A vehicle control method and apparatus

Abstract

The embodiment of the present application provides a vehicle control method and device, which are used for realizing control of a vehicle, and recovering as much braking energy as possible in a braking condition, improving energy utilization of the vehicle, and prolonging the cruising range of the vehicle. The method comprises the following steps: acquiring driving information of the vehicle and road traffic information of an area where the vehicle is located, predicting a working condition of the vehicle passing through a red-green light intersection and a first vehicle speed v f of the vehicle passing through the red-green light intersection; if the working condition of the vehicle passing through the red-green light intersection is a braking condition, determining braking energy recovered by the vehicle according to the first vehicle speed v f and a second vehicle speed v0 of the vehicle driving in front; and controlling the vehicle to brake according to the braking energy recovered by the vehicle.

Description

[0001] This application is a divisional application. The original application has the application number 202180000826.6 and the original application date is March 31, 2021. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent vehicle technology, and in particular to a vehicle control method and device. Background Technology

[0003] With the continuous development of technologies such as autonomous driving, vehicle-to-infrastructure (V2I) communication, and vehicle-to-cloud (V2X) communication, vehicles can obtain perception information about their surroundings through onboard sensors, roadside equipment, and cloud servers. In urban traffic environments, passing through traffic light intersections is one of the operating conditions that vehicles face. The perception of traffic lights by vehicle-mounted sensors is easily affected by factors such as lighting, obstruction, and distance, and cannot obtain descriptive information about traffic lights.

[0004] With the development of technologies such as vehicle-road cooperation and vehicle-cloud cooperation, vehicles can obtain more comprehensive and accurate perception information through roadside equipment or cloud servers. Vehicles can plan their journey in advance based on the status and countdown of traffic lights, as well as the vehicle's speed and distance from the traffic light intersection, so that vehicles can pass through traffic light intersections safely and smoothly.

[0005] Currently, most vehicle speed control methods at traffic light intersections based on vehicle-road cooperation are designed for gasoline-powered vehicles, but no solutions have been provided for control scenarios of vehicles powered by electricity. Summary of the Invention

[0006] This application provides a vehicle control method and apparatus to control a vehicle and recover as much braking energy as possible during braking, thereby improving the vehicle's energy utilization rate and extending its driving range.

[0007] Firstly, a vehicle control method is provided, comprising: acquiring vehicle driving information and road traffic information of the area where the vehicle is located, predicting the vehicle's operating conditions at a traffic light intersection and the vehicle's initial speed at the traffic light intersection. If the vehicle is braking when passing through the traffic light intersection, based on the first vehicle speed... and the second speed at which the vehicle is currently traveling. The vehicle recovers braking energy; based on the recovered braking energy, the vehicle is controlled to brake.

[0008] The vehicle may be a pure electric vehicle, a hybrid electric vehicle, or other vehicles with energy storage devices, and there are no restrictions on this.

[0009] By using the above method, when planning and controlling vehicle speed, the factor of brake energy recovery is considered under braking conditions, so as to recover as much brake energy as possible, improve the energy utilization rate of the vehicle, and extend the vehicle's driving range.

[0010] In one possible design, after acquiring vehicle driving information and road traffic information of the area where the vehicle is located, the operating conditions of the vehicle when passing through the traffic light intersection and the initial speed of the vehicle when passing through the traffic light intersection are predicted. At that time, a vehicle control model can be constructed based on the vehicle's driving information and the road traffic information of the area where the vehicle is located; based on the vehicle control model, the operating conditions of the vehicle when passing through the traffic light intersection and the vehicle's first speed when passing through the traffic light intersection can be predicted. By constructing a vehicle control model, vehicle speed can be planned and controlled more accurately.

[0011] In one possible design, the vehicle control model includes one or more of the following: a vehicle dynamics model, a physical constraint model, a boundary constraint model, and an optimization objective for the vehicle control model. Considering different models and optimization objectives in vehicle control can improve passenger comfort and safety, as well as enhance overall road traffic efficiency.

[0012] The physical constraint model includes the vehicle speed constraint model and / or the vehicle acceleration constraint model.

[0013] The boundary constraint model is used to constrain the vehicle from colliding with the vehicle in front of it.

[0014] The optimization objectives of the vehicle model include one or more of the following: efficiency evaluation indicators, safety evaluation indicators, comfort evaluation indicators, and braking energy recovery indicators for the vehicle passing through traffic light intersections.

[0015] In one possible design, when acquiring vehicle driving information and road traffic information of the area where the vehicle is located, the driving information collected by the vehicle's acquisition module and the road traffic information of the area where the vehicle is located can be obtained from roadside equipment or a cloud server. This allows for the acquisition of more accurate, real-time, and reliable road condition information, improving the vehicle's perception range and enhancing its perception capabilities.

[0016] In one possible design, when the operating condition is braking, the optimization objective of the vehicle model includes the braking energy recovery index. By considering the braking energy recovery index, the vehicle's energy utilization efficiency can be improved, and the vehicle's driving range can be extended.

[0017] In one possible design, when the operating condition is braking, the braking acceleration of the vehicle is... The following conditions must be met: , Let be the minimum acceleration of the vehicle. This is the maximum acceleration of the vehicle. To the braking strength of the vehicle The relevant acceleration. When the vehicle's braking acceleration is greater than... Furthermore, when the vehicle is under non-emergency braking, under braking conditions, emergency braking can be avoided, and as much braking energy as possible can be recovered.

[0018] In one possible design, the optimization objective of the vehicle control model relates to one or more of the following information: the vehicle's speed, the vehicle's position, the vehicle's acceleration, or the time at which the vehicle passes through a traffic light intersection.

[0019] For example, the efficiency evaluation index for a vehicle passing through a traffic light intersection can be related to the vehicle's speed. The safety evaluation index for a vehicle passing through a traffic light intersection can be related to the vehicle's speed and position. The comfort evaluation index for a vehicle passing through a traffic light intersection can be related to the vehicle's acceleration. The regenerative braking index can be related to the timing of the vehicle's passage through the traffic light intersection and the vehicle's speed. It is evident that vehicle control considers the impact of different factors on the optimization objective, including the timing of the vehicle's passage through the traffic light intersection.

[0020] In one possible design, the optimization objective of the vehicle model satisfies the following formula:

[0021] , The optimization objective for the vehicle model is... This marks the initial moment of vehicle control. The time when the vehicle passes through the traffic light intersection. The speed of the vehicle. The location of the vehicle. Let be the acceleration of the vehicle.

[0022] In one possible design, the Related to one or more of the following: the time when the vehicle passed through the traffic light intersection, and the speed of the vehicle.

[0023] In one possible design, when the operating condition is braking, the aforementioned Satisfy the following formula: .

[0024] When the operating condition is non-braking, the following Satisfy the following formula: .

[0025] in, The traffic efficiency evaluation index for vehicles passing through traffic light intersections, the It relates to the time when the vehicle passes through the traffic light intersection. As a braking energy recovery indicator, the It is related to the speed of the vehicle.

[0026] In this design, considering different optimization objectives in vehicle control can improve passenger comfort and safety, as well as enhance overall road traffic efficiency.

[0027] In one possible design, the Satisfy the following formula: ,in The mass of the vehicle. The energy of air resistance, The energy of rolling resistance.

[0028] In one possible design, the Satisfy the following formula: ,in The time at which the vehicle passes through the traffic light intersection.

[0029] In one possible design, the efficiency evaluation index of the vehicle passing through the traffic light intersection is related to the speed of the vehicle.

[0030] In one possible design, the efficiency evaluation index for the vehicle passing through the traffic light intersection satisfies the following formula: ,in This is an efficiency evaluation index for the vehicles passing through traffic light intersections.

[0031] In one possible design, the safety evaluation index for the vehicle passing through a traffic light intersection is related to the vehicle's speed and the position of the vehicle.

[0032] In one possible design, the safety evaluation index for the vehicle passing through a traffic light intersection satisfies the following formula: ,in The safety evaluation index for the vehicle passing through the traffic light intersection. The time of collision between the vehicle and the vehicle in front of it. The maximum collision time between the vehicle and the vehicle in front of it.

[0033] In one possible design, the boundary constraint model relates to the vehicle's speed and the position of the vehicle. Optionally, the boundary constraint model relates to one or more of the following: the vehicle's speed, the speed of the vehicle ahead of the vehicle, or the distance between the vehicle and the vehicle ahead of the vehicle.

[0034] In one possible design, the boundary constraint model satisfies the following formula: ,in The distance between the vehicle and the vehicle in front of it. The speed of the vehicle ahead of the vehicle is denoted as .

[0035] In one possible design, the comfort evaluation index of the vehicle passing through a traffic light intersection is related to the vehicle's acceleration.

[0036] In one possible design, the comfort evaluation index of the vehicle passing through a traffic light intersection satisfies the following formula: , The comfort evaluation index for the vehicle passing through a traffic light intersection. Let be the acceleration of the vehicle at time t.

[0037] In this design, considering different optimization objectives in vehicle control can improve passenger comfort and safety, as well as enhance overall road traffic efficiency.

[0038] In one possible design, the vehicle dynamics model is related to the speed of the vehicle.

[0039] In one possible design, the vehicle dynamics model satisfies the following formula: ,in The driving force of the vehicle is... For the slope resistance of the road, For rolling friction, The coefficient of friction of the road. For wind resistance, The air drag coefficient, air density, The frontal area of ​​the vehicle is denoted as .

[0040] In one possible design, the vehicle's driving information includes one or more of the following: the vehicle's current second speed. The current acceleration of the vehicle. The current location of the vehicle.

[0041] In one possible scenario, at the initial moment of vehicle control, the vehicle's current speed can be the initial speed. The current acceleration of the vehicle can be the initial acceleration. In other words, in this situation, , .

[0042] The road traffic information of the area where the vehicle is located includes one or more of the following: traffic light colors, traffic light duration, distance between the vehicle and the traffic light, speed limit of the area where the vehicle is located, speed of the vehicle in front of the vehicle, and distance between the vehicle and the vehicle in front of the vehicle.

[0043] This design allows for the acquisition of more comprehensive and accurate vehicle driving and road condition information, improving the vehicle's perception range and enhancing its perception capabilities, thus enabling better planning and control of vehicle speed.

[0044] Secondly, a vehicle control method is provided, comprising: acquiring vehicle driving information and road traffic information of the area where the vehicle is located, predicting the vehicle's operating conditions at a traffic light intersection and the vehicle's initial speed at the traffic light intersection. If the vehicle is not braking while passing through a traffic light intersection, control the vehicle to maintain the first speed. Passing through a traffic light intersection.

[0045] Non-braking conditions include accelerating through a traffic light intersection or passing through a traffic light intersection at a constant speed.

[0046] Maintaining a constant speed through traffic light intersections helps control the vehicle to maintain its initial speed. Passing through a traffic light intersection. Optional, first speed. The second speed that can be compared with the current speed of the vehicle equal.

[0047] In one possible design, after acquiring vehicle driving information and road traffic information of the area where the vehicle is located, the operating conditions of the vehicle when passing through the traffic light intersection and the initial speed of the vehicle when passing through the traffic light intersection are predicted. At that time, a vehicle control model can be constructed based on the vehicle's driving information and the road traffic information of the area where the vehicle is located; based on the vehicle control model, the operating conditions of the vehicle when passing through the traffic light intersection and the vehicle's first speed when passing through the traffic light intersection can be predicted. .

[0048] In one possible design, the vehicle control model includes one or more of the following: a vehicle dynamics model, a physical constraint model, a boundary constraint model, and an optimization objective of the vehicle control model.

[0049] The physical constraint model includes the vehicle speed constraint model and / or the vehicle acceleration constraint model.

[0050] The boundary constraint model is used to constrain the vehicle from colliding with the vehicle in front of it.

[0051] The optimization objectives of the vehicle model include one or more of the following: efficiency evaluation indicators, safety evaluation indicators, comfort evaluation indicators, and braking energy recovery indicators for the vehicle passing through traffic light intersections.

[0052] Under non-braking conditions, the optimization objective of the vehicle model may not include the braking energy recovery index.

[0053] In one possible design, when acquiring vehicle driving information and road traffic information of the area where the vehicle is located, the driving information collected by the vehicle's acquisition module can be acquired, as well as the road traffic information of the area where the vehicle is located can be acquired from roadside equipment or cloud servers.

[0054] In one possible design, the optimization objective of the vehicle control model relates to one or more of the following information: the vehicle's speed, the vehicle's position, the vehicle's acceleration, or the time at which the vehicle passes through a traffic light intersection.

[0055] In one possible design, the optimization objective of the vehicle model satisfies the following formula:

[0056] , The optimization objective for the vehicle model is... This marks the initial moment of vehicle control. The time when the vehicle passes through the traffic light intersection. The speed of the vehicle. The location of the vehicle. Let be the acceleration of the vehicle.

[0057] In one possible design, the Related to one or more of the following: the time when the vehicle passed through the traffic light intersection, and the speed of the vehicle.

[0058] In one possible design, when the operating condition is non-braking, the aforementioned Satisfy the following formula: .

[0059] in, The traffic efficiency evaluation index for vehicles passing through traffic light intersections, the It relates to the time when the vehicle passes through the traffic light intersection.

[0060] In one possible design, the Satisfy the following formula: ,in The time at which the vehicle passes through the traffic light intersection.

[0061] In one possible design, the efficiency evaluation index of the vehicle passing through the traffic light intersection is related to the speed of the vehicle.

[0062] In one possible design, the efficiency evaluation index for the vehicle passing through the traffic light intersection satisfies the following formula: ,in This is an efficiency evaluation index for the vehicles passing through traffic light intersections.

[0063] In one possible design, the safety evaluation index for the vehicle passing through a traffic light intersection is related to the vehicle's speed and the position of the vehicle.

[0064] The safety evaluation index for vehicles passing through traffic light intersections must satisfy the following formula: ,in The safety evaluation index for the vehicle passing through the traffic light intersection. The time of collision between the vehicle and the vehicle in front of it. The maximum collision time between the vehicle and the vehicle in front of it.

[0065] In one possible design, the boundary constraint model relates to one or more of the following information: the speed of the vehicle, the speed of the vehicle ahead of the vehicle, or the distance between the vehicle and the vehicle ahead of the vehicle.

[0066] In one possible design, the boundary constraint model satisfies the following formula: ,in The distance between the vehicle and the vehicle in front of it. The speed of the vehicle ahead of the vehicle is denoted as .

[0067] In one possible design, the comfort evaluation index of the vehicle passing through a traffic light intersection is related to the vehicle's acceleration.

[0068] In one possible design, the comfort evaluation index of the vehicle passing through a traffic light intersection satisfies the following formula: , The comfort evaluation index for the vehicle passing through a traffic light intersection. Let be the acceleration of the vehicle at time t.

[0069] In one possible design, the vehicle dynamics model is related to the speed of the vehicle.

[0070] In one possible design, the vehicle dynamics model satisfies the following formula: ,in The driving force of the vehicle is... For the slope resistance of the road, For rolling friction, The coefficient of friction of the road. For wind resistance, The air drag coefficient, air density, The frontal area of ​​the vehicle is denoted as .

[0071] In one possible design, the vehicle's driving information includes one or more of the following: the vehicle's current second speed. The current acceleration of the vehicle. The current location of the vehicle.

[0072] In one possible scenario, at the initial moment of vehicle control, the vehicle's current speed can be the initial speed. The current acceleration of the vehicle can be the initial acceleration. In other words, in this situation, , .

[0073] The road traffic information of the area where the vehicle is located includes one or more of the following: traffic light colors, traffic light duration, distance between the vehicle and the traffic light, speed limit of the area where the vehicle is located, speed of the vehicle in front of the vehicle, and distance between the vehicle and the vehicle in front of the vehicle.

[0074] Thirdly, a vehicle control method is provided, comprising: acquiring vehicle driving information and road traffic information of the area where the vehicle is located, predicting the vehicle's operating conditions at a traffic light intersection and the vehicle's initial speed at the traffic light intersection. If the vehicle is braking while passing through the traffic light intersection, based on the first vehicle speed... and the second speed at which the vehicle is currently traveling. The vehicle recovers braking energy; based on the recovered braking energy, the vehicle is controlled to brake. If the vehicle is not braking when passing through a traffic light intersection, the vehicle is controlled to maintain the first speed. Passing through a traffic light intersection.

[0075] Fourthly, a vehicle control device is provided, which has the function of implementing the vehicle control methods of the first, second, or third aspects described above. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0076] In one possible design, the vehicle control device includes an acquisition unit and a processing unit, which can perform the corresponding functions in the method examples of the first, second, or third aspects described above, as detailed in the method examples, and will not be repeated here.

[0077] In one possible design, the vehicle control device includes a processor and a memory. The processor is configured to support the vehicle control device in performing the corresponding functions described in the first, second, or third aspects of the methods above. The memory is coupled to the processor and stores program instructions and data necessary for the target distance determination device. The processor is used to read and execute the program instructions stored in the memory to perform the methods mentioned in any of the possible designs of the first, second, or third aspects above.

[0078] Fifthly, embodiments of this application also provide an autonomous driving vehicle, which may include the vehicle control device mentioned in the fourth aspect above.

[0079] Sixthly, embodiments of this application also provide an autonomous driving assistance system, which may include the vehicle control device mentioned in the fourth aspect above.

[0080] In a seventh aspect, embodiments of this application also provide a computer-readable storage medium storing computer-executable instructions, which, when invoked by the computer, cause the computer to perform the methods mentioned in any possible design of the first, second, or third aspect described above. Exemplarily, the computer-readable storage medium can be any available medium accessible to a computer. For example, but not limited to, a computer-readable medium can include a non-transient computer-readable medium, random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), CD-ROM or other optical disk storage, magnetic disk storage media, or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer.

[0081] Eighthly, embodiments of this application also provide a computer program product containing instructions that, when run on a computer, cause the computer to perform the methods mentioned in the first, second, third, or any possible design of the first or second aspect described above.

[0082] In a ninth aspect, embodiments of this application also provide a chip connected to a memory for reading and executing program instructions stored in the memory to implement the methods mentioned in any possible design of the first aspect, the second aspect, or the first aspect, the second aspect, and the third aspect.

[0083] For the various aspects from the second to the ninth aspect mentioned above, and the technical effects that each aspect may achieve, please refer to the above description of the technical effects that can be achieved for the first aspect or the various possible solutions in the first aspect, which will not be repeated here. Attached Figure Description

[0084] Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application;

[0085] Figure 2 A flowchart of another vehicle control method provided in the embodiments of this application;

[0086] Figure 3 A flowchart of yet another vehicle control method provided in this application embodiment;

[0087] Figure 4 A block diagram illustrating a vehicle control method provided in an embodiment of this application;

[0088] Figure 5 A flowchart of yet another vehicle control method provided in this application embodiment;

[0089] Figure 6 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0090] Figure 7 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application. Detailed Implementation

[0091] The present application will now be described in further detail with reference to the accompanying drawings.

[0092] The technical solutions of this application embodiment can be applied to various communication systems, such as: fourth generation (4G) systems, including LTE systems, worldwide interoperability for microwave access (WiMAX) communication systems, fifth generation (5G) systems, such as NR, 6G systems, and future communication systems, etc.

[0093] The technical solutions of this application can be applied to the fields of unmanned driving, driver assistance (ADAS), intelligent driving, connected driving, intelligent network driving, car sharing, smart / intelligent car, digital car, unmanned car / driverless car / pilotless car / automobile, Internet of Vehicles (IoV), self-driving car, autonomous car, cooperative vehicle infrastructure (CVIS), intelligent transport system (ITS), vehicular communication, etc.

[0094] The technical solutions of this application can be applied to the fields of unmanned driving, driver assistance (ADAS), intelligent driving, connected driving, intelligent network driving, car sharing, smart / intelligent car, digital car, unmanned car / driverless car / pilotless car / automobile, Internet of Vehicles (IoV), self-driving car, autonomous car, cooperative vehicle infrastructure (CVIS), intelligent transport system (ITS), vehicular communication, etc.

[0095] The following explanations of some terms used in the embodiments of this application are provided to facilitate understanding by those skilled in the art.

[0096] 1) Battery electric vehicles (BEVs), also known as electric cars, are powered by an onboard power source and use an electric motor to drive the wheels. In other words, a battery electric vehicle's power source provides electrical energy, and the electric motor converts this electrical energy into mechanical energy to drive the wheels. Depending on their intended use, battery electric vehicles can include electric cars, electric trucks, and electric buses.

[0097] This application primarily uses a pure electric vehicle as an example for illustration. It should be noted that the vehicle control method provided in this application is applicable to vehicles with energy storage devices, including other vehicles powered by electricity, or hybrid vehicles, etc.

[0098] 2) Regenerative braking converts braking energy into electrical energy during deceleration and stores it in the battery, effectively increasing the vehicle's battery capacity and driving range. Furthermore, regenerative braking can reduce vehicle wear and tear and improve driving stability.

[0099] 3) Roadside equipment, including roadside units (RSUs), roadside intelligent facilities (including cameras, millimeter-wave radar, a small number of lidar devices, environmental sensing devices, as well as intelligent traffic lights, intelligent signs, etc.). The roadside equipment may also include multi-access edge computing (MEC) devices.

[0100] The roadside equipment can acquire the location and speed information of vehicles within its area of ​​operation, and can also detect traffic flow within that area. The roadside equipment (such as a Roadside Unit) can connect to traffic lights (also known as traffic lights or signal lights) in its area to obtain the color and countdown timer (usually a countdown timer). The roadside equipment (such as an RSU) can also connect to cameras / LiDAR systems in its area to detect any abnormal road conditions (traffic accidents, fog, etc.). Optionally, the roadside equipment can also perform some data processing and computation functions.

[0101] The roadside equipment can interact with vehicles. For example, vehicles can report driving information to the roadside equipment, and the roadside equipment can send road traffic information of the area where the vehicle is located to the vehicle.

[0102] 4) A cloud server, also known as a cloud management platform or intelligent vehicle cloud service platform, or cloud device, can analyze and process massive amounts of vehicle information to plan vehicle routes, speeds, and traffic light cycles. The cloud server can interact with roadside equipment and vehicles. For example, vehicles can report their driving information to the cloud server, and the cloud server can send planned routes and speeds back to the vehicles. Alternatively, the cloud server can directly send road traffic information for the vehicle's location to the vehicle. One possibility is that the cloud server is a traffic control center.

[0103] 5) Vehicle driving information, including but not limited to one or more of the following: vehicle speed, vehicle acceleration, or vehicle position. Optionally, the vehicle driving information can be collected by the vehicle's own onboard sensors, cameras, or other acquisition modules. Alternatively, the vehicle driving information can be collected by roadside equipment in the area where the vehicle is located. In some scenarios, the vehicle can also collect and report road traffic information in the area, such as traffic light information and / or abnormal situations.

[0104] In this embodiment of the application, the vehicle speed may include: , , or Assuming in arrive Vehicle control is performed once within a certain time period. This marks the initial moment of vehicle control. (The end time of vehicle speed control), the vehicle in The speed of the car at that moment was The vehicle in The vehicle speed at that moment (generally referring to the current speed of the vehicle) is The vehicle in The speed of the car at that moment was The vehicle's speed when passing through the traffic light intersection is In some possible situations, such as at the initial moment of vehicle control... At that time, the vehicle's current speed For example, at the end of vehicle control At that time, the vehicle's current speed For example, at the end of vehicle control When the vehicle passes through the traffic light intersection, then In this embodiment of the application, the vehicle control process mainly involves speed planning and control of the vehicle.

[0105] The acceleration of the vehicle may include: or Assuming in arrive The vehicle is controlled once within a certain time period, and the vehicle is... The acceleration at time t is The vehicle in The acceleration at time (generally referring to the current acceleration) is: In some possible situations, such as at the initial moment of vehicle control... At that time, the current acceleration of the vehicle. .

[0106] It should be noted that during the time it takes for the vehicle to travel from a certain location to the traffic light intersection, vehicle control can be performed once or multiple times, and may include one or more [unspecified actions]. arrive The time period. In this embodiment of the application, the vehicle control is described once within the time it takes for the vehicle to travel from a certain location to the traffic light intersection, that is... The time it takes for the vehicle to pass through the traffic light intersection. .

[0107] It is understood that, unless otherwise specified, the concepts of "time" and "moment" can be used interchangeably in the embodiments of this application.

[0108] 6) Road traffic information refers to road traffic information in the area where the vehicle is located, including but not limited to one or more of the following: traffic light color, traffic light duration, distance between the vehicle and the traffic light, speed limit in the area where the vehicle is located, speed of the vehicle in front of the vehicle, distance between the vehicle and the vehicle in front of the vehicle, traffic flow in the area where the vehicle is located, weather information in the area where the vehicle is located, and congestion in the area where the vehicle is located.

[0109] It is understood that, unless otherwise specified, the vehicles involved in the embodiments of this application are intelligent vehicles that can interact with roadside equipment, cloud servers, etc.

[0110] 7) The terms "system" and "network" in the embodiments of this application can be used interchangeably. "Multiple" refers to two or more; therefore, in the embodiments of this application, "multiple" can also be understood as "at least two". "At least one" can be understood as one or more, for example, one, two, or more. For example, including at least one means including one, two, or more, and is not limited to which ones are included. For example, including at least one of A, B, and C, then it can include A, B, C, A and B, A and C, B and C, or A and B and C. Similarly, the understanding of descriptions such as "at least one" is similar. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / ", unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0111] Unless otherwise stated, the ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects, and the description of "first" and "second" does not limit the objects to necessarily being different.

[0112] With the continuous development of technologies such as autonomous driving, vehicle-to-infrastructure (V2I) communication (cooperation between vehicles and roadside equipment), and vehicle-to-cloud (V2X) communication (cooperation between vehicles and cloud servers), vehicles (such as intelligent vehicles) can obtain more comprehensive perception information about their surroundings through onboard sensors, roadside equipment, and cloud servers. In urban traffic environments, navigating traffic light intersections is one of the common scenarios vehicles face. Onboard sensors' perception of traffic lights is easily affected by factors such as lighting, obstruction, and distance, and cannot obtain descriptive information about the traffic lights. With the development of V2I and V2X technologies, vehicles can obtain more comprehensive and accurate perception information through roadside equipment or cloud servers. Vehicles can plan their journey in advance based on the status and duration of the traffic lights, as well as their speed and distance from the intersection, ensuring safe and smooth passage through traffic light intersections.

[0113] Generally, vehicles communicate with everything (V2X) to obtain information about traffic lights and other vehicles, then perform speed planning and control, using one or more of fuel economy, traffic efficiency, and comfort as optimization objectives to calculate the vehicle's speed control result. Vehicle-to-everything (V2X) speed control methods at traffic light intersections are mostly implemented for gasoline-powered vehicles, and their speed planning optimization objectives consider one or more of fuel economy, traffic efficiency, and comfort; they are not suitable for vehicles powered by electricity.

[0114] Based on this, this application provides a vehicle planning method. In this method, the operating conditions and first speed of the vehicle when passing through a traffic light intersection can be planned according to the vehicle's driving information and the road traffic information of the area where the vehicle is located. If the operating condition of the vehicle passing through the traffic light intersection is planned as a braking condition, the braking energy recovered by the vehicle can be determined according to the first speed of the vehicle passing through the traffic light intersection and the second speed of the vehicle currently traveling. The vehicle can be controlled to brake according to the energy recovered by the vehicle, thereby improving the braking energy recovery of pure electric vehicles.

[0115] This application provides a possible vehicle control process, such as... Figure 1 As shown, it includes the following steps:

[0116] S101: The first device acquires the vehicle's driving information and the road traffic information of the area where the vehicle is located, and predicts the vehicle's operating conditions when passing through the traffic light intersection and the vehicle's initial speed when passing through the traffic light intersection. .

[0117] The first device involved in the embodiments of this application may be the vehicle itself, or it may be a roadside device, or it may be a cloud server, or it may be other devices, and there is no limitation here.

[0118] Optionally, the vehicle may be equipped with a data acquisition module, which collects the vehicle's driving information. The first device (e.g., not the vehicle) may acquire the driving information from within the vehicle, or the first device (e.g., the vehicle) may acquire the driving information through the data acquisition module.

[0119] Optionally, the first device can obtain road traffic information about the area where the vehicle is located from a roadside device or a cloud server. Taking the vehicle as an example, when the vehicle enters the communication range of the roadside device and / or the broadcast range of the cloud server, the roadside device or the cloud server can send the road traffic information to the vehicle. That is, in this embodiment, the first device also considers the information obtained from the cloud server during vehicle control.

[0120] In one possible implementation, the first device can predict the vehicle's initial speed as it passes through the traffic light intersection based on the remaining time of the traffic light and the distance between the vehicle and the intersection. The first vehicle speed This refers to the reference speed / target speed of the vehicle passing through the traffic light intersection.

[0121] The first device determines the speed at which the vehicle will pass through the traffic light intersection when the remaining time at the traffic light is 0 (or the traffic light color changes) based on the distance between the vehicle and the traffic light intersection, and the remaining time at the traffic light. .

[0122] For example, when the traffic light is red, if the vehicle is currently traveling at its second speed... The vehicle is traveling at a speed Driving. When the red light turns green, if the vehicle has not reached the stop line at the traffic light intersection, the vehicle may pass through the traffic light intersection at a constant speed. The vehicle's initial speed upon passing through the traffic light intersection... It can be The vehicle may decelerate without braking. If the vehicle is currently traveling at a second speed... The vehicle is traveling at a speed Driving. When the vehicle reaches the stop line at the traffic light intersection, the traffic light is still red. The vehicle may slow down or stop. The initial speed of the vehicle passing through the traffic light intersection can be... (Speed ​​after deceleration) or 0 (Speed ​​when stopped). The vehicle can brake and decelerate.

[0123] For example, when the traffic light is green, if the vehicle is currently traveling at its second speed... The vehicle is traveling at a speed Driving. When the vehicle reaches the stop line at the traffic light intersection, the green light turns red. The vehicle may accelerate or stop, and the initial speed of the vehicle passing through the traffic light intersection can be... (Speed ​​after acceleration) or 0 (Speed ​​when stopped). If the vehicle is currently traveling at its second speed... The vehicle is traveling at a speed Driving. The vehicle can pass through the traffic light intersection at a constant speed. The first speed of the vehicle when passing through the traffic light intersection... It can be .

[0124] In another possible implementation, the first device constructs a vehicle control model based on the vehicle's driving information and the road traffic information of the area where the vehicle is located; based on the vehicle control model, the first device predicts the vehicle's operating conditions when passing through a traffic light intersection and the vehicle's initial speed when passing through the traffic light intersection. Optionally, based on the vehicle control model, the first device can also predict the acceleration of the vehicle passing through a traffic light intersection. This vehicle control model can also be called a vehicle speed planning and control model.

[0125] The vehicle model includes, but is not limited to, one or more of the following: a vehicle dynamics model, a physical constraint model, a boundary constraint model, the optimization objective of the vehicle control model, or a vehicle state change matrix. That is, when constructing the vehicle model, one or more of the following can be considered: a vehicle dynamics model, a physical constraint model, a boundary constraint model, the optimization objective of the vehicle control model, or a vehicle state change matrix. Alternatively, the vehicle model may be related to one or more of the following: a vehicle dynamics model, a physical constraint model, a boundary constraint model, the optimization objective of the vehicle control model, or a vehicle state change matrix.

[0126] The vehicle dynamics model refers to the vehicle dynamics constraints. The vehicle dynamics model may relate to one or more of the following information: the vehicle's speed, the vehicle's driving force (which may be provided by the vehicle's electric motor), road slope resistance, wind resistance, air resistance, or the vehicle's frontal area (referring to the projected area of ​​the vehicle in the direction of travel, which can be calculated using methods such as digital photography or engineering drawings). Optionally, the vehicle dynamics model may satisfy the following formula: ,in The mass / weight of the vehicle. Let be the acceleration of the vehicle at time t. The driving force of the vehicle is... For the slope resistance of the road, For rolling friction, The coefficient of friction of the road. For wind resistance, The air drag coefficient, air density, The frontal area of ​​the vehicle is denoted as .

[0127] The physical constraint model includes a vehicle speed constraint model and / or a vehicle acceleration constraint model. The physical constraint model relates to the vehicle's speed and / or acceleration. The maximum speed in the vehicle speed constraint model ( ) and minimum value ( Due to limitations imposed by the vehicle's mechanical properties, the constraints can be set according to the actual conditions of different vehicles. For example, the constraints in the vehicle speed constraint model... That is, the speed of the vehicle at time t. Not less than (i.e., greater than or equal to) the minimum speed of the vehicle. And not greater than (i.e. less than or equal to) the maximum speed of the vehicle. Optional and , The speed limit (maximum driving speed within the area where the vehicle is located) is defined as the speed limit within that area. The maximum acceleration value in the acceleration constraint model is also defined as... ) and minimum value ( Due to limitations imposed by the vehicle's mechanical properties, the constraints can be set according to the specific circumstances of different vehicles. For example, the constraints in the acceleration constraint model... That is, the acceleration of the vehicle at time t. Not less than the minimum acceleration of the vehicle And not greater than the maximum acceleration of the vehicle. The physical constraint model can be used to analyze the traffic efficiency and / or safety of the vehicle. ], at any time t belongs to Within the set range. The time range for controlling the vehicle is [indicated]. arrive . This is the start time of the vehicle control. The time for determining the traffic light status or the time for obtaining the vehicle's driving information is not limited here. The end time of the vehicle control is defined in the scenario of passing through a traffic light intersection. This can be used to estimate the time when the vehicle will pass through the traffic light intersection.

[0128] The boundary constraint model is used to prevent the vehicle from colliding with the vehicle in front of it. The boundary constraint model is related to one or more of the following information: the speed of the vehicle, the speed of the vehicle in front, or the distance between the two vehicles. The boundary constraint model can be used to analyze the safety of the vehicle. Optionally, the boundary constraint model can constrain the collision time between the vehicle and the vehicle in front. Not less than the minimum collision time This ensures that the vehicle will not collide with the vehicle in front. For example, the boundary constraint model can satisfy the following formula: ,in The distance between the vehicle and the vehicle in front is [the distance between the two vehicles]. This represents the speed of the vehicle in front.

[0129] The optimization objectives of the vehicle control model include, but are not limited to, one or more of the following: efficiency evaluation indicators, safety evaluation indicators, comfort evaluation indicators, or braking energy recovery indicators for the vehicle passing through a traffic light intersection. In one possible scenario, when the vehicle is in a braking condition while passing through the traffic light intersection, the vehicle control model includes the braking energy recovery indicator.

[0130] The optimization objective of the vehicle control model may be related to one or more of the following information: the vehicle's speed, the vehicle's position, the vehicle's acceleration, or the time when the vehicle passes through a traffic light intersection.

[0131] For example, the optimization objective of the vehicle control model satisfies the following formula: . The optimization objective of the vehicle control model is defined as follows. For the optimization objective of non-integral terms, The optimization objective is to optimize the integral term. The current time when the vehicle is traveling. This is the end time of the vehicle control. The speed of the vehicle. The location of the vehicle. Let be the acceleration of the vehicle. In the scenario of passing through a traffic light intersection, This can be used to estimate the time when the vehicle will pass through the traffic light intersection.

[0132] It is related to one or more of the efficiency evaluation index, the safety evaluation index, or the comfort evaluation index. Optionally, the efficiency evaluation index, the safety evaluation index, and the comfort evaluation index can be normalized so that the values ​​of each index are within the range [0,1]. For example... .in Used to represent the optimization objective of the integral term, The efficiency evaluation index is as described above. The weights for the efficiency evaluation index are... The aforementioned safety evaluation indicators, The weights of the aforementioned safety evaluation indicators are... The aforementioned comfort evaluation index The weights are those of the comfort evaluation index. In this embodiment of the application, the weights are... , , There are no restrictions on the values ​​of each weight.

[0133] The efficiency evaluation index for a vehicle passing through a traffic light intersection is an evaluation index based on vehicle speed, and can be related to the vehicle's speed. Optionally, the efficiency evaluation index is related to the vehicle's speed at time t. The efficiency evaluation index for the vehicle passing through the traffic light intersection is related to one or more of the vehicle's speed at the end of the vehicle control period, or the vehicle's speed when passing through the traffic light intersection. The efficiency evaluation index for the vehicle passing through the traffic light intersection is related to the vehicle's speed. For example, the efficiency evaluation index for the vehicle passing through the traffic light intersection satisfies the following formula: .in This is a performance evaluation index for the efficiency of the vehicle passing through the traffic light intersection. The speed of the vehicle at the end of the vehicle control period. In the scenario of passing through a traffic light intersection, the speed of the vehicle at the end of the vehicle control period can be the same as the speed at which the vehicle passes through the traffic light intersection. It can also be expressed as the speed at which the vehicle passes through the traffic light intersection. .

[0134] The safety evaluation index for a vehicle passing through a traffic light intersection is related to the vehicle's speed and its position relative to the speed. For example, the safety evaluation index for a vehicle passing through a traffic light intersection can be related to the collision time between the vehicle and the vehicle in front. Optionally, the safety evaluation index for a vehicle passing through a traffic light intersection can satisfy the following formula: ,in The safety evaluation index for the vehicle passing through the traffic light intersection. The time of collision between the vehicle and the vehicle in front of it. The maximum collision time between the vehicle and the vehicle in front of it.

[0135] The comfort evaluation index for a vehicle passing through a traffic light intersection can be related to the vehicle's acceleration. Optionally, the comfort evaluation index is related to the vehicle's acceleration at time t. Relevant. For example, the comfort evaluation index for vehicles passing through traffic light intersections satisfies the following formula: , The comfort evaluation index for the vehicle passing through a traffic light intersection. Let be the acceleration of the vehicle at time t.

[0136] In the scenario of a traffic light intersection, the vehicle's operation when passing through the intersection includes braking and non-braking conditions. Braking conditions include decelerating through the intersection or slowing down to a stop. Non-braking conditions include maintaining a constant speed (i.e., uniform speed) while passing through the intersection or accelerating through the intersection.

[0137] Optionally, when the operating condition is a braking condition, This indicates the braking acceleration of the vehicle. The following conditions must be met: , Let be the minimum acceleration of the vehicle. This is the maximum acceleration of the vehicle. This is the acceleration related to the braking intensity z of the vehicle. The braking intensity z of a pure electric vehicle... Impact. When the braking acceleration of the vehicle is greater than... Furthermore, when the vehicle is under emergency braking, it only uses mechanical braking without regenerative braking. And when the vehicle's braking acceleration is greater than... Furthermore, when the vehicle is under non-emergency braking, it avoids emergency braking and can recover as much braking energy as possible during braking operations.

[0138] The Related to one or more of the following: the time when the vehicle passed through the traffic light intersection, and the speed of the vehicle.

[0139] When the operating condition is the braking condition, the This can be related to the traffic efficiency evaluation index for vehicles passing through traffic light intersections and the braking energy recovery index. The traffic efficiency index is a time-dimensional evaluation index. For example... Satisfy the following formula: .in The traffic efficiency evaluation index is referred to here. The weights are used to calculate the traffic efficiency evaluation index. For braking energy recovery indicators, The weights used to calculate the regenerative braking index are... Related to the speed of the vehicle. In this embodiment of the application, for , There are no restrictions on the values ​​of each weight.

[0140] It is time-related, and optionally related to the time when the vehicle passes through the traffic light intersection. For example... Satisfy the following formula: .

[0141] This can be related to one or more of the vehicle's mass / weight, the air resistance (or the energy of the air resistance), or the rolling resistance (or the energy of the rolling resistance). For example, assuming the vehicle's speed... Decelerate to , Satisfy the following formula: , The energy of air resistance (i.e., the energy consumed / work done by the vehicle in the face of air resistance). The energy of the rolling resistance (i.e., the energy consumed / work done by the vehicle in counteracting the rolling resistance). Considering the braking energy recovery index, the vehicle can recover as much braking energy as possible.

[0142] When the operating condition is a non-braking condition, the This can be related to the traffic efficiency evaluation index of vehicles passing through traffic light intersections. For example... Satisfy the following formula: In non-braking conditions, regenerative braking is not considered.

[0143] Optionally, the vehicle state change matrix is ​​related to the vehicle's position and speed. For example, the vehicle state change matrix satisfies the following formula: ,in This indicates the position of the vehicle at time t, or the displacement of the vehicle at time t.

[0144] S102: If the vehicle is braking when passing through a traffic light intersection, the first device adjusts the speed according to the first vehicle speed. and the second speed at which the vehicle is currently traveling. The braking energy recovered by the vehicle is determined.

[0145] For example, the first device can calculate the vehicle speed (such as the first vehicle speed) based on the vehicle control model. ), acceleration, and the second vehicle speed The braking energy recovered by the vehicle is determined.

[0146] The process of recovering braking energy of the vehicle is not limited in this embodiment. For example, the vehicle recovers braking energy according to the first vehicle speed. and the second speed at which the vehicle is currently traveling. Calculate the feedback torque under braking conditions, and determine the braking energy recovered by the vehicle based on the feedback torque.

[0147] Optionally, the vehicle can convert the braking energy into electrical energy and store it in the vehicle's battery to achieve braking energy recovery.

[0148] S103: The first device controls the vehicle to brake based on the braking energy recovered by the vehicle.

[0149] In S103, the first device controls the vehicle to be... Braking to deceleration .

[0150] When the first device is not the vehicle, the first device can or braking acceleration The message is sent to the vehicle, and the first vehicle brakes and decelerates.

[0151] Optionally, if the operating condition is a non-braking condition, the first device controls the vehicle to maintain the current speed. Or speed up through the traffic light intersection.

[0152] In one possible implementation, the first device can execute S101-S103 every time period T, which can control the vehicle in a timely manner and respond promptly to emergencies that occur during the vehicle's operation.

[0153] In the vehicle control method provided in this application embodiment, considering the vehicle's braking energy recovery, when the vehicle brakes in a traffic light intersection scenario, under the premise of ensuring the vehicle's braking stability and safety, as much braking energy as possible is recovered to improve the vehicle's energy utilization rate and extend the vehicle's driving range.

[0154] Figure 2 Another possible vehicle control process provided for embodiments of this application includes the following steps:

[0155] S201: The first device acquires vehicle driving information and road traffic information of the area where the vehicle is located, and predicts the operating conditions of the vehicle as it passes through the traffic light intersection and the vehicle's initial speed as it passes through the traffic light intersection. .

[0156] The implementation process of S201 can be referred to S101 above, and the similarities will not be repeated.

[0157] S202: If the vehicle is in a non-braking condition when passing through a traffic light intersection, the first device controls the vehicle to proceed at the first speed. Passing through a traffic light intersection.

[0158] In non-braking conditions, the first device can control the vehicle to operate at the first vehicle speed. The vehicle passes through the traffic light intersection at a constant speed. Optionally, when passing through the traffic light intersection at a constant speed, the first speed... The second speed that can be compared with the current speed of the vehicle equal.

[0159] Or, in non-braking conditions, the first device can control the vehicle to maintain the first speed. Speed ​​up and pass through the traffic light intersection.

[0160] In one possible implementation, the first device can execute S101-S103 every time period T, which can control the vehicle in a timely manner and respond promptly to emergencies that occur during the vehicle's operation.

[0161] In the vehicle control method provided in this application embodiment, taking into account more comprehensive road condition information, the vehicle's perception range can be improved, the vehicle's perception capability can be enhanced, and the passenger's riding comfort and safety can be improved, as well as the overall traffic efficiency of the road can be improved.

[0162] Figure 3 Another possible vehicle control process provided in the embodiments of this application includes the following steps:

[0163] S301: The first device acquires the vehicle's driving information and the road traffic information of the area where the vehicle is located, and predicts the vehicle's operating conditions when passing through the traffic light intersection and the vehicle's initial speed when passing through the traffic light intersection. .

[0164] S302: If the vehicle is braking when passing through a traffic light intersection, the first device adjusts the speed according to the first vehicle speed. and the second speed at which the vehicle is currently traveling. The first device determines the braking energy recovered by the vehicle. Based on the recovered braking energy, the first device controls the vehicle to brake.

[0165] The implementation process of S301~S302 can be referred to S101~S103 above, and the similarities will not be repeated.

[0166] S303: If the vehicle is in a non-braking condition when passing through a traffic light intersection, the first device controls the vehicle to proceed at the first speed. Passing through a traffic light intersection.

[0167] The implementation process of S303 can be referred to S202 above, and the similarities will not be repeated.

[0168] In the vehicle control method provided in this application embodiment, considering more comprehensive road condition information, the vehicle's perception range can be improved, its perception capability enhanced, and passenger comfort and safety improved, as well as overall road traffic efficiency increased. Furthermore, when the vehicle brakes at a traffic light intersection, considering regenerative braking, while ensuring braking stability and safety, as much braking energy as possible is recovered to improve energy utilization and extend the vehicle's driving range.

[0169] The above embodiments are described below using a specific example. Figure 4 This is a block diagram of the vehicle control process; see [link / details] for specific steps. Figure 5 As shown:

[0170] S501: Vehicles collect driving information through a data collection device.

[0171] The vehicle is equipped with the data acquisition device. The data acquisition device can be an onboard sensor and / or a camera, etc. Optionally, the vehicle can acquire information such as the color and duration of traffic lights through the camera.

[0172] S502: The vehicle obtains road traffic information from roadside equipment or cloud servers.

[0173] Roadside equipment or cloud servers can obtain road traffic information from traffic centers, traffic lights, and roadside cameras, and then distribute it to smart vehicles within the communication area.

[0174] For example, in the scenario where the vehicle passes through a traffic light intersection, when the vehicle enters the communication range of the roadside equipment, the roadside equipment sends the road traffic information to the vehicle; when the vehicle enters the broadcast range of the cloud server in the area, the cloud server sends the road traffic information to the vehicle.

[0175] S503: Based on driving information and road traffic information, the vehicle establishes a vehicle control model based on the vehicle dynamics model, physical constraint model and boundary constraint model, with the efficiency, comfort, safety and energy recovery (optional) of the vehicle passing through traffic light intersections as optimization objectives.

[0176] During braking conditions, the vehicle control model may consider energy recovery metrics. During non-braking conditions, the vehicle control model may not consider energy recovery metrics.

[0177] S504: The vehicle, based on the vehicle control model, pre-plans the operating conditions and speed of the vehicle when passing through traffic light intersections.

[0178] S505: In non-braking conditions, the vehicle controls the throttle according to the planned vehicle speed.

[0179] Under braking conditions, braking energy is recovered to the maximum extent based on the braking energy recovery control strategy.

[0180] S506: Under braking conditions, the vehicle recovers braking energy based on a braking energy recovery algorithm and controls the braking.

[0181] In this S506, the braking energy recovered by the vehicle can be the maximum recoverable braking energy.

[0182] S507: The vehicle repeats steps S501-S506 at time intervals T to plan and control the vehicle speed.

[0183] In this embodiment, the vehicle obtains road traffic information from roadside equipment or a cloud server, enabling it to acquire more accurate, real-time, and reliable road condition information, thereby increasing the vehicle's perception range and enhancing its perception capabilities. Based on the acquired vehicle driving information and road traffic information, the vehicle can plan its operating conditions and speed in advance. By considering different optimization objectives in speed planning, the vehicle's comfort and safety can be improved, as well as overall road traffic efficiency, energy utilization, and driving range can be increased.

[0184] It is understood that the embodiments of this application mainly target vehicle speed control in traffic light scenarios within a vehicle-to-everything (V2X) environment. However, they can also be applied to other road traffic scenarios, such as ramps, congested road sections, and other vehicle braking conditions.

[0185] The above combination Figures 1 to 5 This application details a vehicle control method according to embodiments thereof. Based on the same technical concept as the vehicle control method described above, embodiments of this application also provide a communication device. For example... Figure 6 As shown, the communication device 600 includes an acquisition unit 601 and a processing unit 602.

[0186] In one specific instance:

[0187] The acquisition unit 601 is used to acquire vehicle driving information and road traffic information of the area where the vehicle is located, and to predict the vehicle's operating conditions when passing through a traffic light intersection and the vehicle's first speed when passing through the traffic light intersection. ;

[0188] Processing unit 602 is configured to, if the vehicle is in braking condition when passing through a traffic light intersection, determine the first vehicle speed based on the braking condition. and the second speed at which the vehicle is currently traveling. The vehicle recovers braking energy; based on the recovered braking energy, the vehicle is controlled to brake.

[0189] In one optional implementation, the processing unit 602 is specifically configured to construct a vehicle control model based on the vehicle's driving information and the road traffic information of the area where the vehicle is located; and based on the vehicle control model, predict the vehicle's operating conditions when passing through a traffic light intersection and the vehicle's first speed when passing through the traffic light intersection. .

[0190] In one optional implementation, the vehicle control model includes one or more of the following: a vehicle dynamics model, a physical constraint model, a boundary constraint model, and an optimization objective of the vehicle control model;

[0191] The physical constraint model includes the vehicle speed constraint model and / or the vehicle acceleration constraint model.

[0192] The boundary constraint model is used to constrain the vehicle from colliding with the vehicle in front of it.

[0193] The optimization objectives of the vehicle control model include one or more of the following: efficiency evaluation indicators, safety evaluation indicators, comfort evaluation indicators, and braking energy recovery indicators for the vehicle passing through traffic light intersections.

[0194] In one optional implementation, the acquisition unit 601 is specifically used to acquire driving information collected by the vehicle's acquisition module, and to acquire road traffic information of the area where the vehicle is located from roadside equipment or a cloud server.

[0195] In one optional implementation, when the operating condition is braking, the optimization objective of the vehicle control model includes the braking energy recovery index.

[0196] In one optional implementation, when the operating condition is braking, the braking acceleration of the vehicle is... The following conditions must be met: , Let be the minimum acceleration of the vehicle. This is the maximum acceleration of the vehicle. To the braking strength of the vehicle Related acceleration.

[0197] In one alternative implementation, the optimization objective of the vehicle control model relates to one or more of the following information: the vehicle's speed, the vehicle's position, the vehicle's acceleration, or the time at which the vehicle passes through a traffic light intersection.

[0198] In one optional implementation, the optimization objective of the vehicle control model satisfies the following formula:

[0199] , The optimization objective of the vehicle control model is defined as follows. This marks the initial moment of vehicle control. The time when the vehicle passes through the traffic light intersection. The speed of the vehicle. The location of the vehicle. Let be the acceleration of the vehicle.

[0200] In one alternative implementation, the Related to one or more of the following: the time when the vehicle passed through the traffic light intersection, and the speed of the vehicle.

[0201] In one optional implementation, when the operating condition is braking, the... Satisfy the following formula:

[0202] ;

[0203] When the operating condition is non-braking, the following Satisfy the following formula:

[0204] ;

[0205] in, The traffic efficiency evaluation index for vehicles passing through traffic light intersections, the It relates to the time when the vehicle passes through the traffic light intersection. As a braking energy recovery indicator, the It is related to the speed of the vehicle.

[0206] In one alternative implementation, the Satisfy the following formula:

[0207] ,in The mass of the vehicle. The energy of air resistance, The energy of rolling resistance.

[0208] In one alternative implementation, the Satisfy the following formula:

[0209] .

[0210] In one alternative implementation, the efficiency evaluation index for the vehicle passing through the traffic light intersection is related to the vehicle's speed.

[0211] In one optional implementation, the efficiency evaluation index for vehicles passing through traffic light intersections satisfies the following formula: ,in This is an efficiency evaluation index for the vehicles passing through traffic light intersections.

[0212] In one alternative implementation, the safety evaluation index for the vehicle passing through the traffic light intersection is related to the vehicle's speed and the position of the speed.

[0213] In one optional implementation, the safety evaluation index for the vehicle passing through the traffic light intersection satisfies the following formula: ,in The safety evaluation index for the vehicle passing through the traffic light intersection. The time of collision between the vehicle and the vehicle in front of it. The maximum collision time between the vehicle and the vehicle in front of it.

[0214] In one alternative implementation, the comfort evaluation index of the vehicle passing through a traffic light intersection is related to the vehicle's acceleration.

[0215] In one optional implementation, the comfort evaluation index for the vehicle passing through a traffic light intersection satisfies the following formula: , The comfort evaluation index for the vehicle passing through a traffic light intersection. Let be the acceleration of the vehicle at time t.

[0216] In one alternative implementation, the vehicle dynamics model is related to the speed of the vehicle.

[0217] In one alternative implementation, the vehicle dynamics model satisfies the following formula: ,in The driving force of the vehicle is... For the slope resistance of the road, For rolling friction, The coefficient of friction of the road. For wind resistance, The air drag coefficient, air density, The frontal area of ​​the vehicle is denoted as .

[0218] In one alternative implementation, the boundary constraint model relates to the vehicle's speed and the position of the vehicle. Optionally, the boundary constraint model relates to one or more of the following: the vehicle's speed, the speed of the vehicle ahead of the vehicle, or the distance between the vehicle and the vehicle ahead of the vehicle.

[0219] In one alternative implementation, the boundary constraint model satisfies the following formula: ,in The distance between the vehicle and the vehicle in front of it. The speed of the vehicle ahead of the vehicle is denoted as .

[0220] In one optional implementation, the vehicle's driving information includes one or more of the following: the vehicle's current second speed. The current acceleration of the vehicle. The current location of the vehicle.

[0221] The road traffic information of the area where the vehicle is located includes one or more of the following: traffic light colors, traffic light duration, distance between the vehicle and the traffic light, speed limit of the area where the vehicle is located, speed of the vehicle in front of the vehicle, and distance between the vehicle and the vehicle in front of the vehicle.

[0222] In another embodiment, specifically:

[0223] The acquisition unit 601 is used to acquire vehicle driving information and road traffic information of the area where the vehicle is located, and to predict the vehicle's operating conditions when passing through a traffic light intersection and the vehicle's first speed when passing through the traffic light intersection. ;

[0224] Processing unit 602 is configured to control the vehicle at the first speed if the vehicle is in a non-braking condition when passing through a traffic light intersection. Passing through a traffic light intersection.

[0225] In yet another embodiment, specifically:

[0226] The acquisition unit 601 is used to acquire vehicle driving information and road traffic information of the area where the vehicle is located, and to predict the vehicle's operating conditions when passing through a traffic light intersection and the vehicle's first speed when passing through the traffic light intersection. ;

[0227] Processing unit 602 is configured to, if the vehicle is in braking condition when passing through a traffic light intersection, determine the first vehicle speed based on the braking condition. and the second speed at which the vehicle is currently traveling. The vehicle recovers braking energy; based on the recovered braking energy, the vehicle is controlled to brake. If the vehicle is not braking when passing through a traffic light intersection, the vehicle is controlled to maintain the first speed. Passing through a traffic light intersection.

[0228] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. The functional units in the embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0229] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0230] Based on the above embodiments, this application also provides a communication device that can implement the above embodiments. (See also...) Figure 7 As shown, the communication device 700 may include a processor 701 and a memory 702, wherein:

[0231] The processor 701 can be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and an NP, etc. The processor 701 may further include hardware chips. These hardware chips can be application-specific integrated circuits (ASICs), programmable logic devices (PLDs), or combinations thereof. The PLDs can be complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), generic array logic (GALs), or any combination thereof. The processor 701 can implement the above functions through hardware, or it can implement them by executing corresponding software.

[0232] The processor 701 and memory 702 are interconnected. Optionally, the processor 701 and memory 702 can be interconnected via bus 703; bus 703 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0233] In one alternative implementation, memory 702, coupled to processor 701, is used to store programs, etc. Specifically, the program may include program code, which includes computer operation instructions. Memory 702 may include RAM, and may also include non-volatile memory, such as at least one disk storage device. Processor 701 executes the application program stored in memory 702 to implement the above-mentioned functions, thereby realizing the function of communication device 700, that is, implementing the vehicle control method.

[0234] In one embodiment, specifically, the communication device 700, when implementing the vehicle control method, may include:

[0235] The processor 701 is used to execute program instructions stored in the memory 702:

[0236] The system acquires vehicle driving information and road traffic information of the area where the vehicle is located, and predicts the vehicle's operating conditions and initial speed at traffic light intersections. ;

[0237] If the vehicle is braking when passing through the traffic light intersection, based on the first vehicle speed... and the second speed at which the vehicle is currently traveling. Determine the braking energy recovered by the vehicle;

[0238] The vehicle is controlled to brake based on the braking energy recovered by the vehicle.

[0239] In one optional implementation, the processor 701 is specifically configured to: construct a vehicle control model based on the vehicle's driving information and road traffic information of the area where the vehicle is located; and, based on the vehicle control model, predict the vehicle's operating conditions at a traffic light intersection and the vehicle's initial speed at the intersection. .

[0240] In one optional implementation, the vehicle control model includes one or more of the following: a vehicle dynamics model, a physical constraint model, a boundary constraint model, and an optimization objective of the vehicle control model;

[0241] The physical constraint model includes the vehicle speed constraint model and / or the vehicle acceleration constraint model.

[0242] The boundary constraint model is used to constrain the vehicle from colliding with the vehicle in front of it.

[0243] The optimization objectives of the vehicle control model include one or more of the following: efficiency evaluation indicators, safety evaluation indicators, comfort evaluation indicators, and braking energy recovery indicators for the vehicle passing through traffic light intersections.

[0244] In one optional implementation, the processor 701 is specifically used to: acquire driving information collected by the vehicle's acquisition module, and acquire road traffic information of the area where the vehicle is located from roadside equipment or a cloud server.

[0245] In one optional implementation, when the operating condition is braking, the optimization objective of the vehicle control model includes the braking energy recovery index.

[0246] In one optional implementation, when the operating condition is braking, the braking acceleration of the vehicle is... The following conditions must be met: , Let be the minimum acceleration of the vehicle. This is the maximum acceleration of the vehicle. To the braking strength of the vehicle Related acceleration.

[0247] In one alternative implementation, the optimization objective of the vehicle control model relates to one or more of the following information: the vehicle's speed, the vehicle's position, the vehicle's acceleration, or the time at which the vehicle passes through a traffic light intersection.

[0248] In one optional implementation, the optimization objective of the vehicle control model satisfies the following formula:

[0249] , The optimization objective of the vehicle control model is defined as follows. This marks the initial moment of vehicle control. The time when the vehicle passes through the traffic light intersection. The speed of the vehicle. The location of the vehicle. Let be the acceleration of the vehicle.

[0250] In one alternative implementation, the Related to one or more of the following: the time when the vehicle passed through the traffic light intersection, and the speed of the vehicle.

[0251] In one optional implementation, when the operating condition is braking, the... Satisfy the following formula:

[0252] ;

[0253] When the operating condition is non-braking, the following Satisfy the following formula:

[0254] ;

[0255] in, The traffic efficiency evaluation index for vehicles passing through traffic light intersections, the It relates to the time when the vehicle passes through the traffic light intersection. As a braking energy recovery indicator, the It is related to the speed of the vehicle.

[0256] In one alternative implementation, the Satisfy the following formula:

[0257] ,in The mass of the vehicle. The energy of air resistance, The energy of rolling resistance.

[0258] In one alternative implementation, Satisfy the following formula:

[0259] .

[0260] In one alternative implementation, the efficiency evaluation index for the vehicle passing through the traffic light intersection is related to the vehicle's speed.

[0261] In one optional implementation, the efficiency evaluation index for vehicles passing through traffic light intersections satisfies the following formula: ,in This is an efficiency evaluation index for the vehicles passing through traffic light intersections.

[0262] In one alternative implementation, the safety evaluation index for the vehicle passing through the traffic light intersection is related to the vehicle's speed and the position of the speed.

[0263] In one optional implementation, the safety evaluation index for the vehicle passing through the traffic light intersection satisfies the following formula: ,in The safety evaluation index for the vehicle passing through the traffic light intersection. The time of collision between the vehicle and the vehicle in front of it. The maximum collision time between the vehicle and the vehicle in front of it.

[0264] The comfort evaluation index for vehicles passing through traffic light intersections satisfies the following formula: , The comfort evaluation index for the vehicle passing through a traffic light intersection. Let be the acceleration of the vehicle at time t.

[0265] In one alternative implementation, the comfort evaluation index of the vehicle passing through a traffic light intersection is related to the vehicle's acceleration.

[0266] In one optional implementation, the vehicle dynamics model satisfies the following formula: ,in The driving force of the vehicle is... For the slope resistance of the road, For rolling friction, The coefficient of friction of the road. For wind resistance, The air drag coefficient, air density, The frontal area of ​​the vehicle is denoted as .

[0267] In one alternative implementation, the boundary constraint model relates to the vehicle's speed and the position of the vehicle. Optionally, the boundary constraint model relates to one or more of the following: the vehicle's speed, the speed of the vehicle ahead of the vehicle, or the distance between the vehicle and the vehicle ahead of the vehicle.

[0268] In one alternative implementation, the boundary constraint model satisfies the following formula: ,in The distance between the vehicle and the vehicle in front of it. The speed of the vehicle ahead of the vehicle is denoted as .

[0269] In one optional implementation, the vehicle's driving information includes one or more of the following: the vehicle's current second speed. The current acceleration of the vehicle. The current location of the vehicle;

[0270] The road traffic information of the area where the vehicle is located includes one or more of the following: traffic light colors, traffic light duration, distance between the vehicle and the traffic light, speed limit of the area where the vehicle is located, speed of the vehicle in front of the vehicle, and distance between the vehicle and the vehicle in front of the vehicle.

[0271] In another embodiment, specifically, the communication device 700, when implementing the vehicle control method, may include:

[0272] The processor 701 is used to execute program instructions stored in the memory 702:

[0273] The system acquires vehicle driving information and road traffic information of the area where the vehicle is located, and predicts the vehicle's operating conditions and initial speed at traffic light intersections. ;

[0274] If the vehicle is not braking when passing through a traffic light intersection, control the vehicle to maintain the first speed. Passing through a traffic light intersection.

[0275] In yet another embodiment, specifically, the communication device 700, when implementing the vehicle control method, may include:

[0276] The processor 701 is used to execute program instructions stored in the memory 702:

[0277] The system acquires vehicle driving information and road traffic information of the area where the vehicle is located, and predicts the vehicle's operating conditions and initial speed at traffic light intersections. ;

[0278] If the vehicle is braking when passing through the traffic light intersection, based on the first vehicle speed... and the second speed at which the vehicle is currently traveling. The vehicle recovers braking energy; based on the recovered braking energy, the vehicle is controlled to brake.

[0279] If the vehicle is not braking when passing through a traffic light intersection, control the vehicle to maintain the first speed. Passing through a traffic light intersection.

[0280] Based on the above embodiments, this application also provides an autonomous driving vehicle, which may include the above-described components. Figure 6 or Figure 7 The communication device shown implements the above embodiments.

[0281] This application also provides an autonomous driving assistance system, which may include the above-described... Figure 6 or Figure 7 The communication device shown implements the above embodiments.

[0282] Based on the above embodiments, this application also provides a computer-readable storage medium for storing a computer program. When the computer program is executed by a computer, the computer can implement the vehicle control method provided in the above method embodiments.

[0283] This application also provides a computer program product for storing a computer program. When the computer program is executed by a computer, the computer can implement the vehicle control method provided in the above method embodiments.

[0284] This application also provides a chip coupled to a memory, which is used to implement the vehicle control method provided in the above method embodiments.

[0285] In this application, "multiple" refers to two or more.

[0286] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0287] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0288] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0289] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 Figure 1 The steps of the function specified in one or more boxes.

[0290] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the scope of the embodiments of this application. Therefore, if these modifications and variations to the embodiments of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A vehicle control method, characterized in that, include: Obtain vehicle driving information and road traffic information of the area where the vehicle is located; The road traffic information of the area where the vehicle is located includes: the distance between the vehicle and the traffic light, the speed of the vehicle in front of the vehicle, and the distance between the vehicle and the vehicle in front of the vehicle. A vehicle control model is constructed based on the vehicle's driving information and the road traffic information of the area where the vehicle is located; Based on the vehicle control model, the operating conditions of the vehicle when passing through the traffic light intersection and the vehicle's initial speed when passing through the traffic light intersection are predicted. ; If the vehicle is braking when passing through the traffic light intersection, based on the first vehicle speed... and the second speed at which the vehicle is currently traveling. Determine the braking energy recovered by the vehicle; The vehicle is controlled to brake based on the braking energy recovered by the vehicle; The optimization objective of the vehicle control model includes a braking energy recovery index; the braking energy recovery index is related to the time when the vehicle passes through the traffic light intersection and the vehicle speed. The optimization objective of the vehicle control model satisfies the following formula: , The optimization objective of the vehicle control model is defined as follows. This marks the initial moment of vehicle control. The time when the vehicle passes through the traffic light intersection. The speed of the vehicle. The location of the vehicle. Let be the acceleration of the vehicle; When the operating condition is the braking condition, the Satisfy the following formula: ； in, This refers to the efficiency evaluation index for vehicles passing through traffic light intersections. The braking energy recovery index is mentioned above.

2. The method as described in claim 1, characterized in that, The vehicle control model includes one or more of the following: a vehicle dynamics model, a physical constraint model, a boundary constraint model, and an optimization objective of the vehicle control model; The physical constraint model includes the vehicle speed constraint model and / or the vehicle acceleration constraint model. The boundary constraint model is used to constrain the vehicle from colliding with the vehicle in front of it. The optimization objectives of the vehicle control model also include one or more of the following: efficiency evaluation indicators, safety evaluation indicators, and comfort evaluation indicators for the vehicle passing through traffic light intersections.

3. The method as described in claim 1, characterized in that, When the operating condition is braking, the optimization objective of the vehicle control model includes the braking energy recovery index.

4. The method as described in claim 1, characterized in that, When the operating condition is braking, the braking acceleration of the vehicle The following conditions must be met: , Let be the minimum acceleration of the vehicle. This is the maximum acceleration of the vehicle. To the braking strength of the vehicle Related acceleration.

5. The method as described in claim 1, characterized in that, The Related to one or more of the following: the time when the vehicle passed through the traffic light intersection, and the speed of the vehicle.

6. The method as described in claim 1, characterized in that, When the operating condition is non-braking, the following Satisfy the following formula: 。 7. The method as described in claim 1, characterized in that, The Satisfy the following formula: ,in The mass of the vehicle. The energy of air resistance, The energy of rolling resistance.

8. The method as described in claim 1, characterized in that, The Satisfy the following formula: 。 9. The method as described in claim 2, characterized in that, The efficiency evaluation index for vehicles passing through traffic light intersections is related to the speed of the vehicles.

10. The method as described in claim 1, characterized in that, The efficiency evaluation index for vehicles passing through traffic light intersections satisfies the following formula: ,in This is an efficiency evaluation index for the vehicles passing through traffic light intersections.

11. The method as described in claim 2, characterized in that, The safety evaluation index for a vehicle passing through a traffic light intersection is related to the vehicle's speed and the location of the vehicle.

12. The method as described in claim 2 or 11, characterized in that, The safety evaluation index for vehicles passing through traffic light intersections must satisfy the following formula: ,in The safety evaluation index for the vehicle passing through the traffic light intersection. The time of collision between the vehicle and the vehicle in front of it. The maximum collision time between the vehicle and the vehicle in front of it.

13. The method as described in claim 2, characterized in that, The comfort evaluation index of the vehicle passing through the traffic light intersection is related to the vehicle's acceleration.

14. The method as described in claim 2 or 13, characterized in that, The comfort evaluation index for vehicles passing through traffic light intersections satisfies the following formula: , The comfort evaluation index for the vehicle passing through a traffic light intersection. Let be the acceleration of the vehicle at time t.

15. The method as described in claim 2, characterized in that, The vehicle dynamics model is related to the speed of the vehicle.

16. The method as described in claim 2 or 15, characterized in that, The vehicle dynamics model satisfies the following formula: ,in The driving force of the vehicle is... For the slope resistance of the road, For rolling friction, The coefficient of friction of the road. For wind resistance, The air drag coefficient, air density, The frontal area of ​​the vehicle is denoted as .

17. The method as described in claim 2, characterized in that, The boundary constraint model relates to one or more of the following information: the speed of the vehicle, the speed of the vehicle ahead of the vehicle, or the distance between the vehicle and the vehicle ahead of the vehicle.

18. The method as described in claim 2 or 17, characterized in that, The boundary constraint model satisfies the following formula: ,in The distance between the vehicle and the vehicle in front of it. The speed of the vehicle ahead of the vehicle is denoted as .

19. The method according to any one of claims 1-11, characterized in that, The vehicle's driving information includes one or more of the following: the vehicle's current second speed. The current acceleration of the vehicle. The current location of the vehicle; The road traffic information of the area where the vehicle is located also includes one or more of the following: traffic light colors, traffic light duration, and speed limits in the area where the vehicle is located.

20. A vehicle control device, characterized in that, include: The acquisition unit is used to acquire the vehicle's driving information and the road traffic information of the area where the vehicle is located; The road traffic information of the area where the vehicle is located includes: the distance between the vehicle and the traffic light, the speed of the vehicle in front of the vehicle, and the distance between the vehicle and the vehicle in front of the vehicle. The processing unit is configured to construct a vehicle control model based on the vehicle's driving information and the road traffic information of the area where the vehicle is located; and based on the vehicle control model, predict the vehicle's operating conditions when passing through a traffic light intersection and the vehicle's initial speed when passing through the traffic light intersection. If the vehicle is braking when passing through the traffic light intersection, based on the first vehicle speed... and the second speed at which the vehicle is currently traveling. The vehicle recovers braking energy; based on the recovered braking energy, the vehicle is controlled to brake. The optimization objective of the vehicle control model includes a braking energy recovery index; the braking energy recovery index is related to the time when the vehicle passes through the traffic light intersection and the vehicle speed. The optimization objective of the vehicle control model satisfies the following formula: , The optimization objective of the vehicle control model is defined as follows. This marks the initial moment of vehicle control. The time when the vehicle passes through the traffic light intersection. The speed of the vehicle. The location of the vehicle. Let be the acceleration of the vehicle; When the operating condition is the braking condition, the Satisfy the following formula: ； in, This refers to the efficiency evaluation index for vehicles passing through traffic light intersections. The braking energy recovery index is mentioned above.

21. The apparatus as claimed in claim 20, characterized in that, The vehicle control model includes one or more of the following: a vehicle dynamics model, a physical constraint model, a boundary constraint model, and an optimization objective of the vehicle control model; The physical constraint model includes the vehicle speed constraint model and / or the vehicle acceleration constraint model. The boundary constraint model is used to constrain the vehicle from colliding with the vehicle in front of it. The optimization objectives of the vehicle control model also include one or more of the following: efficiency evaluation indicators, safety evaluation indicators, and comfort evaluation indicators for the vehicle passing through traffic light intersections.

22. The apparatus as claimed in claim 20, characterized in that, When the operating condition is braking, the optimization objective of the vehicle control model includes the braking energy recovery index.

23. The apparatus as claimed in claim 20, characterized in that, When the operating condition is braking, the braking acceleration of the vehicle The following conditions must be met: , Let be the minimum acceleration of the vehicle. This is the maximum acceleration of the vehicle. To the braking strength of the vehicle Related acceleration.

24. The apparatus as claimed in claim 20, characterized in that, The Related to one or more of the following: the time when the vehicle passed through the traffic light intersection, and the speed of the vehicle.

25. The apparatus as claimed in claim 20, characterized in that, When the operating condition is non-braking, the following Satisfy the following formula: 。 26. The apparatus as claimed in claim 20, characterized in that, The Satisfy the following formula: ,in The mass of the vehicle. The energy of air resistance, The energy of rolling resistance; The Satisfy the following formula: 。 27. A communication device, characterized in that, Including processor and memory; The memory is used to store computer-executed instructions; The processor is configured to execute computer execution instructions stored in the memory to cause the communication device to perform the method as described in any one of claims 1 to 19.

28. A communication device, characterized in that, Including processor and interface circuitry; The interface circuit is configured to receive code instructions and transmit them to the processor; the processor executes the code instructions to perform the method as described in any one of claims 1 to 19.

29. A readable storage medium, characterized in that, The readable storage medium is used to store instructions that, when executed, cause the method as described in any one of claims 1-19 to be implemented.

30. An autonomous driving vehicle, characterized in that, Includes the vehicle control device as described in any one of claims 20-26.

31. An automatic driving assistance system, characterized in that, Includes the vehicle control device as described in any one of claims 20-26.

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