Method and device for controlling vehicle and vehicle

Abstract

The invention provides a method and device for controlling a vehicle and the vehicle, and the method comprises the steps: obtaining the current speed of the vehicle at the current position under the condition of detecting that a static target scene exists in front of the vehicle; determining a deceleration range of the vehicle in the current driving environment; based on the current vehicle speed, whether the current deceleration of the vehicle is within the deceleration range or not is judged; and under the condition that the current deceleration is determined to be within the deceleration range, the vehicle is controlled to release an accelerator, so that the vehicle starts to slide and recovers energy. According to the method, the deceleration during vehicle sliding can be controlled to be within the deceleration range comfortable for a user, and the driving comfort during vehicle sliding is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more particularly, to a method, a device and a vehicle for controlling a vehicle in the field of vehicles. Background Art

[0002] The brake energy recovery system is an important means of energy conservation for new energy vehicles. It converts mechanical energy into electrical energy during the vehicle's coasting or braking process to reverse charge the power battery, thereby improving energy utilization efficiency and reducing vehicle operating costs.

[0003] In the prior art, during the coasting process, the vehicle can calculate and adjust the target recovery torque in real time based on the target ahead, and execute the target recovery torque to recover the vehicle's coasting energy, so as to maximize the coasting energy recovery and improve the efficiency of coasting energy recovery. However, during the coasting process, the vehicle has the problem of excessive deceleration, which can easily cause the vehicle to have an excessive deceleration feeling, affecting the driving comfort of the vehicle. Summary of the invention

[0004] The present application provides a method, device and vehicle for controlling a vehicle. The method can control the deceleration of the vehicle during coasting to be within a deceleration range that is more comfortable for the user, thereby improving the driving comfort of the vehicle during coasting.

[0005] In a first aspect, a method for controlling a vehicle is provided, the method comprising: upon detecting a static target scene in front of the vehicle, obtaining a current speed of the vehicle at a current position; wherein the static target scene includes a target speed, and the vehicle needs to decelerate to the target speed when traveling to the static target scene; determining a deceleration range of the vehicle under a current driving environment; wherein the deceleration range is a range of deceleration in which the driver's comfort level is greater than a preset comfort level when the vehicle decelerates; based on the current vehicle speed, determining whether the current deceleration of the vehicle is within the deceleration range; wherein the current deceleration is the deceleration of the vehicle starting from the current speed at the current position and when the vehicle speed is equal to the target speed when decelerating to the static target scene; and upon determining that the current deceleration is within the deceleration range, controlling the vehicle to release the accelerator so that the vehicle starts to glide and recover energy.

[0006] In the above technical scheme, by determining that the driver's comfort level is greater than the deceleration range corresponding to the preset comfort level, the deceleration range with higher driver comfort level can be determined. When a static target scene is detected in front of the vehicle, it is determined whether the current deceleration of the vehicle is within the deceleration range with higher driver comfort level. When it is determined that the current deceleration is within the deceleration range with higher user comfort level, the vehicle is controlled to release the accelerator to start gliding and recover energy. This can ensure that the vehicle speed is reduced to the target speed when the vehicle glides to the static target scene, and that the vehicle's deceleration during gliding is within the deceleration range. This ensures that the vehicle recovers energy while gliding, while ensuring the comfort of the vehicle's deceleration process. This is especially friendly to people who suffer from motion sickness, and can reduce the problem of poor driving experience for the driver due to sudden braking or excessive deceleration.

[0007] In combination with the first aspect, in some possible implementations, based on the current vehicle speed, determining whether the vehicle's current deceleration is within the deceleration range includes: predicting a first vehicle speed for the vehicle to reach a static target scene based on the current vehicle speed and the maximum deceleration within the deceleration range; predicting a second vehicle speed for the vehicle to reach the static target scene based on the current vehicle speed and the minimum deceleration within the deceleration range; and determining whether the vehicle's current deceleration is within the deceleration range based on the first vehicle speed and the second vehicle speed.

[0008] In the above technical scheme, the current speed of the vehicle is predicted based on the maximum deceleration and the minimum deceleration within the deceleration range. Through advance prediction, it can be determined in advance whether the current position of the vehicle is a position where the deceleration is within the deceleration range, ensuring that the vehicle can be controlled in advance at an appropriate position to release the accelerator for gliding and energy recovery. Based on the maximum deceleration and the minimum deceleration within the deceleration range, the speed of the vehicle when it reaches the target scene (i.e., the first speed and the second speed) is predicted to determine whether the current deceleration is within the deceleration range with higher user comfort. The relationship between the current speed of the vehicle, the current deceleration, and the maximum deceleration and the minimum deceleration within the deceleration range is taken into account, so as to accurately determine whether the current speed of the vehicle at the current position is within the deceleration range, ensuring that the deceleration of the vehicle in the process of driving towards the static target scene is within the deceleration range, and ensuring that the speed of the vehicle when reaching the static target scene meets the expected target speed, so that users can enjoy a smoother and more comfortable deceleration experience, and improve overall driving satisfaction.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the first vehicle speed and the second vehicle speed, determining whether the current deceleration of the vehicle is within the deceleration range includes: determining the state of a first flag based on the first vehicle speed; wherein the state of the first flag includes: an activated state and an inactivated state; determining the state of a second flag based on the second vehicle speed; wherein the state of the second flag includes: an activated state and an inactivated state; when the first flag is in an inactivated state and the second flag is in an activated state, determining that the vehicle currently meets the preset conditions.

[0010] In the above technical solution, the first vehicle speed is the state of the vehicle when it reaches the target scene based on the maximum deceleration prediction, and the second vehicle speed is the state of the vehicle when it reaches the target scene based on the minimum deceleration prediction. The first vehicle speed and the second vehicle speed can be used to determine whether the current deceleration of the vehicle is within the deceleration range with a high user comfort level. Two flags are set, and the corresponding flags are activated or not activated according to the states of the first vehicle speed and the second vehicle speed, so that the two flags can respectively represent the state of the vehicle when it reaches the static target scene based on the maximum deceleration and the minimum deceleration, so that the vehicle can directly determine whether the current deceleration of the vehicle is within the deceleration range with a high user comfort level based on the states of the two flags, helping the vehicle to reasonably control the deceleration and reduce the safety risks caused by sudden braking or excessive deceleration.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the state of the first flag is determined based on the first vehicle speed, including: when the first vehicle speed is greater than the target vehicle speed, determining the state of the first flag to be an activated state; when the first vehicle speed is less than or equal to the target vehicle speed, determining the state of the first flag to be an inactivated state.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the state of the second flag is determined based on the second vehicle speed, including: when the second vehicle speed is greater than or equal to the target vehicle speed, determining the state of the second flag to be an activated state; when the second vehicle speed is less than the target vehicle speed, determining the state of the second flag to be an inactivated state.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the current vehicle speed and the maximum deceleration within the deceleration range, the first vehicle speed of the vehicle to reach a static target scene is predicted, including calculating a first predicted distance that the vehicle will travel based on the current vehicle speed and the maximum deceleration from the current moment; determining the first moment when the first predicted distance is greater than the target distance; from the current moment, where the target distance is determined based on the distance between the vehicle and the static target scene; determining a first vehicle speed of the vehicle at the first moment when the vehicle is decelerated based on the maximum deceleration.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, predicting the second speed of the vehicle based on the current vehicle speed and the minimum deceleration in the deceleration range includes: calculating the second predicted distance that the vehicle will travel based on the current vehicle speed and the minimum deceleration from the current moment; determining the second moment when the second predicted distance is greater than the target distance; wherein the target distance is determined based on the distance between the vehicle and a static target scene; and determining the second speed of the vehicle at the second moment when the vehicle is decelerated based on the minimum deceleration.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when it is determined that the current deceleration is within the deceleration range, the vehicle is controlled to release the accelerator so that the vehicle starts to glide and recover energy, including: when it is determined that the current deceleration is within the deceleration range, prompting the driver to release the accelerator; when it is detected that the driver releases the accelerator, determining the target deceleration, and controlling the vehicle to glide and recover energy based on the target deceleration.

[0016] In the above technical solution, by predicting and determining that the current deceleration when the vehicle starts to decelerate at its current position is within the deceleration range, the driver is reminded to release the accelerator. This allows the driver to release the accelerator in advance at an appropriate time to allow the vehicle to glide based on the prompt, thereby ensuring that the target deceleration of the vehicle to the target scene is within the deceleration range, thereby improving the comfort of the vehicle's glide.

[0017] In summary, the present application predicts the current speed of the vehicle based on the maximum deceleration and the minimum deceleration within the deceleration range, and predicts the speed of the vehicle when it reaches the target scene (i.e., the first speed and the second speed) to determine in advance whether the current deceleration is within the deceleration range with higher user comfort. The relationship between the current speed of the vehicle, the current deceleration, and the maximum deceleration and the minimum deceleration within the deceleration range is taken into consideration. When it is determined that the current deceleration is within the deceleration range with higher user comfort, the vehicle is promptly controlled to release the accelerator to start gliding and recover energy. This can ensure that the vehicle speed is reduced to the target speed when the vehicle glides to the static target scene, and that the deceleration of the vehicle during gliding is within the deceleration range, thereby ensuring that the vehicle recovers energy while gliding, and at the same time ensuring the comfort of the vehicle's deceleration process.

[0018] In a second aspect, a device for controlling a vehicle is provided, the device comprising: an acquisition module, for acquiring a current speed of the vehicle at a current position when a static target scene is detected in front of the vehicle; wherein the static target scene includes a target speed, and the vehicle needs to decelerate to the target speed when traveling to the static target; a determination module, for determining a deceleration range of the vehicle under a current driving environment; wherein the deceleration range is a range of decelerations in which the driver's comfort level is greater than a preset comfort level when the vehicle decelerates; a judgment module, for judging whether the current deceleration of the vehicle is within the deceleration range based on the current vehicle speed; wherein the current deceleration is the deceleration of the vehicle starting from the current speed at the current position and when the vehicle speed is equal to the target speed when decelerating to the static target scene; a control module, for controlling the vehicle to release the accelerator when it is determined that the current deceleration is within the deceleration range, so that the vehicle starts to glide and recover energy.

[0019] In combination with the second aspect, in some possible implementations, the device also includes: a prediction module, used to predict the first vehicle speed of the vehicle to reach a static target scene based on the current vehicle speed and the maximum deceleration within the deceleration range; based on the current vehicle speed and the minimum deceleration within the deceleration range, predicting the second vehicle speed of the vehicle to reach the static target scene; the judgment module is specifically used to judge whether the current deceleration of the vehicle is within the deceleration range based on the first vehicle speed and the second vehicle speed.

[0020] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the judgment module is specifically used to determine the state of the first flag bit based on the first vehicle speed; wherein the state of the first flag bit includes: an activated state and an inactivated state; determine the state of the second flag bit based on the second vehicle speed; wherein the state of the second flag bit includes: an activated state and an inactivated state; and when the first flag bit is in an inactivated state and the second flag bit is in an activated state, determine that the vehicle currently meets the preset conditions.

[0021] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the judgment module is specifically used to determine that the state of the first flag bit is an activated state when the first vehicle speed is greater than the target vehicle speed; and to determine that the state of the first flag bit is an inactivated state when the first vehicle speed is less than or equal to the target vehicle speed.

[0022] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the judgment module is specifically used to determine that the state of the second flag is an activated state when the second vehicle speed is greater than or equal to the target vehicle speed; and to determine that the state of the second flag is an inactivated state when the second vehicle speed is less than the target vehicle speed.

[0023] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the prediction module is specifically used to calculate a first predicted distance that the vehicle will travel from a current moment based on a current vehicle speed and a maximum deceleration; determine a first moment when the first predicted distance is greater than a target distance; from the current moment, where the target distance is determined based on the distance between the vehicle and a static target scene; and determine a first vehicle speed at the first moment when the vehicle is decelerated based on the maximum deceleration.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the prediction module is specifically used to calculate a second predicted distance that the vehicle will travel from the current moment based on the current vehicle speed and the minimum deceleration; determine a second moment when the second predicted distance is greater than a target distance; wherein the target distance is determined based on the distance between the vehicle and a static target scene; and determine a second vehicle speed of the vehicle at the second moment when the vehicle is decelerated based on the minimum deceleration.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is specifically used to prompt the driver to release the accelerator when it is determined that the current deceleration is within the deceleration range; when it is detected that the driver releases the accelerator, determine the target deceleration, and control the vehicle to glide and recover energy based on the target deceleration.

[0026] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0027] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0028] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic flowchart of a method for controlling a vehicle provided in an embodiment of the present application.

[0030] Figure 2 It is a schematic diagram of a scenario provided in an embodiment of the present application.

[0031] Figure 3It is a structural schematic diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0032] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0034] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0035] In new energy vehicles, coasting energy recovery is a technology that improves energy utilization efficiency and reduces energy consumption. It allows the vehicle to convert kinetic energy that would otherwise be lost during deceleration into electrical energy and store it in the battery.

[0036] In the prior art, the method for vehicles to achieve coasting energy recovery is: when the driver releases the accelerator pedal and the vehicle enters the coasting state, the system calculates and adjusts the target recovery torque in real time based on the forward target and performs energy recovery operations. This method is usually automatically activated when the vehicle speed decreases to maximize energy recovery efficiency.

[0037] However, when the distance between the vehicle and the target ahead is close and the vehicle speed is too high, the target recovery torque determined at this time may be too large, resulting in a large deceleration of the vehicle and affecting the driving comfort of the vehicle.

[0038] Based on this, the present application proposes a method for controlling a vehicle, which can keep the vehicle's deceleration within an appropriate range and improve the vehicle's driving comfort.

[0039] Figure 1 1 is a schematic flow chart of a method for controlling a vehicle provided in an embodiment of the present application. The method is applied to a vehicle.

[0040] For example, Figure 1 As shown, the method 100 includes:

[0041] Step 101, when a static target scene is detected in front of the vehicle, the current speed of the vehicle at the current position is obtained;

[0042] Among them, the static target scene includes a target vehicle speed, and the vehicle needs to decelerate to the target vehicle speed when it reaches the static target scene.

[0043] Step 102, determining the deceleration range of the vehicle under the current driving environment;

[0044] The deceleration range is the range of deceleration within which the driver's comfort level is greater than a preset comfort level when the vehicle decelerates.

[0045] Step 103, based on the current vehicle speed, determining whether the current deceleration of the vehicle is within the deceleration range;

[0046] The current deceleration is the deceleration when the vehicle starts to decelerate from the current speed at the current position to the static target scene when the vehicle speed is equal to the target speed;

[0047] Step 104 , when it is determined that the current deceleration is within the deceleration range, control the vehicle to release the accelerator so that the vehicle starts to glide and recover energy.

[0048] exist Figure 1 In the shown embodiment, by determining that the driver's comfort level is greater than the deceleration range corresponding to the preset comfort level, a deceleration range with higher driver comfort level can be determined. When a static target scene is detected in front of the vehicle, it is determined whether the vehicle's current deceleration is within the deceleration range with higher driver comfort level. When it is determined that the current deceleration is within the deceleration range with higher user comfort level, the vehicle is controlled to release the accelerator to start gliding and recover energy. This ensures that the vehicle speed is reduced to the target speed when the vehicle glides to the static target scene, and that the vehicle's deceleration during gliding is within the deceleration range. This ensures that the vehicle recovers energy while gliding, while ensuring the comfort of the vehicle's deceleration process. This is especially friendly to people who suffer from motion sickness, and can reduce the problem of poor driving experience for the driver due to sudden braking or excessive deceleration.

[0049] Below Figure 1 The specific implementation of each step in the embodiment shown is described in detail:

[0050] In step 101, the static target scene refers to a scene that does not move and requires the vehicle to slow down, such as a traffic light scene, a fixed obstacle scene, a speed limit road scene, etc.

[0051] During driving, the vehicle can use sensors installed on the vehicle, such as radar, camera, positioning sensor, etc., to detect in real time whether there is a static target scene in front of the vehicle.

[0052] In some embodiments, the vehicle can also detect the presence of a static target scene in front of the vehicle through V2X data. Among them, V2X, namely Vehicle-to-Everything, is one of the supporting technologies for smart cars and smart transportation, and V2X data is vehicle-to-external data. V stands for vehicle, and X stands for roads, people, vehicles, equipment and all other devices that can be connected. Specifically, V2X includes various application communication application scenarios such as vehicle-to-vehicle (V2V), vehicle-to-road (V2R), vehicle-to-infrastructure (V2I), and vehicle-to-pedestrian (V2P).

[0053] Static target scenes usually correspond to target speeds, which are the speeds that the vehicle needs to reach when approaching the static target scene. Different scenes may correspond to different target speeds, and after detecting the static target scene, the target speed of the static target scene can be determined based on the relevant information of the static target scene. For example, in traffic light scenes and fixed obstacle scenes, the vehicle needs to stop when it reaches the static target scene, and the target speed is determined to be zero. Assuming that the static target scene detected in front of the vehicle is a speed limit section scene, and the speed limit section scene limits the maximum speed to 80km / h, the speed limit of the speed limit section is obtained, and the speed limit is determined as the target speed of the static target scene, and the target speed of the speed limit section scene is 80km / h.

[0054] The vehicle may be provided with a speed sensor for collecting the vehicle's speed in real time. When a static target scene is detected in front of the vehicle, the speed currently collected by the speed sensor may be obtained to obtain the current speed of the vehicle at the current position.

[0055] In step 102, the current driving environment includes the current road conditions and / or the driver, passengers, etc. of the vehicle currently being driven. The preset comfort level may be a minimum value set in advance to characterize the comfort of the driver or passengers in driving the vehicle.

[0056] The deceleration range refers to the range of deceleration when the vehicle decelerates. A deceleration range can be determined based on the driver's comfort level in driving the vehicle, and the deceleration within this range will not cause discomfort to the driver.

[0057] It is understandable that the deceleration behavior of the vehicle will affect the driver's driving comfort. Specifically, the greater the deceleration of the vehicle, the worse the driver's driving experience and the lower the comfort. When the vehicle is neither accelerating nor decelerating and driving steadily, the driver's driving experience is the best and the comfort is the highest, for example, 100%.

[0058] The driver has an acceptable maximum deceleration a when driving a vehicle. max For example, -0.8m / s 2 When the vehicle is decelerated based on the maximum deceleration, the driver's comfort level is a preset comfort level, for example, 80%. The smaller the deceleration, the higher the driver's comfort level. The deceleration with a comfort level greater than the preset comfort level is determined as the deceleration range of the vehicle.

[0059] Furthermore, if the vehicle is to be decelerated based on the deceleration within the deceleration range, the minimum deceleration within the deceleration range cannot be 0. The minimum deceleration a of the deceleration range can be set in advance. min , for example, set to -0.3m / s 2 At this time, the deceleration range can be determined as: [-0.8, -0.3].

[0060] Specifically, the driver's driving experience is different under different road conditions. For example, under the same deceleration, the driver's comfort on a flat road is usually greater than that on a rough road. Therefore, the flatness of the current road can be obtained to determine the deceleration range in which the driver's comfort is greater than the preset comfort.

[0061] In some embodiments, different drivers have different feelings about the vehicle, and the driver currently driving the vehicle can also be identified, and based on the relevant data of the driver, such as whether the driver is carsick, the deceleration range in which the driver's comfort level is greater than the preset comfort level is determined. If the driver is carsick, the acceptable deceleration is usually smaller.

[0062] In some embodiments, the driver can also set the deceleration range according to his or her own feelings. Specifically, before the driver drives the vehicle, a relevant setting interface can be displayed on the vehicle's large screen, so that the driver can set the deceleration range with a comfort level greater than a preset comfort level (i.e., a higher comfort level) based on the displayed setting interface.

[0063] In step 103, the current deceleration, that is, the vehicle starts to decelerate from the current vehicle speed from the current position, and when the vehicle speed decelerates to the static target scene, the vehicle speed is equal to the deceleration of the target vehicle speed corresponding to the static target scene.

[0064] As in the above embodiment, the static target scene is a speed limit road scene, and the corresponding target speed is 80km / h. Assuming that the current speed of the vehicle at the current position is 120km / h, the current deceleration is that the vehicle starts to decelerate from 120km / h at the current position, and the vehicle speed is equal to the deceleration of 80km / h when decelerating to the static target scene.

[0065] The step of calculating the current deceleration of the vehicle may include: determining the distance between the current position of the vehicle and the static target scene, and calculating the current deceleration corresponding to the current position of the vehicle based on the current vehicle speed, the target vehicle speed and the distance. The calculation formula is shown in formula (1):

[0066]

[0067] Among them, V is the target vehicle speed, V0 is the current vehicle speed, S is the distance, and a is the current deceleration.

[0068] For example, when the current vehicle speed is 120 km / h, the target vehicle speed is 80 km / h, and the distance between the vehicle and the static target scene is 500 m, substituting into the above formula (1) to calculate the current deceleration a = -0.617 m / s 2 .

[0069] The deceleration range is: [-0.8, -0.3], -0.3>-0.617>-0.8, then it is determined that the current deceleration is within the deceleration range.

[0070] In a possible implementation, step 103, based on the current vehicle speed, determines whether the current deceleration of the vehicle is within the deceleration range, including the following steps S11 to S13:

[0071] S11, predicting a first vehicle speed at which the vehicle reaches a static target scene based on the current vehicle speed and the maximum deceleration within the deceleration range.

[0072] The first vehicle speed is the vehicle speed when the vehicle starts to decelerate from the current vehicle speed at the current position based on the maximum deceleration and decelerates to the static target scene.

[0073] As in the above embodiment, the maximum deceleration a max -0.8m / s 2 The current speed of the vehicle at the current position is 120km / s. The first speed is -0.8m / s from the current position of 120km / s. 2 Deceleration: The speed of the vehicle when decelerating to the static target scene.

[0074] The step of calculating the first vehicle speed may include: determining the distance between the current position of the vehicle and the static target scene, and calculating the first vehicle speed when the vehicle reaches the static target scene based on the current vehicle speed, the maximum deceleration and the distance. The calculation formula is shown in formula (2):

[0075]

[0076] Among them, V1 is the first speed, V0 is the current speed, S is the distance, a max is the maximum deceleration.

[0077] For example, when the current vehicle speed V0 is 120 km / h, the distance S between the vehicle and the static target scene is 500 m, and the maximum deceleration a max -0.8m / s 2 , substituting into the above formula (2), we can get the first vehicle speed V1≈63.67km / h.

[0078] In one possible implementation, S11, based on the current vehicle speed and the maximum deceleration within the deceleration range, predicts the first vehicle speed of the vehicle to reach a static target scene, including: calculating a first predicted distance that the vehicle will travel based on the current vehicle speed and the maximum deceleration from the current moment; determining the first moment when the first predicted distance is greater than the target distance; wherein the target distance is determined based on the distance between the vehicle and the static target scene; determining a first vehicle speed of the vehicle at the first moment when the vehicle is decelerated based on the maximum deceleration.

[0079] The target distance may specifically be the distance between the vehicle and the static target scene. In some embodiments, a safety distance may be preset for vehicle buffering, and the target distance may also be the distance between the vehicle and the static target scene minus the safety distance.

[0080] Specifically, based on the distance formula of initial speed, time, and deceleration, the distance that the vehicle will travel based on the current speed and maximum deceleration from the current moment can be predicted to obtain the first predicted distance. As shown in formula (3):

[0081]

[0082] Among them, S1 is the first predicted distance, V0 is the current speed, a max is the maximum deceleration, and t1 is the first duration starting from the current moment.

[0083] For example, the safety distance is 50m, the distance between the vehicle and the static target scene is 550m, and the target distance can be calculated to be 500m. Assume that the current vehicle speed V0 is 120km / h and the maximum deceleration a max -0.8m / s 2 , calculate the duration t1 when S1 is greater than 500m, we can set S1 to 500m, V0 to 120km / h, and a max -0.8m / s 2 Substituting into the above formula (3), it can be calculated that the first time length t1≈19.625s.

[0084] After obtaining the first duration, the current time may be added to the first duration to obtain the first time.

[0085] The first vehicle speed at the first moment, that is, the vehicle speed after the first time period, can be calculated by substituting the first time period into the following formula (4):

[0086] V1=V0+a max t1 (4)

[0087] Among them, V1 is the first vehicle speed, V0 is the current vehicle speed, a max is the maximum deceleration, and t1 is the first duration starting from the current moment.

[0088] The current vehicle speed V0 is 120km / h, and the maximum deceleration is a max -0.8m / s 2 , the first time duration t1=12.58s is substituted into the above formula (4), and the first vehicle speed V1=120-56.52=63.48km / h can be calculated.

[0089] S12, predicting a second vehicle speed at which the vehicle reaches a static target scene based on the current vehicle speed and the minimum deceleration within the deceleration range.

[0090] The second vehicle speed is the vehicle speed when the vehicle starts to decelerate from the current vehicle speed at the current position based on the minimum deceleration and decelerates to the static target scene.

[0091] As in the above embodiment, the minimum deceleration a min -0.3m / s 2 The current speed of the vehicle at the current position is 120km / s. The second speed is -0.3m / s from the current position of 120km / s. 2 Deceleration: The speed of the vehicle when decelerating to the static target scene.

[0092] The step of calculating the second vehicle speed may also include: determining the distance between the current position of the vehicle and the static target scene, and calculating the second vehicle speed when the vehicle reaches the static target scene based on the current vehicle speed, the minimum deceleration and the distance. The calculation formula is shown in formula (5):

[0093]

[0094] Among them, V2 is the second vehicle speed, V0 is the current vehicle speed, S is the distance, and a min is the minimum deceleration.

[0095] For example, when the current vehicle speed V0 is 120 km / h, the distance S between the vehicle and the static target scene is 500 m, and the minimum deceleration amin is -0.3 m / s2, substituting into the above formula (5), it is calculated that the second vehicle speed V2≈102.52 km / h.

[0096] In one possible implementation, predicting a second speed of the vehicle based on the current vehicle speed and the minimum deceleration in the deceleration range includes: calculating a second predicted distance that the vehicle will travel from the current moment based on the current vehicle speed and the minimum deceleration; determining a second moment when the second predicted distance is greater than a target distance; wherein the target distance is determined based on the distance between the vehicle and a static target scene; and determining a second speed of the vehicle at the second moment when the vehicle is decelerated based on the minimum deceleration.

[0097] As in the above embodiment, the target distance may specifically be the distance between the vehicle and the static target scene, or may be the distance between the vehicle and the static target scene minus the safety distance.

[0098] Specifically, based on the distance formula of initial speed, time, and deceleration, the distance that the vehicle will travel based on the current speed and minimum deceleration from the current moment can be predicted to obtain the second predicted distance. As shown in formula (6):

[0099]

[0100] Among them, S2 is the second predicted distance, V0 is the current vehicle speed, a min is the minimum deceleration, and t2 is the second duration starting from the current moment.

[0101] For example, the safety distance is 50m, the distance between the vehicle and the static target scene is 550m, and the target distance can be calculated to be 500m. Assume that the current vehicle speed V0 is 120km / h and the minimum deceleration a min -0.3m / s 2 , calculate the duration t2 when S2 is greater than 500m, we can use S2 equal to 500m, V0 to 120km / h, a min -0.3m / s 2 Substituting into the above formula (6), the second time length t2≈16.18s can be calculated.

[0102] After obtaining the second duration, the second duration may be added to the current time to obtain the second time.

[0103] The second vehicle speed at the second moment, that is, the vehicle speed after the second time period, can be calculated by substituting the second time period into the following formula (7):

[0104] V2=V0+a min t2 (7)

[0105] Among them, V2 is the second vehicle speed, V0 is the current vehicle speed, a min is the minimum deceleration, and t2 is the second duration starting from the current moment.

[0106] The current vehicle speed V0 is 120km / h, and the minimum deceleration is a min -0.3m / s 2 , the second time duration t2=16.18s is substituted into the above formula (7), and the second vehicle speed V1=120-17.48=102.52km / h can be calculated.

[0107] In some embodiments, step 103, based on the current vehicle speed, determines whether the current deceleration of the vehicle is within the deceleration range, and may also include: determining the cycle length of a preset sampling cycle; cyclically predicting the first real-time vehicle speed of the vehicle after each cycle length when the vehicle decelerates based on the maximum deceleration, and the first driving distance of the vehicle within each cycle length, until the number of cycles is greater than the preset number of times or the first real-time vehicle speed is less than or equal to the target vehicle speed; accumulating the first driving distance within each cycle length to obtain a first total driving distance; cyclically predicting the second real-time vehicle speed of the vehicle after each cycle length when the vehicle decelerates based on the minimum deceleration, and the second driving distance of the vehicle within each cycle length, until the number of cycles is greater than the preset number of times or the second real-time vehicle speed is less than or equal to the target vehicle speed; accumulating the second driving distance within each cycle length to obtain a second total driving distance; when the first total driving distance is less than or equal to the target distance, it is determined that the current deceleration of the vehicle is within the deceleration range.

[0108] The formula for predicting real-time vehicle speed is shown in formula (8):

[0109] V real =V current +aT (8)

[0110] Among them, V real is the real-time vehicle speed, V current is the current vehicle speed at the start of the current cycle, which is also the V real At the beginning of each cycle, the actual speed of the vehicle will decelerate to the real-time speed predicted in the previous cycle, a is the deceleration, and T is the cycle duration.

[0111] After the real-time vehicle speed is predicted in each cycle, the driving distance of the vehicle in this cycle can be calculated based on the current vehicle speed at the start of this cycle and the predicted real-time vehicle speed.

[0112]

[0113] Among them, S i is the distance traveled in this cycle, i is the number of cycles, V real is the real-time vehicle speed, V current is the current vehicle speed at the start of the current cycle, and a is the deceleration.

[0114] Take the maximum deceleration prediction as an example:

[0115] For example, this is the first cycle, a=a max =-0.8m / s 2 , T is 0.1s, current vehicle speed V current =120km / h, substituting into formula (8) we can get V real =119.7km / h.

[0116] Let a=a max =-0.8m / s 2 , V current 120km / h, V real =119.7km / h Substituting into formula (9) we can calculate that the vehicle's travel distance in the first cycle is S1 =3.329m.

[0117] V real =119.7km / h is greater than the target speed of 80km / h, then it enters the second cycle. At this time, V current is 119.7 km / h, and a=a max =-0.8m / s 2 , T is 100ms, current vehicle speed V current is 119.7 km / h, and substituting it into formula (8) yields V real =119.412km / h.

[0118] Let a=a max =-0.8m / s 2 , V current 119.7km / h, V real = 119.412 km / h Substituting into formula (9) we can get the vehicle's travel distance in the second cycle S2 = 3.321 m. This can be deduced in this way until V real Less than or equal to the target vehicle speed of 80 km / h, or i is greater than a preset number, assumed to be 1000.

[0119] Assume that the V predicted for the 140th cycle is real If the speed is less than the target speed of 80 km / h, then S1 to S 140 The first total driving distance is accumulated to obtain the first total driving distance, and the first total driving distance is compared with the target distance. The target distance is the distance between the vehicle and the static target scene as in the above embodiment, or the distance between the vehicle and the static target scene minus the preset safety distance.

[0120] The steps for implementing the minimum deceleration prediction based on formula (8) and formula (9) are similar to those in the above embodiment and will not be described again here.

[0121] If the first total driving distance is less than the target distance, it means that when the vehicle decelerates based on the maximum deceleration, it has decelerated to the target speed before reaching the static target scene. If the vehicle wants to just reach the static target scene and reach the target speed, it can decelerate at a deceleration less than the maximum deceleration, that is, the current deceleration of the vehicle is less than the maximum deceleration. If the first total driving distance is equal to the target distance, it means that when the vehicle decelerates based on the maximum deceleration, it just decelerates to the target speed when reaching the static target scene, that is, the current deceleration of the vehicle is equal to the maximum deceleration.

[0122] If the second total driving distance is equal to the target distance, it means that when the vehicle decelerates based on the minimum deceleration, it just decelerates to the target speed when it reaches the static target scene, that is, the current deceleration of the vehicle is equal to the minimum deceleration. If the second total driving distance is greater than the target distance, it means that when the vehicle decelerates based on the minimum deceleration, it has not yet decelerated to the target speed when it reaches the static target scene. If the vehicle wants to just reach the static target scene at the target speed, it can decelerate at a deceleration greater than the minimum deceleration, that is, the current deceleration of the vehicle is greater than the minimum deceleration.

[0123] The first total driving distance is less than or equal to the target distance, and the second total driving distance is greater than or equal to the target distance, that is, the current deceleration is less than or equal to the maximum deceleration, and the current deceleration is greater than or equal to the minimum deceleration. At this time, it is determined that the current deceleration of the vehicle is within the deceleration range.

[0124] S13: Based on the first vehicle speed and the second vehicle speed, determine whether the current deceleration of the vehicle is within a deceleration range.

[0125] It can be understood that the first vehicle speed is the vehicle speed when the vehicle decelerates from the current position to the static target scene based on the maximum deceleration, and based on the magnitude of the first vehicle speed, it can be determined whether the maximum deceleration is sufficient to decelerate the vehicle. The second vehicle speed is the vehicle speed when the vehicle decelerates from the current position to the static target scene based on the minimum deceleration, and based on the magnitude of the second vehicle speed, it can be determined whether the minimum deceleration is sufficient to decelerate the vehicle.

[0126] When the maximum deceleration determined based on the first vehicle speed is sufficient to decelerate the vehicle, it can be determined that the current deceleration of the vehicle starting from the current position is less than or equal to the maximum deceleration; when the minimum deceleration determined based on the second vehicle speed is just sufficient or insufficient, it can be determined that the current deceleration of the vehicle starting from the current position is greater than or equal to the minimum deceleration. At this time, it is determined that the current deceleration of the vehicle is within the deceleration range.

[0127] In the above method, the current speed of the vehicle is predicted based on the maximum deceleration and the minimum deceleration within the deceleration range, and whether the current position of the vehicle is a position where the deceleration is within the deceleration range can be determined in advance through advance prediction, ensuring that the vehicle can be controlled in advance at an appropriate position to release the accelerator for gliding energy recovery. The speed of the vehicle when it reaches the target scene (i.e., the first speed and the second speed) is predicted based on the maximum deceleration and the minimum deceleration within the deceleration range to determine whether the current deceleration is within the deceleration range with higher user comfort. The relationship between the current speed of the vehicle, the current deceleration, and the maximum deceleration and the minimum deceleration within the deceleration range is taken into account, so as to accurately determine whether the current speed of the vehicle at the current position is within the deceleration range, ensure that the deceleration of the vehicle in the process of driving towards the static target scene is within the deceleration range, and ensure that the speed of the vehicle when it reaches the static target scene meets the expected target speed, so that users can enjoy a smoother and more comfortable deceleration experience, and improve overall driving satisfaction.

[0128] In a possible implementation, S13, based on the first vehicle speed and the second vehicle speed, determines whether the current deceleration of the vehicle is within the deceleration range, including S131 to S133:

[0129] S131 determines the state of the first flag based on the first vehicle speed.

[0130] The state of the first flag bit includes: an activated state and an inactivated state.

[0131] The first flag is in an activated state, which indicates that the distance between the vehicle and the static target scene is relatively close. If the vehicle is to decelerate to the target speed, the current deceleration will be greater than the maximum deceleration, that is, the maximum deceleration is not enough for the vehicle to decelerate from the current position. The first flag is in an inactive state, which indicates that the distance between the vehicle and the static target scene is relatively far. If the vehicle is to decelerate to the target speed, the current deceleration will be less than the maximum deceleration, that is, the maximum deceleration is not enough for the vehicle to decelerate from the current position.

[0132] In some embodiments, it is possible to determine whether the maximum deceleration is sufficient for the vehicle to decelerate from the current position based on the first vehicle speed, thereby determining the state of the first flag. The following embodiments describe this in detail:

[0133] In one possible implementation, determining the state of the first flag bit based on the first vehicle speed includes: when the first vehicle speed is greater than the target vehicle speed, determining the state of the first flag bit to be an activated state; when the first vehicle speed is less than or equal to the target vehicle speed, determining the state of the first flag bit to be an inactivated state.

[0134] Specifically, the first vehicle speed and the target vehicle speed may be compared to determine whether the maximum deceleration is sufficient for the vehicle to decelerate from the current position. When the first vehicle speed is greater than the target vehicle speed, it is determined that the maximum deceleration is insufficient for the vehicle to decelerate from the current position, and the state of the first flag is determined to be activated. When the first vehicle speed is less than or equal to the target vehicle speed, it is determined that the maximum deceleration is sufficient for the vehicle to decelerate from the current position, and the state of the first flag is determined to be inactivated.

[0135] It can be understood that when the vehicle decelerates from the current position to the static target scene based on the maximum deceleration, the first speed of the vehicle is greater than the target speed, indicating that the vehicle has not slowed down when driving from the current position to the static target scene based on the maximum deceleration. For the current position, the vehicle needs to be decelerated with a deceleration greater than the maximum deceleration so that the vehicle speed is equal to or less than the target speed when it reaches the static target scene. At this time, it is determined that the maximum deceleration is not enough for the vehicle to start decelerating from the current position, and the first flag is activated.

[0136] When the vehicle decelerates from the current position to the static target scene based on the maximum deceleration, the first speed of the vehicle is equal to the target speed, indicating that when the vehicle travels from the current position to the static target scene based on the maximum deceleration, the speed is just reduced to the target speed. At this time, it is determined that the maximum deceleration is enough for the vehicle to start decelerating from the current position, and the first flag is inactive.

[0137] When the vehicle decelerates from the current position to the static target scene based on the maximum deceleration, the first speed of the vehicle is less than the target speed, indicating that the vehicle can reduce the speed when driving from the current position to the static target scene based on the maximum deceleration. At this time, it is determined that the maximum deceleration is enough for the vehicle to decelerate from the current position, and the first flag is inactive.

[0138] Figure 2 It is a schematic diagram of a scenario provided in an embodiment of the present application.

[0139] For example, Figure 2 As shown, the current vehicle speed is 120km / h, the static target scenario is L3, the target speed is 80km / h, and L2 is the vehicle based on the maximum deceleration a max When decelerating to the static target scene L3, the vehicle speed is equal to the position of the target speed. When the first vehicle speed is greater than the target speed, it can be determined that the current position of the vehicle is between L2 and L3. At this time, the maximum deceleration is not enough for the vehicle to decelerate from the current position, and the first flag is activated. When the first vehicle speed is less than or equal to the target speed, it can be determined that the current position of the vehicle is before L2. At this time, the maximum deceleration is enough for the vehicle to decelerate from the current position, and the first flag is inactive.

[0140] S132, determining a state of a second flag based on the second vehicle speed.

[0141] The state of the second flag bit includes: an activated state and an inactivated state.

[0142] The second flag is in an activated state, which indicates that the vehicle is currently at a moderate distance from the static target scene. If the vehicle is to decelerate to the target speed, the current deceleration will be greater than or equal to the minimum deceleration, that is, the minimum deceleration is not enough for the vehicle to decelerate from the current position, or it is just enough for the vehicle to decelerate from the current position. The first flag is in an inactive state, which indicates that the vehicle is currently far from the static target scene. If the vehicle is to decelerate to the target speed, the current deceleration will be less than the minimum deceleration, that is, the minimum deceleration is far enough for the vehicle to decelerate from the current position.

[0143] In some embodiments, it is possible to determine whether the minimum deceleration is sufficient for the vehicle to decelerate from the current position based on the second vehicle speed, thereby determining the state of the second flag. The following embodiments describe this in detail:

[0144] In one possible implementation, determining the state of the second flag based on the second vehicle speed includes: when the second vehicle speed is greater than or equal to the target vehicle speed, determining the state of the second flag to be an activated state; when the second vehicle speed is less than the target vehicle speed, determining the state of the second flag to be an inactivated state.

[0145] Specifically, the second vehicle speed and the target vehicle speed may be compared to determine whether the minimum deceleration is sufficient for the vehicle to decelerate from the current position. When the second vehicle speed is equal to the target vehicle speed, it is determined that the minimum deceleration is just sufficient for the vehicle to decelerate from the current position. When the second vehicle speed is greater than the target vehicle speed, it is determined that the minimum deceleration is insufficient for the vehicle to decelerate from the current position, and at this time, the state of the second flag is determined to be an activated state. When the second vehicle speed is less than the target vehicle speed, it is determined that the minimum deceleration is far sufficient for the vehicle to decelerate from the current position, and at this time, the state of the second flag is determined to be an inactivated state.

[0146] It can be understood that when the vehicle decelerates from the current position to the static target scene based on the minimum deceleration, the second speed of the vehicle is greater than the target speed, indicating that the vehicle has not slowed down when driving from the current position to the static target scene based on the minimum deceleration. For the current position, the vehicle needs to be decelerated with a deceleration greater than the minimum deceleration so that the vehicle speed is equal to or less than the target speed when it reaches the static target scene. At this time, it is determined that the minimum deceleration is not enough for the vehicle to start decelerating from the current position, and the second flag is activated.

[0147] When the vehicle decelerates from the current position to the static target scene based on the minimum deceleration, the second speed of the vehicle is equal to the target speed, indicating that when the vehicle travels from the current position to the static target scene based on the minimum deceleration, the speed is just reduced to the target speed. At this time, it is determined that the minimum deceleration is just enough for the vehicle to start decelerating from the current position, and the second flag is activated.

[0148] When the vehicle decelerates from the current position to the static target scene based on the minimum deceleration, the second speed of the vehicle is less than the target speed, indicating that the vehicle can reduce the speed when driving from the current position to the static target scene based on the minimum deceleration. At this time, it is determined that the minimum deceleration is far enough for the vehicle to decelerate from the current position, and the second flag is inactive.

[0149] For example, Figure 2 As shown, L1 is the vehicle based on the minimum deceleration a min When decelerating to the static target scene L3, the vehicle speed is equal to the position of the target speed. When the second vehicle speed is greater than or equal to the target speed, it can be determined that the current position of the vehicle is between L1 and L3. At this time, the minimum deceleration is not enough for the vehicle to decelerate from the current position or is just enough for the vehicle to decelerate from the current position, and the second flag is activated. When the second vehicle speed is less than the target speed, it can be determined that the current position of the vehicle is before L1. At this time, the minimum deceleration is far enough for the vehicle to decelerate from the current position, and the second flag is inactive.

[0150] S133, when the first flag is in an inactive state and the second flag is in an active state, determining that the vehicle currently meets a preset condition.

[0151] The first flag is inactive and the second flag is active, that is, the first speed is less than or equal to the target speed, and the second speed is greater than or equal to the target speed. Figure 2 Between L1 and L2 in the figure, it is determined that the minimum deceleration is not enough and the maximum deceleration is enough.

[0152] It is understandable that for the same current vehicle speed and at the same distance (the distance between the vehicle and the static target scene), the first vehicle speed is obtained based on the maximum deceleration and the second vehicle speed is obtained based on the minimum deceleration, and the first vehicle speed is less than the second vehicle speed. If the first vehicle speed is greater, the second vehicle speed will be greater.

[0153] Based on the first vehicle speed and the second vehicle speed, the distance between the vehicle and the static target scene can be determined. Specifically, when the first vehicle speed is greater than the target vehicle speed, it can be determined that the vehicle is currently close to the static target scene. At this time, the current deceleration of the vehicle may be greater than the maximum deceleration, that is, the current deceleration is not within the deceleration range. When the second vehicle speed is less than the target vehicle speed, it is determined that the vehicle is currently far from the static target scene. At this time, the current deceleration of the vehicle may be less than the minimum deceleration, that is, the current deceleration of the vehicle is not within the deceleration range. When the first vehicle speed is less than or equal to the target vehicle speed, and the second vehicle speed is greater than or equal to the target vehicle speed, it can be determined that the vehicle is currently moderately away from the static target scene. At this time, the current deceleration of the vehicle may be less than or equal to the maximum deceleration, and greater than or equal to the minimum deceleration, that is, the current deceleration of the vehicle is within the deceleration range.

[0154] In the above method, the first vehicle speed is the state of the vehicle when it reaches the target scene based on the maximum deceleration prediction, and the second vehicle speed is the state of the vehicle when it reaches the target scene based on the minimum deceleration prediction. The first vehicle speed and the second vehicle speed can be used to determine whether the current deceleration of the vehicle is within the deceleration range with a high user comfort level. Two flags are set, and the corresponding flags are activated or deactivated according to the states of the first vehicle speed and the second vehicle speed, so that the two flags can respectively represent the state of the vehicle when it reaches the static target scene based on the maximum deceleration and the minimum deceleration, so that the vehicle can directly determine whether the current deceleration of the vehicle is within the deceleration range with a high user comfort level based on the states of the two flags, helping the vehicle to reasonably control the deceleration and reduce the safety risks caused by sudden braking or excessive deceleration.

[0155] In step 104, the vehicle may currently be in an automatic driving mode. After determining that the current deceleration of the vehicle is within the deceleration range, the vehicle may automatically control the release of the accelerator. At this time, the vehicle determines the target deceleration based on the distance between the position of the vehicle and the static target scene when the accelerator is released, controls the vehicle to glide, and recovers the energy generated by glide during the glide process.

[0156] For example, Figure 2 As shown, it is detected that the vehicle is at position P when the accelerator is released, and the target deceleration a is calculated based on the distance P-L3 between position P and the static target scene L3. Among them, the target deceleration a is between the maximum deceleration and the minimum deceleration, that is, the target deceleration is within the deceleration range. Based on the target deceleration a, the vehicle coasts, and when the vehicle travels to the static target scene L3, the vehicle speed is equal to the target vehicle speed of 80km / h, and the user comfort during the coasting process is ensured to be high.

[0157] In one possible implementation, when it is determined that the current deceleration is within the deceleration range, the vehicle is controlled to release the accelerator so that the vehicle starts to glide and recover energy, including: when it is determined that the current deceleration is within the deceleration range, prompting the driver to release the accelerator; when it is detected that the driver releases the accelerator, determining the target deceleration, and controlling the vehicle to glide and recover energy based on the target deceleration.

[0158] The vehicle may also be driven by a driver at present. After determining that the current deceleration is within the deceleration range, a prompt message may be generated and displayed on the vehicle's large screen to remind the driver to release the accelerator. The generated prompt message may be, for example, "Release the accelerator to start coasting to recover energy."

[0159] After prompting the driver, the vehicle detects in real time whether the driver releases the accelerator. After detecting that the driver releases the accelerator, the target deceleration is determined according to the distance between the position of the vehicle and the static target scene when the vehicle releases the accelerator. The algorithm of the target deceleration is similar to the method of calculating the current deceleration based on formula (1) in the above embodiment, and will not be repeated here.

[0160] After the target deceleration is calculated, the vehicle is controlled to decelerate and glide based on the target deceleration, and energy is recovered during the glide. At this time, the determined target deceleration is less than or equal to the maximum deceleration and greater than or equal to the minimum deceleration, that is, the deceleration of the vehicle at this time is within the deceleration range.

[0161] The energy recovery process specifically includes: when the vehicle brakes, the vehicle's kinetic energy is converted into electrical energy through the reversibility of the motor to charge the power battery.

[0162] In some embodiments, it is possible to detect whether the driver has released the accelerator of the vehicle within a preset time (e.g., 100ms) after prompting the driver to release the accelerator. If the driver is not detected to have released the accelerator of the vehicle within the preset time, the current new speed of the vehicle is obtained. A prediction is made based on the new speed and the maximum deceleration and the minimum deceleration to determine whether the current new deceleration of the vehicle is within the deceleration range. If it is determined that the new deceleration is within the deceleration range, the driver is prompted to release the accelerator again, and the above steps are executed repeatedly until it is detected that the driver has released the accelerator, or the number of cycles is greater than the preset number.

[0163] In the above method, by predicting and determining that the current deceleration of the vehicle when starting to decelerate from the current position is within the deceleration range, the driver is reminded to release the accelerator, so that the driver can release the accelerator in advance at an appropriate time based on the prompt to allow the vehicle to glide, thereby ensuring that the target deceleration of the vehicle to the target scene is within the deceleration range, thereby improving the comfort of the vehicle's glide.

[0164] In summary, the present application predicts the current speed of the vehicle based on the maximum deceleration and the minimum deceleration within the deceleration range, and predicts the speed of the vehicle when it reaches the target scene (i.e., the first speed and the second speed) to determine in advance whether the current deceleration is within the deceleration range with higher user comfort. The relationship between the current speed of the vehicle, the current deceleration, and the maximum deceleration and the minimum deceleration within the deceleration range is taken into consideration. When it is determined that the current deceleration is within the deceleration range with higher user comfort, the vehicle is promptly controlled to release the accelerator to start gliding and recover energy. This can ensure that the vehicle speed is reduced to the target speed when the vehicle glides to the static target scene, and that the deceleration of the vehicle during gliding is within the deceleration range, thereby ensuring that the vehicle recovers energy while gliding, and at the same time ensuring the comfort of the vehicle's deceleration process.

[0165] Figure 3 It is a structural schematic diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0166] For example, Figure 3 As shown, the device 300 includes:

[0167] The acquisition module 301 is used to acquire the current speed of the vehicle at the current position when a static target scene is detected in front of the vehicle; wherein the static target scene includes a target speed, and the vehicle needs to decelerate to the target speed when traveling to the static target.

[0168] The determination module 302 is used to determine the deceleration range of the vehicle under the current driving environment; wherein the deceleration range is the deceleration range in which the driver's comfort level is greater than a preset comfort level when the vehicle decelerates;

[0169] The judgment module 303 is used to judge whether the current deceleration of the vehicle is within the deceleration range based on the current vehicle speed; wherein the current deceleration is the deceleration when the vehicle starts to decelerate from the current vehicle speed at the current position to the static target scene when the vehicle speed is equal to the target vehicle speed;

[0170] The control module 304 is used to control the vehicle to release the accelerator when determining that the current deceleration is within the deceleration range, so that the vehicle starts to glide and recover energy.

[0171] In one possible implementation, the device also includes: a prediction module, used to predict the first speed of the vehicle to reach a static target scene based on the current vehicle speed and the maximum deceleration within the deceleration range; based on the current vehicle speed and the minimum deceleration within the deceleration range, predicting the second speed of the vehicle to reach the static target scene; the judgment module 303 is specifically used to judge whether the current deceleration of the vehicle is within the deceleration range based on the first vehicle speed and the second vehicle speed.

[0172] In one possible implementation, the judgment module 303 is specifically used to determine the state of a first flag bit based on a first vehicle speed; wherein the state of the first flag bit includes: an activated state and an inactivated state; determine the state of a second flag bit based on a second vehicle speed; wherein the state of the second flag bit includes: an activated state and an inactivated state; and when the first flag bit is in an inactivated state and the second flag bit is in an activated state, determine that the vehicle currently meets the preset conditions.

[0173] In one possible implementation, the judgment module 303 is specifically used to determine that the state of the first flag is an activated state when the first vehicle speed is greater than the target vehicle speed; and to determine that the state of the first flag is an inactivated state when the first vehicle speed is less than or equal to the target vehicle speed.

[0174] In one possible implementation, the judgment module 303 is specifically used to determine that the state of the second flag is an activated state when the second vehicle speed is greater than or equal to the target vehicle speed; and to determine that the state of the second flag is an inactivated state when the second vehicle speed is less than the target vehicle speed.

[0175] In one possible implementation, the prediction module is specifically used to calculate a first predicted distance that the vehicle will travel from a current moment based on a current vehicle speed and a maximum deceleration; determine a first moment when the first predicted distance is greater than a target distance; from the current moment, where the target distance is determined based on a distance between the vehicle and a static target scene; and determine a first vehicle speed at a first moment when the vehicle is decelerated based on the maximum deceleration.

[0176] In one possible implementation, the prediction module is specifically used to calculate a second predicted distance that the vehicle will travel from a current moment based on a current vehicle speed and a minimum deceleration; determine a second moment when the second predicted distance is greater than a target distance; wherein the target distance is determined based on a distance between the vehicle and a static target scene; and determine a second vehicle speed of the vehicle at the second moment when the vehicle is decelerated based on the minimum deceleration.

[0177] In one possible implementation, the control module 304 is specifically used to prompt the driver to release the accelerator when it is determined that the current deceleration is within the deceleration range; when it is detected that the driver releases the accelerator, determine the target deceleration, and control the vehicle to glide and recover energy based on the target deceleration.

[0178] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0179] For example, Figure 4As shown, the vehicle 400 includes: a memory 401 and a processor 402, wherein the memory 401 stores an executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform a method for controlling a vehicle.

[0180] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a method for controlling a vehicle provided in an embodiment of the present application.

[0181] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0182] In the case of dividing each functional module according to each function, the device may also include an acquisition module, a determination module, a judgment module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0183] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method of controlling a vehicle, and thus can achieve the same effect as the above-mentioned implementation method.

[0184] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes, etc.

[0185] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0186] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for controlling a vehicle provided in the above embodiments.

[0187] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a method for controlling a vehicle provided in the above embodiment.

[0188] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a method for controlling a vehicle provided in the above embodiment.

[0189] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0190] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned 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.

[0191] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0192] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method of controlling a vehicle, It is characterized in that The method comprises: When a static target scene is detected in front of the vehicle, the current speed of the vehicle at the current position is obtained; wherein the static target scene includes a target speed, and the vehicle needs to decelerate to the target speed when it travels to the static target scene; Determine a deceleration range of the vehicle under the current driving environment; wherein the deceleration range is a deceleration range in which the driver's comfort level is greater than a preset comfort level when the vehicle decelerates; Based on the current vehicle speed, determining whether the current deceleration of the vehicle is within the deceleration range; wherein the current deceleration is the deceleration of the vehicle when the vehicle decelerates from the current vehicle speed at the current position to the static target scene and the vehicle speed is equal to the target vehicle speed; When it is determined that the current deceleration is within the deceleration range, the vehicle is controlled to release the accelerator so that the vehicle starts to glide and recover energy.

2. The method according to claim 1, It is characterized in that The determining, based on the current vehicle speed, whether the current deceleration of the vehicle is within the deceleration range includes: Predicting a first vehicle speed at which the vehicle reaches the static target scene based on the current vehicle speed and the maximum deceleration within the deceleration range; Predicting a second vehicle speed at which the vehicle reaches the static target scene based on the current vehicle speed and the minimum deceleration within the deceleration range; Based on the first vehicle speed and the second vehicle speed, it is determined whether the current deceleration of the vehicle is within the deceleration range.

3. The method according to claim 2, It is characterized in that The determining, based on the first vehicle speed and the second vehicle speed, whether the current deceleration of the vehicle is within the deceleration range includes: Determine the state of a first flag based on the first vehicle speed; wherein the state of the first flag includes: an activated state and an inactivated state; Determine the state of a second flag based on the second vehicle speed; wherein the state of the second flag includes: an activated state and an inactivated state; When the first flag is in an inactive state and the second flag is in an active state, it is determined that the vehicle currently meets the preset condition.

4. The method according to claim 3, It is characterized in that The determining the state of the first flag bit based on the first vehicle speed includes: When the first vehicle speed is greater than the target vehicle speed, determining that the state of the first flag is an activated state; When the first vehicle speed is less than or equal to the target vehicle speed, the state of the first flag is determined to be an inactive state.

5. The method according to claim 3 or 4, It is characterized in that The determining the state of the second flag bit based on the second vehicle speed includes: When the second vehicle speed is greater than or equal to the target vehicle speed, determining that the state of the second flag is an activated state; When the second vehicle speed is less than the target vehicle speed, the state of the second flag is determined to be an inactive state.

6. The method according to any one of claims 2 to 4, It is characterized in that The predicting, based on the current vehicle speed and the maximum deceleration within the deceleration range, a first vehicle speed at which the vehicle reaches the static target scene includes: Calculating a first predicted distance traveled by the vehicle from a current moment based on the current vehicle speed and the maximum deceleration; determining a first time at which the first predicted distance is greater than a target distance; and starting from the current time, wherein the target distance is determined based on a distance between the vehicle and the static target scene; A first vehicle speed of the vehicle at the first moment when the vehicle is decelerated based on the maximum deceleration is determined.

7. The method according to any one of claims 2 to 4, It is characterized in that The predicting the second vehicle speed of the vehicle based on the current vehicle speed and the minimum deceleration in the deceleration range comprises: Calculating a second predicted distance traveled by the vehicle from a current moment based on the current vehicle speed and the minimum deceleration; Determining a second moment at which the second predicted distance is greater than a target distance; wherein the target distance is determined based on a distance between the vehicle and the static target scene; A second vehicle speed of the vehicle at the second time when the vehicle is decelerated based on the minimum deceleration is determined.

8. The method according to any one of claims 1 to 4, It is characterized in that When it is determined that the current deceleration is within the deceleration range, controlling the vehicle to release the accelerator so that the vehicle starts to glide and recover energy includes: When determining that the current deceleration is within the deceleration range, prompting the driver to release the accelerator; When it is detected that the driver releases the accelerator, a target deceleration is determined, and the vehicle coasting energy recovery is controlled based on the target deceleration.

9. A device for controlling a vehicle, It is characterized in that The device comprises: An acquisition module, configured to acquire the current speed of the vehicle at the current position when a static target scene is detected in front of the vehicle; wherein the static target scene includes a target speed, and the vehicle needs to decelerate to the target speed when traveling to the static target; A determination module, used to determine a deceleration range of the vehicle under the current driving environment; wherein the deceleration range is a deceleration range in which the driver's comfort level is greater than a preset comfort level when the vehicle decelerates; A judgment module, configured to judge whether the current deceleration of the vehicle is within the deceleration range based on the current vehicle speed; wherein the current deceleration is the deceleration of the vehicle when the vehicle speed is equal to the target vehicle speed when the vehicle speed decelerates from the current vehicle speed at the current position to the static target scene; The control module is used for controlling the vehicle to release the accelerator when it is determined that the current deceleration is within the deceleration range, so that the vehicle starts to glide and recover energy.

10. A vehicle, It is characterized in that The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

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