A charging driving control method, device and storage medium

Abstract

An embodiment of the present invention provides a charging driving control method, device, and storage medium. The method includes: obtaining a first response time of a power supply vehicle, wherein the first response time is the braking response time of the power supply vehicle; determining a third response time based on the first response time and the second response time of a vehicle to be charged, wherein the second response time is the braking response time of the vehicle to be charged; and when the vehicle to be charged establishes a charging connection with the power supply vehicle, controlling the vehicle to be charged and the power supply vehicle to travel in coordination using the third response time as a driving time parameter. By using the third response time as the driving time parameter for the coordinated driving of the vehicle to be charged and the power supply vehicle during charging, coordinated driving of the power supply vehicle and the vehicle to be charged is achieved, while ensuring driving safety during the coordinated driving process.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a charging driving control method, device and storage medium. Background Art

[0002] With the increasing development of electric vehicles, electric vehicles have become the means of transportation of choice for many people. However, the battery capacity of electric vehicles is limited and the charging time is long, which affects the user experience. In addition, when the electric vehicle is low on power or out of power, if it is far away from the charging station, there is a risk that the electric vehicle will run out of power before it can reach the charging station. Summary of the Invention

[0003] Embodiments of the present invention provide a charging driving control method, device, and storage medium to solve the problem of how to control the coordinated driving of a power supply vehicle and a vehicle to be charged during the charging process.

[0004] In a first aspect, an embodiment of the present invention provides a charging driving control method, which is applied to a vehicle to be charged, and the method includes:

[0005] Obtaining a first response time of the power supply vehicle, wherein the first response time is a braking response time of the power supply vehicle;

[0006] Determining a third response time according to the first response time and a second response time of the vehicle to be charged, wherein the second response time is a braking response time of the vehicle to be charged;

[0007] When the vehicle to be charged establishes a charging connection with the power supply vehicle, the vehicle to be charged and the power supply vehicle are controlled to travel in coordination with each other using the third response time as a driving time parameter.

[0008] In a second aspect, an embodiment of the present invention further provides a charging driving control device, comprising:

[0009] An acquisition module, configured to acquire a first response time of a power supply vehicle, wherein the first response time is a braking response time of the power supply vehicle;

[0010] A first determining module is configured to determine a third response time based on a second response time of the vehicle to be charged and the first response time, wherein the second response time is a braking response time of the vehicle to be charged;

[0011] The first control module is configured to control the vehicle to be charged and the power supply vehicle to travel in coordination with each other using the third response time as a driving time parameter when the vehicle to be charged establishes a charging connection with the power supply vehicle.

[0012] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned charging driving control method is implemented.

[0013] In a fourth aspect, an embodiment of the present invention further provides a computer program product, including a computer program, which implements the above-mentioned charging driving control method when executed by a processor.

[0014] The technical solution of the embodiment of the present invention determines a third response time based on the first response time of the power supply vehicle and the second response time of the vehicle to be charged before establishing a charging connection with the power supply vehicle, and uses the third response time as a driving time parameter for the vehicle to be charged and the power supply vehicle to travel in coordination during charging, thereby achieving coordinated travel between the power supply vehicle and the vehicle to be charged, while ensuring driving safety during the coordinated travel process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram showing a flow chart of a charging driving control method according to an embodiment of the present invention;

[0016] Figure 2 One of the structural schematic diagrams showing the relative positions of a vehicle to be charged and a vehicle supplying power during coordinated travel, provided by an embodiment of the present invention;

[0017] Figure 3 A second structural diagram showing the relative positions of a vehicle to be charged and a vehicle supplying power during coordinated travel, provided by an embodiment of the present invention;

[0018] Figure 4 A second flow chart illustrating a method for controlling charging travel according to an embodiment of the present invention;

[0019] Figure 5 A schematic structural diagram of a charging driving control device provided by an embodiment of the present invention is shown.

[0020] Description of reference numerals:

[0021] 21 - vehicle to be charged; 22 - vehicle supplying power; 23 - charging cable; 31 - first vehicle; 32 - second vehicle; 33 - third vehicle. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0023] It should be understood that references throughout this specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic associated with the embodiment is included in at least one embodiment of the present invention. Therefore, the appearances of "in one embodiment" or "in an embodiment" throughout this specification do not necessarily refer to the same embodiment. Furthermore, these particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0024] In various embodiments of the present invention, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0025] The embodiment of the present invention provides a charging driving control method, which is applied to a vehicle to be charged, such as Figure 1 As shown, the method may include:

[0026] Step 101: Acquire a first response time of a power supply vehicle, wherein the first response time is a braking response time of the power supply vehicle;

[0027] Specifically, when the vehicle to be charged requires charging, the power supply vehicle is assigned to the vehicle to be charged and provides charging services to the vehicle to be charged. The power supply vehicle is equipped with a power pack. After the power supply vehicle is connected to the vehicle to be charged via a charging cable and charging is initiated, the power supply vehicle can charge the vehicle to be charged while driving.

[0028] After the power supply vehicle is assigned to the vehicle to be charged, in order to travel in coordination with the power supply vehicle, the vehicle to be charged needs to obtain the braking response time of the power supply vehicle, that is, the first response time.

[0029] Step 102: determining a third response time based on the first response time and the second response time of the vehicle to be charged, wherein the second response time is the braking response time of the vehicle to be charged;

[0030] Specifically, after the vehicle to be charged establishes a charging connection with the power supply vehicle, they need to travel in coordination during the charging process. However, the output power of the vehicle to be charged and the power supply vehicle is different, so their braking response times are different. Therefore, in order to ensure driving safety, it is necessary to determine a third response time for coordinated driving based on the first response time of the power supply vehicle and the second response time of the vehicle to be charged.

[0031] Step 103 : When the vehicle to be charged establishes a charging connection with the power supply vehicle, the vehicle to be charged and the power supply vehicle are controlled to travel in coordination with each other using the third response time as a driving time parameter.

[0032] Specifically, before the vehicle to be charged establishes a charging connection with the power supply vehicle, the vehicle to be charged has determined a third response time. When the vehicle to be charged establishes a charging connection with the power supply vehicle, the third response time is used as a driving time parameter for collaborative driving. Specifically, in the embodiment of the present invention, the vehicle to be charged and the power supply vehicle establish a charging connection, which means that the vehicle to be charged and the power supply vehicle are connected via a charging cable. Optionally, the power supply socket of the power supply vehicle can be set at the front of the vehicle, and the charging socket of the vehicle to be charged can be set at the rear of the vehicle. The two ends of the charging cable are respectively connected to the power supply socket of the power supply vehicle and the charging socket of the vehicle to be charged. The specific connection method is not specifically limited in the embodiment of the present invention.

[0033] It should be noted that if Figure 2 As shown, during the coordinated driving and charging process, the vehicle to be charged 21 and the power supply vehicle 22 can travel in the same lane, with the vehicle to be charged 21 driving in front and the power supply vehicle 22 driving behind. They are connected by a charging cable 23, and the vehicle to be charged 21 is responsible for coordinating the driving of the power supply vehicle 23. Specifically, when establishing a charging connection with the power supply vehicle 22, the vehicle to be charged 21 can send a coordinated driving permission request signal to the power supply vehicle 22. After obtaining the coordinated driving permission sent by the power supply vehicle 22, the vehicle to be charged 21 can send a control signal to the power supply vehicle 22, causing the power supply vehicle 22 to follow the vehicle to be charged 21 at a certain speed and at a certain distance.

[0034] Before establishing a charging connection with the power supply vehicle, the embodiment of the present invention determines a third response time based on the first response time of the power supply vehicle and the second response time of the vehicle to be charged, and uses the third response time as a driving time parameter for the vehicle to be charged and the power supply vehicle to travel in coordination during charging, thereby achieving coordinated travel between the power supply vehicle and the vehicle to be charged and ensuring driving safety during the coordinated travel process.

[0035] In an optional embodiment of the present invention, determining the third response time according to the first response time and the second response time of the vehicle to be charged includes:

[0036] comparing the first response time and the second response time;

[0037] When the first response time is greater than the second response time, determining the third response time to be the first response time;

[0038] When the first response time is less than or equal to the second response time, the third response time is determined to be the second response time.

[0039] In the above embodiment of the present invention, the first response time of the power supply vehicle is compared with the second response time of the vehicle to be charged, and the larger of the two is determined as the third response time. Because when the vehicle to be charged and the power supply vehicle change lanes as a group, it is necessary to ensure that both vehicles complete the lane change safely, using the third response time to control the two vehicles during coordinated driving can ensure that the vehicle to be charged and the power supply vehicle can safely move from the first lane to the second lane when the lane change conditions are met, and prevent the different response times caused by the different output power of the two vehicles from affecting the safety of the coordinated driving process.

[0040] In an optional embodiment of the present invention, before obtaining the first response time of the power supply vehicle, the method further includes:

[0041] receiving a charging request instruction;

[0042] The power supply vehicle is determined according to the charging request instruction and the location information of the vehicle to be charged, and a communication connection is established with the power supply vehicle.

[0043] Specifically, the charging request instruction can be an instruction triggered by the vehicle's central control platform when the driver realizes that the vehicle needs to be charged. After receiving the charging request instruction, the vehicle to be charged determines the power supply vehicle based on the charging request instruction and the location information of the vehicle to be charged, and establishes a communication connection with the power supply vehicle. Among them, the vehicle to be charged can directly search for a power supply vehicle that can provide charging services nearby and obtain the identification information of the power supply vehicle, that is, the power supply vehicle and the vehicle to be charged are both connected to the vehicle wireless communication technology (Vehicle to X, V2X) base station during driving. The power supply vehicle sends a broadcast service providing charging to the V2X base station during driving. If the vehicle to be charged receives the broadcast through the V2X base station, it can obtain the identification information of the power supply vehicle. Or the vehicle to be charged can send the location information of the vehicle to be charged to the charging platform. The charging platform determines the power supply vehicle based on the received location information of the vehicle to be charged with charging needs, and feeds back the identification information of the power supply vehicle to the vehicle to be charged. Optionally, the vehicle to be charged sends a communication connection request to the power supply vehicle based on the obtained identification information of the power supply vehicle. After receiving the communication connection request from the vehicle to be charged, the power supply vehicle establishes a communication connection with the vehicle to be charged. After the communication connection is established between the vehicle to be charged and the power supply vehicle, on the one hand, the vehicle to be charged can obtain the first response time of the power supply vehicle, and on the other hand, the vehicle to be charged and the power supply vehicle can obtain each other's real-time location to ensure that the two vehicles meet for charging. In addition, the charging platform can also determine the path information for the power supply vehicle to travel to the vehicle to be charged based on the real-time location information of the vehicle to be charged and the power supply vehicle, so as to guide the power supply vehicle to travel to the vehicle to be charged.

[0044] According to the above embodiment of the present invention, the vehicle to be charged can determine a power supply vehicle to provide it with mobile charging service when charging is needed, thereby effectively solving the range anxiety of electric vehicles and eliminating the trouble of long waiting time for parking and charging.

[0045] In an optional embodiment of the present invention, the method further includes:

[0046] During the process in which the vehicle to be charged and the power supply vehicle are driving in cooperation in the first lane, if a first lane change instruction is received, determining whether the vehicle to be charged and the power supply vehicle meet the lane change condition according to the third response time;

[0047] When the lane change condition is met, the vehicle drives from the first lane to the second lane according to the first lane change instruction, and sends lane change instruction information to the power supply vehicle to instruct the power supply vehicle to follow the vehicle to be charged from the first lane to the second lane;

[0048] When the lane change condition is not met, the first lane change instruction is ignored to prohibit the vehicle to be charged and the power supply vehicle from changing lanes.

[0049] Specifically, the vehicle to be charged and the power supply vehicle are traveling in the first lane. At this time, the vehicle to be charged receives a first lane change command, where the first lane change command is a command to control the vehicle to move from the first lane to the second lane. Specifically, the first lane is the current lane of the vehicle to be charged and the power supply vehicle, and the second lane is the target lane of the vehicle to be charged and the power supply vehicle when changing lanes. Optionally, the first lane change command can be triggered by the driver's lane change request or navigation prompt. After receiving the first lane change command, the vehicle to be charged determines whether the current road conditions meet the lane change conditions. If the lane change conditions are met, the vehicle to be charged and the power supply vehicle move from the first lane to the second lane. If the lane change conditions are not met, the first lane change command is ignored, and the vehicle to be charged and the power supply vehicle are prohibited from changing lanes. Optionally, if the lane change conditions are not met, the vehicle to be charged and the power supply vehicle can be prohibited from changing lanes by controlling the vehicle's steering wheel to prevent the driver from turning.

[0050] In the above embodiment of the present invention, a third response time is used to determine whether the vehicle to be charged and the power supply vehicle meet the lane change conditions, wherein the third response time is the larger of the second response time of the vehicle to be charged and the first response time of the power supply vehicle. Because when the vehicle to be charged and the power supply vehicle as a whole change lanes, it is necessary to ensure that both vehicles complete the lane change safely. Therefore, the operation of determining whether the vehicle to be charged and the power supply vehicle meet the lane change conditions based on the third response time can ensure the safety of the vehicle to be charged and the power supply vehicle as a whole traveling from the first lane to the second lane when the lane change conditions are met. At the same time, it can also prevent safety accidents caused by the driver forcibly changing lanes when the lane change conditions are not met.

[0051] In an optional embodiment of the present invention, Figure 3 As shown, the vehicle to be charged 21 and the power supply vehicle 22 are connected by a charging line 23 and travel in the first lane. The target lane of the vehicle to be charged 21 and the power supply vehicle 22 when changing lanes is the second lane. The determining whether the vehicle to be charged and the power supply vehicle meet the lane change condition according to the third response time includes:

[0052] According to the third response time, determine a first safety distance and a second safety distance between the vehicle to be charged 21 and the power supply vehicle 22 when changing lanes, wherein the first safety distance is the minimum safety distance between the vehicle to be charged 21 and the first vehicle 31 when changing lanes safely, and the second safety distance is the minimum safety distance between the vehicle to be charged and the second vehicle 32 when changing lanes safely. The first vehicle 31 is the vehicle traveling in front of the vehicle to be charged 21 on the first lane and has the smallest distance from the vehicle to be charged 21. The second vehicle 32 is the vehicle traveling in front of the vehicle to be charged 21 on the second lane and has the smallest distance from the vehicle to be charged 21.

[0053] Determine, based on the fourth response time of the third vehicle, a third safe distance between the vehicle to be charged 21 and the power supply vehicle 22 when changing lanes, wherein the third vehicle 33 is the vehicle traveling behind the power supply vehicle and the second vehicle 32 on the second lane and having the smallest distance from the second vehicle 32. The third safe distance is the minimum safe distance between the power supply vehicle 22 and the third vehicle 32 when safely changing lanes;

[0054] When the first actual distance between the vehicle to be charged 21 and the first vehicle 31 is greater than the first safety distance, and the second actual distance between the vehicle to be charged 21 and the second vehicle 32 is greater than the second safety distance, and the third actual distance between the power supply vehicle 22 and the third vehicle 33 is greater than the third safety distance, and there is no vehicle between the second vehicle and the third vehicle, it is determined that the vehicle to be charged 21 and the power supply vehicle 22 meet the lane change condition;

[0055] When the lane change prohibition condition is met, it is determined that the vehicle to be charged and the power supply vehicle do not meet the lane change condition, wherein the lane change prohibition condition includes at least one of the following: a first actual distance between the vehicle to be charged 21 and the first vehicle 31 is less than or equal to the first safety distance, a second actual distance between the vehicle to be charged 21 and the second vehicle 32 is less than or equal to the second safety distance, a third actual distance between the power supply vehicle 22 and the third vehicle 33 is less than or equal to the third safety distance, and there is a vehicle between the second vehicle and the third vehicle.

[0056] Specifically, when determining whether the vehicle to be charged and the power supply vehicle meet the lane change conditions, it is necessary to judge whether three actual distances meet the conditions, namely the actual distance between the front vehicle in the current lane, i.e., the first lane, and the vehicle to be charged; the actual distance between the front vehicle in the target lane, i.e., the second vehicle, and the vehicle to be charged; and the actual distance between the rear vehicle in the target lane, i.e., the third vehicle, and the power supply vehicle. At the same time, it is also necessary to determine that there are no other vehicles between the second vehicle and the third vehicle in the target lane. Only when the above three actual distances are all greater than their corresponding safety distances and there are no vehicles between the second vehicle and the third vehicle, the lane change conditions are met, and the vehicle to be charged and the power supply vehicle can safely travel from the first lane to the second lane. Optionally, the above actual distances can be determined by radars installed on the vehicle to be charged and the power supply vehicle. It should be noted that the safety distance and actual distance in the embodiments of the present invention both refer to the distance between the two vehicles in the direction of vehicle travel.

[0057] In the above embodiment of the present invention, when the vehicle to be charged and the power supply vehicle need to change lanes from the first lane to the second lane, a method for determining whether the lane change condition is met may be: by determining a first safety distance, a second safety distance, and a third safety distance, and obtaining a first actual distance, a second actual distance, and a third actual distance, and then comparing the first safety distance with the first actual distance, comparing the second safety distance with the second actual distance, and comparing the third safety distance with the third actual distance. Only when the first actual distance is greater than the first safety distance, and the second actual distance is greater than the second safety distance, and the third actual distance is greater than the third safety distance, and there is no vehicle between the second vehicle and the third vehicle, is it determined that the lane change condition is met; otherwise, the lane change condition is not met.

[0058] It should be noted that, when determining the first safety distance, the second safety distance, and the third safety distance, the method further includes:

[0059] Determining a safe distance between a leading vehicle and a trailing vehicle based on a response time, wherein the response time is a braking response time of the trailing vehicle;

[0060] Among them, when the response time is the third response time and the safety distance is the first safety distance, the vehicle to be charged is the rear vehicle and the first vehicle is the front vehicle; when the response time is the third response time and the safety distance is the second safety distance, the vehicle to be charged is the rear vehicle and the second vehicle is the front vehicle; when the response time is the fourth response time and the safety distance is the third safety distance, the power supply vehicle is the front vehicle and the third vehicle is the rear vehicle.

[0061] Specifically, determining the safe distance between the leading vehicle and the trailing vehicle based on the response time includes:

[0062] Obtain the response time, maximum acceleration, minimum deceleration and speed of the rear vehicle, as well as the maximum deceleration and speed of the front vehicle; it should be noted that the above parameters can be queried by determining the types of the front and rear vehicles and querying the database. The database can store the maximum deceleration, maximum acceleration, and minimum deceleration of various types of vehicles, and the speed of the front and rear vehicles can be detected by radar equipment.

[0063] The formula for determining the safety distance is as follows based on the braking response time, maximum acceleration, minimum deceleration, and speed of the following vehicle, and the maximum deceleration and speed of the preceding vehicle:

[0064]

[0065] Where D is the safety distance, v r is the speed of the preceding vehicle, ρ is the response time of the following vehicle, a max,accel is the maximum acceleration of the following vehicle, a min,brake is the minimum deceleration of the following vehicle, v f is the speed of the following vehicle, a max,brake is the maximum deceleration of the preceding vehicle.

[0066] In an optional embodiment of the present invention, the method further includes:

[0067] When the vehicle to be charged and the power supply vehicle are traveling in coordination, the traveling speed of the vehicle to be charged and / or the power supply vehicle is controlled so that the vehicle to be charged and the power supply vehicle maintain a charging state within a preset distance range.

[0068] In the above embodiment of the present invention, after the vehicle to be charged establishes a charging connection with the power supply vehicle, optionally, a cable winding device may be provided at the end of the charging cable connected to the power supply vehicle. The cable winding device can automatically shorten the length of the charging cable when the distance between the two vehicles becomes smaller, or automatically extend the length of the charging cable when the distance between the two vehicles becomes larger. Specifically, a distance monitoring module and a control module are provided in the cable winding device. When the distance monitoring module detects a change in the distance between the power supply vehicle and the vehicle to be charged, the control module controls the extension and retraction of the charging cable. When the distance decreases, the charging cable is controlled to shorten, and when the distance increases, the charging cable is controlled to extend, so as to keep the charging cable between the vehicle to be charged and the power supply vehicle always in a taut state. In order to maintain the charging state between the vehicle to be charged and the power supply vehicle, it is necessary to ensure that the distance between the vehicle to be charged and the power supply vehicle is less than the length of the charging cable connecting the two vehicles, so as to prevent the problem of the charging cable being torn off due to the distance between the two vehicles being greater than the length of the charging cable. Specifically, the speed of the vehicle to be charged and / or the power supply vehicle can be controlled so that the vehicle to be charged and the power supply vehicle maintain a charging state within a preset distance range, where the preset distance is the length of the charging cable.

[0069] In an optional embodiment of the present invention, the method further includes:

[0070] When the vehicle to be charged has completed charging and is separated from the power supply vehicle, if a second lane change instruction is received, the vehicle to be charged drives from the third lane to the fourth lane according to the second lane change instruction when it is determined that the vehicle to be charged meets the lane change condition according to the second response time of the vehicle to be charged.

[0071] Specifically, the third lane is the lane the vehicle to be charged is currently in, and the fourth lane is the target lane for the vehicle to be charged to change lanes. After charging is completed, the vehicle to be charged determines whether the lane change conditions are met based on its own braking response time, i.e., the second response time, when changing lanes.

[0072] The above embodiment of the present invention can avoid the power supply vehicle from continuing to affect the vehicle to be charged by promptly restoring the response time of the vehicle to be charged, that is, restoring the response time from the third response time to the second response time, thereby improving the lane changing efficiency of the vehicle.

[0073] The overall implementation process of the embodiment of the present invention is introduced below. Figure 4 As shown, the following steps are included:

[0074] S401, the vehicle to be charged receives the response time of the power supply vehicle.

[0075] S402: The vehicle to be charged compares the response time of the vehicle itself and the power supply vehicle, and uses the larger response time of the two to control the vehicle during charging.

[0076] S403, charging is completed and the two vehicles are separated.

[0077] S404, the vehicle to be charged resumes using the response time of the vehicle to control the vehicle.

[0078] In the above implementation, when a vehicle to be charged needs to charge while driving, it identifies the power supply vehicle and obtains the power supply vehicle's response time. The vehicle to be charged compares the response time of its own vehicle and the power supply vehicle's response time with the power supply vehicle's response time. During the charging process, the vehicle to be charged uses the greater of the two response times to control the vehicle. After charging is complete and the two vehicles separate, the vehicle to be charged resumes using its own response time to control the vehicle.

[0079] The embodiment of the present invention also provides a charging driving control device, such as Figure 5 As shown, the device includes:

[0080] An acquisition module 501 is configured to acquire a first response time of a power supply vehicle, wherein the first response time is a braking response time of the power supply vehicle;

[0081] A first determining module 502 is configured to determine a third response time based on a second response time of the vehicle to be charged and the first response time, wherein the second response time is a braking response time of the vehicle to be charged;

[0082] The first control module 503 is configured to control the vehicle to be charged and the power supply vehicle to travel in coordination with each other using the third response time as a driving time parameter when the vehicle to be charged establishes a charging connection with the power supply vehicle.

[0083] Optionally, the first determining module includes:

[0084] A comparison submodule, configured to compare the first response time and the second response time;

[0085] a first determining submodule, configured to determine, when the first response time is greater than the second response time, that the third response time is the first response time;

[0086] The second determining submodule is configured to determine that the third response time is the second response time when the first response time is less than or equal to the second response time.

[0087] Optionally, before obtaining the first response time of the power supply vehicle, the device further includes:

[0088] A receiving module, configured to receive a charging request instruction;

[0089] The second determining module is configured to determine the power supply vehicle according to the charging request instruction and the location information of the vehicle to be charged, and to establish a communication connection with the power supply vehicle.

[0090] Optionally, the device further comprises:

[0091] a third determining module, configured to determine, when a first lane change instruction is received while the vehicle to be charged and the power supply vehicle are cooperatively traveling in the first lane, whether the vehicle to be charged and the power supply vehicle meet a lane change condition based on a third response time;

[0092] a second control module, configured to, when the lane change condition is met, drive from the first lane to the second lane according to the first lane change instruction, and send lane change instruction information to the power supply vehicle to instruct the power supply vehicle to follow the vehicle to be charged from the first lane to the second lane;

[0093] The third control module is configured to ignore the first lane change instruction when the lane change condition is not met, so as to prohibit the vehicle to be charged and the power supply vehicle from changing lanes.

[0094] Optionally, the third determining module includes:

[0095] A third determination submodule is configured to determine, based on the third response time, a first safety distance and a second safety distance between the vehicle to be charged and the power supply vehicle when they change lanes, wherein the first safety distance is the minimum safety distance between the vehicle to be charged and the first vehicle when changing lanes safely, and the second safety distance is the minimum safety distance between the vehicle to be charged and the second vehicle when changing lanes safely, the first vehicle is the vehicle traveling in front of the vehicle to be charged on the first lane and at the minimum distance from the vehicle to be charged, and the second vehicle is the vehicle traveling in front of the vehicle to be charged on the second lane and at the minimum distance from the vehicle to be charged;

[0096] a fourth determination submodule, configured to determine, based on a fourth response time of a third vehicle, a third safety distance between the vehicle to be charged and the power supply vehicle when changing lanes, wherein the third vehicle is a vehicle traveling on the second lane behind the power supply vehicle and the second vehicle and having the smallest distance from the second vehicle, and the third safety distance is the minimum safety distance between the power supply vehicle and the third vehicle when changing lanes safely;

[0097] a fifth determining submodule, configured to determine that the vehicle to be charged and the power supply vehicle meet a lane change condition when a first actual distance between the vehicle to be charged and the first vehicle is greater than the first safety distance, a second actual distance between the vehicle to be charged and the second vehicle is greater than the second safety distance, a third actual distance between the power supply vehicle and the third vehicle is greater than the third safety distance, and there is no vehicle between the second vehicle and the third vehicle;

[0098] The sixth determination submodule is used to determine that the vehicle to be charged and the power supply vehicle do not meet the lane change condition when the lane change prohibition condition is met, wherein the lane change prohibition condition includes at least one of the following: the first actual distance between the vehicle to be charged and the first vehicle is less than or equal to the first safety distance, the second actual distance between the vehicle to be charged and the second vehicle is less than or equal to the second safety distance, the third actual distance between the power supply vehicle and the third vehicle is less than or equal to the third safety distance, and there is a vehicle between the second vehicle and the third vehicle.

[0099] Optionally, the device further comprises:

[0100] The fourth control module is used to control the driving speed of the vehicle to be charged and / or the power supply vehicle when the vehicle to be charged and the power supply vehicle are in coordinated driving, so that the vehicle to be charged and the power supply vehicle maintain a charging state within a preset distance range.

[0101] Optionally, the device further comprises:

[0102] a fifth control module, configured to, when the vehicle to be charged has completed charging and is separated from the power supply vehicle, if a second lane change instruction is received, then when it is determined based on the first response time of the vehicle to be charged that the vehicle to be charged meets the lane change condition, drive from the third lane to the fourth lane according to the second lane change instruction.

[0103] The charging driving control device provided by the present invention determines a third response time by using the first response time of the power supply vehicle and the second response time of the vehicle to be charged before the vehicle to be charged establishes a charging connection with the power supply vehicle, and uses the third response time as a driving time parameter for the vehicle to be charged and the power supply vehicle to perform coordinated driving during charging, thereby achieving coordinated driving of the power supply vehicle and the vehicle to be charged and ensuring driving safety during the coordinated driving process.

[0104] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned charging driving control method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0105] An embodiment of the present invention further provides a computer program product, including a computer program. When the computer program is executed by a processor, the above-mentioned charging driving control method is implemented.

[0106] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0107] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0108] Each embodiment in this specification is described in a related manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so the description is relatively simple. For related parts, refer to the description of the method embodiment.

[0109] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A charging driving control method, applied to a vehicle to be charged, characterized in that: The method comprises: Obtaining a first response time of the power supply vehicle, wherein the first response time is a braking response time of the power supply vehicle; Determining a third response time according to the first response time and a second response time of the vehicle to be charged, wherein the second response time is a braking response time of the vehicle to be charged; When the vehicle to be charged establishes a charging connection with the power supply vehicle, controlling the vehicle to be charged and the power supply vehicle to travel in coordination with each other using the third response time as a driving time parameter; During the process in which the vehicle to be charged and the power supply vehicle are driving in cooperation in the first lane, if a first lane change instruction is received, determining whether the vehicle to be charged and the power supply vehicle meet the lane change condition according to the third response time; When the lane change condition is met, the vehicle drives from the first lane to the second lane according to the first lane change instruction, and sends lane change instruction information to the power supply vehicle to instruct the power supply vehicle to follow the vehicle to be charged from the first lane to the second lane; The determining, based on the third response time, whether the vehicle to be charged and the power supply vehicle meet the lane change condition includes: Determine, based on the third response time, a first safety distance and a second safety distance between the vehicle to be charged and the power supply vehicle when changing lanes, wherein the first safety distance is the minimum safety distance between the vehicle to be charged and the first vehicle when changing lanes safely, and the second safety distance is the minimum safety distance between the vehicle to be charged and the second vehicle when changing lanes safely, the first vehicle is the vehicle traveling in front of the vehicle to be charged on the first lane and at the minimum distance from the vehicle to be charged, and the second vehicle is the vehicle traveling in front of the vehicle to be charged on the second lane and at the minimum distance from the vehicle to be charged; Determining, based on a fourth response time of the third vehicle, a third safe distance between the vehicle to be charged and the power supply vehicle when changing lanes, wherein the third vehicle is a vehicle traveling on the second lane behind the power supply vehicle and the second vehicle and having the smallest distance from the second vehicle, and the third safe distance is the minimum safe distance between the power supply vehicle and the third vehicle when safely changing lanes; When a first actual distance between the vehicle to be charged and the first vehicle is greater than the first safety distance, and a second actual distance between the vehicle to be charged and the second vehicle is greater than the second safety distance, and a third actual distance between the power supply vehicle and the third vehicle is greater than the third safety distance, and there is no vehicle between the second vehicle and the third vehicle, it is determined that the vehicle to be charged and the power supply vehicle meet the lane change condition; The formula for determining the safe distance between the vehicle in front and the vehicle behind is: Where D is the safety distance, v r is the speed of the front vehicle, ρ is the response time of the rear vehicle, a max,accel is the maximum acceleration of the following vehicle, a min,brake is the minimum deceleration of the following vehicle, v f is the speed of the following vehicle, a max,brake is the maximum deceleration of the preceding vehicle; Among them, when the safety distance is the first safety distance, the vehicle to be charged is the rear vehicle and the first vehicle is the front vehicle; when the safety distance is the second safety distance, the vehicle to be charged is the rear vehicle and the second vehicle is the front vehicle; when the safety distance is the third safety distance, the power supply vehicle is the front vehicle and the third vehicle is the rear vehicle.

2. The charging driving control method according to claim 1, characterized in that: The determining of a third response time according to the first response time and the second response time of the vehicle to be charged includes: comparing the first response time and the second response time; When the first response time is greater than the second response time, determining the third response time to be the first response time; When the first response time is less than or equal to the second response time, the third response time is determined to be the second response time.

3. The charging driving control method according to claim 1, characterized in that: Before obtaining the first response time of the power supply vehicle, the method further includes: receiving a charging request instruction; The power supply vehicle is determined according to the charging request instruction and the location information of the vehicle to be charged, and a communication connection is established with the power supply vehicle.

4. The charging driving control method according to claim 1, characterized in that: The method further comprises: When the lane change condition is not met, the first lane change instruction is ignored to prohibit the vehicle to be charged and the power supply vehicle from changing lanes.

5. The charging driving control method according to claim 4, characterized in that: The determining, based on the third response time, whether the vehicle to be charged and the power supply vehicle meet the lane change condition includes: When the lane change prohibition condition is met, it is determined that the vehicle to be charged and the power supply vehicle do not meet the lane change condition, wherein the lane change prohibition condition includes at least one of the following: a first actual distance between the vehicle to be charged and the first vehicle is less than or equal to the first safety distance, a second actual distance between the vehicle to be charged and the second vehicle is less than or equal to the second safety distance, a third actual distance between the power supply vehicle and the third vehicle is less than or equal to the third safety distance, and there is a vehicle between the second vehicle and the third vehicle.

6. The charging driving control method according to claim 1, characterized in that: The method further comprises: When the vehicle to be charged and the power supply vehicle are traveling in coordination, the traveling speed of the vehicle to be charged and / or the power supply vehicle is controlled so that the vehicle to be charged and the power supply vehicle maintain a charging state within a preset distance range.

7. The charging driving control method according to claim 1, characterized in that: The method further comprises: When the vehicle to be charged has completed charging and is separated from the power supply vehicle, if a second lane change instruction is received, the vehicle to be charged drives from the third lane to the fourth lane according to the second lane change instruction when it is determined that the vehicle to be charged meets the lane change condition according to the second response time of the vehicle to be charged.

8. A charging driving control device, characterized in that: include: An acquisition module, configured to acquire a first response time of a power supply vehicle, wherein the first response time is a braking response time of the power supply vehicle; A first determining module, configured to determine a third response time based on the first response time and a second response time of the vehicle to be charged, wherein the second response time is a braking response time of the vehicle to be charged; The first control module is configured to control the vehicle to be charged and the power supply vehicle to travel in coordination with each other using the third response time as a driving time parameter when the vehicle to be charged establishes a charging connection with the power supply vehicle.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the charging driving control method according to any one of claims 1 to 7 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the charging travel control method according to any one of claims 1 to 7 is implemented.

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