A vehicle drive system, method, and storage medium

Abstract

The application discloses a kind of vehicle driving system, method and storage medium.It includes: constraint and parameter adjustment module, for obtaining constraint condition and parameter according to vehicle speed, and constraint condition and parameter are sent to optimization calculation module;Preprocessing module is used to obtain vehicle acceleration according to state information, and state information and vehicle acceleration are sent to optimization calculation module;Optimization calculation module is used to generate initial acceleration control instruction according to received constraint condition and parameter, state information and vehicle acceleration.By constraint and parameter adjustment module, the constraint condition and parameter corresponding to vehicle speed are obtained, and the vehicle acceleration is obtained according to the state information by the preprocessing module, and finally the initial acceleration control instruction is calculated by the optimization calculation module by synthesizing the constraint condition and parameter, state information and vehicle acceleration.The calculation accuracy can be further improved by not using hard constraint method for calculation, the fuel efficiency of vehicle is improved, the fuel consumption is reduced, and the reliability is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle energy saving, and in particular to a vehicle driving system, method and storage medium. BACKGROUND

[0002] With green energy saving becoming a social theme, improving the fuel efficiency of a vehicle and reducing the fuel consumption per 100 kilometers have become an important research direction, and automatic driving technology has great potential in improving fuel efficiency. It is necessary to effectively and quickly improve the fuel efficiency of a vehicle and reduce the fuel consumption per 100 kilometers.

[0003] In the prior art, the fuel efficiency of a vehicle is improved by collecting the front vehicle distance and relative speed signals, collecting the road information of a future road section through high-precision map information, planning the speed of a target intelligent cruise driving vehicle, and controlling the driving torque of the vehicle.

[0004] In the prior art, the position and speed are used as state quantities, and the torque and speed are hard-constrained, which has low accuracy and poor reliability, and thus cannot truly improve the fuel efficiency of a vehicle. SUMMARY

[0005] The present application provides a vehicle driving system, method and storage medium to reduce the fuel consumption of a vehicle and improve the fuel efficiency.

[0006] According to an aspect of the present application, a vehicle driving system is provided, which comprises: an optimization calculation module, a constraint and parameter adjustment module and a preprocessing module connected to the optimization calculation module;

[0007] The constraint and parameter adjustment module is configured to obtain constraint conditions and parameters according to the vehicle speed, and send the constraint conditions and parameters to the optimization calculation module.

[0008] The preprocessing module is configured to obtain the vehicle acceleration according to the state information, and send the state information and the vehicle acceleration to the optimization calculation module, wherein the state information comprises the vehicle speed, the engine speed and the transmission ratio.

[0009] The optimization calculation module is configured to generate an initial acceleration control instruction according to the received constraint conditions and parameters, state information and vehicle acceleration, and drive the vehicle through the initial acceleration control instruction.

[0010] Optionally, the system further comprises a collection module connected to the constraint and parameter adjustment module and the preprocessing module; the collection module is configured to collect the state information through a bus, send the state information to the preprocessing module, and send the vehicle speed in the state information to the constraint and parameter adjustment module.

[0011] Optionally, the constraint and parameter adjustment module is configured to obtain the constraint condition according to the received vehicle speed and a preconfigured state constraint calibration table, wherein the state constraint calibration table comprises a corresponding relationship between vehicle speed and constraint range; obtain the parameter according to the received vehicle speed and a preconfigured control parameter calibration table, wherein the control parameter calibration table comprises a corresponding relationship between vehicle speed and parameter; and send the constraint condition and the parameter to the optimization calculation module.

[0012] Optionally, the preprocessing module is configured to receive state information, generate vehicle acceleration according to the state information and a preconfigured acceleration algorithm, and send the state information and the vehicle acceleration to the optimization calculation module, wherein the acceleration algorithm comprises a corresponding relationship between state information and vehicle acceleration.

[0013] Optionally, the optimization calculation module is configured to perform optimization calculation on the received state information and vehicle acceleration according to a vehicle longitudinal dynamics model to obtain an acceleration control instruction, and generate an initial acceleration control instruction according to the acceleration control instruction and the constraint condition and the parameter.

[0014] Optionally, the system further comprises a post-processing module connected to the optimization calculation module; the post-processing module is configured to receive the initial acceleration control instruction, and perform amplitude limiting and rate limiting on the initial acceleration control instruction to obtain a final acceleration control instruction.

[0015] Optionally, the post-processing module comprises an amplitude limiting and rate limiting unit and a processing unit; the optimization calculation module is further configured to send the vehicle speed in the state information to the amplitude limiting and rate limiting unit; the amplitude limiting and rate limiting unit is configured to receive the vehicle speed, obtain an amplitude range based on a maximum and minimum amplitude calibration table according to the vehicle speed, and obtain a rate range according to the vehicle speed and a speed and rate calibration table, and send the amplitude range and the rate range to the processing unit; and the processing unit is configured to receive the amplitude range and the rate range, and perform amplitude limiting and rate limiting on the initial acceleration control instruction according to the amplitude range and the rate range to obtain the final acceleration control instruction.

[0016] According to another aspect of the present application, a vehicle driving method is provided, the method comprising:

[0017] obtaining the constraint condition and the parameter according to the vehicle speed by the constraint and parameter adjustment module;

[0018] obtaining the vehicle acceleration according to the state information by the preprocessing module, and sending the state information and the vehicle acceleration to the optimization calculation module, wherein the state information comprises vehicle speed, engine speed and transmission;

[0019] The optimization calculation module receives the constraint conditions and parameters, the state information and the vehicle acceleration, and generates an initial acceleration control instruction according to the constraint conditions and parameters, the state information and the vehicle acceleration.

[0020] According to another aspect of the present application, a vehicle is provided, characterized in that the vehicle comprises a vehicle driving system comprising an optimization calculation module, a constraint and parameter adjustment module and a preprocessing module, and the vehicle driving system is configured to implement the vehicle driving method according to the embodiments of the present application.

[0021] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for causing a processor to implement the vehicle driving method according to any of the embodiments of the present application when executed.

[0022] The technical solution of the embodiments of the present application obtains the constraint conditions and parameters corresponding to the vehicle speed through the constraint and parameter adjustment module, obtains the vehicle acceleration according to the state information through the preprocessing module, and finally calculates the initial acceleration control instruction by comprehensively considering the constraint conditions and parameters, the state information and the vehicle acceleration through the optimization calculation module. The calculation accuracy can be further improved by not using the hard constraint method for calculation, the fuel efficiency of the vehicle is improved, the fuel consumption is reduced, and the reliability is improved.

[0023] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Figure 1 is a structural schematic diagram of a vehicle driving system according to the first embodiment of the present application;

[0026] Figure 2 is a structural schematic diagram of another vehicle driving system according to the first embodiment of the present application;

[0027] Figure 3 is a structural schematic diagram of another vehicle driving system according to the second embodiment of the present application;

[0028] Figure 4is a flow chart of a vehicle driving method according to an embodiment of the present application;

[0029] Figure 5 is a structural schematic diagram of a vehicle implementing a vehicle driving method according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment one

[0033] Figure 1 A structural schematic diagram of a vehicle driving system according to embodiment one of the present application is provided, the system comprising: an optimization calculation module 110, a constraint and parameter adjustment module 120 and a preprocessing module 130 connected to the optimization calculation module 110;

[0034] The optimization calculation module 110 refers to a module that performs optimization calculation on the relevant information of the current vehicle and drives the vehicle through output control; the constraint and parameter adjustment module 120 refers to a module that generates constraint conditions and parameters according to vehicle speed; the preprocessing module 130 refers to a module that generates vehicle acceleration through preprocessing calculation according to the state information of the vehicle.

[0035] Optionally, the constraint and parameter adjustment module 120 is configured to obtain the constraint condition and the parameter according to the vehicle speed, and send the constraint condition and the parameter to the optimization calculation module 110; the preprocessing module 130 is configured to obtain the vehicle acceleration according to the state information, and send the state information and the vehicle acceleration to the optimization calculation module 110, wherein the state information includes the vehicle speed, the engine speed and the transmission ratio; the optimization calculation module 110 is configured to generate the initial acceleration control instruction according to the received constraint condition and parameter, state information and vehicle acceleration, so as to drive the vehicle through the initial acceleration control instruction.

[0036] Specifically, the constraint and parameter adjustment module 120 can obtain the constraint condition and the parameter according to the vehicle speed, the constraint condition refers to the vehicle speed constraint range and the acceleration constraint range, the vehicle speed constraint range refers to the feasible range of the vehicle speed, the acceleration constraint range refers to the feasible range of the acceleration, the vehicle speed refers to the current driving speed of the vehicle, and the parameter refers to the control parameter, which refers to the weight of the composition element of the objective function. The constraint and parameter adjustment module 120 will send the constraint range and the control parameter to the optimization calculation module 110. The preprocessing module 130 will calculate the vehicle acceleration according to the vehicle speed, the engine speed and the transmission ratio, wherein the engine speed refers to the number of revolutions per minute of the engine crankshaft, and the transmission ratio refers to the ratio of the input shaft and the output shaft engine speed of the transmission in the corresponding gear, for example, when the vehicle is in gear 1, 4:1 is the input shaft, that is, the engine rotates 4 times, and the output shaft, that is, the transmission shaft rotates 1 time. After the preprocessing module 130 calculates the vehicle acceleration, the preprocessing module 130 will send the vehicle acceleration and the state information to the optimization calculation module 110. The optimization calculation module 110 can generate the initial acceleration control instruction according to the received constraint condition and parameter, state information and vehicle acceleration, and drive the vehicle by using the initial acceleration control instruction, so as to improve the fuel efficiency, save fuel and reduce emissions.

[0037] Figure 2 A structural diagram of a vehicle driving system is provided for the first embodiment of the application, and the system further comprises a collection module 140 connected with the constraint and parameter adjustment module 120 and the preprocessing module 130.

[0038] Optionally, the collection module 140 is configured to collect the state information through the bus, send the state information to the preprocessing module 130, and send the vehicle speed in the state information to the constraint and parameter adjustment module 120.

[0039] Specifically, the system further comprises a collection module 140 for collecting current vehicle state information, since the bus is connected with various sensors of the vehicle, the current vehicle speed, engine speed and transmission ratio can be collected in real time through the bus, the collection module 140 will send the vehicle speed, engine speed and transmission ratio to the preprocessing module 130 to calculate the vehicle acceleration, and the collection module 140 will send the vehicle speed to the constraint and parameter adjustment module 120 to generate constraints and parameters.

[0040] Optionally, the constraint and parameter adjustment module 120 is configured to obtain the constraints according to the received vehicle speed and a pre-configured state constraint calibration table, wherein the state constraint calibration table comprises a corresponding relationship between the vehicle speed and the constraints; obtain the parameters according to the received vehicle speed and a pre-configured control parameter calibration table, wherein the control parameter calibration table comprises a corresponding relationship between the vehicle speed and the parameters; and send the constraints and the parameters to the optimization calculation module 110.

[0041] Specifically, the constraint and parameter adjustment module 120 has a pre-configured state constraint calibration table and a control parameter calibration table by a user, wherein the user refers to a developer or a staff of the system, since the state constraint calibration table comprises a corresponding relationship between the vehicle speed and the constraint range, the vehicle speed can be input into the constraint and parameter adjustment module 120 to determine the vehicle speed constraint range and the acceleration constraint range according to the vehicle speed, for example, when the vehicle speed is 20 km / h, the speed constraint range can be determined as 10-50 km / h, and the acceleration constraint range can be determined as -10 m / s 2 2 to +10 m / s, wherein the minus sign represents deceleration, and the plus sign represents acceleration. Similarly, since the control parameter calibration table comprises a corresponding relationship between the vehicle speed and the parameters, the vehicle speed can be input into the constraint and parameter adjustment module 120 to determine the parameters according to the vehicle speed, wherein the parameters refer to control parameters, and the control parameters are used for the weight of the elements of the objective function. Further, the constraint and parameter adjustment module 120 will send the determined constraint range and control parameters to the optimization calculation module 110.

[0042] Optionally, the preprocessing module 130 is configured to receive the state information, and generate the vehicle acceleration according to the state information and a pre-configured acceleration algorithm, and send the state information and the vehicle acceleration to the optimization calculation module 110, wherein the acceleration algorithm comprises a corresponding relationship between the state information and the vehicle acceleration.

[0043] Specifically, the preprocessing module 130 has a pre-configured acceleration algorithm by a user, since the acceleration algorithm comprises a corresponding relationship between the state information and the vehicle acceleration, the vehicle acceleration can be directly calculated after the state information is transmitted to the preprocessing module 130, and the preprocessing module 130 will send the calculated vehicle acceleration and the state information to the optimization calculation module 110. ​

[0044] Optionally, the optimization calculation module 110 is configured to perform optimization calculation on the received state information and vehicle acceleration according to a vehicle longitudinal dynamics model to obtain an acceleration control instruction, and generate an initial acceleration control instruction according to the acceleration control instruction and constraint conditions and parameters.

[0045] In the optimization calculation module, the weighted square sum of the speed tracking error, the acceleration control input, the acceleration control input increment, the difference between the engine torque and the optimal fuel-saving engine torque, and the difference between the engine speed and the optimal fuel-saving engine speed is taken as the target function, the state quantity with the vehicle speed and the vehicle acceleration as elements, and the acceleration control input as the constraint condition to generate the initial acceleration control instruction.

[0046] Specifically, the optimization calculation module 110 includes a vehicle longitudinal dynamics model, which is expressed by the following formula (1):

[0047]

[0048] In the formula (1), k represents the time, v k represents the vehicle speed at time k, v k+1 represents the vehicle speed at time k+1, a k represents the vehicle acceleration at time k, a k+1 represents the vehicle acceleration at time k+1, and u a represents the acceleration control instruction. A represents the state matrix of the longitudinal dynamics, and B represents the control matrix of the longitudinal dynamics. The vehicle dynamics model includes the relationship between the vehicle speed and the vehicle acceleration at time k+1 and the vehicle speed and the vehicle acceleration at time k as well as the acceleration control instruction. After the user sets the target vehicle speed, the target vehicle speed can be substituted into the target function to calculate the initial acceleration control instruction. The target function is expressed by the following formula (2):

[0049]

[0050] In the formula (2), k represents the time, v k represents the vehicle speed at time k, v ref represents the target vehicle speed, q1 represents the weight of the speed error term, u ak represents the acceleration control instruction at time k, u ak-1 represents the acceleration control instruction at time k-1, q2 represents the weight of the control input term, q3 represents the weight of the control input increment, a k represents the vehicle acceleration at time k, r wheel represents the wheel radius, m represents the total vehicle weight, R gearrate represents the real-time gear ratio, R final represents the main reduction ratio, T best represents the optimal fuel-saving engine torque, q4 represents the weight of the torque difference, and n bestFor the best fuel saving engine engine speed, q5 is the weight of the engine speed difference. By substituting the constraint range and control parameters into the objective function: And at the same time input acceleration control instruction limit condition: [u min ]<<[u a ]≤[u max ], that is, the initial acceleration control instruction can be calculated, and the vehicle is driven by the initial acceleration control instruction. Since the engine torque output and the speed output are soft constrained, the fuel efficiency of the vehicle is improved, and the fuel consumption is reduced. At the same time, the calculation success rate is further improved by using the soft constraint calculation method, and the reliability is improved.

[0051] The technical scheme of the embodiment of the application obtains the constraint condition and the parameter corresponding to the vehicle speed through the constraint and parameter adjustment module, obtains the vehicle acceleration according to the state information through the preprocessing module, and finally calculates the initial acceleration control instruction by comprehensively considering the constraint condition and the parameter, the state information and the vehicle acceleration through the optimization calculation module. The calculation accuracy is further improved by not using the hard constraint calculation method, the fuel efficiency of the vehicle is improved, the fuel consumption is reduced, and the reliability is improved.

[0052] Embodiment two

[0053] Figure 3 A structural diagram of a vehicle driving system is provided for the embodiment one of the application. The embodiment increases the post-processing module 150 on the basis of the above-mentioned embodiment one.

[0054] Optionally, the system further comprises: a post-processing module 150 connected with the optimization calculation module 110; the post-processing module 150 is used for receiving the initial acceleration control instruction and limiting the amplitude and the change rate of the initial acceleration control instruction to obtain the final acceleration control instruction.

[0055] Specifically, the post-processing module 150 is connected with the optimization calculation module 110, and the post-processing module 150 is used for further optimizing the initial acceleration control instruction calculated by the optimization calculation module 110, that is, limiting the amplitude and the change rate of the initial acceleration control instruction to obtain the final acceleration control instruction, so that the final acceleration control instruction drives the vehicle.

[0056] Optionally, the post-processing module 150 comprises an amplitude limiting and rate limiting unit and a processing unit; the optimization calculation module 110 is further configured to send the vehicle speed in the state information to the amplitude limiting and rate limiting unit; the amplitude limiting and rate limiting unit is configured to receive the vehicle speed, obtain an amplitude range based on the maximum and minimum amplitude calibration table according to the vehicle speed, and obtain a rate range according to the vehicle speed and the speed and rate calibration table, and send the amplitude range and the rate range to the processing unit; and the processing unit is configured to receive the amplitude range and the rate range, and perform amplitude limiting and rate limiting on the initial acceleration control instruction according to the amplitude range and the rate range to obtain the final acceleration control instruction.

[0057] Specifically, the post-processing module 150 specifically comprises an amplitude limiting and rate limiting unit and a processing unit, the amplitude limiting and rate limiting unit is responsible for receiving the vehicle speed sent by the optimization calculation module 110, the amplitude limiting and rate limiting unit internally stores a maximum and minimum amplitude calibration table and a rate calibration table preset by a user, so that the amplitude range and the rate range can be obtained by table lookup according to the vehicle speed, the amplitude range refers to the maximum and minimum range of the vehicle speed acceleration and deceleration, and the rate range refers to the rate when the vehicle accelerates or decelerates, for example, when the vehicle speed is 50 km / h, the obtained amplitude range is 20 to 60 km / h, which indicates that the vehicle speed can only change within the range, and the obtained rate range is -9 m / s 2 to 10 m / s 2 , which indicates that the maximum acceleration of the vehicle during acceleration is 10 m / s 2 , and the maximum acceleration of the vehicle during deceleration is -9 m / s 2 , wherein "-" represents deceleration, and "+" represents acceleration, the amplitude limiting and rate limiting unit can send the calculated amplitude range and rate range to the processing unit, the processing unit performs amplitude limiting and rate limiting on the initial acceleration control instruction according to the amplitude range and the rate range to obtain the final acceleration control instruction, and through the amplitude limiting and rate limiting, it can be ensured that the vehicle does not appear to accelerate or decelerate suddenly, and the comfort of passengers is ensured.

[0058] The technical scheme of the embodiment of the application obtains the constraint condition and the parameter corresponding to the vehicle speed through the constraint and parameter adjustment module, obtains the vehicle acceleration according to the state information through the preprocessing module, and finally calculates the initial acceleration control instruction by comprehensively considering the constraint condition and the parameter, the state information and the vehicle acceleration through the optimization calculation module, so that the calculation accuracy is further improved, the fuel efficiency of the vehicle is improved, the fuel consumption is reduced, the reliability is improved, the post-processing module is used to perform amplitude limiting and rate limiting to obtain the final acceleration control instruction, so that the final acceleration control instruction drives the vehicle, the vehicle can stably travel, and the comfort of passengers is ensured.

[0059] Embodiment three

[0060] Figure 4 A flow chart of a vehicle driving method is provided for the first embodiment of the present application, which can be applied to the case of vehicle driving. As shown in the figure, the method comprises: Figure 4

[0061] S310, the constraint and parameter adjustment module obtains the constraint condition and the parameter according to the vehicle speed, and sends the constraint condition and the parameter to the optimization calculation module.

[0062] Specifically, the constraint and parameter adjustment module 1 has a state constraint calibration table and a control parameter calibration table pre-configured by the user, wherein the user refers to the R&D personnel or staff of the system. Since the state constraint calibration table includes the corresponding relationship between the vehicle speed and the constraint range, the vehicle speed can be input into the constraint and parameter adjustment module to determine the vehicle speed constraint range and the acceleration constraint range according to the vehicle speed. For example, when the vehicle speed is 20 km / h, the speed constraint range can be determined to be 10-50 km / h, and the acceleration constraint range can be determined to be -10 m / s 2 +10 m / s 2 , wherein "-" represents deceleration, and "+" represents acceleration. Similarly, since the control parameter calibration table includes the corresponding relationship between the vehicle speed and the parameter, the vehicle speed can be input into the constraint and parameter adjustment module to determine the parameter according to the vehicle speed. The parameter refers to the control parameter, which is used for the weight of the target function composition element. Further, the constraint and parameter adjustment module will also send the determined constraint range and control parameter to the optimization calculation module 110.

[0063] S320, the preprocessing module obtains the vehicle acceleration according to the state information, and sends the state information and the vehicle acceleration to the optimization calculation module, wherein the state information includes the vehicle speed, the engine speed and the transmission ratio.

[0064] Specifically, the preprocessing module has an acceleration algorithm pre-configured by the user. Since the acceleration algorithm includes the corresponding relationship between the state information and the vehicle acceleration, the vehicle acceleration can be directly calculated after the state information is transmitted to the preprocessing module. The preprocessing module will send the calculated vehicle acceleration and the state information to the optimization calculation module.

[0065] S330, the optimization calculation module receives the constraint condition and the parameter, the state information and the vehicle acceleration, and generates the initial acceleration control instruction according to the constraint condition and the parameter, the state information and the vehicle acceleration.

[0066] Specifically, the optimization calculation module can perform optimization calculation on the received state information and vehicle acceleration according to the vehicle longitudinal dynamics model to obtain the acceleration control instruction, and generate the initial acceleration control instruction according to the acceleration control instruction and the constraint condition and the parameter.

[0067] ​The technical solution of this invention obtains the constraint conditions and parameters corresponding to the vehicle speed through the constraint and parameter adjustment module, obtains the vehicle acceleration based on the state information through the preprocessing module, and finally calculates the initial acceleration control command by combining the constraint conditions and parameters, state information and vehicle acceleration through the optimization calculation module. It does not use a hard constraint method for calculation, which can further improve the accuracy of calculation, improve vehicle fuel efficiency, reduce fuel consumption and has reliability.

[0068] Example 4

[0069] Figure 5 This is a schematic diagram of the structure of a vehicle provided in Embodiment 4 of the present invention, as shown below. Figure 5 As shown, the vehicle includes a controller 41, a memory 42, an input device 43, and an output device 44; the number of controllers 41 in the vehicle can be one or more. Figure 5 Taking a controller 41 as an example; the controller 41, memory 42, input device 43, and output device 44 in the vehicle can be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0070] The memory 5, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle driving method in this embodiment of the invention (e.g., optimization calculation module, constraint and parameter adjustment module, preprocessing module, post-processing module, and acquisition module). The controller 41 executes various functional applications and data processing of the vehicle by running the software programs, instructions, and modules stored in the memory 42, thereby realizing the aforementioned vehicle driving method.

[0071] The memory 42 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 42 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 42 may further include memory remotely configured relative to the controller 41, which can be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0072] Input device 43 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the cloud platform. Output device 44 may include display devices such as a display screen.

[0073] Example 5

[0074] Embodiment five of the present application also provides a storage medium comprising computer executable instructions for performing a vehicle driving method when executed by a computer processor, the method comprising:

[0075] obtaining constraints and parameters according to the vehicle speed by the constraint and parameter adjustment module, and sending the constraints and parameters to the optimization calculation module;

[0076] obtaining the vehicle acceleration according to the state information by the preprocessing module, and sending the state information and the vehicle acceleration to the optimization calculation module, wherein the state information comprises the vehicle speed, the engine speed and the transmission ratio;

[0077] receiving the constraints and parameters, the state information and the vehicle acceleration by the optimization calculation module, and generating the initial acceleration control instruction according to the constraints and parameters, the state information and the vehicle acceleration.

[0078] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system on chips (SoCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0079] Computer programs used to implement the processes of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a machine or entirely on a remote machine or server.

[0080] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0081] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0082] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0083] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0084] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0085] The above detailed description does not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A vehicle drive system, characterized in that, The system comprises: an optimization calculation module, a constraint and parameter adjustment module and a preprocessing module connected with the optimization calculation module; the constraint and parameter adjustment module is configured to obtain constraint conditions and parameters according to a vehicle speed and send the constraint conditions and parameters to the optimization calculation module; the preprocessing module is configured to obtain vehicle acceleration according to state information and send the state information and the vehicle acceleration to the optimization calculation module, wherein the state information comprises a vehicle speed, an engine speed and a transmission ratio; the optimization calculation module is configured to generate an initial acceleration control instruction according to the received constraint conditions and parameters, the state information and the vehicle acceleration, and drive the vehicle through the initial acceleration control instruction; the constraint and parameter adjustment module is configured to obtain the constraint conditions according to the received vehicle speed and a pre-configured state constraint calibration table, wherein the state constraint calibration table comprises a corresponding relationship between a vehicle speed and a constraint condition; obtain the parameters according to the received vehicle speed and a pre-configured control parameter calibration table, wherein the control parameter calibration table comprises a corresponding relationship between a vehicle speed and a parameter; and send the constraint conditions and parameters to the optimization calculation module; the optimization calculation module comprises a vehicle longitudinal dynamics model, and the vehicle dynamics model is expressed by the following formula: ； wherein denotes the time instant, denotes the vehicle speed at the time instant, denotes the vehicle speed at the time instant, denotes the vehicle acceleration at the time instant, denotes the vehicle acceleration at the time instant, denotes the acceleration control command; denotes a state matrix of the longitudinal dynamics, denotes a control matrix of the longitudinal dynamics; the vehicle dynamics model comprises a relationship between the vehicle speed and the vehicle acceleration at the time instant, and a relationship between the vehicle speed and the vehicle acceleration at the time instant and the acceleration control command, when the target vehicle speed is set by the user, the target vehicle speed is substituted into the target function to calculate an initial acceleration control command, and the target function is represented by the following formula: ； wherein, denotes the time, denotes the time vehicle speed, is the target vehicle speed, is the weight of the speed error term, is the time acceleration control command, is the time acceleration control command, is the weight of the control input term, is the weight of the control input increment, is the time vehicle acceleration, is the wheel radius, is the total vehicle weight, is the real-time gear ratio, is the main reduction ratio, is the best fuel-saving engine torque, is the weight of the torque difference, is the best fuel-saving engine engine speed, is the weight of the engine speed difference; by substituting the constraint range and the control parameter into the target function: and simultaneously inputting the limit condition of the acceleration control command: , the initial acceleration control command is calculated.

2. The system of claim 1, wherein, The system further comprises a collection module connected with the constraint and parameter adjustment module and the preprocessing module; the collection module is configured to collect the state information through a bus, send the state information to the preprocessing module, and send a vehicle speed in the state information to the constraint and parameter adjustment module.

3. The system of claim 2, wherein, The preprocessing module is configured to receive the state information, generate vehicle acceleration according to the state information and a pre-configured acceleration algorithm, and send the state information and the vehicle acceleration to the optimization calculation module, wherein the acceleration algorithm comprises a corresponding relationship between state information and vehicle acceleration.

4. The system of claim 3, wherein, The optimization calculation module is configured to perform optimization calculation on the received state information and vehicle acceleration to minimize a target function according to a vehicle longitudinal dynamics model, obtain an acceleration control instruction, and generate the initial acceleration control instruction according to the acceleration control instruction and the constraint conditions and parameters.

5. The system of claim 1, wherein, The system further comprises a post-processing module connected with the optimization calculation module; the post-processing module is configured to receive the initial acceleration control instruction, and perform amplitude limiting and rate limiting on the initial acceleration control instruction to obtain a final acceleration control instruction.

6. The system of claim 5, wherein, The post-processing module comprises an amplitude limiting and rate limiting unit and a processing unit; the optimization calculation module is further configured to send a vehicle speed in the state information to the amplitude limiting and rate limiting unit; the amplitude limiting and rate limiting unit is configured to receive the vehicle speed, obtain an amplitude range based on a maximum and minimum amplitude calibration table according to the vehicle speed, obtain a rate range according to the vehicle speed and a speed and rate calibration table, and send the amplitude range and the rate range to the processing unit; The processing unit is configured to receive the amplitude range and the rate range, and to limit the amplitude and the rate of the initial acceleration control instruction to obtain the final acceleration control instruction.

7. A vehicle drive method characterized by The vehicle driving system is applied to the vehicle driving system of any one of claims 1-6, and comprises: The constraint and parameter adjustment module obtains constraints and parameters according to the vehicle speed, and sends the constraints and parameters to the optimization calculation module; The preprocessing module obtains vehicle acceleration according to state information, and sends the state information and the vehicle acceleration to the optimization calculation module, wherein the state information comprises vehicle speed, engine speed and transmission ratio; The optimization calculation module receives the constraints and parameters, the state information and the vehicle acceleration, and generates an initial acceleration control instruction according to the constraints and parameters, the state information and the vehicle acceleration.

8. A vehicle characterized by comprising: The vehicle comprises a vehicle driving system, and the vehicle driving system comprises an optimization calculation module, a constraint and parameter adjustment module and a preprocessing module, and is configured to implement the vehicle driving method of claim 7.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the vehicle driving method of claim 7.

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