Vehicle energy replenishment control method, computer equipment, storage medium and vehicle

Abstract

The present invention relates to the field of autonomous driving technology, and specifically provides a vehicle energy replenishment control method, a computer device, a computer-readable storage medium, and a vehicle, aiming to solve the problem of more convenient and intelligent vehicle energy replenishment. To this end, the method provided by the present invention includes, in the process of controlling the vehicle to automatically travel on the driving road to the navigation destination, responding to a received vehicle energy replenishment instruction, controlling the vehicle to travel to a vehicle energy replenishment facility located in a road service area of ​​the driving road for automatic energy replenishment, and controlling the vehicle to return to the driving road after energy replenishment is completed and continue to automatically travel to the navigation destination. Through the above method, the entire process of autonomous driving from the driving road into the road service area, energy replenishment of the vehicle in the road service area, and returning to the driving road from the road service area after energy replenishment is completed is realized without the need for the driver to take over the operation, which significantly improves the intelligence of the vehicle's autonomous driving technology and the driver's driving experience.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle energy replenishment control method, computer equipment, computer-readable storage medium, and a vehicle. Background Art

[0002] When a vehicle travels long distances or for extended periods on an expressway, it often needs to visit an expressway service area to recharge. For example, vehicles powered by electricity often need to visit a service area for charging (directly charging the vehicle's power battery) or battery swapping (replacing the vehicle's power battery with a fully charged one). While current autonomous driving technology has enabled navigation-assisted driving control of vehicles on expressways for extended periods or over long distances, significantly reducing driver stress, navigation-assisted driving control is no longer possible after entering an expressway service area. The driver is required to take over and manually drive the vehicle to a recharging facility for recharging, reducing the intelligence of autonomous driving technology and the driver's driving experience.

[0003] Accordingly, this field requires a new technical solution to solve the above problems. Summary of the Invention

[0004] In order to overcome the above-mentioned shortcomings, the present invention is proposed to provide a vehicle energy replenishment control method, a computer device, a computer-readable storage medium, and a vehicle that solve or at least partially solve the technical problem of more conveniently and intelligently replenishing a vehicle to improve the vehicle's energy replenishment and driving experience.

[0005] In a first aspect, a vehicle energy replenishment control method is provided, the method comprising:

[0006] In a process of controlling a vehicle to automatically travel on a travel road toward a navigation destination, in response to a received vehicle recharging instruction, controlling the vehicle to travel to a vehicle recharging facility located in a road service area on the travel road;

[0007] controlling the vehicle to send an energy replenishment request to the vehicle energy replenishment facility so that the vehicle energy replenishment facility can automatically replenish the vehicle according to the energy replenishment request;

[0008] The vehicle is controlled to return to the driving road after completing energy replenishment and continue to automatically drive towards the navigation destination.

[0009] In one technical solution of the above-mentioned vehicle energy recharging control method, the step of “controlling the vehicle to travel to a vehicle energy recharging facility located in a road service area on the travel road” specifically includes:

[0010] Controlling the vehicle to travel to the road service area and sending a query request for charging queue information to the vehicle charging facility to obtain the charging queue information of the vehicle charging facility;

[0011] Determine whether it is necessary to queue for energy recharge according to the energy recharge queue information;

[0012] According to the judgment result, controlling the vehicle to travel to the vehicle energy charging facility;

[0013] And / or, the driving road is a high-speed driving road, and the vehicle energy charging facility includes a vehicle battery swap station.

[0014] In one technical solution of the above-mentioned vehicle energy replenishment control method, the step of “controlling the vehicle to travel to the vehicle energy replenishment facility based on the judgment result” specifically includes:

[0015] If there is no need to queue up for energy recharging, directly controlling the vehicle to travel to the vehicle energy recharging facility;

[0016] If it is necessary to queue up for energy recharging, the vehicle is controlled to drive to a preset parking waiting area in the road service area to park and queue up for energy recharging, and after receiving the queue number information sent by the vehicle energy recharging facility, the vehicle is controlled to drive to the vehicle energy recharging facility.

[0017] In one technical solution of the above vehicle energy recharging control method, the step of “controlling the vehicle to travel to a vehicle energy recharging facility located in a road service area on the travel road” further includes:

[0018] Using an automatic driving cruise mode of a preset driving road and based on a navigation map of the preset driving road, controlling the vehicle to travel to the road service area;

[0019] Adopting the automatic driving cruise mode of the preset road service area and based on the navigation map of the preset road service area, the vehicle is controlled to travel to the vehicle energy charging facility after entering the road service area.

[0020] In one technical solution of the above-mentioned vehicle energy recharging control method, the step of "adopting an automatic driving cruise mode of a preset road service area and based on a preset navigation map of the road service area, controlling the vehicle to travel to the vehicle energy recharging facility after entering the road service area" specifically includes:

[0021] In the process of controlling the vehicle to travel to the vehicle energy charging facility, determining whether other traffic participants approaching from different directions are detected; if detected, controlling the vehicle to avoid the other traffic participants;

[0022] and / or, in the process of controlling the vehicle to travel to the vehicle charging facility, identifying the area type of each road area passed by the vehicle;

[0023] determining the maximum vehicle speed corresponding to each road area according to the area type of each road area;

[0024] The vehicle is controlled to pass through each road area according to the maximum vehicle speed corresponding to each road area.

[0025] In one technical solution of the above vehicle energy recharging control method, before the step of “controlling the vehicle to travel to a vehicle energy recharging facility located in a road service area on the travel road”, the method further includes:

[0026] detecting whether the status information of the vehicle and the status information of the vehicle energy charging facility satisfy a vehicle energy charging start-up condition;

[0027] If the conditions are met, the step of “controlling the vehicle to travel to a vehicle energy charging facility located in a road service area on the travel road” is continued;

[0028] If the conditions are not met, the step of “controlling the vehicle to travel to a vehicle energy charging facility located in a road service area on the travel road” is not performed and the vehicle is controlled to continue to automatically travel on the travel road toward the navigation destination;

[0029] And / or, the method further comprises:

[0030] During the process of performing energy replenishment control on the vehicle, in response to a received stop energy replenishment instruction, stopping the energy replenishment control on the vehicle and controlling the vehicle to continue automatically traveling on the driving road toward the navigation destination;

[0031] The vehicle energy replenishment stop instruction is an instruction input by a user through a human-computer interaction device of the vehicle or an instruction generated after detecting that an abnormality occurs in the status information of the vehicle.

[0032] In one technical solution of the above vehicle energy replenishment control method, after the step of “stopping energy replenishment control of the vehicle and controlling the vehicle to continue automatically traveling on the driving road toward the navigation destination”, the method further includes:

[0033] In response to the received resume energy replenishment instruction, detecting whether the status information of the vehicle and the status information of the vehicle energy replenishment facility meet the vehicle energy replenishment start-up conditions and whether the vehicle is on a navigation path heading to or leaving the road service area;

[0034] If the start condition is met and the vehicle is on a navigation path heading to or leaving the road service area, resuming energy recharging control of the vehicle;

[0035] Otherwise, the energy replenishment control of the vehicle is still stopped and the vehicle is controlled to continue to automatically travel toward the navigation destination on the driving road.

[0036] In a second aspect, a computer device is provided, comprising a processor and a storage device, wherein the storage device is adapted to store a plurality of program codes, wherein the program codes are adapted to be loaded and run by the processor to execute the vehicle energy replenishment control method described in any one of the technical solutions of the above-mentioned vehicle energy replenishment control method.

[0037] In a third aspect, a computer-readable storage medium is provided, which stores a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the vehicle energy replenishment control method described in any one of the technical solutions of the above-mentioned vehicle energy replenishment control method.

[0038] In a fourth aspect, a vehicle is provided, comprising the computer device described in the above-mentioned computer device technical solution.

[0039] The above one or more technical solutions of the present invention have at least one or more of the following beneficial effects:

[0040] In implementing the technical solution of the present invention, while controlling a vehicle to automatically travel on a driving road toward a navigation destination, the vehicle can be controlled to travel to a vehicle recharging facility located in a road service area on the driving road in response to a received vehicle recharging instruction. The vehicle can then be controlled to send a recharging request to the vehicle recharging facility so that the vehicle recharging facility can automatically recharge the vehicle according to the recharging request. Finally, the vehicle is controlled to return to the driving road after recharging is completed and continue to automatically travel toward the navigation destination. Through the above-mentioned implementation, automatic driving (automated operation) is achieved throughout the entire process of driving from the driving road into the road service area, recharging the vehicle within the road service area, and returning to the driving road from the road service area after recharging is completed, without the need for the driver to take over the operation, significantly improving the intelligence of the vehicle's automatic driving technology and the driver's driving experience.

[0041] Furthermore, in some technical solutions implementing the present invention, when controlling a vehicle to drive to a vehicle charging facility located in a road service area on the road being driven, the vehicle can be controlled to drive to the road service area and send a query request for charging queue information to the charging facility to obtain the charging queue information of the vehicle charging facility. Then, based on the charging queue information, a determination is made as to whether the vehicle needs to queue for charging based on the charging queue information. Finally, based on the determination result, the vehicle is controlled to drive to the charging facility. Through the above-mentioned implementation, automatic queuing for charging is achieved, further improving the intelligence of autonomous driving technology and the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. Those skilled in the art will readily appreciate that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. Among them:

[0043] Figure 1 This is a flow chart of the main steps of a vehicle energy replenishment control method according to an embodiment of the present invention;

[0044] Figure 2 This is a flow chart of the main steps of a method for controlling a vehicle to travel to a vehicle charging facility located in a road service area on a driving road according to one embodiment of the present invention;

[0045] Figure 3 2 is a schematic diagram of an application scenario of a vehicle energy replenishment control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] Some embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0047] In the description of the present invention, a "processor" may include hardware, software, or a combination of the two. A processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. A processor has data and / or signal processing capabilities. A processor may be implemented in software, hardware, or a combination of the two. Computer-readable storage media include any suitable medium that can store program code, such as a magnetic disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, and the like. The term "A and / or B" refers to all possible combinations of A and B, such as just A, just B, or both A and B.

[0048] See attached Figure 1 , Figure 1FIG. 1 is a flow chart showing the main steps of a vehicle energy replenishment control method according to an embodiment of the present invention. Figure 1 As shown, the vehicle energy replenishment control method in the embodiment of the present invention mainly includes the following steps S101 to S103.

[0049] Step S101: in a process of controlling a vehicle to automatically travel toward a navigation destination on a driving road, in response to a received vehicle recharging instruction, controlling the vehicle to travel to a vehicle recharging facility located in a road service area on the driving road.

[0050] A road service area refers to a location located along a travelable road that provides services such as rest and vehicle maintenance to vehicle users. A connecting path exists between the travelable road and the road service area, allowing vehicles to enter the road service area from the travelable road, or vice versa. In some preferred embodiments, the travelable road may be a high-speed road, i.e., a road where vehicles travel at speeds greater than a set value. For example, the high-speed road may be an expressway or an urban expressway.

[0051] Vehicle energy replenishment facilities refer to facilities that provide energy replenishment for vehicles. Taking electric vehicles as an example, vehicle energy replenishment facilities can be vehicle battery replacement facilities (such as vehicle battery replacement stations) or vehicle charging facilities (such as wireless vehicle charging facilities).

[0052] The vehicle energy replenishment instruction may include the type of vehicle energy replenishment facility that the vehicle wants to use (such as a vehicle battery replacement facility or a charging vehicle charging facility). After receiving the vehicle energy replenishment instruction, the road service area where the vehicle energy replenishment facility of the corresponding type is located can be determined first, and then the vehicle can be controlled to plan a navigation path from the current location to the above-mentioned road service area, and then the vehicle can be controlled to drive to the above-mentioned road service area according to the navigation path, and then drive to the vehicle energy replenishment facility in the road service area.

[0053] In addition, the vehicle recharging instruction may also include the road service area where the vehicle recharging facilities that the vehicle wants to use are located. In this case, after receiving the vehicle recharging instruction, the vehicle can be directly controlled to plan a navigation path from the current location to the above-mentioned road service area, and then the vehicle can be controlled to drive to the above-mentioned road service area according to the navigation path, and then drive to the vehicle recharging facilities in the road service area.

[0054] Step S102: controlling the vehicle to send an energy charging request to the vehicle energy charging facility so that the vehicle energy charging facility can automatically charge the vehicle according to the energy charging request.

[0055] The vehicle charging facility in the embodiment of the present invention is a facility that can automatically charge vehicles, that is, it does not require human intervention. When a vehicle parks in a designated charging space and sends a charging request to the vehicle charging facility, the vehicle charging facility can automatically charge the vehicle according to the charging request.

[0056] For example, if the vehicle charging facility is a battery swap facility (such as a battery swap station), the vehicle can automatically park in a battery swap space within the facility and send a battery swap request to the facility. The facility will then automatically swap the vehicle's battery. If the vehicle charging facility is a wireless vehicle charging facility, the vehicle can automatically park in a charging space that supports wireless charging and send a wireless charging request to the facility. The facility will then automatically charge the vehicle wirelessly.

[0057] Step S103: Control the vehicle to return to the driving road after completing the energy replenishment and continue to automatically drive towards the navigation destination.

[0058] After completing charging of the vehicle, the vehicle charging facility can send a charging completion message to the vehicle. After receiving the charging completion message, the vehicle can be controlled to park out of the charging parking space of the vehicle charging facility, and then a navigation path from the current position to the above-mentioned navigation destination can be planned. Then, the vehicle can be controlled to return from the road service area to the driving road according to the navigation path, and continue to drive on the driving road towards the above-mentioned navigation destination.

[0059] It should be noted that those skilled in the art can adopt conventional path planning methods, automatic driving control methods, and parking methods in the field of vehicle autonomous driving technology to perform path planning, automatic driving control, and parking control on the vehicle, respectively. The embodiments of the present invention do not specifically limit the above-mentioned path planning methods, automatic driving control methods, and parking methods.

[0060] Based on the method described in steps S101 to S103 above, automatic driving (automated operation) of the entire process of driving from the driving road into the road service area, recharging the vehicle in the road service area, and returning to the driving road from the road service area after completing the recharging is realized without the need for the driver to take over the operation, which significantly improves the intelligence of the vehicle's automatic driving technology and the driver's driving experience.

[0061] The following further describes the method of controlling the vehicle to travel to the vehicle energy charging facility located in the road service area of ​​the driving road in the above step S101.

[0062] In actual applications, when multiple vehicles go to the same vehicle charging facility for charging at the same time, they often have to queue for charging. In this case, in order to further improve the convenience and intelligence of vehicle charging, when controlling the vehicle to drive to the road service area located on the driving road, the vehicle can first be controlled to determine whether it needs to queue for charging, and then choose whether to wait for charging or drive directly to the vehicle charging facility for automatic charging based on the judgment result.

[0063] For details, see the attached Figure 2 In some implementations of the above step S101, the vehicle may be controlled to travel to a vehicle charging facility located in a road service area on the driving road through the following steps S1011 to S1013.

[0064] Step S1011: Control the vehicle to travel to a road service area and send a query request for charging queue information to the vehicle charging facility to obtain the charging queue information of the vehicle charging facility.

[0065] Charging queue information refers to the queue of vehicles that have made reservations for charging at a vehicle charging facility. Before or after a vehicle reaches a road service area, it can send a charging service reservation request to the charging facility to reserve a spot. Upon receiving the reservation request, the charging facility determines the current vehicle's position in the queue and updates the charging queue information.

[0066] In order to simplify the control process and improve the convenience of control operations, the query request for the above-mentioned charging queue information can be used as a reservation request for the charging service. That is, by sending a query request for the charging queue information to the vehicle charging facility, you can not only make an appointment to use the vehicle charging facility for charging, but also obtain the charging queue information.

[0067] Step S1012: Determine whether it is necessary to queue up for energy recharge based on the energy recharge queue information.

[0068] The current vehicle's queue position can be determined based on the energy recharge queue information, and based on the queue position, it can be determined whether it needs to queue up to wait for energy recharge.

[0069] For example, if the current vehicle is ranked 1st in the queue, it does not need to queue up for recharging. If the current vehicle is ranked 5th in the queue, it means that there are four vehicles ahead that have not yet completed recharging and therefore need to wait in line for recharging.

[0070] Step S1013: Based on the determination result, the vehicle is controlled to travel to a vehicle charging facility. Specifically, if the determination result indicates that a queue is required for charging, the vehicle is temporarily not controlled to travel to the vehicle charging facility. Instead, the vehicle is controlled to wait for charging. Once it is determined that waiting is no longer necessary, the vehicle is controlled to travel to the vehicle charging facility. If the determination result indicates that a queue is not required for charging, the vehicle is directly controlled to travel to the vehicle charging facility.

[0071] In some preferred embodiments, when waiting in line for recharging, a vehicle can first be directed to a pre-set parking waiting area within a road service area to park and wait in line for recharging. The vehicle can then be directed to the recharging facility after receiving a queue-numbered message from the recharging facility. This queue-numbered message is sent by the recharging facility upon detecting that the vehicle's turn for recharging has arrived or is about to arrive. Those skilled in the art can flexibly configure the location and size of the parking waiting area within the road service area based on actual needs.

[0072] Based on the method described in steps S1011 to S1013 above, automatic driving (automated operation) is achieved throughout the entire process from queuing for recharging to driving to the vehicle recharging facility for recharging, without the need for the driver to take over the operation, significantly improving the convenience and intelligence of vehicle recharging, thereby improving the vehicle recharging experience and driving experience. In addition, in order to facilitate the vehicle user to understand the status of vehicle recharging, the vehicle recharging status information can also be sent to the vehicle user's terminal device during the process of controlling the vehicle's recharging. The vehicle recharging status information includes but is not limited to queuing for recharging, about to start recharging, and recharging in progress. The vehicle user's terminal device includes but is not limited to mobile phones and tablets.

[0073] In actual applications, the road environments of driving roads and road service areas are often quite different. For example, on highways, vehicle speeds on highways are much higher than those in road service areas, and the complexity of road elements on highways is lower than that in road service areas. To more reliably and safely control the vehicle's autonomous driving on driving roads and road service areas, autonomous driving cruise modes applicable to driving roads and road service areas can be obtained respectively. When the vehicle is driving on the driving road, the autonomous driving cruise mode applicable to the driving road is used for autonomous driving control. When the vehicle is driving in a road service area, the autonomous driving cruise mode applicable to the road service area is used for autonomous driving control.

[0074] Specifically, in some other implementations of the above-mentioned step S101, the automatic driving cruise mode of the preset driving road can be adopted and based on the navigation map of the preset driving road, the vehicle can be controlled to automatically drive from the driving road to the road service area; at the same time, the automatic driving cruise mode of the preset road service area can be adopted and based on the navigation map of the preset road service area, the vehicle can be controlled to drive to the vehicle energy charging facility after entering the road service area.

[0075] It should be noted that the navigation maps of the preset driving roads and the navigation maps of the preset road service areas are both high-precision navigation maps. A high-precision navigation map refers to a map in which the accuracy of map elements is greater than a set value, and a high-precision navigation map can at least provide lane-level navigation routes. For example, the accuracy of map elements in a high-precision navigation map can be at the centimeter level, while the accuracy of map elements in a non-high-precision navigation map can be at the meter level. Automatic driving control of the vehicle based on a high-precision navigation map can significantly improve the accuracy of navigation path planning, and can also significantly improve the safety and reliability of the vehicle during driving.

[0076] The following describes a method for controlling a vehicle to travel to a vehicle recharging facility within a road service area using an automatic driving cruise mode in a preset road service area.

[0077] When controlling a vehicle within a road service area to a vehicle charging facility, in addition to conventional navigation and autonomous driving control, the system also needs to determine whether other traffic participants approaching from different directions are detected. If detected, the system controls the vehicle to avoid the other traffic participants to improve the safety of autonomous driving. Other traffic participants include, but are not limited to, vulnerable road users (Vulnerable Road Users) such as pedestrians and autonomous vehicles, as well as other vehicles.

[0078] Furthermore, road service areas typically include different types of road areas, such as rest areas, parking areas, intersections, turning areas, and regular traffic areas. To ensure safe driving while traversing these road areas and prevent accidents such as collisions, different maximum speeds can be set based on the safety level requirements of each road area. When controlling the vehicle's travel to the vehicle charging facility, the area type of each road area passed by the vehicle is identified, and the corresponding maximum speed for each road area is determined based on the area type. The vehicle is then controlled through each road area based on the maximum speed of each road area, ensuring that the vehicle's speed does not exceed the maximum speed of each road area when passing through it. The maximum speed of a road area is negatively correlated with its safety level: higher safety levels are associated with lower maximum speeds, and lower safety levels are associated with higher maximum speeds.

[0079] For example, rest areas, parking spaces, intersections, and turning areas have higher safety levels and can have a maximum speed of 15 kilometers per hour. Regular traffic areas have lower safety levels and can have a maximum speed of 20 kilometers per hour. Furthermore, when passing through intersections and turning areas, the vehicle can be controlled to detect information such as the state and number of obstacles in the road area, and based on this information, determine whether to further reduce the maximum speed. For example, the maximum speed can be further reduced when there are many obstacles and they have not moved for a long time.

[0080] The above is an explanation of the method for controlling the vehicle to travel to the vehicle charging facility located in the road service area on the driving road in the above step S101.

[0081] As can be seen from step S101 above, the vehicle charging control method provided by the present invention, upon receiving a vehicle charging instruction, can control the vehicle to travel to a vehicle charging facility located in a road service area along the road in accordance with the vehicle charging instruction. However, in actual applications, there may be situations where the vehicle cannot properly communicate with the vehicle charging facility, or the vehicle charging facility cannot be used normally. In such cases, even if the vehicle is controlled to travel to the vehicle charging facility, charging cannot be performed, which obviously reduces the vehicle charging experience.

[0082] To overcome the above-mentioned problem, in some other vehicle energy recharging control methods according to the present invention, after receiving a vehicle energy recharging instruction, it can first be determined whether the vehicle status information and the status information of the vehicle energy recharging facility meet the vehicle energy recharging initiation conditions; if so, the vehicle is controlled to travel to the vehicle energy recharging facility located in a road service area on the driving road; if not, the vehicle is controlled to continue to automatically travel on the driving road toward the navigation destination, and the vehicle is not controlled to travel to the vehicle energy recharging facility located in the road service area on the driving road.

[0083] The vehicle's status information includes at least whether the vehicle has downloaded the navigation map of the road service area to which the vehicle is heading, whether the vehicle's network communication function is normal, whether the vehicle's positioning function is normal, the vehicle's positioning position, whether the vehicle's software and hardware are operating normally, etc.

[0084] The status information of the vehicle energy charging facility at least includes whether the vehicle energy charging facility has enabled the energy charging service that allows the use of the vehicle energy charging facility for energy charging, whether the network communication function of the vehicle energy charging facility is normal, whether the software and hardware of the vehicle energy charging facility are operating normally, etc.

[0085] In this embodiment, the starting conditions of the vehicle energy charging control may include starting conditions that the vehicle needs to meet and starting conditions that the vehicle energy charging facility needs to meet.

[0086] The vehicle's activation conditions include but are not limited to: the vehicle has downloaded a navigation map of the road service area; the vehicle's positioning function is normal, and the vehicle's software and hardware are running normally; the vehicle's positioning position is in a preset area where vehicle recharging control is allowed;

[0087] The startup conditions that the vehicle energy charging facility needs to meet include but are not limited to: the vehicle energy charging facility has started the energy charging service for booking to use the vehicle energy charging facility for energy charging; the network communication function of the vehicle energy charging facility is normal, and the software and hardware of the vehicle energy charging facility are operating normally.

[0088] According to an embodiment of the present invention, in addition to enabling the vehicle recharging control function according to the aforementioned method, the vehicle recharging control method can also, after enabling the vehicle recharging control function, respond to a received recharging stop command to stop recharging control of the vehicle and control the vehicle to continue driving automatically along the road toward the navigation destination, thereby disabling the vehicle recharging control function. The vehicle recharging stop command is a command input by a user through the vehicle's human-computer interface device or generated after detecting an abnormality in the vehicle's status information. In other words, the vehicle user can disable the vehicle recharging control function at any time through the human-computer interface device, and the vehicle can also automatically disable the vehicle recharging control function after detecting an abnormality in the vehicle's status information. For example, the vehicle recharging control function can be automatically disabled if an abnormality occurs in the vehicle's positioning function, the vehicle's software, or the vehicle's hardware.

[0089] Furthermore, after disabling the vehicle energy recharging control function, if the vehicle is on a navigation path heading to or leaving a road service area and the vehicle status information and the status information of the vehicle energy recharging facility meet the vehicle energy recharging activation conditions, the vehicle energy recharging control can be restored, that is, the vehicle energy recharging control function can be re-enabled.

[0090] Specifically, after stopping the energy charging control of the vehicle, the vehicle status information and the status information of the vehicle energy charging facility can also be detected in response to the received resume energy charging instruction to see whether the vehicle energy charging start-up conditions and whether the vehicle is on the navigation path heading to or leaving the road service area; if the start-up conditions are met and the vehicle is on the navigation path heading to or leaving the road service area, the vehicle energy charging control is resumed, that is, the vehicle energy charging control function is re-enabled; otherwise, the vehicle energy charging control is still stopped and the vehicle is controlled to continue to automatically drive on the driving road toward the navigation destination, that is, the vehicle energy charging control function is still turned off.

[0091] To facilitate restoring vehicle recharging control, a restore button can be provided on the vehicle. Upon triggering this restore button, if the vehicle is on a navigation path to or from a road service area and the vehicle's status information and the status information of the vehicle recharging facility meet the vehicle recharging activation conditions, recharging control can be immediately restored, achieving a one-click restoration effect. In this embodiment, an existing software or hardware button on the vehicle can be reused as the restore button to simplify vehicle control. For example, the vehicle's autopilot activation button can be reused as the restore button.

[0092] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art will understand that in order to achieve the effects of the present invention, different steps do not have to be performed in such an order. They can be performed simultaneously (in parallel) or in other orders. These changes are within the scope of protection of the present invention.

[0093] The following example takes the highway as the driving road and the vehicle energy charging facility as the vehicle swap station in the service area as an example and combines the attached Figure 3 , the overall step flow of the vehicle energy replenishment control method provided by the present invention is briefly described.

[0094] like Figure 3 As shown in the figure, when the vehicle is driving on the road at a certain time, it receives a vehicle recharging command, controls the vehicle to plan a navigation path from the current position (the position when the vehicle recharging command is received) to the road service area, and then controls the vehicle to drive to the vicinity of the road service area according to the navigation path and exit from the road service area. Figure 3 Ramp 1 shown enters the road service area.

[0095] After entering the road service area, the vehicle is controlled to send a query request for energy replenishment queue information to the vehicle swap station in the road service area to obtain the energy replenishment queue information of the vehicle swap station.

[0096] If it is determined that it is necessary to wait in line for charging based on the charging queue information, a navigation route is planned with the parking waiting area as the destination, and the vehicle is controlled to drive to the parking waiting area according to the navigation route and automatically park, waiting in line for charging. At the same time, while waiting in line for charging, if a queue number information is received from the vehicle swap station, a navigation route is planned again with the vehicle swap station as the destination, and the vehicle is driven to the vehicle swap station according to the navigation route for charging. After the charging is completed, Figure 3 The shown ramp 2 returns to the road of speed travel and continues to travel toward the original navigation destination.

[0097] If it is determined that there is no need to queue for charging based on the charging queue information, a navigation route is planned with the vehicle swap station as the destination, and the vehicle is driven to the vehicle swap station according to the navigation route to swap the battery. After the battery swap is completed, Figure 3 The shown ramp 2 returns to the road of speed travel and continues to travel toward the original navigation destination.

[0098] Those skilled in the art will appreciate that all or part of the process steps in the method of the above-described embodiment of the present invention can also be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-described method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable storage medium can include: any entity or device, medium, USB flash drive, mobile hard drive, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal, and software distribution medium capable of carrying the computer program code. It should be noted that the content of the computer-readable storage medium can be appropriately increased or decreased based on the requirements of legislation and patent practice within a jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0099] Furthermore, the present invention also provides a computer device.

[0100] In one embodiment of a computer device according to the present invention, the computer device includes a processor and a storage device. The storage device may be configured to store a program for executing the vehicle energy replenishment control method according to the aforementioned method embodiment, and the processor may be configured to execute the program in the storage device, including but not limited to a program for executing the vehicle energy replenishment control method according to the aforementioned method embodiment. For ease of illustration, only portions relevant to the embodiment of the present invention are shown; for details not disclosed, please refer to the method section of the embodiment of the present invention. The computer device may be a control device comprising various electronic devices.

[0101] Furthermore, the present invention also provides a computer-readable storage medium.

[0102] In one embodiment of a computer-readable storage medium according to the present invention, the computer-readable storage medium may be configured to store a program for executing the vehicle energy replenishment control method of the aforementioned method embodiment. This program can be loaded and executed by a processor to implement the aforementioned vehicle energy replenishment control method. For ease of illustration, only the portions relevant to the embodiment of the present invention are shown; for specific technical details not disclosed, please refer to the method section of the embodiment of the present invention. The computer-readable storage medium may be a storage device formed by various electronic devices. Optionally, in the embodiment of the present invention, the computer-readable storage medium is non-transitory.

[0103] Furthermore, the present invention provides a vehicle. In one embodiment of a vehicle according to the present invention, the vehicle may include the computer device described in the aforementioned computer device embodiment. In this embodiment, the vehicle may be an autonomous vehicle, an unmanned vehicle, or other similar vehicle. Furthermore, based on the type of power source, the vehicle in this embodiment may be a fuel vehicle, an electric vehicle, a hybrid vehicle using a combination of electric and fuel, or a vehicle using other new energy sources.

[0104] Thus far, the technical solution of the present invention has been described in conjunction with an embodiment shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A vehicle energy replenishment control method, characterized in that: The method comprises: In a process of controlling a vehicle to automatically travel on a travel road toward a navigation destination, in response to a received vehicle recharging instruction, controlling the vehicle to travel to a vehicle recharging facility located in a road service area on the travel road; controlling the vehicle to send an energy replenishment request to the vehicle energy replenishment facility so that the vehicle energy replenishment facility can automatically replenish the vehicle according to the energy replenishment request; controlling the vehicle to return to the driving road after completing energy replenishment and continue to automatically drive toward the navigation destination; in, The controlling the vehicle to travel to the vehicle energy recharging facility in the road service area located on the travel road includes: Using an automatic driving cruise mode of a preset driving road and based on a navigation map of the preset driving road, controlling the vehicle to travel to the road service area; Adopting the automatic driving cruise mode of a preset road service area and based on the navigation map of the preset road service area, the vehicle is controlled to travel to the vehicle energy charging facility after entering the road service area; in the process of controlling the vehicle to travel to the vehicle energy charging facility, it is determined whether other traffic participants coming from different directions are detected; if detected, the vehicle is controlled to avoid the other traffic participants; and the area type of each road area passed by the vehicle is identified; according to the area type of each road area, the maximum vehicle speed corresponding to each road area is determined respectively; according to the maximum vehicle speed corresponding to each road area, the vehicle is controlled to pass through each road area; the maximum vehicle speed corresponding to the road area is negatively correlated with the safety level required by the area type of the road area.

2. The vehicle energy replenishment control method according to claim 1, characterized in that: The step of "controlling the vehicle to travel to a vehicle energy charging facility located in a road service area on the travel road" specifically includes: Controlling the vehicle to travel to the road service area and sending a query request for charging queue information to the vehicle charging facility to obtain the charging queue information of the vehicle charging facility; Determine whether it is necessary to queue for energy recharge according to the energy recharge queue information; According to the judgment result, controlling the vehicle to travel to the vehicle energy charging facility; and / or, The driving road is a high-speed driving road, and the vehicle energy replenishment facility includes a vehicle battery swap station.

3. The vehicle energy replenishment control method according to claim 2, characterized in that: The step of "controlling the vehicle to travel to the vehicle energy charging facility according to the judgment result" specifically includes: If there is no need to queue up for energy recharging, directly controlling the vehicle to travel to the vehicle energy recharging facility; If it is necessary to queue up for energy recharging, the vehicle is controlled to drive to a preset parking waiting area in the road service area to park and queue up for energy recharging, and after receiving the queue number information sent by the vehicle energy recharging facility, the vehicle is controlled to drive to the vehicle energy recharging facility.

4. The vehicle energy replenishment control method according to claim 1, characterized in that: Before the step of "controlling the vehicle to travel to a vehicle energy charging facility located in a road service area on the travel road", the method further includes: detecting whether the status information of the vehicle and the status information of the vehicle energy charging facility satisfy a vehicle energy charging start-up condition; If the conditions are met, the step of "controlling the vehicle to travel to a vehicle energy charging facility located in a road service area on the travel road" is continued; If the conditions are not met, the step of "controlling the vehicle to travel to a vehicle energy charging facility located in a road service area on the travel road" is not performed and the vehicle is controlled to continue to automatically travel on the travel road toward the navigation destination; and / or, The method further comprises: During the process of performing energy replenishment control on the vehicle, in response to a received stop energy replenishment instruction, stopping the energy replenishment control on the vehicle and controlling the vehicle to continue automatically traveling on the driving road toward the navigation destination; The vehicle energy replenishment stop instruction is an instruction input by a user through a human-computer interaction device of the vehicle or an instruction generated after detecting that an abnormality occurs in the status information of the vehicle.

5. The vehicle energy replenishment control method according to claim 4, characterized in that: After the step of "stopping energy replenishment control on the vehicle and controlling the vehicle to continue automatically driving on the driving road toward the navigation destination", the method further includes: In response to the received resume energy replenishment instruction, detecting whether the status information of the vehicle and the status information of the vehicle energy replenishment facility meet the vehicle energy replenishment start-up conditions and whether the vehicle is on a navigation path heading to or leaving the road service area; If the start condition is met and the vehicle is on a navigation path heading to or leaving the road service area, resuming energy recharging control of the vehicle; Otherwise, the energy replenishment control of the vehicle is still stopped and the vehicle is controlled to continue to automatically travel toward the navigation destination on the driving road.

6. A computer device comprising a processor and a storage device, wherein the storage device is suitable for storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by the processor to execute the vehicle energy replenishment control method according to any one of claims 1 to 5.

7. A computer-readable storage medium storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by a processor to execute the vehicle energy replenishment control method according to any one of claims 1 to 5.

8. A vehicle, characterized in that: The vehicle includes the computer device of claim 6.

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