Vehicle energy-saving auxiliary control method and device, vehicle and storage medium

Abstract

The application relates to the technical field of vehicle control, and specifically discloses a vehicle energy-saving auxiliary control method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring a target lane where a vehicle is located in real time and target object information corresponding to the target lane, the target object information comprising front traffic light information and obstacle information; calculating the relative speed, the relative distance and the safe following distance between the target vehicle and the front target object according to the target object information; judging which real-time scene the vehicle should enter, the real-time scene comprising a non-energy-saving auxiliary scene, an energy-saving auxiliary scene with obstacles and traffic lights and an energy-saving auxiliary scene with only traffic lights; providing three control strategies for the three different real-time scenes; improving the comfort of the vehicle and reducing the energy consumption of the vehicle; automatically recovering energy, reducing the number of energy conversion times of driving and energy recovery, effectively reducing the efficiency loss of the electric drive system and the energy loss of the mechanical braking system, and reducing rear-end collision accidents.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle energy-saving auxiliary control method, device, vehicle, and storage medium. Background Technology

[0002] At traffic light intersections, drivers need to determine whether they can proceed based on the traffic light status, slowing down the vehicle when the light is red and stopping it at the stop line. For electric vehicles, the driver's coasting and braking actions work together to achieve the deceleration intention. During coasting, the vehicle decelerates through energy recovery torque; during braking, the vehicle decelerates through a combination of energy recovery torque and braking torque.

[0003] Because it is difficult for drivers to accurately identify the timing of deceleration, the following situations often occur during deceleration at traffic light intersections: braking too late results in the vehicle being pressed hard before the stop line, leading to a decrease in vehicle comfort and energy consumption; braking too early results in the vehicle stopping some distance from the stop line, requiring further acceleration and deceleration to bring the vehicle to a stop at the stop line. The electric drive system involves multiple energy conversions: drive → power generation and recovery → drive. The efficiency loss of the electric drive system and the energy loss of the mechanical braking system lead to poor energy consumption, and the battery pack's electrical energy undergoes significant efficiency loss during the conversion process between drive and recovery. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a vehicle energy-saving auxiliary control method, device, vehicle, and storage medium.

[0005] In a first aspect, embodiments of this application provide a vehicle energy-saving auxiliary control method, including:

[0006] Step S1: Obtain the current location information of the target vehicle, and determine the target lane where the target vehicle is located based on the current location information;

[0007] Step S2: Based on the target lane, obtain the target object information in front of the lane where the target vehicle is located, wherein the target object information includes the traffic light information and the obstacle information.

[0008] Step S3: Determine whether the vehicle has entered the energy-saving assistance scenario based on the traffic light information and the obstacle information. If yes, proceed to step S4; otherwise, proceed to step S62. The energy-saving assistance scenario includes an energy-saving assistance scenario with obstacles and traffic lights, and an energy-saving assistance scenario with only traffic lights.

[0009] Step S4: Based on the obstacle information, obtain the relative speed, relative distance, and minimum safe distance between the target vehicle and the nearest obstacle to the target vehicle; obtain the safe following distance of the target vehicle based on the relative speed and the minimum safe distance;

[0010] Step S5: Determine whether the target vehicle needs to slow down based on whether the relative distance is less than the safe following distance. If yes, proceed to step S61; otherwise, proceed to step S62.

[0011] Step S61: Obtain the coasting deceleration condition of the target vehicle, calculate the energy-saving auxiliary coasting recovery torque based on the coasting deceleration condition, and determine and perform energy recovery based on the energy-saving auxiliary coasting recovery torque.

[0012] Step S62: Obtain the basic coasting recovery torque of the target vehicle, and perform energy recovery based on the basic coasting recovery torque;

[0013] In some embodiments, the step of obtaining target object information ahead of the lane where the target vehicle is located based on the target lane, wherein the target object information ahead includes traffic light information and obstacle information ahead, including:

[0014] Based on the traffic light information obtained by the target vehicle, the time required for the target vehicle to pass through the traffic light is determined; wherein, the traffic light information includes the traffic light color status, the remaining time in the current status, and the relative distance between the target vehicle and the traffic light;

[0015] Based on the obstacle information obtained by the target vehicle, a target obstacle is determined, wherein the obstacle information includes the current distance between the obstacle and the target vehicle, the real-time speed and real-time acceleration of the obstacle, and the target obstacle is the obstacle closest to the target vehicle.

[0016] In some embodiments, determining whether a vehicle has entered an energy-saving assistance scenario based on the traffic light information and the obstacle information includes:

[0017] Step S31: Based on the obtained traffic light information, determine whether the traffic light corresponding to the target lane is red or yellow. If yes, proceed to step S32; otherwise, proceed to step S33.

[0018] Step S32: Based on the acquired obstacle information, determine whether there is an obstacle in front of the target lane. If yes, proceed to step S34; otherwise, proceed to step S35.

[0019] Step S33: Based on the target vehicle's current speed, the remaining time of the traffic light's current state, and the relative distance between the target vehicle and the traffic light, determine whether it is possible to pass through the traffic light; if yes, enter the no-energy-saving-assistance scenario; if no, proceed to step S34.

[0020] Step S34: Determine whether the obstacle in front of the target lane has not passed the traffic light intersection. If yes, proceed to step S35; otherwise, proceed to step S36.

[0021] Step S35: Based on the distance between the target vehicle and the obstacle and the distance between the traffic light, obtain the relative speed and relative distance, and enter the energy-saving assistance scenario where there are both obstacles and traffic lights;

[0022] Step S36: Based on the distance between the target vehicle and the traffic light, obtain the relative speed and relative distance, and enter the energy-saving assistance scenario with only traffic lights.

[0023] In some embodiments, the step of obtaining the relative speed, relative distance, and minimum safe distance between the target vehicle and the nearest obstacle to the target vehicle based on the obstacle information; and obtaining the safe following distance of the target vehicle based on the relative speed and the minimum safe distance; includes:

[0024] The formula for calculating the safe following distance is: S_safe=k*dV+S0;

[0025] Where S0 is defined as the minimum safe distance when the relative vehicle speed is 0, dV is the relative speed, and k is the time distance adjustment coefficient.

[0026] In some embodiments, obtaining the target vehicle's baseline coasting recovery torque and performing energy recovery based on the baseline coasting recovery torque includes:

[0027] The basic coasting recovery torque T is calculated by retrieving a preset fixed deceleration a0, where the calculation formula is:

[0028]

[0029] In the formula, v is the vehicle speed, m is the vehicle mass, g is the acceleration due to gravity, f is the friction coefficient, and C is the friction resistance coefficient. d η is the drag coefficient, A is the frontal area, R is the wheel rolling radius, η0 is the mechanical transmission efficiency, and i0 is the main reduction ratio.

[0030] In some embodiments, obtaining the coasting deceleration condition of the target vehicle, calculating the energy-saving coasting recovery torque based on the coasting deceleration condition, and performing energy recovery based on the energy-saving coasting recovery torque include:

[0031] The system determines whether the vehicle is in a coasting deceleration condition based on the driver's operation of the accelerator and brake pedals. If so, it calculates the energy-saving coasting recovery torque and recovers energy based on the torque. If not, it provides a voice prompt through the target vehicle's infotainment system.

[0032] In some embodiments, calculating the energy-saving coasting recovery torque and performing energy recovery based on the energy-saving coasting recovery torque includes:

[0033] The target deceleration is obtained based on the relative speed and relative distance between the target vehicle and the nearest obstacle, as well as the safe following distance.

[0034] Based on the target deceleration, the energy-saving assisted coasting recovery torque is calculated.

[0035] The formula for calculating the target deceleration is:

[0036] In the formula, v rel For relative vehicle speed, S rei S is the relative distance. safe Maintain a safe following distance.

[0037] Secondly, embodiments of this application also provide a vehicle energy-saving auxiliary control device, comprising:

[0038] The first acquisition module is configured to acquire the target lane where the target vehicle is located, as well as the traffic light information and obstacle information ahead corresponding to the target lane;

[0039] The first judgment module is configured to compare the data information obtained by the first acquisition module with preset data information to determine whether the target vehicle has entered the energy-saving assistance scenario.

[0040] The first determining module is configured to determine, based on the determination result of the first determining module, that the target vehicle has entered a real-time scenario, wherein the real-time scenario includes a scenario without energy-saving assistance, a scenario with obstacles and traffic lights, and a scenario with only traffic lights.

[0041] The execution module is configured to determine the real-time scene in which the target vehicle enters based on the first determining module, and execute the corresponding control strategy.

[0042] Thirdly, embodiments of this application provide a vehicle, including:

[0043] processor;

[0044] Memory used to store processor-executable instructions;

[0045] The processor is configured as follows:

[0046] The steps for implementing a vehicle energy-saving auxiliary control method in any of the embodiments provided above.

[0047] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the steps of a vehicle energy-saving auxiliary control method in any of the embodiments provided above.

[0048] The technical solution provided in this application includes at least the following beneficial effects: First, by acquiring the target lane where the target vehicle is located in real time, and the target object information corresponding to the target lane, including the traffic light information and obstacle information ahead, the relative speed, relative distance, and safe following distance between the target vehicle and the target object ahead are calculated based on the target object information. It is then determined which real-time scenario the target vehicle should enter. The real-time scenarios include a scenario without energy-saving assistance, an energy-saving assistance scenario with obstacles and traffic lights, and an energy-saving assistance scenario with only traffic lights. Three control strategies are provided for the three different real-time scenarios to improve vehicle comfort and reduce vehicle energy consumption. At the same time, energy recovery is automatically performed to reduce the number of energy conversions from drive to power generation recovery to drive, effectively reducing the efficiency loss of the electric drive system and the energy loss of the mechanical braking system, and reducing the occurrence of rear-end collisions at traffic light intersections.

[0049] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0050] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a flowchart illustrating a vehicle energy-saving auxiliary control method according to an exemplary embodiment;

[0052] Figure 2 This is another flowchart illustrating a vehicle energy-saving auxiliary control method according to an exemplary embodiment;

[0053] Figure 3 This is a block diagram illustrating a vehicle energy-saving auxiliary control device according to an exemplary embodiment;

[0054] Figure 4This is a block diagram illustrating an energy-saving auxiliary control device according to an exemplary embodiment. Detailed Implementation

[0055] The embodiments of this application are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. It should be understood that the specific embodiments described herein are merely for explaining this application and are not intended to limit this application.

[0056] The terms "first," "second," "third," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects and not to describe a particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, it may include a series of steps or units, or optionally, steps or units not listed, or other steps or units inherent to these processes, methods, products, or devices.

[0057] The accompanying drawings show only the portions relevant to this application, not all of them. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts depict operations (or steps) as sequential processes, many of these operations may be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process may correspond to a method, function, procedure, subroutine, subprogram, etc.

[0058] The terms “component,” “module,” “system,” “unit,” etc., used in this specification are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a unit can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, a thread of execution, a program, and / or distributed between two or more computers. Furthermore, these units can be executed from various computer-readable media on which various data structures are stored. Units can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from a second unit interacting with another unit between a local system, a distributed system, and / or a network; for example, the Internet interacting with other systems via signals).

[0059] Example 1

[0060] Please see Figure 1 This embodiment provides a vehicle energy-saving auxiliary control method, including:

[0061] In step S1, the current location information of the target vehicle is obtained, and the target lane where the target vehicle is located is determined based on the current location information;

[0062] It should be understood that the vehicle energy-saving auxiliary control method provided in this application can be used to control a vehicle that is in motion. During the vehicle's motion, the current positioning information of the target vehicle is obtained through the Internet. The current positioning information includes the current location information and the current driving direction. The target vehicle's current positioning information obtained through the Internet is combined with the vehicle's pre-stored high-precision map. When a traffic light intersection is detected in front of the vehicle, the target vehicle will perform the subsequent energy-saving auxiliary control method steps accordingly.

[0063] It should be noted that all actions involving the acquisition of signals, information, or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where the application is located, and with the authorization granted by the owner of the relevant device.

[0064] In step S2, based on the target lane, information on the target object ahead of the lane where the target vehicle is located is obtained, wherein the information on the target object ahead includes information on the traffic lights ahead and information on the obstacles ahead;

[0065] In this step, the target vehicle's current location information is used to determine its target lane. Based on the target lane, the corresponding traffic light information is obtained. Since lane types include left turn, straight, and right turn, the corresponding traffic light information also includes left turn, straight, and right turn signals. That is, when the target vehicle is in the left turn lane, the traffic light information for the left turn lane needs to be monitored; when the target vehicle is in the straight lane, the traffic light information for the straight lane needs to be monitored; and when the target vehicle is in the right turn lane, the traffic light information for the right turn lane needs to be monitored. Obstacles ahead include, but are not limited to, motor vehicles, pedestrians, and bicycles. Obstacle information includes the current distance between the obstacle and the target vehicle, the obstacle's real-time speed, and real-time acceleration.

[0066] It should be noted that the target vehicle obtains traffic light information from the cloud in real time through a wireless network and related software. The target vehicle continuously updates the traffic light information in real time, which includes the traffic light color status, the remaining time in the current status, and the relative distance between the target vehicle and the traffic light. Based on the traffic light information obtained by the target vehicle, the time required for the target vehicle to pass through the traffic light is determined.

[0067] It is understandable that the target vehicle can obtain information about obstacles ahead by using its millimeter-wave radar and imaging system to detect obstacles around the target vehicle in real time, combine image processing to determine the location of each obstacle, and select the obstacle in front of the target vehicle's lane; based on the obstacle information obtained by the target vehicle, the target obstacle is determined, which is the obstacle closest to the target vehicle.

[0068] In step S3, it is determined whether the vehicle has entered the energy-saving assistance scenario based on the traffic light information and the obstacle information. If yes, step S4 is executed; otherwise, step S62 is executed. The energy-saving assistance scenario includes an energy-saving assistance scenario with obstacles and traffic lights, and an energy-saving assistance scenario with only traffic lights.

[0069] In this step, the target vehicle detects traffic light and obstacle information ahead of the target lane in at least the following situations: the traffic light corresponding to the target lane is green and there is no obstacle; the traffic light corresponding to the target lane is green and the obstacle ahead has not passed the traffic light intersection; the traffic light corresponding to the target lane is yellow or red and there is no obstacle; and the traffic light corresponding to the target lane is yellow or red and there is an obstacle at the same time. When the traffic light corresponding to the target lane is green and the target vehicle can pass the traffic light intersection, the energy-saving assistance scenario is entered.

[0070] It should be understood that, except when the traffic light corresponding to the target lane is green and the target vehicle can pass through the traffic light intersection, in other cases, the target vehicle can enter the energy-saving assistance scenario with obstacles and traffic lights or the energy-saving assistance scenario with only traffic lights, depending on the current vehicle speed, traffic light information and obstacle information ahead.

[0071] In step S4, based on the obstacle information, the relative speed, relative distance, and minimum safe distance between the target vehicle and the nearest obstacle to the target vehicle are obtained; the safe following distance of the target vehicle is obtained based on the relative speed and the minimum safe distance.

[0072] In some implementations, when the target vehicle determines that the nearest obstacle is in front of the target lane, the vehicle's millimeter-wave radar and imaging system detect the speed of the nearest obstacle and the distance between the obstacle and the target vehicle in real time to obtain the relative speed and relative distance. Then, based on the target vehicle's speed, the minimum safe distance between the target vehicle and the target object in front at the current vehicle speed is calculated.

[0073] In some implementations, the formula for calculating the safe following distance is: S_safe=k*dV+S0;

[0074] Where S0 is defined as the minimum safe distance when the relative vehicle speed is 0, dV is the relative speed (the difference between the speed of the target vehicle and the speed of the nearest obstacle in front), and k is the time distance adjustment coefficient.

[0075] It is important to note that the value of S0 is not fixed. The value of S0 is selected based on the target vehicle's speed. Essentially, the target vehicle's memory stores a lookup table for S0 values. When the target vehicle's current speed is detected, the corresponding minimum safe distance S0 is retrieved based on that speed. For example, if the target vehicle's speed (km / h) is 10, 30, 60, 90, or 120, the corresponding minimum safe distance S0 value (m) could be 5, 20, 60, 90, or 120.

[0076] In step S5, it is determined whether the target vehicle needs to decelerate based on whether the relative distance is less than the safe following distance. If yes, step S61 is executed; otherwise, step S4 is executed.

[0077] In this step, by detecting the current speed of the target vehicle, the minimum safe distance preset in the vehicle memory is retrieved based on the actual value of the current speed. The safe following distance is calculated by combining the relative speed. The target vehicle compares the relative distance with the safe following distance. When the relative distance is greater than the safe following distance, the target vehicle does not need to decelerate. At this time, the target vehicle executes step S5 to obtain the basic coasting recovery torque of the target vehicle. The target vehicle recovers energy based on the basic coasting recovery torque.

[0078] For example, when the relative distance between the target vehicle and the obstacle is less than the safe following distance, that is, the target vehicle is driving dangerously, the target vehicle needs to slow down, and the target vehicle executes step S7.

[0079] In step S61, the coasting deceleration condition of the target vehicle is obtained, the energy-saving auxiliary coasting recovery torque is calculated based on the coasting deceleration condition, and energy recovery is determined and performed based on the energy-saving auxiliary coasting recovery torque.

[0080] In this step, obtaining the coasting deceleration condition of the target vehicle specifically includes: the target vehicle determines whether it is currently in a coasting deceleration condition based on the driver's operation of the accelerator and brake pedals. If the target vehicle is not in a coasting deceleration condition, and the target vehicle is in a dangerous driving situation, the target vehicle will provide voice prompts to the driver through the infotainment system to guide the driver to perform energy-saving driving operations. For example, the driver can be guided to perform coasting deceleration operations through sound / light information, such as by providing a voice prompt on the instrument panel saying "Please release the accelerator" or / and an icon prompting the driver to remove their foot from the accelerator pedal.

[0081] Understandably, this step involves using the infotainment system to provide voice prompts to the driver, enabling the driver to accurately grasp the timing of deceleration and allowing the target vehicle to automatically adjust its coasting, automatically recover more electrical energy, and reduce braking energy loss and system efficiency loss caused by braking intervention. During coasting, the smoothness of vehicle deceleration can be controlled, and the following distance can be automatically controlled to reduce the occurrence of rear-end collisions at traffic light intersections.

[0082] In some implementations, when the target vehicle is in a coasting deceleration condition, the target deceleration is obtained based on the relative speed and relative distance between the target vehicle and the nearest obstacle to the target vehicle, as well as the safe following distance.

[0083] Based on the target deceleration, the energy-saving assisted coasting recovery torque is calculated.

[0084] The formula for calculating the target deceleration is:

[0085] In the formula, v rel For relative vehicle speed, S rel S is the relative distance. safe Maintain a safe following distance.

[0086] Based on this target deceleration, the energy recovery torque required to achieve the target deceleration is calculated according to the vehicle dynamics equations:

[0087]

[0088] Where m is the total mass of the vehicle, g is the acceleration due to gravity, f is the coefficient of frictional resistance, and C d η is the drag coefficient, A is the frontal area, R is the wheel rolling radius, η0 is the mechanical transmission efficiency, and l0 is the main reduction ratio.

[0089] It should be noted that the energy recovery torque T required for the target deceleration is obtained by calculating the target deceleration, so as to control the target vehicle to recover electrical energy, that is, the target vehicle controls the drive motor to switch the drive motor to the power generation mode.

[0090] In step S62, the basic coasting recovery torque of the target vehicle is obtained, and energy recovery is performed based on the basic coasting recovery torque;

[0091] In this step, it should be noted that the traffic light corresponding to the target lane where the target vehicle is located is green and the target vehicle can pass through the traffic light intersection, meaning the target vehicle does not enter the energy-saving assistance scenario. At this time, the target vehicle calculates the basic coasting recovery torque T by retrieving the preset fixed deceleration a0, where the calculation formula is:

[0092]

[0093] In the formula, v is the vehicle speed, m is the vehicle mass, g is the acceleration due to gravity, f is the friction coefficient, and C is the friction resistance coefficient. d η is the drag coefficient, A is the frontal area, R is the wheel rolling radius, η0 is the mechanical transmission efficiency, and i0 is the main reduction ratio.

[0094] Of course, the basic coasting recovery torque T can also be preset to a fixed value T0. By directly calling T0, the target vehicle can be controlled to recover energy. That is, when the target vehicle needs to decelerate and coast, the drive motor is controlled to switch the drive motor to power generation mode.

[0095] In the above method steps, by acquiring the target lane where the target vehicle is located in real time, and the target object information corresponding to the target lane, including the traffic light information and obstacle information ahead, the relative speed, relative distance, and safe following distance between the target vehicle and the target object ahead are calculated based on the target object information. It is then determined which real-time scenario the target vehicle should enter. The real-time scenarios include a scenario without energy-saving assistance, an energy-saving assistance scenario with obstacles and traffic lights, and an energy-saving assistance scenario with only traffic lights. Three control strategies are provided for the three different real-time scenarios to improve vehicle comfort and reduce vehicle energy consumption. At the same time, energy recovery is automatically performed to reduce the number of energy conversions from drive to power generation and recovery to drive, effectively reducing the efficiency loss of the electric drive system and the energy loss of the mechanical braking system, and reducing the occurrence of rear-end collisions at traffic light intersections.

[0096] Example 2

[0097] Please see Figure 2 This embodiment, based on embodiment 1, specifically describes the method steps in step S3 for determining whether a vehicle has entered an energy-saving assistance scenario based on the traffic light information and the obstacle information, including:

[0098] Step S31: Based on the obtained traffic light information, determine whether the traffic light corresponding to the target lane is red or yellow. If yes, proceed to step S32; otherwise, proceed to step S33.

[0099] Step S32: Based on the acquired obstacle information, determine whether there is an obstacle in front of the target lane. If yes, proceed to step S34; otherwise, proceed to step S35.

[0100] Step S33: Based on the target vehicle's current speed, the remaining time of the traffic light's current state, and the relative distance between the target vehicle and the traffic light, determine whether it is possible to pass through the traffic light; if yes, enter the no-energy-saving-assistance scenario; if no, proceed to step S34.

[0101] Step S34: Determine whether the obstacle in front of the target lane has not passed the traffic light intersection. If yes, proceed to step S35; otherwise, proceed to step S36.

[0102] Step S35: Based on the distance between the target vehicle and the obstacle and the distance between the traffic light, obtain the relative speed and relative distance, and enter the energy-saving assistance scenario where there are both obstacles and traffic lights;

[0103] Step S36: Based on the distance between the target vehicle and the traffic light, obtain the relative speed and relative distance, and enter the energy-saving assistance scenario with only traffic lights.

[0104] Example 3

[0105] Please see Figure 3 This embodiment provides a vehicle energy-saving auxiliary control device, the vehicle energy-saving auxiliary control device 300 includes:

[0106] The first acquisition module 310 is configured to acquire the target lane where the target vehicle is located, as well as the traffic light information and obstacle information ahead corresponding to the target lane;

[0107] The second acquisition module 320 is configured to acquire the driver's operation control information on the accelerator pedal and brake pedal in the target vehicle.

[0108] The first judgment module 330 is configured to compare the data information obtained by the first acquisition module with preset data information to determine whether the target vehicle has entered the energy-saving assistance scenario.

[0109] It should be noted that the first judgment module 330 also includes:

[0110] The first judgment submodule is configured to determine the traffic light status corresponding to the lane where the target vehicle is located, and whether the target vehicle can pass when the light is green.

[0111] The second judgment submodule is configured to determine the closest obstacle in front of the target vehicle in its lane, and to compare the relative distance between the target vehicle and the obstacle with the safe following distance.

[0112] The second judgment module 340 is configured to determine whether the target vehicle is currently in a coasting deceleration condition based on the operation control information of the driver on the accelerator pedal and brake pedal in the target vehicle obtained by the second acquisition module.

[0113] The first determining module 350 is configured to determine, based on the determination result of the first determining module, that the target vehicle has entered a real-time scenario, wherein the real-time scenario includes a scenario without energy-saving assistance, a scenario with obstacles and traffic lights, and a scenario with only traffic lights.

[0114] The second determining module 360 ​​is configured to determine, based on the determination result of the second determining module, that the target vehicle has entered an energy-saving assistance scenario with obstacles and traffic lights, or to guide the driver to perform energy-saving driving operations through voice prompts via the infotainment system.

[0115] The first execution module 370 is configured to determine, based on the first determining module, that the target vehicle has entered a scenario without energy-saving assistance, and execute a first control strategy; the first control strategy includes taking the target vehicle's basic coasting recovery torque and performing energy recovery based on the basic coasting recovery torque;

[0116] The second execution module 380 is configured to determine, based on the first determining module, that the target vehicle has entered an energy-saving assistance scenario with obstacles and traffic lights, and execute a second control strategy; the first control strategy includes, based on the target deceleration, calculating the energy recovery torque required to achieve the target deceleration according to the vehicle driving dynamics equation, and performing energy recovery based on the energy recovery torque.

[0117] The third execution module 390 is configured to determine, based on the first determining module, that the target vehicle has entered an energy-saving auxiliary scenario with only traffic lights, and execute a third control strategy; the third control strategy includes controlling the target vehicle to coast and decelerate, and calculating the energy recovery torque required to achieve the target deceleration based on the vehicle driving dynamics equation: and performing energy recovery based on the energy recovery torque.

[0118] Example 4

[0119] Please see Figure 4 This embodiment provides a vehicle, which can be a pure electric vehicle, and the vehicle includes:

[0120] processor;

[0121] Memory used to store processor-executable instructions;

[0122] The processor is configured to implement the steps of the vehicle energy-saving auxiliary control method in the above embodiments;

[0123] And, such as Figure 4 As shown, some vehicle components are illustrated, such as the vehicle controller 450. The vehicle controller 450 is electrically connected to the vehicle speed sensor 410, throttle opening sensor 420, and brake opening sensor 430 via hard wires. The vehicle controller 410 communicates with the real-time data network system 440, the image radar sensor 460, the HMI module 470, and the motor controller 480 via an in-vehicle bus. The motor controller 480 and the drive motor 490 are connected via a high-voltage wiring harness.

[0124] Specifically, a vehicle may include various subsystems, such as infotainment systems, perception systems, decision control systems, drive systems, and computing platforms. Optionally, a vehicle may include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the vehicle can be interconnected via wired or wireless means.

[0125] In some embodiments, the infotainment system may include a communication system, an entertainment system, and a navigation system.

[0126] The communication system may include a wireless communication system that can communicate wirelessly with one or more devices, either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communication, such as LTE, or 5G cellular communication. The wireless communication system may utilize WiFi or a wireless local area network (WLAN) to communicate. In some embodiments, the wireless communication system may utilize an infrared link, Bluetooth, or ZigBee to communicate directly with devices. Other wireless protocols, such as various vehicle communication systems, may also be used. For example, the wireless communication system may include one or more dedicated short-range communications (DSRC) devices that can enable public and / or private data communication between the vehicle and / or a roadside station.

[0127] The entertainment system can include a display device, microphone, and speakers, allowing users to listen to the radio and play music in the car; or connect their mobile phones to the vehicle and project their screens onto the display device, which can be touch-sensitive, allowing users to operate it by touching the screen.

[0128] As provided in Embodiment 1, in this embodiment of the vehicle energy-saving auxiliary control method, voice prompts are given to the driver through the in-vehicle entertainment system;

[0129] In some cases, the user's voice signal can be captured through a microphone, and based on the analysis of the voice signal, the user can control certain aspects of the vehicle, such as adjusting the interior temperature. In other cases, music can be played to the user through the audio system.

[0130] The navigation system may include map services provided by a map provider to offer route guidance to the vehicle. The navigation system can be used in conjunction with the vehicle's GPS and inertial measurement unit. The map services provided by the map provider can be two-dimensional maps or high-definition maps.

[0131] A perception system may include several types of sensors that sense information about the vehicle's surrounding environment. For example, a perception system may include a Global Positioning System (GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and camera devices. The perception system may also include sensors from the vehicle's internal systems being monitored (e.g., an in-vehicle air quality monitor, fuel gauge, oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.). This detection and identification is a critical function for the safe operation of the vehicle.

[0132] An inertial measurement unit (IMU) is used to sense changes in the vehicle's pose based on inertial acceleration. In some embodiments, the IMU may be a combination of an accelerometer and a gyroscope.

[0133] LiDAR uses lasers to sense objects in the environment in which a vehicle is located. In some embodiments, LiDAR may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components.

[0134] Millimeter-wave radar uses radio signals to sense objects in the vehicle's surrounding environment. In some embodiments, in addition to sensing objects, millimeter-wave radar can also be used to sense the speed and / or direction of travel of objects.

[0135] Ultrasonic radar can use ultrasonic signals to sense objects around a vehicle.

[0136] The camera device is used to capture image information of the vehicle's surrounding environment. The camera device may include a monocular camera, a binocular camera, a structured light camera, and a panoramic camera, etc. The image information acquired by the camera device 626 may include still images or video stream information.

[0137] The decision control system includes a computing system that analyzes and makes decisions based on information acquired by the sensing system. The decision control system also includes a vehicle controller that controls the vehicle's power system, as well as a steering system, throttle, and braking system for controlling the vehicle.

[0138] The computing system can operate to process and analyze various information acquired by the perception system in order to identify targets, objects, and / or features in the vehicle's surrounding environment. Targets may include pedestrians or animals, and objects and / or features may include traffic signals, road boundaries, and obstacles. The computing system may use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking, and other technologies.

[0139] In some embodiments, the computing system can be used to map the environment, track objects, estimate object speeds, and so on. The computing system can analyze the acquired information and derive a control strategy for the vehicle.

[0140] The vehicle controller can be used to coordinate and control the vehicle's power battery and engine to improve the vehicle's power performance.

[0141] The steering system is operable to adjust the vehicle's direction of travel. For example, in one embodiment, it can be a steering wheel system.

[0142] The throttle is used to control the engine's operating speed and, consequently, the vehicle's speed.

[0143] The braking system is used to control the deceleration of a vehicle. The braking system uses friction to slow down the wheels.

[0144] In some embodiments, the braking system can convert the kinetic energy of the wheels into an electric current. The braking system may also take other forms to slow the wheel rotation, thereby controlling the vehicle's speed.

[0145] A drive system may include components that provide powered motion to the vehicle. In one embodiment, a drive system may include an engine, an energy source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air-compressed engine, or other combinations of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. The engine converts the energy source into mechanical energy; the energy source can provide power to other systems in the vehicle.

[0146] Example 5

[0147] This embodiment provides a computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the steps of the vehicle energy-saving auxiliary control method described in the above embodiment.

[0148] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0149] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0150] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0151] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0152] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0153] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0154] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves. It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0155] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0156] Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The reference to "embodiment" herein means that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily indicate the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0157] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A vehicle energy-saving auxiliary control method, characterized in that, include: Step S1: Obtain the current location information of the target vehicle, and determine the target lane where the target vehicle is located based on the current location information; Step S2: Based on the target lane, obtain the target object information in front of the lane where the target vehicle is located, wherein the target object information includes the traffic light information and the obstacle information. Step S3: Determine whether the vehicle has entered the energy-saving assistance scenario based on the information of the traffic lights and obstacles ahead. If yes, proceed to step S4; otherwise, proceed to step S62. The energy-saving assistance scenario includes an energy-saving assistance scenario with obstacles and traffic lights, and an energy-saving assistance scenario with only traffic lights. Step S4: Based on the obstacle information ahead, obtain the relative speed, relative distance, and minimum safe distance between the target vehicle and the nearest obstacle to the target vehicle; obtain the safe following distance of the target vehicle based on the relative speed and the minimum safe distance; Step S5: Determine whether the target vehicle needs to slow down based on whether the relative distance is less than the safe following distance. If yes, proceed to step S61; otherwise, proceed to step S62. Step S61: Obtain the coasting deceleration condition of the target vehicle, calculate the energy-saving auxiliary coasting recovery torque based on the coasting deceleration condition, and determine and perform energy recovery based on the energy-saving auxiliary coasting recovery torque; Step S62: Obtain the basic coasting recovery torque of the target vehicle, and perform energy recovery based on the basic coasting recovery torque; The step of determining whether the vehicle has entered the energy-saving assistance scenario based on the information of the traffic lights ahead and the information of the obstacles ahead includes: Step S31: Based on the obtained traffic light information ahead, determine whether the traffic light corresponding to the target lane is red or yellow. If yes, proceed to step S32; otherwise, proceed to step S33. Step S32: Based on the acquired obstacle information, determine whether there is an obstacle in front of the target lane. If yes, proceed to step S34; otherwise, proceed to step S35. Step S33: Based on the target vehicle's current speed, the remaining time of the traffic light's current state, and the relative distance between the target vehicle and the traffic light, determine whether it is possible to pass through the traffic light; if yes, enter the no-energy-saving-assistance scenario; if no, proceed to step S34. Step S34: Determine whether the obstacle in front of the target lane has not passed the traffic light intersection. If yes, proceed to step S35; otherwise, proceed to step S36. Step S35: Based on the distance between the target vehicle and the obstacle and the distance between the traffic light, obtain the relative speed and relative distance, and enter the energy-saving assistance scenario where there are both obstacles and traffic lights; Step S36: Based on the distance between the target vehicle and the traffic light, obtain the relative speed and relative distance, and enter the energy-saving assistance scenario with only traffic lights.

2. The vehicle energy-saving auxiliary control method according to claim 1, characterized in that, The step involves obtaining information about objects ahead of the target vehicle in the lane specified in the target lane. This information includes information about traffic lights and obstacles ahead, including: Based on the traffic light information obtained by the target vehicle, the time required for the target vehicle to pass through the traffic light is determined; wherein, the traffic light information includes the traffic light color status, the remaining time in the current status, and the relative distance between the target vehicle and the traffic light; Based on the obstacle information obtained by the target vehicle, the target obstacle is determined, wherein the obstacle information includes the current distance between the obstacle and the target vehicle, the real-time speed and real-time acceleration of the obstacle, and the target obstacle is the obstacle closest to the target vehicle.

3. The vehicle energy-saving auxiliary control method according to claim 1, characterized in that, In the steps of obtaining the relative speed, relative distance, and minimum safe distance between the target vehicle and the nearest obstacle based on the obstacle information ahead; and obtaining the safe following distance of the target vehicle based on the relative speed and the minimum safe distance: The formula for calculating a safe following distance is: ; in, Defined as the minimum safe distance when the relative vehicle speed is 0. For relative velocity, This is the time interval adjustment factor.

4. The vehicle energy-saving auxiliary control method according to claim 1, characterized in that, The step of obtaining the target vehicle's basic coasting recovery torque and performing energy recovery based on the basic coasting recovery torque includes: By adjusting the preset fixed deceleration Calculate the base coasting recovery torque The calculation formula is as follows: In the formula, For vehicle speed, For the overall vehicle quality, It is the acceleration due to gravity. f The coefficient of frictional resistance. This is the drag coefficient. For windward area, R The radius of the wheel's rolling motion. Mechanical transmission efficiency The main reduction ratio.

5. The vehicle energy-saving auxiliary control method according to claim 1, characterized in that, The process of acquiring the coasting deceleration condition of the target vehicle, calculating the energy-saving coasting recovery torque based on the coasting deceleration condition, and performing energy recovery based on the energy-saving coasting recovery torque includes: Determine whether the driver is in a coasting deceleration condition based on their operation of the accelerator and brake pedals. If yes, calculate the energy-saving coasting recovery torque and recover energy based on the energy-saving coasting recovery torque; if no, provide voice prompts through the target vehicle's infotainment system.

6. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured as follows: The steps of implementing the vehicle energy-saving auxiliary control method as described in any one of claims 1 to 5.

7. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the steps of the vehicle energy-saving auxiliary control method as described in any one of claims 1 to 5.

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