments, providing some or all of the desired torque by the energy recovery system when the desired torque is less than zero may include providing some or all of the desired torque by the energy recovery system when the battery temperature of the first vehicle is within a preset temperature interval, the battery charge is less than a preset charge, and the desired torque is less than zero.

Specifically, the preset temperature range refers to a temperature range in which the battery of the first vehicle should be kept during operation to ensure the optimal performance and life of the battery, if the battery temperature is too high or too low, adverse effects may be caused on the performance and life of the battery, so that the energy recovery system can check whether the temperature of the battery is within the preset temperature range during operation, and if not, energy recovery is not performed to avoid damage to the battery. The preset electric quantity is the electric quantity level which the battery of the first vehicle should keep when running, and the energy recovery system can check whether the electric quantity of the battery is lower than the preset electric quantity when operating, and if the electric quantity is lower than the preset electric quantity, the energy recovery can be carried out.

Through implementation of the embodiment, in the specific implementation of energy recovery, the working state and the electric quantity condition of the battery are considered, unnecessary energy recovery when the temperature of the battery is too high or the electric quantity is sufficient is avoided, the health of the battery is protected, the service life of the battery is prolonged, and meanwhile, the safety and the high efficiency of energy recovery are ensured.

Furthermore, as an implementation of the foregoing method embodiment, the present application further provides a vehicle energy recovery device, configured to implement the foregoing method embodiment. The embodiment of the device corresponds to the embodiment of the method, and for convenience of reading, the embodiment of the vehicle energy recovery device does not describe the details of the embodiment of the method one by one, but it should be clear that the device in the embodiment of the application can correspondingly implement all the details of the embodiment of the method. As shown in fig. 4, the vehicle energy recovery device 20 includes an information acquisition unit 201, an intention determination unit 202, and an energy recovery unit 203, wherein the information acquisition unit 201 is configured to acquire driving state information of a second vehicle and a third vehicle, wherein the second vehicle is a vehicle that is in a first lane and is a current following target of the first vehicle, the third vehicle is a vehicle that is in a second lane, the first lane is a lane in which the first vehicle is located, the second lane is a lane adjacent to the first lane, the intention determination unit 202 is configured to determine a driving intention of the third vehicle based on the driving state information, and the energy recovery unit 203 is configured to update the following target of the first vehicle and perform energy recovery when it is determined that the driving intention is to change lanes to the first lane.

In some embodiments, the energy recovery unit 203 is further configured to, when determining that the driving intention is to change lane to the rear of the second vehicle, determine a first projection vehicle after the lane change of the third vehicle to the rear of the second vehicle according to the longitudinal position and the longitudinal speed of the third vehicle, update the following target of the first vehicle to the first projection vehicle and perform energy recovery.

In some embodiments, the energy recovery unit 203 is further configured to, when determining that the driving intention is to change lane to the front of the second vehicle, determine a second projected vehicle after the third vehicle changes lane to the front of the second vehicle according to the longitudinal position and the longitudinal speed of the third vehicle, determine a third projected vehicle with a desired following distance in the first vehicle according to the position of the second projected vehicle, and update the following target of the first vehicle to the third projected vehicle and perform energy recovery.

In some embodiments, updating the following target of the first vehicle to the third projected vehicle and performing energy recovery may include updating the following target of the first vehicle to the third projected vehicle and performing energy recovery when the acceleration of the third projected vehicle is less than the acceleration of the second vehicle.

In some embodiments, the intention determination unit 202 is further configured to input driving state information to an intention prediction model to obtain an output of a driving intention of the third vehicle, where the driving state information includes a longitudinal speed, a lateral speed, a longitudinal acceleration, a lateral acceleration, a lane line distance, and a lane change benefit, and the intention prediction model is a long-short neural memory network model.

In some embodiments, the energy recovery unit 203 is further configured to determine a desired acceleration of the first vehicle during the following according to the intelligent driver model, calculate a desired torque of the first vehicle based on the desired acceleration, and provide a portion or all of the desired torque through the energy recovery system when the desired torque is less than zero.

In some embodiments, providing some or all of the desired torque by the energy recovery system when the desired torque is less than zero may include providing some or all of the desired torque by the energy recovery system when the battery temperature of the first vehicle is within a preset temperature interval, the battery charge is less than a preset charge, and the desired torque is less than zero.

The present application also provides a computer readable storage medium having stored therein computer executable instructions or a computer program which when executed by a processor will cause the processor to perform any of the steps of the vehicle energy recovery method provided by the present application.

In some embodiments, the computer readable storage medium may be a RAM, a Read-Only Memory (ROM), a flash Memory, a magnetic surface Memory, a compact disk, or a CD-ROM, or may be any device including one or any combination of the above.

In some embodiments, computer-executable instructions may be written in any form of programming language, including compiled or interpreted languages, or declarative or procedural languages, in the form of programs, software modules, scripts, or code, and they may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.

In some embodiments, the computer-executable instructions may, but need not, correspond to files in a file system, may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a hypertext markup language (Hyper Text Markup Language, HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).

In some embodiments, the computer-executable instructions may be deployed to be executed on one electronic device or on multiple electronic devices located at one site or on multiple electronic devices distributed across multiple sites and interconnected by a communication network.

As shown in fig. 5, the present application further provides an electronic device 30, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and capable of running on the processor, wherein the processor 320 implements any step of the vehicle energy recovery method when executing the computer program 311.

The present application also provides a computer program product comprising a computer program or computer executable instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer program or computer-executable instructions from the computer-readable storage medium, and the processor executes the computer program or computer-executable instructions to cause the electronic device to perform any of the steps of the vehicle energy recovery method of the present application described above.

The foregoing embodiments are merely for illustrating the technical solution of the present application, but not for limiting the same, and although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that modifications may be made to the technical solution described in the foregoing embodiments or equivalents may be substituted for parts of the technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solution of the embodiments of the present application in essence.

Claims (10)

1. A vehicle energy recovery method, applied to a first vehicle, comprising: Acquiring driving state information of a second vehicle and a third vehicle, wherein the second vehicle is a vehicle in a first lane and is a current following target of the first vehicle, the third vehicle is a vehicle in a second lane, the first lane is a lane in which the first vehicle is located, and the second lane is a lane adjacent to the first lane; determining a driving intention of the third vehicle based on the driving state information; When it is determined that the driving intention is to change lanes to the first lane, the following target of the first vehicle is updated and energy recovery is performed. 2. The vehicle energy recovery method according to claim 1, characterized in that when it is determined that the driving intention is to change lanes to the first lane, updating the following target of the first vehicle and performing energy recovery comprises: When it is determined that the driving intention is to change lanes to the rear of the second vehicle, determining a first projected vehicle after the third vehicle changes lanes to the rear of the second vehicle according to the longitudinal position and longitudinal speed of the third vehicle; The following target of the first vehicle is updated to the first projection vehicle and energy recovery is performed. 3. The vehicle energy recovery method according to claim 1, characterized in that when it is determined that the driving intention is to change lanes to the first lane, updating the following target of the first vehicle and performing energy recovery comprises: When it is determined that the driving intention is to change lanes to the front of the second vehicle, determining a second projected vehicle after the third vehicle changes lanes to the front of the second vehicle according to the longitudinal position and longitudinal speed of the third vehicle; determining, based on the position of the second projected vehicle, a third projected vehicle with a desired following distance between the second vehicle and the first lane; The following target of the first vehicle is updated to the third projection vehicle and energy recovery is performed. 4. The vehicle energy recovery method according to claim 3, characterized in that the updating of the following target of the first vehicle to the third projection vehicle and performing energy recovery comprises: When the acceleration of the third projection vehicle is less than the acceleration of the second vehicle, the following target of the first vehicle is updated to the third projection vehicle and energy recovery is performed. 5. The vehicle energy recovery method according to claim 1, characterized in that the determining the driving intention of the third vehicle based on the driving state information comprises: The driving state information is input into the intention prediction model to obtain the output of the driving intention of the third vehicle, wherein the driving state information includes longitudinal speed, lateral speed, longitudinal acceleration, lateral acceleration, lane line distance and lane changing benefit, and the intention prediction model is a long-short neural memory network model. 6. The vehicle energy recovery method according to any one of claims 1 to 5, characterized in that the energy recovery comprises: Determining, according to the intelligent driver model, an expected acceleration of the first vehicle during the car-following process; calculating a desired torque of the first vehicle based on the desired acceleration; When the desired torque is less than zero, part or all of the desired torque is provided by an energy recovery system. 7. The vehicle energy recovery method according to claim 6, characterized in that when the expected torque is less than zero, providing part or all of the expected torque through an energy recovery system comprises: When the battery temperature of the first vehicle is within a preset temperature range, the battery power is less than a preset power, and the expected torque is less than zero, part or all of the expected torque is provided by the energy recovery system. 8. A vehicle energy recovery device, comprising: an information acquisition unit, configured to acquire driving state information of a second vehicle and a third vehicle, wherein the second vehicle is a vehicle in a first lane and is a current following target of the first vehicle, the third vehicle is a vehicle in a second lane, the first lane is a lane in which the first vehicle is located, and the second lane is a lane adjacent to the first lane; an intention determination unit, configured to determine a driving intention of the third vehicle based on the driving state information; An energy recovery unit is used to update the following target of the first vehicle and perform energy recovery when it is determined that the driving intention is to change lanes to the first lane. 9. An electronic device, comprising: a memory and a processor, wherein the processor is used to implement the steps of the vehicle energy recovery method according to any one of claims 1 to 7 when executing a computer program stored in the memory. 10. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the vehicle energy recovery method according to any one of claims 1 to 7 are implemented.