Vehicle travel control method, device, apparatus, medium, and product

Abstract

The application relates to a vehicle driving control method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a current signal lamp phase, a remaining time length of the current signal lamp phase, a current distance between a target vehicle and a target signal lamp, and a current vehicle speed; determining a first target driving distance based on the current signal lamp phase, the current distance, the remaining time length, the current vehicle speed and a preset acceleration threshold corresponding to the current signal lamp phase; determining an intermediate combination between a plurality of accelerations and acceleration time lengths based on the first target driving distance and a maximum allowed vehicle speed; determining a motor efficiency value corresponding to each intermediate combination based on a current water temperature, a current voltage, an electric drive torque and a motor speed; and determining a target combination based on the intermediate combination with the maximum motor efficiency value, and planning a speed of the target vehicle. The method provided by the application enables the target vehicle to smoothly pass through an intersection and save energy as much as possible.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a vehicle driving control method, device, computer equipment, storage medium and computer program product. Background Technology

[0002] When a vehicle approaches a traffic light, although the driver can estimate whether it can pass through the intersection based on the color of the traffic light and the remaining time of the current color of the traffic light, this estimation method is not accurate enough, and the vehicle often fails to pass through the intersection due to the driver's incorrect estimation.

[0003] With the development of intelligent driving technology, when a vehicle approaches a traffic light, the driver assistance system can provide the driver with relatively accurate speed planning so that the driver can drive the vehicle smoothly through the intersection. However, the speed planning provided by the existing driver assistance system does not take energy consumption into account, causing the vehicle to consume too much energy when passing through the intersection. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle driving control method, device, computer equipment, computer-readable storage medium, and computer program product that can minimize energy consumption in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a vehicle driving control method, the method comprising:

[0006] The system obtains the current traffic light phase, the remaining duration of the current traffic light phase, and the current distance between the target vehicle and the target traffic light, as well as the current vehicle speed sent by the vehicle-side intelligent controller of the target vehicle.

[0007] The first target travel distance is determined based on the current traffic light phase, the current distance, the remaining time, the current vehicle speed, and the preset acceleration threshold corresponding to the current traffic light phase.

[0008] Based on the first target driving distance, the current vehicle speed, the current distance, the remaining time, and the maximum permissible vehicle speed at the intersection where the target traffic light is located, determine multiple intermediate combinations between acceleration and acceleration duration;

[0009] For each intermediate combination, the corresponding electric drive torque and motor speed are determined, the current water temperature and current voltage of the target vehicle motor are obtained, and the corresponding motor efficiency value for each intermediate combination is determined based on the current water temperature, the current voltage, the electric drive torque and the motor speed.

[0010] The intermediate combination with the highest corresponding motor efficiency value is determined as the target combination, and the corresponding acceleration and target vehicle speed of the target combination are sent to the vehicle-side intelligent controller.

[0011] In one embodiment, determining the first target travel distance based on the current traffic light phase, the current distance, the remaining time, the current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase includes:

[0012] The second target travel distance is determined based on the remaining time and the current vehicle speed;

[0013] Compare the second target travel distance with the current distance, and determine the target acceleration threshold based on the comparison result, the current traffic light phase, and the preset acceleration threshold;

[0014] The first target travel distance is determined based on the target acceleration threshold, the current vehicle speed, and the remaining time.

[0015] In one embodiment, the current traffic light phase is a green light phase; determining the target acceleration threshold based on the comparison result, the current traffic light phase, and the preset acceleration threshold includes:

[0016] If the comparison result is that the second target driving distance is less than the current distance, then a preset acceleration threshold corresponding to the green light phase is obtained. The preset acceleration threshold includes a first maximum acceleration determined based on the distance between the target vehicle and the nearest vehicle in front, a second maximum acceleration achieved by the current driver of the target vehicle during a preset historical time period, and a third maximum acceleration provided by the power battery of the target vehicle.

[0017] The minimum value among the first maximum acceleration, the second maximum acceleration, and the third maximum acceleration is determined as the target acceleration threshold.

[0018] In one embodiment, the method further includes:

[0019] If the comparison result indicates that the second target travel distance is not less than the current distance, then a constant speed driving command is sent to the vehicle-side intelligent controller so that the target vehicle travels at a constant speed based on the current vehicle speed.

[0020] In one embodiment, determining an intermediate combination of multiple accelerations and acceleration durations based on the first target travel distance, the current vehicle speed, the current distance, the remaining time, and the maximum permissible speed at the intersection where the target traffic light is located includes:

[0021] Compare the first target travel distance with the current distance. If the first target travel distance is not less than the current distance, then determine an initial combination of multiple accelerations and acceleration durations based on the current vehicle speed, the current distance, and the remaining time.

[0022] Based on the maximum permissible vehicle speed, the initial combination is filtered to obtain multiple intermediate combinations of acceleration and acceleration duration.

[0023] In one embodiment, determining the corresponding electric drive torque and motor speed for each intermediate combination includes:

[0024] The corresponding electric drive torque is determined based on the acceleration in each intermediate combination;

[0025] Based on the current vehicle speed, as well as the acceleration and acceleration duration in each intermediate combination, determine the target vehicle speed for each intermediate combination.

[0026] Based on the target vehicle speed, the corresponding motor speed is determined.

[0027] Secondly, this application also provides a vehicle driving control device, the device comprising:

[0028] The acquisition module is used to acquire the current traffic light phase, the remaining duration of the current traffic light phase, and the current distance between the target vehicle and the target traffic light sent by the intelligent transportation system, and to acquire the current vehicle speed sent by the vehicle-side intelligent controller of the target vehicle.

[0029] The first determining module is used to determine the first target driving distance based on the current traffic light phase, the current distance, the remaining time, the current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase;

[0030] The second determining module is used to determine an intermediate combination of multiple accelerations and acceleration durations based on the first target driving distance, the current vehicle speed, the current distance, the remaining time, and the maximum permissible vehicle speed at the intersection where the target traffic light is located.

[0031] The third determining module is used to determine the corresponding electric drive torque and motor speed for each intermediate combination, obtain the current water temperature and current voltage of the target vehicle motor, and determine the corresponding motor efficiency value for each intermediate combination based on the current water temperature, the current voltage, the electric drive torque and the motor speed.

[0032] The sending module is used to determine the intermediate combination with the highest corresponding motor efficiency value as the target combination, and send the corresponding acceleration and target vehicle speed of the target combination to the vehicle-side intelligent controller.

[0033] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the methods in any of the above embodiments.

[0034] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the methods in any of the above embodiments.

[0035] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the methods in any of the above embodiments.

[0036] The aforementioned vehicle driving control method, device, computer equipment, storage medium, and computer program product acquire the current traffic light phase, remaining duration of the current traffic light phase, and current distance between the target vehicle and the target traffic light from the intelligent transportation system, and acquire the current vehicle speed from the vehicle-side intelligent controller of the target vehicle; determine a first target driving distance based on the current traffic light phase, current distance, remaining duration, current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase; determine intermediate combinations of multiple accelerations and acceleration durations based on the first target driving distance, current vehicle speed, remaining duration, and the maximum permissible speed at the intersection where the target traffic light is located; for each intermediate combination, determine the corresponding electric drive torque and motor speed, acquire the current water temperature and current voltage of the target vehicle's motor, and determine the corresponding motor efficiency value for each intermediate combination based on the current water temperature, current voltage, electric drive torque, and motor speed; determine the intermediate combination with the highest corresponding motor efficiency value as the target combination, and send the corresponding acceleration and target vehicle speed of the target combination to the vehicle-side intelligent controller. The method provided in this application determines the target vehicle speed and acceleration when the target vehicle passes through the intersection by calculating the maximum motor efficiency value, so that the target vehicle can pass through the intersection smoothly while saving energy as much as possible. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying 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.

[0038] Figure 1 This is an application environment diagram of a vehicle driving control method in one embodiment;

[0039] Figure 2 This is a flowchart illustrating a vehicle driving control method in one embodiment;

[0040] Figure 3 This is a flowchart illustrating a method for determining the first target's travel distance in one embodiment;

[0041] Figure 4 This is a structural block diagram of a vehicle driving control device in one embodiment;

[0042] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0044] The vehicle driving control method provided in this application embodiment can be applied to, for example, Figure 1 The application environment shown. Among them, Figure 1 The system includes an intelligent transportation system 102, a vehicle-mounted intelligent controller 104, and a cloud computing platform 106. When the target vehicle enters the communication range of the target traffic light, the cloud computing platform 106 obtains traffic information data sent by the intelligent transportation system 102 and vehicle driving status information sent by the vehicle-mounted intelligent controller 104 based on the data upload module. Based on the obtained information, it sequentially performs traffic intersection speed planning and energy-saving target speed calculation to obtain the target speed and target acceleration. Finally, based on the data download module, it sends the target speed and target acceleration to the vehicle-mounted intelligent controller.

[0045] In one exemplary embodiment, such as Figure 2 As shown, a vehicle driving control method is provided, which is applied to... Figure 1 Taking a cloud computing platform as an example, the explanation includes the following steps 202 to 210. Wherein:

[0046] S202. Obtain the current traffic light phase, the remaining duration of the current traffic light phase, and the current distance between the target vehicle and the target traffic light from the intelligent transportation system, and obtain the current vehicle speed from the vehicle-side intelligent controller of the target vehicle.

[0047] The traffic light phase includes the green light phase and the red light phase, and the current traffic light phase is one of these two phases.

[0048] S204. Based on the current traffic light phase, current distance, remaining time, current vehicle speed, and the preset acceleration threshold corresponding to the current traffic light phase, determine the first target travel distance.

[0049] When the current traffic light phase is green, the first target travel distance is the maximum distance the target vehicle can travel in the remaining time; when the current traffic light phase is red, the first target travel distance is the minimum distance the target vehicle can travel in the remaining time; the preset acceleration threshold is a threshold for limiting the acceleration of the target vehicle during acceleration.

[0050] After obtaining the above data, the cloud computing platform will calculate the second target travel distance that the target vehicle will travel at a constant speed within the remaining time while maintaining its current speed. Then, it will compare the second target travel distance with the current distance to plan the speed of the target vehicle.

[0051] Specifically, when the current traffic light phase is green, the following situations exist: If the distance traveled by the second target is not less than the current distance, it means that the target vehicle can pass through the intersection at the traffic light at a constant speed within the remaining time. In this case, the cloud computing platform sends an instruction to the vehicle-side intelligent controller to pass through the intersection at a constant speed. If the distance traveled by the second target is less than the current distance, and the distance traveled by the first target is not less than the current distance, it means that the target vehicle can pass through the intersection within the remaining time after acceleration. In this case, the speed of the target vehicle is planned by executing steps S206 to S208. If the distance traveled by the first target and the distance traveled by the second target are both less than the current distance, it means that the target vehicle cannot pass through the intersection within the remaining time even if it accelerates. In this case, an instruction to stop is sent to the vehicle-side intelligent controller, so that the target vehicle can pass through the intersection in the next green light phase.

[0052] S206. Based on the first target travel distance, current vehicle speed, current distance, remaining time, and the maximum permissible speed at the intersection where the target traffic light is located, determine an intermediate combination of multiple accelerations and acceleration durations.

[0053] Here, acceleration refers to the acceleration corresponding to the target vehicle's acceleration process, and acceleration duration refers to the length of time the target vehicle takes to accelerate. Combination refers to the combination of acceleration and acceleration duration that enables the target vehicle to accelerate through the intersection within the remaining time. Intermediate combination refers to all combinations after the maximum permissible speed limit.

[0054] S208. For each intermediate combination, determine the corresponding electric drive torque and motor speed, obtain the current water temperature and current voltage of the target vehicle motor, and determine the corresponding motor efficiency value for each intermediate combination based on the current water temperature, current voltage, electric drive torque and motor speed.

[0055] Among them, the electric drive torque corresponding to each intermediate combination can be calculated based on the corresponding acceleration, the motor speed corresponding to each intermediate combination can be calculated based on the corresponding target vehicle speed, and the target vehicle speed of each combination can be calculated based on the corresponding acceleration and acceleration time. The target vehicle speed refers to the vehicle speed after the acceleration process.

[0056] Since the motor efficiency value is affected by the current water temperature, current voltage, electric drive torque, and motor speed, the corresponding motor efficiency value for each combination can be determined by looking up a table based on these influencing factors.

[0057] S210. Determine the intermediate combination with the highest corresponding motor efficiency value as the target combination, and send the corresponding acceleration and target vehicle speed of the target combination to the vehicle-side intelligent controller.

[0058] The motor efficiency value is the highest, indicating that the energy consumed during driving is the least. Therefore, the corresponding acceleration and target speed can be sent to the vehicle controller so that the target vehicle can drive based on the corresponding acceleration and target speed.

[0059] In the aforementioned vehicle driving control method, the following steps are taken: First, the current traffic light phase, remaining duration of the current traffic light phase, and current distance between the target vehicle and the target traffic light are obtained from the intelligent transportation system. Second, the current vehicle speed is obtained from the vehicle's intelligent controller. Third, a first target driving distance is determined based on the current traffic light phase, current distance, remaining duration, current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase. Fourth, multiple intermediate combinations of acceleration and acceleration duration are determined based on the first target driving distance, current speed, remaining duration, and the maximum permissible speed at the intersection where the target traffic light is located. Fifth, for each intermediate combination, the corresponding electric drive torque and motor speed are determined. Sixth, the current water temperature and voltage of the target vehicle's motor are obtained. Seventh, based on the current water temperature, current voltage, electric drive torque, and motor speed, the corresponding motor efficiency value for each intermediate combination is determined. Finally, the intermediate combination with the highest corresponding motor efficiency value is determined as the target combination, and the corresponding acceleration and target vehicle speed of the target combination are sent to the vehicle's intelligent controller. The method provided in this application determines the target vehicle speed and acceleration when the target vehicle passes through the intersection by calculating the maximum motor efficiency value, so that the target vehicle can pass through the intersection smoothly while saving energy as much as possible.

[0060] In some embodiments, such as Figure 3 As shown, the first target travel distance is determined based on the current traffic light phase, the current distance, the remaining time, the current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase, including:

[0061] S302. Determine the second target travel distance based on the remaining time and the current vehicle speed.

[0062] S304. Compare the second target travel distance with the current distance, and determine the target acceleration threshold based on the comparison result, the current traffic light phase, and the preset acceleration threshold.

[0063] S306. Based on the target acceleration threshold, the current vehicle speed, and the remaining time, determine the first target travel distance.

[0064] Here, since the first target travel distance is a critical value used to determine whether the target vehicle can pass through the intersection within the remaining time, the corresponding scenario for the first target travel distance is that the target vehicle always accelerates or decelerates based on the target acceleration threshold to pass through the intersection, which can be calculated using the following formula:

[0065]

[0066] In the formula, S1 is the distance traveled to the first target, v0 is the current vehicle speed, and t p For the remaining duration, a n The target acceleration threshold.

[0067] In this embodiment, by determining the first target driving distance, it is possible to determine whether the target vehicle can pass the intersection after acceleration within the remaining time, and accordingly, speed planning can be performed.

[0068] In some embodiments, the current traffic light phase is a green light phase; determining a target acceleration threshold based on the comparison result, the current traffic light phase, and a preset acceleration threshold includes: if the comparison result is that the second target driving distance is less than the current distance, then obtaining the preset acceleration threshold corresponding to the green light phase, the preset acceleration threshold includes a first maximum acceleration determined based on the distance between the target vehicle and the nearest vehicle in front, a second maximum acceleration achieved by the current driver of the target vehicle within a preset historical time period, and a third maximum acceleration provided by the power battery of the target vehicle; and determining the minimum value among the first maximum acceleration, the second maximum acceleration, and the third maximum acceleration as the target acceleration threshold.

[0069] Among them, the first maximum acceleration is the maximum allowable acceleration while maintaining a safe distance from the nearest vehicle in front; when the target vehicle passes through the intersection, the acceleration during the acceleration process must not exceed the minimum value among these three preset acceleration thresholds.

[0070] In this embodiment, preset acceleration thresholds are set from multiple angles to limit the acceleration of the target vehicle, ensuring both safety and driver comfort.

[0071] In some embodiments, the method further includes: if the comparison result is that the second target driving distance is not less than the current distance, then sending a constant speed driving command to the vehicle-side intelligent controller so that the target vehicle drives at a constant speed based on the current vehicle speed.

[0072] Since the scenario for calculating the second target's travel distance involves the target vehicle passing through the intersection at a constant speed, it can be calculated using the following formula:

[0073] S2=v0t p

[0074] In the formula, S2 is the distance traveled to the second target.

[0075] In this embodiment, controlling the target vehicle to pass through the intersection at a constant speed within the remaining time can improve driver comfort and reduce vehicle energy consumption.

[0076] In some embodiments, based on the first target travel distance, current vehicle speed, current distance, remaining time, and the maximum permissible speed at the intersection where the target traffic light is located, an intermediate combination of multiple accelerations and acceleration durations is determined, including: comparing the first target travel distance with the current distance; if the first target travel distance is not less than the current distance, then determining an initial combination of multiple accelerations and acceleration durations based on the current vehicle speed, current distance, and remaining time; and filtering the initial combination based on the maximum permissible speed to obtain an intermediate combination of multiple accelerations and acceleration durations.

[0077] The initial combination consists of all combinations of acceleration and acceleration duration that enable the target vehicle to accelerate through the intersection within the remaining time.

[0078] Specifically, using the current vehicle speed, as well as the corresponding acceleration and acceleration duration for each initial combination, the corresponding vehicle speed for each initial combination is calculated, and all initial combinations whose corresponding vehicle speed is not greater than the maximum permissible vehicle speed are determined as target combinations.

[0079] In this embodiment, the target combination is obtained by filtering the initial combination using the maximum permissible vehicle speed. This ensures that the target vehicle travels within the speed allowed at the intersection, thereby guaranteeing the safety of the driving process.

[0080] In some embodiments, for each intermediate combination, determining the corresponding electric drive torque and motor speed includes: determining the corresponding electric drive torque based on the acceleration in each intermediate combination; determining the corresponding target vehicle speed for each intermediate combination based on the current vehicle speed, as well as the acceleration and acceleration duration in each intermediate combination; and determining the corresponding motor speed based on the target vehicle speed.

[0081] For electric vehicles, acceleration requires a certain amount of torque from the electric drive system. The efficiency of this system varies significantly depending on the torque and speed. Therefore, it is first necessary to determine the corresponding electric drive torque based on the acceleration in each intermediate combination. The calculation formula is as follows:

[0082]

[0083] In the formula, F is the driving force, T is the electric drive torque, i is the transmission ratio from the electric drive to the wheel end, η is the efficiency of the transmission system, and r is the rolling radius of the wheel. Among these, i and r are constant values, and η can also be considered to be close to a constant.

[0084] F is the driving force, which is also the resistance that the target vehicle needs to overcome during its movement. Therefore, F can be calculated using the following formula:

[0085]

[0086] In the formula, C d Let f be the drag coefficient, A be the frontal area of ​​the target vehicle, f be the rolling resistance coefficient (all three parameters are constants), M be the total weight of the target vehicle, and a be the acceleration.

[0087] The motor speed can be calculated based on the target vehicle speed using the following formula:

[0088]

[0089] In the formula, v is the target vehicle speed and i is the motor speed.

[0090] In this embodiment, by calculating the electric drive torque and motor speed corresponding to each intermediate combination, a foundation can be laid for determining the target combination corresponding to the maximum motor efficiency value.

[0091] In one embodiment, another vehicle driving control method is provided, which includes the following:

[0092] Based on actual driving scenarios, when the current traffic light phase is red, the driving behavior of the vehicle can be divided into the following situations:

[0093] (1) When a vehicle is driving within the control range of a traffic intersection, if it receives a red light ahead and the remaining time of the red light is long, it must stop and wait at the intersection. The vehicle can then proceed normally as it is currently in the intersection. When it is about to reach the intersection, it should stop and wait until the next green light is turned on before it can pass through.

[0094] (2) When a vehicle is driving within the control range of a traffic intersection, if it receives a red light ahead and the intersection ahead is congested, it must stop and wait at the intersection regardless of the length of the red light. The vehicle can then proceed normally as it is currently in the intersection. When it is close to the intersection, it must stop and wait until the next green light is turned on before it can pass through.

[0095] (3) When a vehicle is within the control area of ​​a traffic intersection and receives a red light ahead, but the remaining time of the red light is short, if the vehicle maintains its current speed and reaches the stop line at the traffic light intersection before the next green light has started, but the vehicle slows down appropriately, it can safely pass through the intersection without stopping after the next green light starts. This scenario can be described as:

[0096] Let T be the time required to accelerate to the target speed, then the distance S1 traveled during the acceleration process is:

[0097] S1=V0t+at 2 / 2

[0098] 'a' represents the deceleration to be performed. In this case, 'a' < 0, which ensures that the vehicle accelerates to the target speed within time 't'.

[0099] After decelerating to the target speed, if you still need to maintain that target speed through the traffic light intersection, the distance traveled at the target speed should be calculated using the following formula, which is consistent with the calculation method for accelerating through the intersection mentioned above:

[0100] S2=(V0+at)×(t p -t)

[0101] S = S1 + S2

[0102] Similarly, the maximum deceleration value also needs to be limited to avoid sudden braking situations that could affect passenger comfort. Similar to the acceleration limit a2 above, the driver's driving data for the past three months is stored in the cloud backend. The driver's maximum deceleration is then statistically analyzed using the deceleration statistics function. Since maximum deceleration often occurs in emergency situations or when the driver anticipates a collision, these situations are passive and need to be excluded. Therefore, the following simple processing is required: First, decelerations within 1 meter of the vehicle in front need to be excluded; second, situations where the brake pedal opening is greater than 90% need to be identified, as these are also considered emergency braking situations, and the deceleration is used as a limit after data exclusion.

[0103] The target vehicle speed is the most important variable for vehicle control in this algorithm, determining the magnitude of the vehicle's acceleration and deceleration. Several possible values ​​of 'a' and 't' can be calculated using the model function described above, and any set of calculation results can ensure that the vehicle completes the final task according to the set parameters. However, considering further maximizing energy-saving effects, the optimal energy-saving solution is calculated for several combinations of 'a' and 't'. The calculation method is as follows:

[0104] The acceleration 'a' is grouped into N groups according to a fixed interval 'a1'. To prevent the number of calculations required in the optimization process from being too large and affecting the calculation time, the number of groups should be as small as possible, i.e., the interval 'a1' should be as large as possible. The energy-efficient solution will be found for these N groups of acceleration values ​​in the subsequent steps.

[0105] For electric vehicles, acceleration requires a certain amount of torque from the electric drive system, and the efficiency of the electric drive system varies significantly under different torque and speed conditions. First, the acceleration value 'a' calculated in the previous step is converted into the torque required by the electric drive system for the vehicle.

[0106] Since the control method described above uses the vehicle speed to accelerate uniformly, the speed change is linear. The motor speed can be calculated from the speed corresponding to vehicle speed V0 to the speed corresponding to the target vehicle speed V, thus forming a set of two-dimensional data points corresponding to speed and torque.

[0107] Efficiency curves of the motor under different water temperatures and voltages are deployed on a cloud computing platform. The N sets of two-dimensional data points corresponding to speed and torque obtained above, along with the current motor water temperature and voltage fed back from the vehicle-side controller, are used to perform table lookup calculations to determine the motor's efficiency. The set with the highest efficiency is selected as the optimal solution for acceleration in the target vehicle speed planning and control method. This is mainly because different voltages and water temperatures have some impact on the efficiency values.

[0108] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0109] Based on the same inventive concept, this application also provides a vehicle driving control device for implementing the vehicle driving control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle driving control device embodiments provided below can be found in the limitations of the vehicle driving control method described above, and will not be repeated here.

[0110] In one exemplary embodiment, such as Figure 4 As shown, a vehicle driving control device 400 is provided, including: an acquisition module 401, a first determination module 402, a second determination module 403, a third determination module 404, and a sending module 405, wherein:

[0111] The acquisition module 401 is used to acquire the current traffic light phase, the remaining duration of the current traffic light phase, and the current distance between the target vehicle and the target traffic light sent by the intelligent transportation system, and to acquire the current vehicle speed sent by the vehicle-side intelligent controller of the target vehicle.

[0112] The first determining module 402 is used to determine the first target driving distance based on the current traffic light phase, the current distance, the remaining time, the current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase.

[0113] The second determining module 403 is used to determine an intermediate combination of multiple accelerations and acceleration durations based on the first target driving distance, the current vehicle speed, the current distance, the remaining time, and the maximum permissible vehicle speed at the intersection where the target traffic light is located.

[0114] The third determining module 404 is used to determine the corresponding electric drive torque and motor speed for each intermediate combination, obtain the current water temperature and current voltage of the target vehicle motor, and determine the corresponding motor efficiency value for each intermediate combination based on the current water temperature, the current voltage, the electric drive torque and the motor speed.

[0115] The sending module 405 is used to determine the intermediate combination with the highest corresponding motor efficiency value as the target combination, and send the corresponding acceleration and target vehicle speed of the target combination to the vehicle-side intelligent controller.

[0116] In some embodiments, the first determining module 402 includes:

[0117] The first determining unit is used to determine the second target travel distance based on the remaining time and the current vehicle speed.

[0118] The second determining unit is used to compare the second target travel distance with the current distance, and determine the target acceleration threshold based on the comparison result, the current traffic light phase, and the preset acceleration threshold.

[0119] The third determining unit is used to determine the first target travel distance based on the target acceleration threshold, the current vehicle speed, and the remaining time.

[0120] In some embodiments, the current traffic light phase is a green light phase; the second determining unit is further configured to, if the comparison result is that the second target driving distance is less than the current distance, obtain a preset acceleration threshold corresponding to the green light phase, the preset acceleration threshold including a first maximum acceleration determined based on the distance between the target vehicle and the nearest vehicle in front, a second maximum acceleration achieved by the current driver of the target vehicle within a preset historical time period, and a third maximum acceleration provided by the power battery of the target vehicle; and determine the minimum value among the first maximum acceleration, the second maximum acceleration, and the third maximum acceleration as the target acceleration threshold.

[0121] In some embodiments, the vehicle driving control device 400 is specifically used to send a constant speed driving command to the vehicle-side intelligent controller if the comparison result is that the second target driving distance is not less than the current distance, so that the target vehicle drives at a constant speed based on the current vehicle speed.

[0122] In some embodiments, the second determining module 403 is further configured to compare the first target driving distance with the current distance; if the first target driving distance is not less than the current distance, then based on the current vehicle speed, the current distance and the remaining time, determine an initial combination of multiple accelerations and acceleration durations; and based on the maximum permissible vehicle speed, filter the initial combination to obtain an intermediate combination of multiple accelerations and acceleration durations.

[0123] In some embodiments, the third determining module 404 is further configured to determine the corresponding electric drive torque based on the acceleration in each intermediate combination; determine the target vehicle speed for each intermediate combination based on the current vehicle speed, as well as the acceleration and acceleration duration in each intermediate combination; and determine the corresponding motor speed based on the target vehicle speed.

[0124] Each module in the aforementioned vehicle driving control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0125] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores vehicle driving data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a vehicle driving control method.

[0126] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0127] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor, when executing the computer program, performs the following steps: acquiring the current traffic light phase, the remaining duration of the current traffic light phase, and the current distance between the target vehicle and the target traffic light, all transmitted by an intelligent transportation system; and acquiring the current vehicle speed transmitted by the vehicle-mounted intelligent controller of the target vehicle; determining a first target travel distance based on the current traffic light phase, the current distance, the remaining duration, the current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase; and based on the... The system uses the first target driving distance, the current vehicle speed, the current distance, the remaining time, and the maximum permissible speed at the intersection where the target traffic light is located to determine multiple intermediate combinations of acceleration and acceleration duration. For each intermediate combination, it determines the corresponding electric drive torque and motor speed, obtains the current water temperature and current voltage of the target vehicle's motor, and determines the corresponding motor efficiency value for each intermediate combination based on the current water temperature, current voltage, electric drive torque, and motor speed. The intermediate combination with the highest corresponding motor efficiency value is determined as the target combination, and the corresponding acceleration and target vehicle speed of the target combination are sent to the vehicle-side intelligent controller.

[0128] In one embodiment, the processor, when executing a computer program, determines a first target driving distance based on the current traffic light phase, the current distance, the remaining time, the current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase. This includes: determining a second target driving distance based on the remaining time and the current vehicle speed; comparing the second target driving distance with the current distance, and determining a target acceleration threshold based on the comparison result, the current traffic light phase, and the preset acceleration threshold; and determining the first target driving distance based on the target acceleration threshold, the current vehicle speed, and the remaining time.

[0129] In one embodiment, the current traffic light phase implemented by the processor when executing the computer program is a green light phase; determining the target acceleration threshold based on the comparison result, the current traffic light phase, and the preset acceleration threshold includes: if the comparison result is that the second target driving distance is less than the current distance, then obtaining the preset acceleration threshold corresponding to the green light phase, the preset acceleration threshold including a first maximum acceleration determined based on the distance between the target vehicle and the nearest vehicle ahead, a second maximum acceleration achieved by the current driver of the target vehicle within a preset historical time period, and a third maximum acceleration provided by the power battery of the target vehicle; and determining the minimum value among the first maximum acceleration, the second maximum acceleration, and the third maximum acceleration as the target acceleration threshold.

[0130] In one embodiment, the method implemented by the processor when executing the computer program further includes: if the comparison result is that the second target driving distance is not less than the current distance, then sending a constant speed driving command to the vehicle-side intelligent controller so that the target vehicle drives at a constant speed based on the current vehicle speed.

[0131] In one embodiment, when the processor executes a computer program, it determines an intermediate combination of multiple accelerations and acceleration durations based on the first target driving distance, the current vehicle speed, the current distance, the remaining time, and the maximum permissible speed at the intersection where the target traffic light is located. This includes: comparing the first target driving distance with the current distance; if the first target driving distance is not less than the current distance, determining an initial combination of multiple accelerations and acceleration durations based on the current vehicle speed, the current distance, and the remaining time; and filtering the initial combination based on the maximum permissible speed to obtain an intermediate combination of multiple accelerations and acceleration durations.

[0132] In one embodiment, the processor, when executing a computer program, determines the corresponding electric drive torque and motor speed for each intermediate combination, including: determining the corresponding electric drive torque based on the acceleration in each intermediate combination; determining the corresponding target vehicle speed for each intermediate combination based on the current vehicle speed, as well as the acceleration and acceleration duration in each intermediate combination; and determining the corresponding motor speed based on the target vehicle speed.

[0133] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program performs the following steps: acquiring the current traffic light phase, the remaining duration of the current traffic light phase, and the current distance between the target vehicle and the target traffic light, as sent by an intelligent transportation system; acquiring the current vehicle speed sent by the vehicle-mounted intelligent controller of the target vehicle; determining a first target travel distance based on the current traffic light phase, the current distance, the remaining duration, the current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase; determining multiple intermediate combinations of acceleration and acceleration duration based on the first target travel distance, the current vehicle speed, the remaining duration, and the maximum permissible speed at the intersection where the target traffic light is located; for each intermediate combination, determining the corresponding electric drive torque and motor speed; acquiring the current water temperature and current voltage of the target vehicle's motor; determining the corresponding motor efficiency value for each intermediate combination based on the current water temperature, the current voltage, the electric drive torque, and the motor speed; determining the intermediate combination with the largest corresponding motor efficiency value as the target combination; and sending the acceleration and target vehicle speed corresponding to the target combination to the vehicle-mounted intelligent controller.

[0134] In one embodiment, when a computer program is executed by a processor, determining a first target driving distance based on the current traffic light phase, the current distance, the remaining time, the current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase includes: determining a second target driving distance based on the remaining time and the current vehicle speed; comparing the second target driving distance with the current distance, and determining a target acceleration threshold based on the comparison result, the current traffic light phase, and the preset acceleration threshold; and determining the first target driving distance based on the target acceleration threshold, the current vehicle speed, and the remaining time.

[0135] In one embodiment, the current traffic light phase implemented when the computer program is executed by the processor is a green light phase; determining the target acceleration threshold based on the comparison result, the current traffic light phase, and the preset acceleration threshold includes: if the comparison result is that the second target driving distance is less than the current distance, then obtaining the preset acceleration threshold corresponding to the green light phase, the preset acceleration threshold including a first maximum acceleration determined based on the distance between the target vehicle and the nearest vehicle ahead, a second maximum acceleration achieved by the current driver of the target vehicle within a preset historical time period, and a third maximum acceleration provided by the power battery of the target vehicle; and determining the minimum value among the first maximum acceleration, the second maximum acceleration, and the third maximum acceleration as the target acceleration threshold.

[0136] In one embodiment, the method implemented when the computer program is executed by the processor further includes: if the comparison result is that the second target driving distance is not less than the current distance, then sending a constant speed driving command to the vehicle-side intelligent controller so that the target vehicle drives at a constant speed based on the current vehicle speed.

[0137] In one embodiment, when a computer program is executed by a processor, it determines an intermediate combination of multiple accelerations and acceleration durations based on the first target travel distance, the current vehicle speed, the current distance, the remaining time, and the maximum permissible speed at the intersection where the target traffic light is located. This includes: comparing the first target travel distance with the current distance; if the first target travel distance is not less than the current distance, determining an initial combination of multiple accelerations and acceleration durations based on the current vehicle speed, the current distance, and the remaining time; and filtering the initial combination based on the maximum permissible speed to obtain an intermediate combination of multiple accelerations and acceleration durations.

[0138] In one embodiment, the computer program, when executed by a processor, determines the corresponding electric drive torque and motor speed for each intermediate combination, including: determining the corresponding electric drive torque based on the acceleration in each intermediate combination; determining the corresponding target vehicle speed for each intermediate combination based on the current vehicle speed, as well as the acceleration and acceleration duration in each intermediate combination; and determining the corresponding motor speed based on the target vehicle speed.

[0139] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: acquiring the current traffic light phase, the remaining duration of the current traffic light phase, and the current distance between the target vehicle and the target traffic light, as sent by an intelligent transportation system, and acquiring the current vehicle speed sent by the vehicle-side intelligent controller of the target vehicle; determining a first target travel distance based on the current traffic light phase, the current distance, the remaining duration, the current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase; determining multiple intermediate combinations of acceleration and acceleration duration based on the first target travel distance, the current vehicle speed, the remaining duration, and the maximum permissible speed at the intersection where the target traffic light is located; for each intermediate combination, determining the corresponding electric drive torque and motor speed, acquiring the current water temperature and current voltage of the target vehicle's motor, and determining the corresponding motor efficiency value for each intermediate combination based on the current water temperature, the current voltage, the electric drive torque, and the motor speed; determining the intermediate combination with the largest corresponding motor efficiency value as the target combination, and sending the acceleration and target vehicle speed corresponding to the target combination to the vehicle-side intelligent controller.

[0140] In one embodiment, when a computer program is executed by a processor, determining a first target driving distance based on the current traffic light phase, the current distance, the remaining time, the current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase includes: determining a second target driving distance based on the remaining time and the current vehicle speed; comparing the second target driving distance with the current distance, and determining a target acceleration threshold based on the comparison result, the current traffic light phase, and the preset acceleration threshold; and determining the first target driving distance based on the target acceleration threshold, the current vehicle speed, and the remaining time.

[0141] In one embodiment, the current traffic light phase implemented when the computer program is executed by the processor is a green light phase; determining the target acceleration threshold based on the comparison result, the current traffic light phase, and the preset acceleration threshold includes: if the comparison result is that the second target driving distance is less than the current distance, then obtaining the preset acceleration threshold corresponding to the green light phase, the preset acceleration threshold including a first maximum acceleration determined based on the distance between the target vehicle and the nearest vehicle ahead, a second maximum acceleration achieved by the current driver of the target vehicle within a preset historical time period, and a third maximum acceleration provided by the power battery of the target vehicle; and determining the minimum value among the first maximum acceleration, the second maximum acceleration, and the third maximum acceleration as the target acceleration threshold.

[0142] In one embodiment, the method implemented when the computer program is executed by the processor further includes: if the comparison result is that the second target driving distance is not less than the current distance, then sending a constant speed driving command to the vehicle-side intelligent controller so that the target vehicle drives at a constant speed based on the current vehicle speed.

[0143] In one embodiment, when a computer program is executed by a processor, it determines an intermediate combination of multiple accelerations and acceleration durations based on the first target travel distance, the current vehicle speed, the current distance, the remaining time, and the maximum permissible speed at the intersection where the target traffic light is located. This includes: comparing the first target travel distance with the current distance; if the first target travel distance is not less than the current distance, determining an initial combination of multiple accelerations and acceleration durations based on the current vehicle speed, the current distance, and the remaining time; and filtering the initial combination based on the maximum permissible speed to obtain an intermediate combination of multiple accelerations and acceleration durations.

[0144] In one embodiment, the computer program, when executed by a processor, determines the corresponding electric drive torque and motor speed for each intermediate combination, including: determining the corresponding electric drive torque based on the acceleration in each intermediate combination; determining the corresponding target vehicle speed for each intermediate combination based on the current vehicle speed, as well as the acceleration and acceleration duration in each intermediate combination; and determining the corresponding motor speed based on the target vehicle speed.

[0145] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0146] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0147] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle driving control method, characterized in that, The method includes: The system obtains the current traffic light phase, the remaining duration of the current traffic light phase, and the current distance between the target vehicle and the target traffic light from the intelligent transportation system, and obtains the current vehicle speed from the vehicle's intelligent controller. Determining a first target driving distance based on the current traffic light phase, the current distance, the remaining time, the current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase includes: determining a second target driving distance based on the remaining time and the current vehicle speed; comparing the second target driving distance with the current distance, and determining a target acceleration threshold based on the comparison result, the current traffic light phase, and the preset acceleration threshold; and determining the first target driving distance based on the target acceleration threshold, the current vehicle speed, and the remaining time. Based on the first target travel distance, the current vehicle speed, the current distance, the remaining time, and the maximum permissible speed at the intersection where the target traffic light is located, determine multiple intermediate combinations of acceleration and acceleration duration, including: comparing the first target travel distance with the current distance; if the first target travel distance is not less than the current distance, then based on the current vehicle speed, the current distance, and the remaining time, determine an initial combination of multiple acceleration and acceleration duration; and based on the maximum permissible speed, filter the initial combination to obtain multiple intermediate combinations of acceleration and acceleration duration. For each intermediate combination, the corresponding electric drive torque and motor speed are determined, the current water temperature and current voltage of the motor of the target vehicle are obtained, and the corresponding motor efficiency value for each intermediate combination is determined based on the current water temperature, the current voltage, the electric drive torque and the motor speed. The intermediate combination with the highest corresponding motor efficiency value is determined as the target combination, and the corresponding acceleration and target vehicle speed of the target combination are sent to the vehicle-side intelligent controller. Wherein, the current traffic light phase is the green light phase; the step of determining the target acceleration threshold based on the comparison result, the current traffic light phase, and the preset acceleration threshold includes: If the comparison result is that the second target driving distance is less than the current distance, then a preset acceleration threshold corresponding to the green light phase is obtained. The preset acceleration threshold includes a first maximum acceleration determined based on the distance between the target vehicle and the nearest vehicle in front, a second maximum acceleration achieved by the current driver of the target vehicle during a preset historical time period, and a third maximum acceleration provided by the power battery of the target vehicle. The minimum value among the first maximum acceleration, the second maximum acceleration, and the third maximum acceleration is determined as the target acceleration threshold.

2. The method according to claim 1, characterized in that, The method further includes: If the comparison result indicates that the second target travel distance is not less than the current distance, then a constant speed driving command is sent to the vehicle-side intelligent controller so that the target vehicle travels at a constant speed based on the current vehicle speed.

3. The method according to claim 1, characterized in that, For each intermediate combination, determining the corresponding electric drive torque and motor speed includes: The corresponding electric drive torque is determined based on the acceleration in each intermediate combination; Based on the current vehicle speed, as well as the acceleration and acceleration duration in each intermediate combination, determine the target vehicle speed for each intermediate combination. Based on the target vehicle speed, the corresponding motor speed is determined.

4. A vehicle driving control device, characterized in that, Vehicle driving control is achieved by the method according to any one of claims 1-3, the device comprising: The acquisition module is used to acquire the current traffic light phase, the remaining duration of the current traffic light phase, and the current distance between the target vehicle and the target traffic light sent by the intelligent transportation system, and to acquire the current vehicle speed sent by the vehicle-side intelligent controller of the target vehicle. The first determining module is used to determine the first target driving distance based on the current traffic light phase, the current distance, the remaining time, the current vehicle speed, and a preset acceleration threshold corresponding to the current traffic light phase; The second determining module is used to determine an intermediate combination of multiple accelerations and acceleration durations based on the first target driving distance, the current vehicle speed, the current distance, the remaining time, and the maximum permissible vehicle speed at the intersection where the target traffic light is located. The third determining module is used to determine the corresponding electric drive torque and motor speed for each intermediate combination, obtain the current water temperature and current voltage of the motor of the target vehicle, and determine the corresponding motor efficiency value for each intermediate combination based on the current water temperature, the current voltage, the electric drive torque and the motor speed. The sending module is used to determine the intermediate combination with the highest corresponding motor efficiency value as the target combination, and send the corresponding acceleration and target vehicle speed of the target combination to the vehicle-side intelligent controller.

5. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

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