Range remaining prediction method, apparatus, vehicle, and storage medium

Abstract

The application relates to the technical field of vehicles, in particular to a residual mileage prediction method and device, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring weather data and terrain data of a region where a vehicle is currently located; calculating rolling resistance of the vehicle according to the weather data and the terrain data, and calculating total resistance of the vehicle according to the rolling resistance, air resistance, climbing resistance and acceleration resistance; and calculating energy consumption of the vehicle per unit time according to the total resistance, and predicting residual mileage of the vehicle in combination with residual energy of the vehicle. Therefore, the problems in the prior art, such as that a residual mileage estimation method is difficult to be applied to off-road driving, and estimation accuracy is low, are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a residual mileage prediction method and device, a vehicle and a storage medium. BACKGROUND

[0002] The destination residual mileage refers to the driving mileage of an electric vehicle remaining after the electric vehicle reaches a destination under the current state of the electric vehicle. Most existing electric vehicles calculate and display the residual mileage of the vehicle according to the state of charge (SOC) of the power battery, for example, the maximum residual mileage of 500 km under the New European Driving Cycle (NEDC) standard working condition multiplied by the battery SOC (for example, 50%), resulting in a residual mileage of 500 km*50% = 250 km. However, the actual driving working condition (high speed, suburb, urban area, etc.) is different from the NEDC standard working condition, and the actual driving distance is 40 km, and the displayed residual mileage of the vehicle may decrease by 30 km or 50 km. In winter and summer, most electric vehicles have a residual mileage discount phenomenon when the air conditioner is turned on, that is, the displayed residual mileage of the vehicle decreases much more than the actual driving distance, which easily leads to the problems of insufficient power and stranded on the way in the planned trip. In addition, with the continuous development of the pure electric vehicle industry, the public's requirements for electric vehicles are not only satisfied with urban commuting or short trips in good road conditions, but also increasingly require higher freedom and more obvious driving pleasure for off-road driving.

[0003] Therefore, the original residual mileage estimation for the road condition will be difficult to apply to the residual mileage estimation for off-road driving, and the main difficulty lies in that the existing estimation method is for artificial hard roads as a driving carrier, but in the off-road environment, the resistance encountered during driving has a great relationship with the type of road being driven, and the road driving conditions in the off-road environment are greatly affected by weather factors, and the resistance of the car will also change accordingly, further affecting the energy consumption change of the electric vehicle, so that the estimated value of the residual mileage will also change accordingly.

[0004] In addition, the different seasons and constantly changing terrain in the off-road environment also greatly affect the energy consumption of the electric vehicle, and the original residual estimation method will produce a large estimation error, and the estimation accuracy and reliability will be greatly reduced, increasing the safety hazards in the driving process. SUMMARY

[0005] The present application provides a residual mileage prediction method, device, vehicle and storage medium to solve the problems in the related art that the residual mileage estimation method is difficult to apply to the residual mileage estimation for off-road driving and has low estimation accuracy.

[0006] The first aspect of the present application provides a remaining mileage prediction, including the following steps: obtaining weather data and terrain data of the area where the vehicle is currently located; calculating the rolling resistance of the vehicle based on the weather data and the terrain data, and calculating the total resistance of the vehicle based on the rolling resistance, air resistance, climbing resistance and acceleration resistance; calculating the energy consumption of the vehicle per unit time based on the total resistance, and predicting the remaining mileage of the vehicle in combination with the remaining energy of the vehicle.

[0007] Optionally, the calculating the rolling resistance of the vehicle based on the weather data and the terrain data includes: determining the weather level of the current weather based on the weather data; determining the terrain level of each type of terrain in the current terrain based on the terrain data; correcting the rolling friction coefficient based on the weather influence factor corresponding to the weather level and the terrain influence factor corresponding to the terrain level of each type of terrain, and calculating the rolling resistance based on the corrected rolling friction coefficient.

[0008] Optionally, the calculation of the rolling resistance based on the corrected rolling friction coefficient also includes: obtaining the drop angle of the road section on which the vehicle is currently located; if the drop angle is less than or equal to a preset angle, calculating the rolling resistance based on the corrected rolling friction coefficient, the vehicle load and the drop angle; if the drop angle is greater than the preset angle, generating a slope alarm reminder.

[0009] Optionally, before calculating the energy consumption of the vehicle per unit time based on the total resistance, it also includes: identifying whether the road surface on which the vehicle is traveling is a non-hard road surface; if the road surface is the non-hard road surface, obtaining the sinking depth of the vehicle; calculating the ground compaction resistance caused by the vehicle compacting the ground based on the sinking depth, and correcting the total resistance based on the ground compaction resistance.

[0010] The second aspect of the present application provides a remaining mileage prediction device, including: an acquisition module for acquiring weather data and terrain data of the area where the vehicle is currently located; a calculation module for calculating the rolling resistance of the vehicle based on the weather data and the terrain data, and calculating the total resistance of the vehicle based on the rolling resistance, air resistance, climbing resistance and acceleration resistance; a prediction module for calculating the energy consumption of the vehicle per unit time based on the total resistance, and predicting the remaining mileage of the vehicle in combination with the remaining energy of the vehicle.

[0011] Optionally, the calculation module is further used to: determine the weather level of the current weather based on the weather data; determine the terrain level of each type of terrain in the current terrain based on the terrain data; correct the rolling friction coefficient based on the weather influence factor corresponding to the weather level and the terrain influence factor corresponding to the terrain level of each type of terrain, and calculate the rolling resistance based on the corrected rolling friction coefficient.

[0012] Optionally, the computing module is further configured to: acquire a drop angle of a road section currently traveled by the vehicle; if the drop angle is less than or equal to a preset angle, calculate the rolling resistance according to the corrected rolling friction coefficient, the load of the vehicle and the drop angle; and if the drop angle is greater than the preset angle, generate a slope warning prompt.

[0013] Optionally, the method further includes: a correcting module configured to, before calculating the energy consumption of the vehicle per unit time according to the total resistance, identify whether a road surface traveled by the vehicle is a non-hard road surface; if the road surface is the non-hard road surface, acquire a sinking depth of the vehicle; calculate a ground compaction resistance caused by the vehicle compacting the ground according to the sinking depth; and correct the total resistance based on the ground compaction resistance.

[0014] A third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the remaining range prediction method as described in the above embodiments.

[0015] A fourth aspect of the present application provides a computer readable storage medium having a computer program stored thereon, and the program is executed by a processor to implement the remaining range prediction method as described in the above embodiments.

[0016] Therefore, the present application has at least the following beneficial effects:

[0017] The embodiments of the present application can predict the remaining range in special road conditions, widen the application range of the estimated range, and further consider weather factors, road surface types, climate factors, terrain factors and other complex factors that may be encountered in off-road conditions on the basis of the original algorithm for estimating the remaining range of the electric vehicle, estimate the remaining range of the electric vehicle in off-road conditions by weighting different factors, improve the estimation accuracy in this environment, optimize the accuracy of the subsequent range prediction, increase the hardware cost, and have a small impact on the overall cost. To a certain extent, the problem of range anxiety of the driver who wants to drive off-road is solved, and the applicability of the electric vehicle is promoted to a certain extent, so it has good engineering promotion value. Therefore, the technical problems of the remaining range estimation method in the related art that is difficult to apply to off-road driving and has low estimation accuracy are solved.

[0018] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description, taken in conjunction with the following drawings of exemplary embodiments of the present application, wherein:

[0020] Figure 1 A flowchart of a remaining range prediction method according to an embodiment of the present application is provided.

[0021] Figure 2 A mechanical analysis diagram of uphill driving of a vehicle according to an embodiment of the present application is provided.

[0022] Figure 3 A ground compaction diagram according to an embodiment of the present application is provided.

[0023] Figure 4 An example diagram of a remaining range prediction device according to an embodiment of the present application is provided.

[0024] Figure 5 A structural schematic diagram of a vehicle according to an embodiment of the present application is provided. DETAILED DESCRIPTION

[0025] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar components have the same or similar designations and functions throughout various figures and / or portions of the drawings. The embodiments described below are exemplary, and are intended to be illustrative of the present application rather than a limitation thereof.

[0026] A remaining range prediction method, device, vehicle, and storage medium according to embodiments of the present application are described below with reference to the accompanying drawings. In view of the fact that the original road condition remaining range estimation mentioned in the background art is difficult to apply to off-road driving remaining range estimation, and the original remaining range estimation algorithm produces a large estimation error, the accuracy and reliability are low, the present application provides a remaining range prediction method. In the method, on the basis of the original estimation of the remaining range of the electric vehicle, further consideration is given to weather factors, road types, climate factors, terrain factors, and other complex factors that may be encountered during off-road driving. By weighting different factors, the remaining range of the electric vehicle under off-road conditions is estimated. Thus, the remaining range estimation method in the related art is difficult to apply to off-road driving, and the estimation accuracy is low.

[0027] Specifically, Figure 1 A flowchart of a remaining range prediction method according to an embodiment of the present application is provided.

[0028] As Figure 1 shown, the remaining range prediction method includes the following steps:

[0029] In step S101, weather data and terrain data of the area where the vehicle is currently located are obtained.

[0030] Wherein, the weather data can be divided into sunny or rainy, and the terrain data can include terrain undulation (slope), terrain type (swamp, grassland, etc.).

[0031] In step S102, the rolling resistance of the vehicle is calculated according to the weather data and the terrain data, and the total resistance of the vehicle is calculated according to the rolling resistance, the air resistance, the climbing resistance and the acceleration resistance.

[0032] It can be understood that the motion characteristics of the vehicle along its direction of travel are completely dependent on the total force acting in that direction, Figure 2 The forces acting on a vehicle driving uphill are shown. The traction force on the contact surface between the tire of the driving wheel and the road surface propels the vehicle forward. This force is generated by the torque of the power device and is transmitted through the transmission device to finally drive the driving wheel. When the vehicle is moving, it will be subjected to resistance that hinders its movement. This resistance usually includes tire rolling resistance, air resistance, climbing resistance and acceleration resistance. According to Newton's second law of motion, the acceleration of the vehicle is shown in equation (1):

[0033]

[0034] Wherein, V is the vehicle speed; ∑F t is the total traction force of the vehicle; ∑F r is the total resistance; M is the total mass of the vehicle; δ is the moment of inertia coefficient, which is the coefficient for equivalent conversion of the moment of inertia of the rotating component to the translational mass.

[0035] It can be understood that the embodiments of the present application can calculate the rolling resistance of the vehicle according to the weather data and the terrain data of the area where the vehicle is located, and calculate the total resistance of the vehicle according to the rolling resistance, the air resistance, the climbing resistance and the acceleration resistance.

[0036] It should be noted that the embodiments of the present application improve the way of calculating resistance on hard ground and apply it to the calculation of resistance on non-hard ground. The rolling resistance, air resistance and climbing resistance of the vehicle on hard ground will be analyzed as follows:

[0037] I. Rolling resistance

[0038] On hard ground, the rolling resistance of the tire is basically due to the hysteresis effect of the tire material, which is loaded in the front half of the contact surface and unloaded in the back half. Thus, the hysteresis effect causes an asymmetric distribution of the ground reaction force, making the pressure in the front half of the contact surface greater than that in the back half. This forwardly offset ground reaction force and the load acting on the center of the wheel in the vertical direction generate a torque that resists the rolling of the wheel.

[0039] The torque generated by the forward shift of the synthetic ground reaction force is called the rolling resistance torque, as shown in equation (2):

[0040] T r = Pβ (2)

[0041] where T r is the rolling resistance torque; P is the load acting in the vertical direction at the center of the rolling wheel; and β is the shift in the direction of motion. To maintain the rotation of the wheel, a force F acting at the center of the wheel should balance the rolling resistance torque, i.e., this force is shown in equation (3):

[0042]

[0043] where F is the force balancing the rolling torque in the direction of motion; r d is the effective radius of the tire; and f r is the rolling resistance coefficient. Thus, the rolling resistance torque can be replaced by an equivalent horizontal force acting at the center of the wheel and directed opposite to the direction of motion of the wheel. This equivalent force is called the rolling resistance, as shown in equation (4):

[0044] F r = Pf r (4)

[0045] where P is the load acting in the vertical direction at the center of the rolling wheel. When the vehicle is running on a sloped ground, the load P in the vertical direction should be replaced by the component normal to the ground, i.e., the slope factor should be taken into account, and the rolling resistance is expressed as shown in equation (5):

[0046] F r = Pf r cos α (5)

[0047] where α is the inclination angle of the ground.

[0048] II. Air resistance

[0049] A vehicle moving at a certain speed will encounter the effect of air resistance that hinders its motion. This force is called the air resistance. It is mainly caused by two components: the shape resistance and the shell friction. The air resistance is a function of the vehicle speed V, the area A f normal to the wind of the vehicle, the shape of the vehicle, and the air density p. The air resistance is expressed as shown in equation (6):

[0050]

[0051] where C D is the air resistance coefficient representing the shape characteristics of the vehicle; and V wis the wind speed component in the direction of vehicle motion, which is positive when it is oriented in the same direction as the vehicle speed and negative when it is oriented in the opposite direction.

[0052] III. Hill Slope Resistance

[0053] When a vehicle is climbing or descending a hill, its weight will generate a component force that is always directed downward the slope. This component force either opposes (when climbing) or assists (when descending) the forward motion, and this force due to the slope of the road is often referred to as the hill slope resistance, which can be expressed as:

[0054] F g = Mg sin a (7)

[0055] For simplicity, when the road inclination angle a is small, the slope value is often used to replace it. The slope is defined as:

[0056]

[0057] Through a brief analysis of the three resistances, the comprehensive resistance F experienced by the vehicle during driving is the combined effect of the three resistances, and therefore the resistance F z can be expressed as:

[0058]

[0059] At this time, F z is the sum of the resistances experienced by the vehicle when driving on hard ground.

[0060] In the embodiment of the present application, the rolling resistance of the vehicle is calculated according to weather data and terrain data, including: determining the weather grade of the current weather according to the weather data; determining the terrain grade of each type of terrain in the current terrain according to the terrain data; correcting the rolling friction coefficient according to the weather influence factor corresponding to the weather grade and the terrain influence factor corresponding to the terrain grade of each type of terrain, and calculating the rolling resistance according to the corrected rolling friction coefficient.

[0061] It can be understood that the environment considered in the embodiment of the present application is mainly in off-road environment, and artificial hard ground is less, so the resistance analysis when the vehicle is driving is more complex than the hard ground environment, and the environmental factors to be considered are also relatively more. Since the environment changes dramatically in off-road environment, especially the changes in weather and terrain, therefore, on the basis of the original resistance calculation method, the present application further corrects the resistance value by adding the influence factors in off-road environment, such as weather or terrain, to improve the accuracy of energy consumption calculation, and further improve the accuracy of predicted mileage.

[0062] Wherein, the weather level and the terrain level can be classified according to specific circumstances, such as the weather type is rain, which can be divided into different intensity levels such as light rain, moderate rain, heavy rain, and the terrain level can be divided into marsh, grassland, etc.

[0063] Wherein, the weather influence factor can be determined by the vehicle-mounted weather forecast, and the terrain influence factor can be determined by the vehicle-mounted geographic information to determine the current terrain, which is not limited.

[0064] Specifically, in the off-road environment, the environment changes dramatically, especially in terms of weather changes and terrain changes, so the application optimizes the rolling resistance value in combination with weather changes and terrain changes in terms of rolling resistance. As shown in equation (5), on a hard surface, the rolling friction is affected by the bearing capacity P, the rolling friction coefficient f r and the slope angle α three factors. Among the three influencing factors, the bearing capacity is determined by the overall vehicle mass, the rolling friction coefficient is affected by the driving environment, and the slope angle is affected by the terrain undulation. Therefore, among the three factors, the rolling friction coefficient is greatly affected by environmental changes. In view of this, the rolling friction coefficient is optimized to adapt to the environment in the wild. Introduce weather influence factor T w and terrain influence factor T l Two influence factors respectively correct the rolling friction coefficient, as shown in equation (10):

[0065] f y =T w T l f r (10)

[0066] Wherein, f y is the corrected rolling friction coefficient. The weather influence factor T w can be determined by the vehicle-mounted weather forecast, but there are corresponding differences in the intensity under the same weather conditions. For example, the weather type is rain, but it can be divided into different intensity levels such as light rain, moderate rain, and heavy rain. Therefore, the weather influence factor needs to be further weighted, and the weighting coefficient is introduced to represent different weather intensities under the same weather environment, as shown in equation (11):

[0067]

[0068] Correspondingly, in the terrain, the terrain influence sub T lThe current terrain can be determined by the vehicle-mounted geographic information, but in the off-road environment, multiple environment crossing situations can occur, such as a driving environment in which a marsh and a grassland are mixed. In the mixed environment, the terrain influence factor is affected by multiple terrain influence factors. In the present application, the terrain influence factor is considered to include two different influences, and therefore a weighting coefficient γ is introduced to define the factor in multiple terrains, as shown in equation (12):

[0069]

[0070] In the formula, and represent two terrain influence factors.

[0071] It can be understood that the embodiment of the present application can correct the rolling friction coefficient according to the weather influence factor T w and the terrain influence factor T l , calculate the rolling resistance according to the corrected rolling friction coefficient, consider different environmental influence factors, and improve the calculation accuracy.

[0072] In the embodiment of the present application, calculating the rolling resistance according to the corrected rolling friction coefficient further includes: obtaining a drop angle of a road section currently occupied by the vehicle; if the drop angle is less than or equal to a preset angle, calculating the rolling resistance according to the corrected rolling friction coefficient, the vehicle load, and the drop angle; and if the drop angle is greater than the preset angle, generating a slope alarm reminder.

[0073] The preset angle can be set according to specific conditions, and is not limited, such as 60° or 50°.

[0074] It can be understood that the embodiment of the present application can generate a slope alarm reminder when the drop of the vehicle currently occupied is too large, to ensure the safety of the vehicle during driving.

[0075] In summary, since the height difference is too large in the off-road environment, the present application introduces a slope alarm reminder system, extracts a sampling point, and selects two sampling points A and B with a distance of a constant value 10 m. The drop angle of the two points is calculated, and the slope alarm is generated when the angle is greater than the preset angle (such as 60°). As shown in equation (13):

[0076]

[0077] In the formula, A=(x A ,y A ,z A ); and B=(x B ,y B ,z B ).

[0078] At this point, the optimized rolling resistance coefficient can be obtained, taking into account the two influencing factors of weather factors and terrain factors, as shown in formula (14):

[0079]

[0080] By combining formula (5), formula (13) and formula (14), the optimized rolling resistance can be further calculated, as shown in formula (15):

[0081]

[0082] The above is the resistance that needs to be optimized during vehicle driving in an off-road environment compared to driving on hard ground. Therefore, combining formula (9), formula (23), and formula (15) to obtain the total resistance in an off-road environment, as shown in formula (16):

[0083]

[0084] In step S103 , the energy consumption of the vehicle per unit time is calculated based on the total resistance, and the remaining mileage of the vehicle is predicted in combination with the remaining energy of the vehicle.

[0085] It is understood that the present application can calculate the energy consumption of the vehicle per unit time based on the total resistance, and thus predict the remaining mileage based on the remaining energy of the vehicle. The specific calculation method is as follows:

[0086] By analyzing formula (16), we can obtain the unit energy consumed by the total resistance in a unit time Δt, as shown in formula (17):

[0087] E f =F z VΔt+mgΔh (17)

[0088] Where V represents the speed per unit time; Δh represents the change in altitude per unit time. In addition, the total energy consumed per unit time is E C Indicates the distance traveled per unit time as L C ; The remaining total energy is expressed as E L Indicates the estimated remaining mileage in L N Therefore, the energy efficiency per unit time is analyzed and its efficiency can be expressed by formula (18):

[0089]

[0090] The efficiency of energy consumption per unit time can be obtained through formula (18). At this time, the remaining mileage is calculated based on the remaining energy, as shown in formula (19):

[0091]

[0092] In an embodiment of the present application, before calculating the energy consumption of the vehicle per unit time based on the total resistance, it also includes: identifying whether the road surface on which the vehicle is traveling is a non-hard road surface; if the road surface is a non-hard road surface, obtaining the sinking depth of the vehicle; calculating the ground compaction resistance caused by the vehicle compacting the ground based on the sinking depth, and correcting the total resistance based on the ground compaction resistance.

[0093] It is understandable that before calculating the vehicle's energy consumption per unit time based on the total resistance, the embodiment of the present application needs to determine whether the road surface the vehicle is traveling on is a non-hard road surface. If the road surface is a non-hard road surface, due to the soft soil, the wheel contact surface will experience ground compaction when the vehicle passes. Therefore, it is necessary to obtain the vehicle's sinking depth, calculate the ground compaction resistance, and correct the total resistance to ensure the accuracy of the calculation, thereby improving the accuracy of the estimated mileage. The ground compaction resistance calculation method is as follows:

[0094] In off-road environments, due to the soft soil, the wheel contact surface will have ground compaction problems when the vehicle passes. Figure 3 shown.

[0095] exist Figure 3 In the equation (20), Z represents the sinking depth; P represents the ground reaction force of the load. The work done by the car in this process can be expressed as follows:

[0096]

[0097] In the formula, S represents the contact area between the tire and the ground, that is, S = bl; b is the width of the contact surface; and l is the length of the contact surface. As can be seen from the formula, the work done is affected by the ground reaction force P and the sinking depth Z. Therefore, the relationship between the two can be determined as shown in formula (21):

[0098]

[0099] Where k c 、k φ and n are formation parameters; k c Reflects the cohesive properties of the stratum; k φ It reflects the friction characteristics of the formation; the parameter n reflects the "hardness" of the formation. Combining equations (20) and (21), we can get equation (22), which solves the work done in this process:

[0100]

[0101] Therefore, the vehicle motion resistance caused by compacted ground can be expressed as follows:

[0102]

[0103] In summary, the application adds ground compaction resistance to the original hard pavement mileage prediction calculation method. Since the geological conditions required for driving are complex, there will be many non-hard ground driving conditions. Therefore, it is reasonable and necessary to add ground compaction resistance to improve the accuracy of energy loss estimation and the accuracy of remaining mileage estimation.

[0104] In addition, the application compares the estimated remaining mileage with the planned route to provide warning information for the driver, reminding the driver to reasonably choose other suitable driving routes and driving strategies. Based on the planned route conditions and the remaining battery power, the remaining mileage of the electric vehicle is estimated to provide data reference for the driver to reasonably arrange the driving route and charging strategy, and to reduce the mileage misjudgment of the driver in off-road driving and improve the driving safety.

[0105] The remaining mileage prediction method according to the embodiments of the application can realize the prediction of the remaining mileage in special road conditions, and broaden the application range of the estimated mileage. In the off-road environment, based on the original algorithm for estimating the remaining mileage of the electric vehicle, the weather factors, road types, climate factors, terrain factors and other complex factors that may be encountered in the off-road process are further considered. By weighting different factors, the remaining mileage of the electric vehicle under off-road conditions is estimated, the estimation accuracy in this environment is improved, and the accuracy of the subsequent mileage prediction is optimized. Without increasing the hardware cost, the increase in the overall cost of the vehicle is small. To a certain extent, it solves the problem of driving anxiety of the current driver who wants to drive off-road, and has a certain promoting effect on the applicability of pure electric vehicles. Therefore, it has good engineering promotion value.

[0106] Secondly, the remaining mileage prediction device according to the embodiments of the application is described with reference to the accompanying drawings.

[0107] Figure 4 is a block schematic diagram of the remaining mileage prediction device according to the embodiments of the application.

[0108] As shown in Figure 4 , the remaining mileage prediction device 10 comprises an acquisition module 100, a calculation module 200 and a prediction module 300.

[0109] The weather data and the terrain data of the region where the vehicle currently locates are acquired by the acquisition module 100; the rolling resistance of the vehicle is calculated according to the weather data and the terrain data by the calculation module 200, and the total resistance of the vehicle is calculated according to the rolling resistance, the air resistance, the climbing resistance and the accelerating resistance; the energy consumption of the vehicle per unit time is calculated according to the total resistance by the prediction module 300, and the remaining mileage of the vehicle is predicted in combination with the remaining energy of the vehicle.

[0110] In the embodiment of the present application, the calculation module 200 is further configured to: determine a weather grade of the current weather according to the weather data; determine a terrain grade of each type of terrain in the current terrain according to the terrain data; correct the rolling friction coefficient according to a weather influence factor corresponding to the weather grade and a terrain influence factor corresponding to the terrain grade of each type of terrain, and calculate the rolling resistance according to the corrected rolling friction coefficient.

[0111] In the embodiment of the present application, the calculation module 200 is further configured to: acquire a drop angle of the road section where the vehicle currently locates; if the drop angle is less than or equal to a preset angle, calculate the rolling resistance according to the corrected rolling friction coefficient, the load of the vehicle and the drop angle; if the drop angle is greater than the preset angle, generate a slope warning prompt.

[0112] In the embodiment of the present application, the device 10 of the present application further comprises a correction module.

[0113] The correction module is configured to identify whether the road surface on which the vehicle travels is a non-hard road surface before calculating the energy consumption of the vehicle per unit time according to the total resistance; if the road surface is a non-hard road surface, acquire the sinking depth of the vehicle; calculate the ground compaction resistance caused by the compaction of the ground by the vehicle according to the sinking depth, and correct the total resistance based on the ground compaction resistance.

[0114] It should be noted that the foregoing explanation and description of the remaining mileage prediction method embodiment are also applicable to the remaining mileage prediction device of this embodiment, which will not be described here again.

[0115] The remaining mileage prediction device according to the embodiment of the present application can realize the prediction of the remaining mileage under special road conditions, widen the application range of the estimated mileage, and further consider the weather factors, road surface types, climate factors, terrain factors and other complex factors that may be encountered in the off-road process on the basis of the original estimation of the remaining mileage of the electric vehicle, estimate the remaining mileage of the electric vehicle under the off-road condition by considering different factors, improve the estimation accuracy in this environment, optimize the accuracy of the subsequent mileage prediction, do not need to increase the hardware cost, have a smaller impact on the increase of the overall vehicle cost, and to a certain extent, solve the problem of the range anxiety of the driver who wants to drive off-road, have a certain promoting effect on the applicability field of the pure electric vehicle, and thus have good engineering promotion value.

[0116] Figure 5 A structural schematic diagram of a vehicle is provided for the embodiments of the present application. The vehicle can include:

[0117] The memory 501, the processor 502 and the computer program stored in the memory 501 and executable on the processor 502.

[0118] The processor 502 implements the remaining mileage prediction method provided in the above embodiments when executing the program.

[0119] Further, the vehicle further includes:

[0120] The communication interface 503 is used for communication between the memory 501 and the processor 502.

[0121] The memory 501 is used for storing the computer program executable on the processor 502.

[0122] The memory 501 can include a high-speed RAM (Random Access Memory) memory, and can also include a non-volatile memory, such as at least one disk memory.

[0123] If the memory 501, the processor 502 and the communication interface 503 are independently implemented, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and complete communication between each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 5 Only one thick line is used in the middle, but it does not mean that there is only one bus or one type of bus.

[0124] Optionally, in specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can complete communication between each other through an internal interface.

[0125] The processor 502 can be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to perform the operations of the embodiments of the application.

[0126] The embodiments of the application further provide a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the above-mentioned remaining mileage prediction method.

[0127] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the specification, the illustrative description of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or N embodiments or examples. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples, without contradiction.

[0128] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0129] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for performing steps associated with the functions described in the flow charts or elsewhere herein, and that the scope of preferred embodiments of the application encompasses alterations, modifications, and variations of these code modules, segments, or portions of code. It should be noted that the use of the term "one embodiment" or "some embodiments" to describe certain features or implementations is not used to limit these features or implementations to a single embodiment or several embodiments. Rather, such phrases are used herein to describe a particular feature, structure, or characteristic within the scope of at least one embodiment. Therefore, when a particular feature or implementation is described as being in "one embodiment" or "some embodiments," at least one of the features or implementations is included in at least one embodiment or some embodiments of the application.

[0130] It should be understood that portions of the application can be implemented in hardware, software, firmware, or combinations thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware, and in another embodiment, any of the following technologies, known in the art, or their combinations, can be used to implement: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.

[0131] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

Claims

1. A method for predicting remaining mileage, characterized in that: The following steps are involved: Obtain weather data and terrain data for the area where the vehicle is currently located; calculating the rolling resistance of the vehicle according to the weather data and the terrain data, and calculating the total resistance of the vehicle according to the rolling resistance, air resistance, climbing resistance, and acceleration resistance; Calculating the energy consumption of the vehicle per unit time based on the total resistance, and predicting the remaining mileage of the vehicle in combination with the remaining energy of the vehicle; The calculating the rolling resistance of the vehicle according to the weather data and the terrain data includes: determining a weather level of the current weather according to the weather data; determining a terrain grade of each type of terrain in the current terrain according to the terrain data; The rolling friction coefficient is corrected according to the weather influence factor corresponding to the weather level and the terrain influence factor corresponding to the terrain level of each type of terrain, and the rolling resistance is calculated according to the corrected rolling friction coefficient.

2. The method according to claim 1, characterized in that The calculating of the rolling resistance according to the corrected rolling friction coefficient further comprises: Obtaining the drop angle of the road section currently located by the vehicle; If the drop angle is less than or equal to a preset angle, calculating the rolling resistance based on the corrected rolling friction coefficient, the vehicle load, and the drop angle; If the drop angle is greater than the preset angle, a slope alarm reminder is generated.

3. The method according to claim 1, characterized in that Before calculating the energy consumption of the vehicle per unit time according to the total resistance, the method further includes: Identifying whether the road surface on which the vehicle is traveling is a non-hard road surface; If the road surface is the non-hard road surface, obtaining the sinking depth of the vehicle; A ground compaction resistance caused by the vehicle compacting the ground is calculated according to the sinking depth, and the total resistance is corrected based on the ground compaction resistance.

4. A remaining mileage prediction device, characterized in that: include: An acquisition module is used to obtain weather data and terrain data of the area where the vehicle is currently located; a calculation module, configured to calculate the rolling resistance of the vehicle based on the weather data and the terrain data, and calculate the total resistance of the vehicle based on the rolling resistance, air resistance, climbing resistance, and acceleration resistance; a prediction module, configured to calculate the energy consumption of the vehicle per unit time based on the total resistance, and predict the remaining mileage of the vehicle in combination with the remaining energy of the vehicle; The calculation module is further configured to: determining a weather level of the current weather according to the weather data; determining a terrain grade of each type of terrain in the current terrain according to the terrain data; The rolling friction coefficient is corrected according to the weather influence factor corresponding to the weather level and the terrain influence factor corresponding to the terrain level of each type of terrain, and the rolling resistance is calculated according to the corrected rolling friction coefficient.

5. The device according to claim 4, characterized in that The calculation module is further configured to: Obtaining the drop angle of the road section currently located by the vehicle; If the drop angle is less than or equal to a preset angle, calculating the rolling resistance based on the corrected rolling friction coefficient, the vehicle load, and the drop angle; If the drop angle is greater than the preset angle, a slope alarm reminder is generated.

6. The device according to claim 4, characterized in that Also includes: a correction module, configured to identify whether the road surface on which the vehicle is traveling is a non-hard road surface before calculating the energy consumption of the vehicle per unit time based on the total resistance; If the road surface is the non-hard road surface, the sinking depth of the vehicle is obtained; the ground compaction resistance caused by the vehicle compacting the ground is calculated according to the sinking depth, and the total resistance is corrected based on the ground compaction resistance.

7. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the remaining mileage prediction method according to any one of claims 1 to 3.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the remaining mileage prediction method according to any one of claims 1 to 3.

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