Intelligent charging method and device for autonomous vehicle

Abstract

The embodiment of the application discloses a kind of intelligent charging method and device of automatic driving vehicle, belong to intelligent charging technical field.The method comprises: obtaining the first to be charged vehicle set corresponding to preset area and the use state information of each charging pile in charging station in preset area, according to the SOC of each first automatic driving vehicle in the first to be charged vehicle set and the use state information of each charging pile, control each first automatic driving vehicle charges.This embodiment of the application controls the vehicle of SOC in automatic driving vehicle less than first threshold value, according to the SOC of automatic driving vehicle and the use state information of each charging pile, control automatic driving vehicle charges, to be able to automatically dispatch automatic driving vehicle to complete charging, relative to the mode that human controls automatic driving vehicle charges, to improve the intelligentization of automatic driving vehicle charging.

Description

Technical Field

[0001] This application relates to the field of smart charging technology, and in particular to a smart charging method and apparatus for autonomous vehicles. Background Technology

[0002] As autonomous driving technology matures, more and more autonomous vehicles are being deployed on fixed open roads. These vehicles are typically pure electric and require charging stations to ensure they have sufficient power.

[0003] In related technologies, it is necessary to manually control the autonomous vehicle to drive to a charging station, and manually select an available charging pile in the charging station to charge the autonomous vehicle. If there is no available charging pile in the charging station, the autonomous vehicle needs to queue in the charging station to wait for an available charging pile to be used for charging.

[0004] Because autonomous vehicles require human control for charging, and cannot be automatically scheduled to complete charging, intelligent scheduling of charging for autonomous vehicles is not possible. Summary of the Invention

[0005] This application provides an intelligent charging method and apparatus for autonomous vehicles, which can solve the problem of the inability to intelligently schedule charging for autonomous vehicles in related technologies. The technical solution is as follows:

[0006] On the one hand, a smart charging method for autonomous vehicles is provided, the method comprising:

[0007] The first set of vehicles to be charged corresponding to a preset area and the usage status information of each charging pile in the charging station in the preset area are obtained. The usage status information is used to indicate whether the charging pile is occupied. The first set of vehicles to be charged includes at least one first autonomous vehicle. The first autonomous vehicle is a vehicle whose battery state of charge (SOC) is less than a preset first threshold.

[0008] Based on the SOC of each first autonomous vehicle in the first set of vehicles to be charged and the usage status information of each charging pile, control each first autonomous vehicle to charge.

[0009] In some embodiments of this application, controlling each first autonomous vehicle to charge based on the SOC of each first autonomous vehicle in the first set of vehicles to be charged and the usage status information of each charging pile includes:

[0010] If there is a second autonomous driving vehicle with a SOC greater than a preset second threshold in the first set of vehicles to be charged, then the second autonomous driving vehicle is obtained from the first set of vehicles to be charged to obtain the second set of vehicles to be charged, where the first threshold is greater than the second threshold.

[0011] A first charging weight is determined for each second autonomous vehicle in the second set of vehicles to be charged. The first charging weight is used to characterize the charging order of the second autonomous vehicles in the second set of vehicles to be charged. The second autonomous vehicles in the second set of vehicles to be charged are sorted from low to high according to the first charging weight to obtain a first sorting order.

[0012] Based on the usage status information of each charging pile and the remaining driving range of the second autonomous vehicle, the corresponding charging pile is allocated to the second autonomous vehicle in the first arrangement order, and the second autonomous vehicle is controlled to charge using the corresponding charging pile.

[0013] In some embodiments of this application, the step of allocating corresponding charging piles to the second autonomous vehicle according to the first arrangement order based on the usage status information of each charging pile and the remaining driving range corresponding to the second autonomous vehicle includes:

[0014] If there is no currently available charging pile in the charging station, for each second autonomous vehicle in the second set of vehicles to be charged that has not been allocated a charging pile, the first remaining driving time corresponding to the second autonomous vehicle is determined based on the remaining driving range corresponding to the second autonomous vehicle.

[0015] Based on the first remaining drivable time of each second autonomous vehicle in the second set of vehicles awaiting charging and the remaining charging time corresponding to at least one fourth autonomous vehicle currently charging in the charging station, a corresponding charging station is assigned to the second autonomous vehicle that has not been assigned a charging station in the first order.

[0016] In some embodiments of this application, the step of allocating corresponding charging piles to the second autonomous vehicle according to the first arrangement order based on the usage status information of each charging pile and the remaining driving range corresponding to the second autonomous vehicle includes:

[0017] If there are currently idle charging piles in the charging station and the first number of currently idle charging piles in the charging station is not less than the second number, then the second number of idle charging piles will be allocated to the second number of second autonomous driving vehicles. The first number is determined based on the usage status information of each charging pile, and the second number is the total number of second autonomous driving vehicles in the second set of vehicles to be charged.

[0018] In some embodiments of this application, the step of allocating corresponding charging piles to the second autonomous vehicle according to the first arrangement order based on the usage status information of each charging pile and the remaining driving range corresponding to the second autonomous vehicle includes:

[0019] If there are currently idle charging piles in the charging station and the first number of currently idle charging piles in the charging station is less than the second number, then the idle charging piles corresponding to the first number are allocated to the second autonomous driving vehicles corresponding to the first second number in the first arrangement order, and the remaining charging time corresponding to at least one fourth autonomous driving vehicle currently charging in the charging station is determined. The first number is determined based on the usage status information of each charging pile, the second number is the total number of second autonomous driving vehicles in the second set of vehicles to be charged, and the remaining charging time is the duration from the current time to the time corresponding to the time when the battery of the fourth autonomous driving vehicle is fully charged.

[0020] For each second autonomous vehicle in the second set of vehicles to be charged that has not been assigned a charging pile, a first remaining driving time corresponding to the second autonomous driving is determined based on the remaining driving range of the second autonomous vehicle.

[0021] Based on the first remaining drivable time of each second autonomous vehicle in the second set of vehicles to be charged that has not been assigned a charging pile, and the remaining charging time corresponding to at least one fourth autonomous vehicle currently being charged, a corresponding charging pile is assigned to the second autonomous vehicle that has not been assigned a charging pile in the first sorting order.

[0022] In some embodiments of this application, the step of allocating corresponding charging piles to the second autonomous vehicles without assigned charging piles according to the first arrangement order based on the first remaining drivable time of each second autonomous vehicle in the second set of vehicles to be charged that has not been allocated a charging pile and the remaining charging time corresponding to at least one fourth autonomous vehicle currently being charged, includes:

[0023] According to the first arrangement order, the second autonomous vehicle that has not been assigned a charging pile will sequentially acquire the second autonomous vehicle;

[0024] For each second autonomous vehicle acquired, it is determined whether the first remaining drivable time of the second autonomous vehicle is greater than the minimum value among the at least one remaining charging time. If so, the first charging pile used by the fourth autonomous vehicle for charging corresponding to the minimum remaining charging time is allocated to the second autonomous vehicle, so that the second autonomous vehicle can use the first charging pile to charge after the fourth autonomous vehicle has finished charging.

[0025] In some embodiments of this application, controlling each first autonomous vehicle to charge based on the SOC of each first autonomous vehicle in the first set of vehicles to be charged and the usage status information of each charging pile includes:

[0026] If there is a third autonomous vehicle in the first set of vehicles to be charged whose SOC is not greater than a preset second threshold, then the third autonomous vehicle is obtained from the first set of vehicles to be charged to obtain a third set of vehicles to be charged, wherein the first threshold is greater than the second threshold.

[0027] A second charging weight is determined for each third autonomous vehicle in the third set of vehicles to be charged. The second charging weight is used to characterize the charging order of the third autonomous vehicles in the third set of vehicles to be charged. The third autonomous vehicles in the third set of vehicles to be charged are sorted from low to high according to the second charging weight to obtain a second sorting order.

[0028] Based on the usage status information of each charging pile and the SOC of the fourth autonomous vehicle currently charging in the charging station, the third autonomous vehicle is assigned a corresponding charging pile according to the second arrangement order, and the third autonomous vehicle is controlled to charge using the corresponding charging pile.

[0029] In some embodiments of this application, the step of allocating a corresponding charging pile to the third autonomous vehicle according to the second arrangement order based on the usage status information of each charging pile and the SOC of the fourth autonomous vehicle currently charging in the charging station includes:

[0030] If there is no currently available charging pile in the charging station, for each third autonomous vehicle in the third set of vehicles waiting to be charged that has not been assigned a charging pile, based on the SOC corresponding to at least one fourth autonomous vehicle currently charging in the charging station, a corresponding charging pile is assigned to the third autonomous vehicle that has not been assigned a charging pile in the second order.

[0031] In some embodiments of this application, the step of allocating a corresponding charging pile to the third autonomous vehicle according to the second arrangement order based on the usage status information of each charging pile and the SOC of the fourth autonomous vehicle currently charging in the charging station includes:

[0032] If there are currently idle charging piles in the charging station and the third number of currently idle charging piles in the charging station is less than the fourth number, then the idle charging piles corresponding to the third number are allocated to the third autonomous driving vehicles corresponding to the first third number in the second arrangement order, and the SOC corresponding to at least one fourth autonomous driving vehicle currently charging is determined. The third number is determined based on the usage status information of each charging pile, and the fourth number is the total number of third autonomous driving vehicles in the third set of vehicles to be charged.

[0033] For each third autonomous vehicle in the third set of vehicles awaiting charging that has not been assigned a charging pile, a corresponding charging pile is assigned to the third autonomous vehicle that has not been assigned a charging pile, according to the second arrangement order and based on the SOC corresponding to at least one fourth autonomous vehicle currently charging in the charging station.

[0034] In some embodiments of this application, the step of allocating a corresponding charging pile to each unallocated third autonomous vehicle in the third set of vehicles to be charged, based on the SOC corresponding to at least one fourth autonomous vehicle currently charging at the charging station, according to the second arrangement order, includes:

[0035] According to the second arrangement order, the third autonomous vehicle that has not been assigned a charging pile will sequentially acquire the second autonomous vehicle;

[0036] For each acquired third autonomous vehicle, it is determined whether the SOC corresponding to at least one of the fourth autonomous vehicles is greater than a preset third threshold. If it is, the maximum value of the SOC corresponding to the fourth autonomous vehicle is determined, and the second charging pile used by the fourth autonomous vehicle with the maximum SOC is allocated to the third autonomous vehicle so that the third autonomous vehicle can use the second charging pile for charging. If it is not, the third autonomous vehicle is controlled to drive to the charging waiting area corresponding to the charging station. While the third autonomous vehicle is waiting to charge in the charging waiting area, if the SOC corresponding to the fourth autonomous vehicle is greater than the third threshold, the third charging pile used by the fourth autonomous vehicle with the SOC greater than the third threshold is allocated to the third autonomous vehicle with the longest waiting time.

[0037] On the other hand, an intelligent charging device for autonomous vehicles is provided, the device comprising:

[0038] The acquisition module is used to acquire a first set of vehicles to be charged corresponding to a preset area and the usage status information of each charging pile in the charging station in the preset area. The usage status information is used to indicate whether the charging pile is occupied. The first set of vehicles to be charged includes at least one first autonomous vehicle. The first autonomous vehicle is a vehicle whose battery state of charge (SOC) is less than a preset first threshold.

[0039] The control module is used to control each first autonomous vehicle to charge based on the SOC of each first autonomous vehicle in the first set of vehicles to be charged and the usage status information of each charging pile.

[0040] In some embodiments of this application, the control module includes:

[0041] The first acquisition submodule is used to acquire the second autonomous vehicle from the first set of vehicles to be charged if there is a second autonomous vehicle in the first set of vehicles to be charged with a SOC greater than a preset second threshold, thereby obtaining the second set of vehicles to be charged, wherein the first threshold is greater than the second threshold.

[0042] The first determining submodule is used to determine the first charging weight value corresponding to each second autonomous vehicle in the second set of vehicles to be charged. The first charging weight value is used to characterize the charging order of the second autonomous vehicles in the second set of vehicles to be charged. The second autonomous vehicles in the second set of vehicles to be charged are sorted from low to high according to the first charging weight value to obtain the first sorting order.

[0043] The first control submodule is used to allocate corresponding charging piles to the second autonomous vehicle according to the first arrangement order based on the usage status information of each charging pile and the remaining driving range of the second autonomous vehicle, and control the second autonomous vehicle to charge using the corresponding charging piles.

[0044] In some embodiments of this application, the first control submodule includes:

[0045] The first determining unit is configured to, if there is no currently available charging pile in the charging station, determine the first remaining driving time corresponding to the second autonomous driving vehicle for each second autonomous driving vehicle in the second set of vehicles to be charged that has not been allocated a charging pile, based on the remaining driving range corresponding to the second autonomous driving vehicle.

[0046] The first allocation unit is configured to allocate a corresponding charging pile to each of the second autonomous vehicles that have not been allocated a charging pile in the second set of vehicles to be charged, according to the first remaining drivable time of each of the second autonomous vehicles that have not been allocated a charging pile in the second set of vehicles to be charged and the remaining charging time corresponding to at least one fourth autonomous vehicle that is currently being charged in the charging station, in the first sorting order.

[0047] In some embodiments of this application, the first control submodule includes:

[0048] The second allocation unit is configured to allocate the second number of idle charging piles to the second number of second autonomous vehicles if there are currently idle charging piles in the charging station and the first number of currently idle charging piles in the charging station is not less than the second number. The first number is determined based on the usage status information of each charging pile, and the second number is the total number of second autonomous vehicles in the second set of vehicles to be charged.

[0049] In some embodiments of this application, the first control submodule includes:

[0050] The second determining unit is configured to, if there are currently idle charging piles in the charging station and the first number of currently idle charging piles in the charging station is less than the second number, allocate the idle charging piles corresponding to the first number to the second number in the first arrangement order to the second autonomous driving vehicle and determine the remaining charging time corresponding to at least one fourth autonomous driving vehicle currently being charged in the charging station. The first number is determined based on the usage status information of each charging pile, the second number is the total number of second autonomous driving vehicles in the second set of vehicles to be charged, and the remaining charging time is the duration from the current time to the time corresponding to the time when the battery of the fourth autonomous driving vehicle is fully charged.

[0051] The third determining unit is used to determine the first remaining driving time for each second autonomous vehicle in the second set of vehicles to be charged that has not been allocated a charging pile, based on the remaining driving range of the second autonomous vehicle.

[0052] The third allocation unit is configured to allocate a corresponding charging pile to the second autonomous driving vehicle that has not been allocated a charging pile, according to the first remaining drivable time of each second autonomous driving vehicle in the second set of vehicles to be charged that has not been allocated a charging pile, and the remaining charging time corresponding to at least one fourth autonomous driving vehicle that is currently being charged, in the first sorting order.

[0053] In some embodiments of this application, the third allocation subunit is used for:

[0054] According to the first arrangement order, the second autonomous vehicle that has not been assigned a charging pile will sequentially acquire the second autonomous vehicle;

[0055] For each second autonomous vehicle acquired, it is determined whether the first remaining drivable time of the second autonomous vehicle is greater than the minimum value among the at least one remaining charging time. If so, the first charging pile used by the fourth autonomous vehicle for charging corresponding to the minimum remaining charging time is allocated to the second autonomous vehicle, so that the second autonomous vehicle can use the first charging pile to charge after the fourth autonomous vehicle has finished charging.

[0056] In some embodiments of this application, the control module includes:

[0057] The second acquisition submodule is used to acquire the third autonomous vehicle from the first set of vehicles to be charged if there is a third autonomous vehicle in the first set of vehicles to be charged whose SOC is not greater than a preset second threshold, thereby obtaining the third set of vehicles to be charged, wherein the first threshold is greater than the second threshold.

[0058] The second determining submodule is used to determine the second charging weight value corresponding to each third autonomous vehicle in the third set of vehicles to be charged. The second charging weight value is used to characterize the charging order of the third autonomous vehicles in the third set of vehicles to be charged. The third autonomous vehicles in the third set of vehicles to be charged are sorted from low to high according to the second charging weight value to obtain the second sorting order.

[0059] The second control submodule is used to allocate a corresponding charging pile to the third autonomous vehicle according to the second arrangement order based on the usage status information of each charging pile and the SOC of the fourth autonomous vehicle currently charging in the charging station, and to control the third autonomous vehicle to charge using the corresponding charging pile.

[0060] In some embodiments of this application, the second control submodule includes:

[0061] The fourth allocation unit is configured to, if there are no currently available charging piles in the charging station, allocate a corresponding charging pile to each of the unallocated charging piles in the third set of vehicles to be charged, based on the SOC corresponding to at least one of the fourth autonomous vehicles currently charging in the charging station, in accordance with the second arrangement order.

[0062] In some embodiments of this application, the second control submodule includes:

[0063] The fifth allocation unit is used to allocate the idle charging piles corresponding to the third number to the third autonomous driving vehicle corresponding to the first third number in the second arrangement order if there are currently idle charging piles in the charging station and the third number of currently idle charging piles in the charging station is less than the fourth number, and to determine the SOC corresponding to at least one fourth autonomous driving vehicle that is currently charging. The third number is determined based on the usage status information of each charging pile, and the fourth number is the total number of third autonomous driving vehicles in the third set of vehicles to be charged.

[0064] The sixth allocation unit is used to allocate a corresponding charging pile to each of the third autonomous vehicles in the third set of vehicles to be charged that has not been allocated a charging pile, according to the second arrangement order and based on the SOC corresponding to at least one fourth autonomous vehicle currently being charged in the charging station.

[0065] In some embodiments of this application, the sixth allocation unit is used for:

[0066] According to the second arrangement order, the third autonomous vehicle that has not been assigned a charging pile will sequentially acquire the second autonomous vehicle;

[0067] For each acquired third autonomous vehicle, it is determined whether the SOC corresponding to at least one of the fourth autonomous vehicles is greater than a preset third threshold. If it is, the maximum value of the SOC corresponding to the fourth autonomous vehicle is determined, and the second charging pile used by the fourth autonomous vehicle with the maximum SOC is allocated to the third autonomous vehicle so that the third autonomous vehicle can use the second charging pile for charging. If it is not, the third autonomous vehicle is controlled to drive to the charging waiting area corresponding to the charging station. While the third autonomous vehicle is waiting to charge in the charging waiting area, if the SOC corresponding to the fourth autonomous vehicle is greater than the third threshold, the third charging pile used by the fourth autonomous vehicle with the SOC greater than the third threshold is allocated to the third autonomous vehicle with the longest waiting time.

[0068] The beneficial effects of the technical solutions provided in this application include at least the following:

[0069] In this embodiment of the application, for vehicles whose State of Charge (SOC) is less than a preset first threshold, the autonomous vehicle is controlled to charge based on the SOC of the autonomous vehicle and the usage status information of each charging pile. The autonomous vehicle can automatically schedule the charging process by using the SOC of the autonomous vehicle and the usage status information of each charging pile. Compared with the method of manually controlling the charging of the autonomous vehicle, this improves the intelligence of charging the autonomous vehicle. Attached Figure Description

[0070] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments 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.

[0071] Figure 1 This is a flowchart of an intelligent charging method for an autonomous vehicle provided in an embodiment of this application;

[0072] Figure 2 This is a flowchart of another intelligent charging method for autonomous vehicles provided in an embodiment of this application;

[0073] Figure 3 This is a flowchart of a method for allocating a corresponding charging pile to a second autonomous vehicle, provided in an embodiment of this application.

[0074] Figure 4 This is a flowchart of a method for allocating a corresponding charging pile to a third autonomous vehicle, provided in an embodiment of this application.

[0075] Figure 5 This is a schematic diagram of the structure of a charging station provided in an embodiment of this application;

[0076] Figure 6 This is a schematic diagram of the intelligent charging structure for autonomous vehicles provided in this application embodiment. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0078] Figure 1 This is a flowchart of an intelligent charging method for an autonomous vehicle provided in an embodiment of this application. This embodiment uses the application of this intelligent charging method to a server as an example for illustration. The intelligent charging method may include the following steps:

[0079] Step 101: Obtain the first set of vehicles to be charged corresponding to the preset area and the usage status information of each charging pile in the charging station in the preset area. The usage status information is used to indicate whether the charging pile is occupied. The first set of vehicles to be charged includes at least one first autonomous vehicle. The first autonomous vehicle is a vehicle whose battery state of charge (SOC) is less than a preset first threshold.

[0080] Step 102: Based on the SOC of each first autonomous vehicle in the first set of vehicles to be charged and the usage status information of each charging pile, control each first autonomous vehicle to charge.

[0081] In this embodiment of the application, for vehicles whose State of Charge (SOC) is less than a preset first threshold, the autonomous vehicle is controlled to charge based on the SOC of the autonomous vehicle and the usage status information of each charging pile. The autonomous vehicle can automatically schedule the charging process by using the SOC of the autonomous vehicle and the usage status information of each charging pile. Compared with the method of manually controlling the charging of the autonomous vehicle, this improves the intelligence of charging the autonomous vehicle.

[0082] Figure 2 This is a flowchart of another intelligent charging method for autonomous vehicles provided in this application embodiment. This embodiment uses the application of this intelligent charging method to a server as an example for illustration. The intelligent charging method may include the following steps:

[0083] Step 201: Obtain the first set of vehicles to be charged corresponding to the preset area and the usage status information of each charging pile in the charging station in the preset area.

[0084] It should be noted that this application pertains to multiple autonomous vehicles operating on a fixed route, where a corresponding charging station is provided. In one embodiment of this application, for autonomous vehicles operating on a fixed route within a preset area, a corresponding charging station is provided within the preset area, allowing the autonomous vehicles in that preset area to utilize the charging station for charging.

[0085] The first set of vehicles to be charged includes at least one first autonomous vehicle. The first autonomous vehicle is a vehicle whose battery state of charge (SOC) is less than a preset first threshold. SOC reflects the remaining battery capacity and is numerically defined as the ratio of remaining capacity to battery capacity, usually expressed as a percentage. Its value ranges from 0 to 1; when SOC = 0, it indicates the battery is fully discharged; when SOC = 1, it indicates the battery is fully charged.

[0086] It should be noted that by monitoring the State of Charge (SOC) of autonomous vehicles in a preset area in real time, the system determines whether an autonomous vehicle needs to be charged based on its SOC. If the SOC of an autonomous vehicle is less than a preset first threshold, it is determined that the autonomous vehicle needs to be charged; if the SOC of an autonomous vehicle is not less than the preset first threshold, it is determined that the autonomous vehicle does not need to be charged.

[0087] In this application, the size of the first threshold can be set according to the actual situation. In one embodiment of this application, the first threshold can be 40%.

[0088] The usage status information indicates whether the charging pile is occupied. Whether the charging pile is occupied refers to whether a vehicle is using the charging pile to charge. If a vehicle is using the charging pile to charge itself, then the charging pile is occupied; if no vehicle is using the charging pile to charge itself, then the charging pile is not occupied.

[0089] It should be noted that each charging pile in the charging station has a built-in communication module, which uploads its occupancy status to the server, allowing the server to obtain the occupancy status of each charging pile in the charging station.

[0090] Step 202: If there is a second autonomous driving vehicle with a SOC greater than a preset second threshold in the first set of vehicles to be charged, obtain the second autonomous driving vehicle from the first set of vehicles to be charged to obtain the second set of vehicles to be charged.

[0091] The first threshold is greater than the second threshold. The size of the second threshold can be set according to the actual situation. In one embodiment of this application, the second threshold can be 25%.

[0092] It should be noted that when the SOC of the autonomous vehicles in the first set of vehicles to be charged is greater than the second threshold and less than the first threshold, the autonomous vehicles can be controlled to charge through steps 202-204.

[0093] In some embodiments of this application, the second autonomous vehicle is an autonomous vehicle with a SOC greater than a second threshold and less than a first threshold, and the second set of vehicles to be charged is a set including at least one second autonomous vehicle.

[0094] Step 203: Determine the first charging weight value corresponding to each second autonomous vehicle in the second set of vehicles to be charged; sort the second autonomous vehicles in the second set of vehicles to be charged from low to high according to the first charging weight value to obtain the first sorting order.

[0095] The first charging weight is used to characterize the charging order of the second autonomous vehicles in the second set of vehicles to be charged. In some embodiments of this application, the first charging weight is determined based on the SOC of the second autonomous vehicle and its energy consumption, whereby the energy consumption represents the energy consumed per kilometer by the vehicle.

[0096] The determination of the first charging weight based on the SOC and power consumption of the second autonomous vehicle includes: determining the first charging weight using Formula 1, which is as follows:

[0097]

[0098] K is the first charging weight, A is the SOC value, and W is the power consumption.

[0099] The following is a specific example illustrating the process of obtaining the first permutation order:

[0100] If the second autonomous vehicles in the second set of vehicles to be charged are: second autonomous vehicle 1, second autonomous vehicle 2, second autonomous vehicle 3, and second autonomous vehicle 4; and the first charging weights corresponding to these autonomous vehicles are: first charging weight 1, first charging weight 2, first charging weight 3, and first charging weight 4; and if the order of the first charging weights corresponding to the second autonomous vehicles from low to high is: first charging weight 2, first charging weight 4, first charging weight 1, and first charging weight 3, then the first order of the second autonomous vehicles is: second autonomous vehicle 2, second autonomous vehicle 4, second autonomous vehicle 1, and second autonomous vehicle 3.

[0101] Step 204: Based on the usage status information of each charging pile and the remaining driving range of the second autonomous vehicle, allocate the corresponding charging pile to the second autonomous vehicle in the first order, and control the second autonomous vehicle to charge using the corresponding charging pile.

[0102] The remaining driving range refers to the distance that the second autonomous vehicle can travel from the current SOC value to the remaining 25% SOC value. The remaining driving range is determined based on the vehicle's historical power consumption. The historical power consumption can be the average power consumption over a preset time period, or it can be set according to other conditions. For example, the vehicle's historical power consumption and the total power corresponding to the current SOC value to the remaining 25% SOC value can be determined first, and then the remaining driving range can be determined based on the total power and the historical power consumption.

[0103] It should be noted that the second autonomous vehicle only returns to the corresponding charging station after receiving a charging instruction to return to the charging station. Upon receiving the charging instruction, the second autonomous vehicle is able to identify the corresponding charging station.

[0104] In one embodiment of this application, the charging pile in the charging station can be plugged in and unplugged by an automatic charging robot, or wireless charging equipment can be laid directly under the charging position so that the vehicle can start charging when it drives into the charging position.

[0105] The following steps allocate corresponding charging piles to the second autonomous vehicles based on the usage status information of each charging pile, the number of available charging piles, and the total number of the second autonomous vehicles in the second set of vehicles to be charged.

[0106] like Figure 3 As shown, based on the usage status information of each charging pile and the remaining driving range of the second autonomous vehicle, the corresponding charging piles are allocated to the second autonomous vehicle in the first order, including steps 2041-2048.

[0107] Step 2041: Determine if there are currently any available charging piles in the charging station. If not, proceed to step 2042; if yes, proceed to step 2044.

[0108] Step 2042: For each second autonomous vehicle in the second set of vehicles to be charged that has not been assigned a charging pile, determine the first remaining driving time corresponding to the second autonomous vehicle based on the remaining driving range corresponding to the second autonomous vehicle.

[0109] In some embodiments of this application, determining the first remaining driving time of the second autonomous vehicle based on the remaining driving range of the second autonomous vehicle includes: determining the average driving speed of the second autonomous vehicle, which is determined based on the historical average driving speed of the second autonomous vehicle; and dividing the remaining driving range by the average driving speed to obtain the first remaining driving time.

[0110] In some embodiments of this application, the average driving speed is the average speed of the second autonomous vehicle over a preset time period from the current time.

[0111] Step 2043: Based on the first remaining drivable time of each second autonomous vehicle in the second set of vehicles to be charged that has not been assigned a charging pile and the remaining charging time corresponding to at least one fourth autonomous vehicle currently being charged in the charging station, assign a corresponding charging pile to the second autonomous vehicle that has not been assigned a charging pile in a first sorting order.

[0112] In some embodiments of this application, the remaining charging time is the duration from the current moment to the moment when the battery of the fourth autonomous vehicle is fully charged; the remaining charging time corresponding to the fourth autonomous vehicle is determined by the charging pile used for charging the fourth autonomous vehicle, and then sent to the server through the charging pile, so that the server can obtain the remaining charging time corresponding to at least one fourth autonomous vehicle that is currently charging.

[0113] In some embodiments of this application, based on the first remaining drivable time of each second autonomous vehicle in the second set of vehicles to be charged that has not been assigned a charging pile, and the remaining charging time corresponding to at least one fourth autonomous vehicle currently being charged, a corresponding charging pile is assigned to the second autonomous vehicles that have not been assigned a charging pile in a first sorting order, including:

[0114] According to the first arrangement order, the second autonomous vehicle that has not been assigned a charging pile will be acquired in turn. For each acquired second autonomous vehicle, it is determined whether the first remaining driving time of the second autonomous vehicle is greater than the minimum value among at least one remaining charging time. If so, the first charging pile used by the fourth autonomous vehicle for charging corresponding to the minimum remaining charging time will be assigned to the second autonomous vehicle, so that the second autonomous vehicle can use the first charging pile to charge after the fourth autonomous vehicle has finished charging.

[0115] It should be noted that when there are no currently available charging piles in the charging station, it is necessary to assign corresponding charging piles to each of the second autonomous vehicles in the second set of vehicles to be charged. When assigning corresponding charging piles to each of the second autonomous vehicles, they need to be assigned in the first order. After assigning a corresponding charging pile to one second autonomous vehicle, a corresponding charging pile will be assigned to the next second autonomous vehicle.

[0116] In one embodiment of this application, the first charging pile corresponding to the minimum remaining charging time of the fourth autonomous vehicle is allocated to the second autonomous vehicle. The second autonomous vehicle will return to the charging station to charge after the first charging pile has finished charging the fourth autonomous vehicle. By sending a first charging command to the second autonomous vehicle, which indicates the ID and location information of the first charging pile corresponding to the second autonomous vehicle and the time when the second autonomous vehicle starts to return to the first charging pile, the second autonomous vehicle can use the first charging pile to charge after the fourth autonomous vehicle has finished charging.

[0117] The ID of the first charging pile is used to guide the autonomous vehicle to the correct charging position so that it can use the charging pile at the charging position to charge. When the autonomous vehicle is using the charging pile, it will compare the ID of the charging pile with the ID of the first charging pile. If they match, the autonomous vehicle will use the charging pile to charge. If they do not match, the autonomous vehicle will be controlled to move to the position corresponding to the first charging pile to charge.

[0118] In another embodiment of this application, a corresponding first charging pile can be allocated to the second autonomous vehicle first. After the first charging pile has finished charging the fourth autonomous vehicle, a second charging command is sent to the second autonomous vehicle. After receiving the second charging command, the second autonomous vehicle returns to the first charging pile to charge.

[0119] In one embodiment of this application, when the first remaining driving time of the second autonomous vehicle is less than the minimum of at least one remaining charging time, the second autonomous vehicle is designated as the third autonomous vehicle when the SOC of the second autonomous vehicle is less than a second threshold, and the corresponding charging station is determined through the following step 2072.

[0120] Step 2044: Determine whether the first number of currently available charging piles in the charging station is less than the second number. If not, proceed to step 2045; if yes, proceed to step 2046.

[0121] The first quantity is determined based on the usage status information of each charging pile, and the second quantity is the total number of the second autonomous vehicles in the second set of vehicles to be charged.

[0122] In some embodiments of this application, each charging pile sends its own occupancy status to the server, thereby obtaining the number of unoccupied charging piles and the first number of currently available charging piles.

[0123] Step 2045: Allocate the second number of available charging stations to the second number of second autonomous vehicles.

[0124] It should be noted that when the first number of currently available charging piles in the charging station is not less than the second number, a corresponding available charging pile can be allocated to the second number of second autonomous vehicles. When allocating a corresponding available charging pile to the second autonomous vehicle, the ID of the charging pile and the location information of the charging pile need to be sent to the second autonomous vehicle so that the second autonomous vehicle can drive to the location corresponding to the location information and use the charging pile corresponding to the ID for charging.

[0125] In some embodiments of this application, a second number of available charging piles are randomly selected from a first number of currently available charging piles and allocated to a second number of second autonomous vehicles.

[0126] Step 2046: Allocate the first number of available charging piles to the second number of second autonomous vehicles in the first arrangement order and determine the remaining charging time for at least one fourth autonomous vehicle currently charging in the charging station. The remaining charging time is the duration from the current moment to the moment when the battery of the fourth autonomous vehicle is fully charged.

[0127] Step 2047: For each second autonomous vehicle in the second set of vehicles to be charged that has not been assigned a charging pile, determine the first remaining driving time corresponding to the second autonomous driving based on the remaining driving range of the second autonomous vehicle.

[0128] It should be noted that the specific steps for determining the first remaining driving time corresponding to the second autonomous driving system can be found in step 2042, and will not be repeated here.

[0129] Step 2048: Based on the first remaining drivable time of each second autonomous vehicle in the second set of vehicles to be charged that has not been assigned a charging pile, and the remaining charging time corresponding to at least one fourth autonomous vehicle currently being charged, assign a corresponding charging pile to the second autonomous vehicle that has not been assigned a charging pile in a first sorting order.

[0130] It should be noted that the specific process of step 2048 can be found in step 2043, and will not be repeated here.

[0131] Steps 202-204 describe the process of assigning a corresponding charging station to the second autonomous vehicle whose SOC is greater than the preset second threshold. Steps 205-207 describe the process of assigning a corresponding charging station to the third autonomous vehicle whose SOC is not greater than the preset second threshold.

[0132] Step 205: If there is a third autonomous driving vehicle in the first set of vehicles to be charged whose SOC is not greater than a preset second threshold, then obtain the third autonomous driving vehicle from the first set of vehicles to be charged to obtain the third set of vehicles to be charged.

[0133] In some embodiments of this application, the third autonomous vehicle is an autonomous vehicle with a SOC less than a second threshold, and the third set of vehicles to be charged is a set including at least one third autonomous vehicle.

[0134] Step 206: Determine the second charging weight value corresponding to each third autonomous vehicle in the third set of vehicles to be charged. The second charging weight value is used to characterize the charging order of the third autonomous vehicles in the third set of vehicles to be charged. Sort the third autonomous vehicles in the third set of vehicles to be charged from low to high according to the second charging weight value to obtain the second arrangement order.

[0135] It should be noted that the method for determining the second charging weight corresponding to the third autonomous vehicle is the same as the method for determining the first charging weight corresponding to the second autonomous vehicle. For details, please refer to step 203, which will not be repeated here.

[0136] Step 207: Based on the usage status information of each charging pile and the SOC of the fourth autonomous vehicle currently charging in the charging station, allocate the corresponding charging pile to the third autonomous vehicle in the second order, and control the third autonomous vehicle to charge using the corresponding charging pile.

[0137] like Figure 4 As shown, based on the usage status information of each charging pile and the SOC of the fourth autonomous vehicle currently charging in the charging station, the third autonomous vehicle is assigned a corresponding charging pile according to the second arrangement order, including steps 2071-2076.

[0138] Step 2071: Determine if there are currently any available charging piles in the charging station. If not, proceed to step 2072; if yes, proceed to step 2073.

[0139] Step 2072: For each third autonomous vehicle in the third set of vehicles to be charged that has not been assigned a charging pile, based on the SOC corresponding to at least one fourth autonomous vehicle currently charging in the charging station, assign a corresponding charging pile to the third autonomous vehicle that has not been assigned a charging pile in the second order.

[0140] Specifically, for each third autonomous vehicle in the third set of vehicles awaiting charging that has not been assigned a charging pile, based on the SOC corresponding to at least one fourth autonomous vehicle currently charging at the charging station, a corresponding charging pile is assigned to the third autonomous vehicle that has not been assigned a charging pile according to a second arrangement order, including:

[0141] According to the second arrangement order, the third autonomous vehicle that has not been assigned a charging station will sequentially acquire the second autonomous vehicle;

[0142] For each acquired third autonomous vehicle, it is determined whether the SOC of at least one fourth autonomous vehicle is greater than a preset third threshold. If so, the maximum value of the SOC of the fourth autonomous vehicle is determined, and the second charging pile used by the fourth autonomous vehicle with the maximum SOC is allocated to the third autonomous vehicle so that the third autonomous vehicle can use the second charging pile for charging. If not, the third autonomous vehicle is controlled to drive to the charging waiting area corresponding to the charging station. While the third autonomous vehicle is waiting to charge in the charging waiting area, if the SOC of a fourth autonomous vehicle is greater than the third threshold, the third charging pile used by the fourth autonomous vehicle with the SOC greater than the third threshold is allocated to the third autonomous vehicle with the longest waiting time.

[0143] In some embodiments of this application, the third threshold can be set according to actual conditions, and the third threshold can be 60%.

[0144] The following example illustrates the specific process of allocating the corresponding charging pile in a charging station to a third autonomous vehicle.

[0145] Let me first introduce the components of a charging station, such as... Figure 5 This is a schematic diagram of a charging station. Vehicles enter the charging station through the entrance and exit through the exit. The charging station includes a charging area and a charging waiting area. The charging area contains charging stations for corresponding charging piles, and the charging waiting area contains waiting spaces for vehicles to wait.

[0146] When a vehicle's State of Charge (SOC) is ≤25% and no charging piles are currently idle at the charging station, if one or more vehicles currently charging have an SOC value higher than 60%, the vehicle with the highest SOC value among those charging vehicles with an SOC value higher than 60% will be selected. A charging interruption command will be sent to the charging pile corresponding to that vehicle, and the autonomous vehicle will be directed to leave the charging station and enter operational status. At the same time, a return-to-charging command will be sent to the aforementioned vehicles with an SOC value lower than 25%, and the location and ID of the vacated charging pile will be sent to those vehicles. Alternatively, if no vehicle currently charging has an SOC value higher than 60%, a return-to-charging command will be sent to the vehicles with an SOC value lower than 25%, and the vehicles will be ordered to enter the charging waiting area. If a vehicle charging has an SOC value higher than 60%, a charging interruption command will be sent to the charging pile corresponding to that vehicle, and the autonomous vehicle will be directed to leave the charging station and enter operational status. At the same time, the location information and ID of the vacated charging pile will be sent to the aforementioned vehicles already in the charging waiting area, and the vehicles will be directed to enter the corresponding charging pile for charging. When there are multiple vehicles in the charging waiting area, the charging priority is determined by the length of the waiting time. That is, the longer the waiting time, the higher the charging priority. The vehicles in the charging waiting area are charged in order of priority from high to low.

[0147] Step 2073: Determine whether the number of currently available charging piles in the charging station is less than the number of available charging piles. If yes, proceed to step 2074; otherwise, proceed to step 2076.

[0148] The third quantity is determined based on the usage status information of each charging pile, and the fourth quantity is the total number of the third autonomous vehicles in the third set of vehicles to be charged.

[0149] The method for determining the third number is the same as the method for determining the first number of currently available charging piles. For details, please refer to the method for determining the first number, which will not be repeated here.

[0150] Step 2074: Allocate the available charging piles corresponding to the third quantity to the third autonomous vehicle corresponding to the first third quantity in the second arrangement order and determine the SOC corresponding to at least one fourth autonomous vehicle that is currently charging.

[0151] In one embodiment of this application, the method of allocating the third number of available charging piles to the third autonomous vehicle corresponding to the first third number in the second arrangement is the same as the method of allocating the first number of available charging piles to the second autonomous vehicle corresponding to the first second number in the first arrangement, and will not be described again.

[0152] Step 2075: For each third autonomous vehicle in the third set of vehicles to be charged that has not been assigned a charging pile, according to the second arrangement order, based on the SOC corresponding to at least one fourth autonomous vehicle currently charging in the charging station, assign a corresponding charging pile to the third autonomous vehicle that has not been assigned a charging pile.

[0153] For the specific steps of allocating a corresponding charging station to a third autonomous vehicle that has not been assigned a charging station, please refer to step 2072, which will not be repeated here.

[0154] Step 2076: Allocate the fourth number of available charging stations to the third number of third autonomous vehicles.

[0155] It should be noted that the method of allocating the fourth number of available charging piles to the third number of third autonomous vehicles is the same as the method of allocating the second number of available charging piles to the second number of second autonomous vehicles. See step 2045 for details, which will not be repeated here.

[0156] In this embodiment of the application, for vehicles whose State of Charge (SOC) is less than a preset first threshold, the autonomous vehicle is controlled to charge based on the SOC of the autonomous vehicle and the usage status information of each charging pile. The autonomous vehicle can automatically schedule the charging process by using the SOC of the autonomous vehicle and the usage status information of each charging pile. Compared with the method of manually controlling the charging of the autonomous vehicle, this improves the intelligence of charging the autonomous vehicle.

[0157] Figure 6 This provides an intelligent charging device for autonomous vehicles, the device comprising:

[0158] The acquisition module 601 is used to acquire the first set of vehicles to be charged corresponding to the preset area and the usage status information of each charging pile in the charging station in the preset area. The usage status information is used to indicate whether the charging pile is occupied. The first set of vehicles to be charged includes at least one first autonomous vehicle. The first autonomous vehicle is a vehicle whose battery state of charge (SOC) is less than a preset first threshold.

[0159] The control module 602 is used to control each first autonomous vehicle to charge based on the SOC of each first autonomous vehicle in the first set of vehicles to be charged and the usage status information of each charging pile.

[0160] In some embodiments of this application, the control module 602 includes:

[0161] The first acquisition submodule is used to acquire the second autonomous vehicle from the first set of vehicles to be charged if there is a second autonomous vehicle with a SOC greater than a preset second threshold in the first set of vehicles to be charged, thereby obtaining the second set of vehicles to be charged, where the first threshold is greater than the second threshold.

[0162] The first determining submodule is used to determine the first charging weight value corresponding to each second autonomous vehicle in the second set of vehicles to be charged. The first charging weight value is used to characterize the charging order of the second autonomous vehicles in the second set of vehicles to be charged. The second autonomous vehicles in the second set of vehicles to be charged are sorted from low to high according to the first charging weight value to obtain the first sorting order.

[0163] The first control submodule is used to allocate corresponding charging piles to the second autonomous vehicle in a first order based on the usage status information of each charging pile and the remaining driving range of the second autonomous vehicle, and to control the second autonomous vehicle to charge using the corresponding charging piles.

[0164] In some embodiments of this application, the first control submodule includes:

[0165] The first determining unit is used to determine the first remaining driving time of each second autonomous vehicle in the second set of vehicles to be charged that has not been allocated a charging pile in the charging station if there is no currently available charging pile.

[0166] The first allocation unit is configured to allocate corresponding charging piles to the second autonomous vehicles that have not been allocated charging piles according to the first remaining drivable time of each second autonomous vehicle in the second set of vehicles to be charged and the remaining charging time corresponding to at least one fourth autonomous vehicle currently being charged in the charging station, in a first sorting order.

[0167] In some embodiments of this application, the first control submodule includes:

[0168] The second allocation unit is configured to allocate the second number of idle charging piles to the second number of second autonomous vehicles if there are currently idle charging piles in the charging station and the first number of currently idle charging piles in the charging station is not less than the second number. The first number is determined based on the usage status information of each charging pile, and the second number is the total number of second autonomous vehicles in the second set of vehicles to be charged.

[0169] In some embodiments of this application, the first control submodule includes:

[0170] The second determining unit is configured to, if there are currently idle charging piles in the charging station and the first number of currently idle charging piles in the charging station is less than the second number, allocate the idle charging piles corresponding to the first number to the second number in the first arrangement order to the second autonomous driving vehicle and determine the remaining charging time corresponding to at least one fourth autonomous driving vehicle currently being charged in the charging station. The first number is determined based on the usage status information of each charging pile, the second number is the total number of second autonomous driving vehicles in the second set of vehicles to be charged, and the remaining charging time is the duration from the current time to the time corresponding to the time when the battery of the fourth autonomous driving vehicle is fully charged.

[0171] The third determining unit is used to determine the first remaining driving time for each second autonomous vehicle in the second set of vehicles to be charged that has not been assigned a charging pile, based on the remaining driving range of the second autonomous vehicle.

[0172] The third allocation unit is used to allocate corresponding charging piles to the second autonomous vehicles that have not been allocated charging piles according to the first remaining drivable time of each second autonomous vehicle in the second set of vehicles to be charged and the remaining charging time corresponding to at least one fourth autonomous vehicle currently being charged, in a first sorting order.

[0173] In some embodiments of this application, the third allocation subunit is used for:

[0174] According to the first arrangement order, the second autonomous vehicle that has not been assigned a charging pile will acquire the second autonomous vehicle in turn.

[0175] For each second autonomous vehicle acquired, it is determined whether the first remaining driving time of the second autonomous vehicle is greater than the minimum value among at least one remaining charging time. If so, the first charging pile used by the fourth autonomous vehicle for charging corresponding to the minimum remaining charging time is allocated to the second autonomous vehicle, so that the second autonomous vehicle can use the first charging pile to charge after the fourth autonomous vehicle has finished charging.

[0176] In some embodiments of this application, the control module includes:

[0177] The second acquisition submodule is used to acquire the third autonomous vehicle from the first set of vehicles to be charged if there is a third autonomous vehicle in the first set of vehicles to be charged whose SOC is not greater than a preset second threshold, thereby obtaining the third set of vehicles to be charged, where the first threshold is greater than the second threshold.

[0178] The second determining submodule is used to determine the second charging weight value corresponding to each third autonomous vehicle in the third set of vehicles to be charged. The second charging weight value is used to characterize the charging order of the third autonomous vehicles in the third set of vehicles to be charged. The third autonomous vehicles in the third set of vehicles to be charged are sorted from low to high according to the second charging weight value to obtain the second arrangement order.

[0179] The second control submodule is used to allocate corresponding charging piles to the third autonomous vehicle according to the second arrangement order based on the usage status information of each charging pile and the SOC of the fourth autonomous vehicle currently charging in the charging station, and control the third autonomous vehicle to charge using the corresponding charging pile.

[0180] In some embodiments of this application, the second control submodule includes:

[0181] The fourth allocation unit is used to allocate a corresponding charging pile to each of the third autonomous vehicles in the third set of vehicles to be charged that has not been allocated a charging pile, based on the SOC corresponding to at least one fourth autonomous vehicle currently charging in the charging station, in a second order, if there is no currently available charging pile in the charging station.

[0182] In some embodiments of this application, the second control submodule includes:

[0183] The fifth allocation unit is used to allocate the idle charging piles corresponding to the third quantity to the third autonomous driving vehicle corresponding to the first third quantity in the second arrangement order if there are currently idle charging piles in the charging station and the third number of currently idle charging piles in the charging station is less than the fourth quantity, and determine the SOC corresponding to at least one fourth autonomous driving vehicle that is currently charging. The third quantity is determined based on the usage status information of each charging pile, and the fourth quantity is the total number of third autonomous driving vehicles in the third set of vehicles to be charged.

[0184] The sixth allocation unit is used to allocate a corresponding charging pile to each of the third autonomous vehicles in the third set of vehicles to be charged that has not been allocated a charging pile, according to the second arrangement order and based on the SOC corresponding to at least one fourth autonomous vehicle currently being charged in the charging station.

[0185] In some embodiments of this application, the sixth allocation unit is used for:

[0186] According to the second arrangement order, the third autonomous vehicle that has not been assigned a charging station will sequentially acquire the second autonomous vehicle;

[0187] For each acquired third autonomous vehicle, it is determined whether the SOC of at least one fourth autonomous vehicle is greater than a preset third threshold. If so, the maximum value of the SOC of the fourth autonomous vehicle is determined, and the second charging pile used by the fourth autonomous vehicle with the maximum SOC is allocated to the third autonomous vehicle so that the third autonomous vehicle can use the second charging pile for charging. If not, the third autonomous vehicle is controlled to drive to the charging waiting area corresponding to the charging station. While the third autonomous vehicle is waiting to charge in the charging waiting area, if the SOC of a fourth autonomous vehicle is greater than the third threshold, the third charging pile used by the fourth autonomous vehicle with the SOC greater than the third threshold is allocated to the third autonomous vehicle with the longest waiting time.

[0188] It should be noted that the intelligent charging device for autonomous vehicles provided in the above embodiments is only illustrated by the division of the above functional modules when controlling the vehicle. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the intelligent charging device for autonomous vehicles provided in the above embodiments and the intelligent charging method embodiments for autonomous vehicles belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0189] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0190] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present application should be included within the protection scope of the present application.

Claims

1. A smart charging method for autonomous vehicles, characterized in that, The method includes: The first set of vehicles to be charged corresponding to a preset area and the usage status information of each charging pile in the charging station in the preset area are obtained. The usage status information is used to indicate whether the charging pile is occupied. The first set of vehicles to be charged includes at least one first autonomous driving vehicle whose battery state of charge (SOC) is less than a preset first threshold. If there is a second autonomous driving vehicle with a SOC greater than a preset second threshold in the first set of vehicles to be charged, then the second autonomous driving vehicle is obtained from the first set of vehicles to be charged to obtain the second set of vehicles to be charged, where the first threshold is greater than the second threshold. Determine the first charging weight value corresponding to each second autonomous vehicle in the second set of vehicles to be charged; sort the second autonomous vehicles in order of the first charging weight value from low to high to obtain a first sorting order; Based on the usage status information of each charging pile and the remaining driving range of the second autonomous vehicle, the corresponding charging pile is allocated to the second autonomous vehicle in the first arrangement order, and the second autonomous vehicle is controlled to charge using the corresponding charging pile.

2. The method as described in claim 1, characterized in that, The step of allocating corresponding charging piles to the second autonomous vehicle according to the first arrangement order, based on the usage status information of each charging pile and the remaining driving range of the second autonomous vehicle, includes: If there is no currently available charging pile in the charging station, for each second autonomous vehicle in the second set of vehicles to be charged that has not been allocated a charging pile, the first remaining driving time corresponding to the second autonomous vehicle is determined based on the remaining driving range corresponding to the second autonomous vehicle. Based on the first remaining drivable time of each second autonomous vehicle in the second set of vehicles awaiting charging and the remaining charging time corresponding to at least one fourth autonomous vehicle currently charging in the charging station, a corresponding charging station is assigned to the second autonomous vehicle that has not been assigned a charging station in the first order.

3. The method as described in claim 1, characterized in that, The step of allocating corresponding charging piles to the second autonomous vehicle according to the first arrangement order, based on the usage status information of each charging pile and the remaining driving range of the second autonomous vehicle, includes: If there are currently idle charging piles in the charging station and the first number of currently idle charging piles in the charging station is less than the second number, then the idle charging piles corresponding to the first number are allocated to the second autonomous driving vehicles corresponding to the first number in the first arrangement order, and the remaining charging time corresponding to at least one fourth autonomous driving vehicle currently charging in the charging station is determined. The first number is determined based on the usage status information of each charging pile, the second number is the total number of second autonomous driving vehicles in the second set of vehicles to be charged, and the remaining charging time is the duration from the current time to the time corresponding to the time when the battery of the fourth autonomous driving vehicle is fully charged. For each second autonomous vehicle in the second set of vehicles to be charged that has not been assigned a charging pile, a first remaining driving time for the second autonomous vehicle is determined based on the remaining driving range of the second autonomous vehicle. Based on the first remaining drivable time of each second autonomous vehicle in the second set of vehicles awaiting charging and the remaining charging time corresponding to at least one fourth autonomous vehicle currently charging in the charging station, a corresponding charging station is assigned to the second autonomous vehicle that has not been assigned a charging station in the first order.

4. The method as described in claim 2 or 3, characterized in that, The step of allocating corresponding charging piles to the second autonomous vehicles without assigned charging piles according to the first arrangement order based on the first remaining drivable time of each second autonomous vehicle without assigned charging piles in the second set of vehicles to be charged and the remaining charging time corresponding to at least one fourth autonomous vehicle currently charging in the charging station, includes: According to the first arrangement order, the second autonomous vehicle that has not been assigned a charging pile will sequentially acquire the second autonomous vehicle; For each second autonomous vehicle acquired, it is determined whether the first remaining drivable time of the second autonomous vehicle is greater than the minimum value among the at least one remaining charging time. If so, the first charging pile used by the fourth autonomous vehicle for charging corresponding to the minimum remaining charging time is allocated to the second autonomous vehicle, so that the second autonomous vehicle can use the first charging pile to charge after the fourth autonomous vehicle has finished charging.

5. The method as described in claim 1, characterized in that, The method further includes: If there is a third autonomous vehicle in the first set of vehicles to be charged whose SOC is not greater than a preset second threshold, then the third autonomous vehicle is obtained from the first set of vehicles to be charged to obtain a third set of vehicles to be charged, wherein the first threshold is greater than the second threshold. A second charging weight is determined for each third autonomous vehicle in the third set of vehicles to be charged. The second charging weight is used to characterize the charging order of the third autonomous vehicles in the third set of vehicles to be charged. The third autonomous vehicles in the third set of vehicles to be charged are sorted from low to high according to the second charging weight to obtain a second sorting order. Based on the usage status information of each charging pile and the SOC of the fourth autonomous vehicle currently charging in the charging station, the third autonomous vehicle is assigned a corresponding charging pile according to the second arrangement order, and the third autonomous vehicle is controlled to charge using the corresponding charging pile.

6. The method as described in claim 5, characterized in that, The step of allocating a corresponding charging pile to the third autonomous vehicle according to the second arrangement order, based on the usage status information of each charging pile and the SOC of the fourth autonomous vehicle currently charging at the charging station, includes: If there is no currently available charging pile in the charging station, for each third autonomous vehicle in the third set of vehicles waiting to be charged that has not been assigned a charging pile, based on the SOC corresponding to at least one fourth autonomous vehicle currently charging in the charging station, a corresponding charging pile is assigned to the third autonomous vehicle that has not been assigned a charging pile in the second order.

7. The method as described in claim 5, characterized in that, The step of allocating a corresponding charging pile to the third autonomous vehicle according to the second arrangement order, based on the usage status information of each charging pile and the SOC of the fourth autonomous vehicle currently charging at the charging station, includes: If there are currently idle charging piles in the charging station and the third number of currently idle charging piles in the charging station is less than the fourth number, then the idle charging piles corresponding to the third number are allocated to the third autonomous driving vehicles corresponding to the first third number in the second arrangement order, and the SOC corresponding to at least one fourth autonomous driving vehicle currently charging is determined. The third number is determined based on the usage status information of each charging pile, and the fourth number is the total number of third autonomous driving vehicles in the third set of vehicles to be charged. For each third autonomous vehicle in the third set of vehicles awaiting charging that has not been assigned a charging pile, a corresponding charging pile is assigned to the third autonomous vehicle that has not been assigned a charging pile, according to the second arrangement order and based on the SOC corresponding to at least one fourth autonomous vehicle currently charging in the charging station.

8. The method as described in claim 6 or 7, characterized in that, The process of allocating a corresponding charging pile to each unallocated third autonomous vehicle in the third set of vehicles awaiting charging, based on the SOC corresponding to at least one fourth autonomous vehicle currently charging at the charging station, according to the second arrangement order, includes: According to the second arrangement order, the third autonomous vehicle that has not been assigned a charging pile will sequentially acquire the third autonomous vehicle; For each acquired third autonomous vehicle, it is determined whether the SOC corresponding to at least one of the fourth autonomous vehicles is greater than a preset third threshold. If it is, the maximum value of the SOC corresponding to the fourth autonomous vehicle is determined, and the second charging pile used by the fourth autonomous vehicle with the maximum SOC is allocated to the third autonomous vehicle so that the third autonomous vehicle can use the second charging pile for charging. If it is not, the third autonomous vehicle is controlled to drive to the charging waiting area corresponding to the charging station. While the third autonomous vehicle is waiting to charge in the charging waiting area, if the SOC corresponding to the fourth autonomous vehicle is greater than the third threshold, the third charging pile used by the fourth autonomous vehicle with the SOC greater than the third threshold is allocated to the third autonomous vehicle with the longest waiting time.

9. An intelligent charging device for an autonomous vehicle, characterized in that, The device includes: The acquisition module is used to acquire the first set of vehicles to be charged corresponding to the preset area and the usage status information of each charging pile in the charging station in the preset area. The usage status information is used to indicate whether the charging pile is occupied. The first set of vehicles to be charged includes at least one first autonomous driving vehicle whose battery state of charge (SOC) is less than a preset first threshold. The control module is used for: If there is a second autonomous vehicle with a SOC greater than a preset second threshold in the first set of vehicles to be charged, then the second autonomous vehicle is obtained from the first set of vehicles to be charged to obtain the second set of vehicles to be charged, where the first threshold is greater than the second threshold. Determine the first charging weight value corresponding to each second autonomous vehicle in the second set of vehicles to be charged; sort the second autonomous vehicles in order of the first charging weight value from low to high to obtain a first sorting order; Based on the usage status information of each charging pile and the remaining driving range of the second autonomous vehicle, the corresponding charging pile is allocated to the second autonomous vehicle in the first arrangement order, and the second autonomous vehicle is controlled to charge using the corresponding charging pile.

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