Range extender control method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicle control, and provides a range extender control method and device, electronic equipment and a storage medium. According to the method, a first driving track corresponding to a current vehicle is obtained, a second driving track corresponding to a target vehicle is obtained, and the collision probability of the current vehicle and the target vehicle is determined according to the first driving track and the second driving track; if the collision probability is larger than a probability threshold value, the collision time of the current vehicle and the target vehicle is determined; according to the method, the rotating speed reducing strategy of the range extender of the current vehicle is determined according to the collision time, the range extender is controlled according to the rotating speed reducing strategy, the rotating speed reducing strategy of the range extender of the current vehicle is determined according to the collision time, the range extender is controlled according to the rotating speed reducing strategy, and therefore the rotating speed of the range extender is reduced; therefore, when the running speed of the vehicle is reduced within the collision time, the rotating speed of the range extender is reduced in advance, and the effect of reducing the noise of the range extender is achieved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a range extender control method, device, electronic device and storage medium. Background Art

[0002] With the development of science and technology, the intelligence of vehicles is constantly improving, and the optimization of user experience is becoming increasingly important. When the user actively brakes or the vehicle triggers automatic braking, the vehicle speed drops rapidly. After detecting the reduction in vehicle speed, the speed of the range extender begins to decrease synchronously. However, due to the rapid decrease in vehicle speed, the body noise decreases rapidly, while the speed of the range extender gradually decreases and the noise decreases slowly, causing the noise of the range extender to become more obvious, thus affecting the user's driving experience. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a range extender control method, device, electronic device and storage medium to solve the problem in the prior art that the vehicle's driving speed decreases rapidly, resulting in a reduction in body noise, while the range extender speed decreases slowly, causing the range extender noise to decrease slowly, making the range extender noise more obvious and affecting the user's driving experience.

[0004] According to a first aspect of an embodiment of the present application, a range extender control method is provided, the method comprising: obtaining a first driving trajectory corresponding to a current vehicle, obtaining a second driving trajectory corresponding to a target vehicle, the target vehicle being a vehicle whose distance from the current vehicle is lower than a preset distance threshold; determining a collision probability between the current vehicle and the target vehicle according to the first driving trajectory and the second driving trajectory; determining a collision time between the current vehicle and the target vehicle if the collision probability is greater than a preset probability threshold; determining a speed reduction strategy for the range extender of the current vehicle according to the collision time, and controlling the range extender according to the speed reduction strategy.

[0005] According to a second aspect of an embodiment of the present application, a range extender control device is provided, the device comprising: a trajectory module, configured to obtain a first driving trajectory corresponding to a current vehicle, and to obtain a second driving trajectory corresponding to a target vehicle, the target vehicle being a vehicle whose distance from the current vehicle is lower than a preset distance threshold; a collision module, configured to determine a collision probability between the current vehicle and the target vehicle based on the first driving trajectory and the second driving trajectory; if the collision probability is greater than the probability threshold, determining a collision time between the current vehicle and the target vehicle; and a control module, configured to determine a speed reduction strategy for the range extender of the current vehicle based on the collision time, and to control the range extender based on the speed reduction strategy.

[0006] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0007] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0008] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the method in the embodiments of the present application obtains the first driving trajectory corresponding to the current vehicle and the second driving trajectory corresponding to the target vehicle, and determines the collision probability between the current vehicle and the target vehicle according to the first driving trajectory and the second driving trajectory; if the collision probability is greater than the probability threshold, the collision time between the current vehicle and the target vehicle is determined; the speed reduction strategy of the range extender of the current vehicle is determined according to the collision time, and the range extender is controlled according to the speed reduction strategy. The present application determines the speed reduction strategy of the range extender of the current vehicle according to the collision time, and controls the range extender according to the speed reduction strategy to reduce the speed of the range extender, so that when the vehicle reduces the driving speed within the collision time, the speed of the range extender has been reduced in advance, thereby achieving the effect of reducing the noise of the range extender, avoiding the problem that the vehicle body noise is reduced due to the rapid decrease in vehicle speed, and the range extender speed decreases slowly, resulting in a slow reduction in the range extender noise, making the range extender noise more obvious, affecting the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0010] Figure 1 It is a flow chart of a range extender control method provided in an embodiment of the present application;

[0011] Figure 2 is a flow chart of another range extender control method provided in an embodiment of the present application;

[0012] Figure 3 is a flow chart of another range extender control method provided in an embodiment of the present application;

[0013] Figure 4 It is a flow chart of another range extender control method provided in an embodiment of the present application;

[0014] Figure 5 A basic schematic diagram of the intersection of a first driving trajectory of a current vehicle and a second driving trajectory of a target vehicle provided by an embodiment of the present application;

[0015] Figure 6 is a flow chart of another optional range extender control method provided in an embodiment of the present application;

[0016] Figure 7 is a flow chart of another optional range extender control method provided in an embodiment of the present application;

[0017] Figure 8 It is a basic structural schematic diagram of a vehicle provided in an embodiment of the present application;

[0018] Fig. 9 It is a flowchart of another optional range extender control method provided in an embodiment of the present application;

[0019] Fig.10 It is a structural schematic diagram of a range extender control device provided in an embodiment of the present application;

[0020] Fig.11 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0022] A range extender control method and device according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0023] The present application provides a range extender control method. Figure 1 A range extender control method provided in an embodiment of the present application is as follows: Figure 1 As shown, the method includes:

[0024] S101, obtaining a first driving trajectory corresponding to a current vehicle, and obtaining a second driving trajectory corresponding to a target vehicle, where the target vehicle is a vehicle whose distance from the current vehicle is less than a preset distance threshold;

[0025] S102, determining a collision probability between the current vehicle and the target vehicle according to the first driving trajectory and the second driving trajectory;

[0026] S103: If the collision probability is greater than a preset probability threshold, determining the collision time between the current vehicle and the target vehicle;

[0027] S104: Determine a speed reduction strategy for a range extender of the current vehicle according to the collision time, and control the range extender according to the speed reduction strategy.

[0028] It can be understood that the range extender control method provided in this example is applied to vehicles equipped with range extenders, including vehicles with automatic driving or intelligent driving (including vehicles with passenger functions (such as cars, buses, large buses, minibuses, etc.), vehicles with cargo functions (such as ordinary trucks, vans, trailers, closed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, trucks with special structures), special vehicles (such as logistics distribution vehicles, automatic guided transport vehicles AGV, patrol cars, cranes, cranes, excavators, bulldozers, forklifts, rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, vacuum trucks, floor washing vehicles, sprinkler trucks, sweeping robots, food delivery robots, shopping guide robots, lawn mowers, golf carts, etc.), vehicles with entertainment functions (such as entertainment vehicles, amusement park automatic driving devices, balance cars, etc.), rescue vehicles (such as fire trucks, ambulances, power repair vehicles, engineering rescue vehicles, etc.)), etc.

[0029] It can be understood that the current vehicle can predict the driving trajectory of the vehicle by combining its own vehicle status (such as driving speed, acceleration, driving direction) with environmental information obtained by sensors (such as global positioning system, inertial measurement unit, camera, lidar and other sensors) to obtain a first driving trajectory.

[0030] It can be understood that the target vehicle referred to in the present application is a vehicle whose distance from the current vehicle is lower than a preset distance threshold; therefore, the current vehicle can obtain the vehicle status of the target vehicle and the environmental information corresponding to the environment in which the target vehicle is located through cameras, millimeter-wave radars and other equipment, and predict the driving trajectory of the target vehicle based on the vehicle status and environmental information of the target vehicle to obtain a second driving trajectory.

[0031] In some examples, the present application determines the collision probability between the current vehicle and the target vehicle based on the first driving trajectory and the second driving trajectory; specifically, determining the collision probability between the current vehicle and the target vehicle based on the first driving trajectory and the second driving trajectory includes: determining whether there is an intersection between the first driving trajectory and the second driving trajectory, and if there is an intersection between the first driving trajectory and the second driving trajectory, determining that the collision probability between the current vehicle and the target vehicle is a first collision probability, and the first collision probability is greater than a preset probability threshold; if there is no intersection between the first driving trajectory and the second driving trajectory, determining that the collision probability between the current vehicle and the target vehicle is a second collision probability, and the first collision probability is less than or equal to a preset probability threshold.

[0032] In some examples, when the collision probability between the current vehicle and the target vehicle is greater than the probability threshold, the present application will further determine the collision time between the current vehicle and the target vehicle, which is the time point at which the current vehicle and the target vehicle may collide. It can be understood that the above collision time is a time length obtained by calculation, for example, 5 seconds, 10 seconds, etc.

[0033] Continuing with the above example, in order to avoid the problem that the vehicle speed is reduced too quickly (the user actively brakes or triggers automatic braking) at a certain point in time during the collision, causing the user to feel the loud noise of the range extender, the present application will determine the speed reduction strategy of the range extender of the current vehicle according to the collision time, and control the range extender according to the speed reduction strategy to reduce the speed of the range extender, so that when the vehicle's driving speed is reduced, the speed of the range extender has been reduced in advance, reducing the noise of the range extender, and avoiding the problem that the vehicle's speed drops rapidly and brings about a reduction in body noise, while the speed of the range extender drops slowly, resulting in a slow reduction in the range extender noise, making the range extender noise more obvious, affecting the user's driving experience.

[0034] According to the technical solution provided in the embodiment of the present application, a first driving trajectory corresponding to the current vehicle is obtained, and a second driving trajectory corresponding to the target vehicle is obtained. According to the first driving trajectory and the second driving trajectory, the collision probability of the current vehicle and the target vehicle is determined; if the collision probability is greater than the probability threshold, the collision time of the current vehicle and the target vehicle is determined; according to the collision time, the speed reduction strategy of the range extender of the current vehicle is determined, and the range extender is controlled according to the speed reduction strategy. The present application determines the speed reduction strategy of the range extender of the current vehicle according to the collision time, and controls the range extender according to the speed reduction strategy to reduce the speed of the range extender, so that when the vehicle reduces the driving speed within the collision time, the speed of the range extender has been reduced in advance, thereby achieving the effect of reducing the noise of the range extender, avoiding the problem that the vehicle body noise is reduced due to the rapid decrease in vehicle speed, and the range extender speed decreases slowly, resulting in a slow reduction in the range extender noise, making the range extender noise more obvious, affecting the user's driving experience.

[0035] In some embodiments, Figure 2 As shown, the speed reduction strategy of the range extender of the current vehicle is determined according to the collision time, including:

[0036] S201, comparing the collision time with a preset first calibration time;

[0037] S202: If the collision time is less than or equal to the first calibration time, determine that the speed reduction strategy is to reduce the speed of the range extender.

[0038] It can be understood that the first calibration time is a time set by relevant personnel according to actual conditions. When the collision time is greater than the first calibration time, the user or the vehicle's active braking system has sufficient time to slow down the vehicle, and the vehicle's driving speed will not drop rapidly. When the vehicle's driving speed drops slowly, the speed of the range extender also drops slowly. Therefore, when the collision time is greater than the first calibration time, the noise of the range extender will not become more obvious. At this time, there is no need to determine the speed reduction strategy, and the speed of the range extender can be reduced when the vehicle's driving speed decreases subsequently.

[0039] When the collision time is less than or equal to the first calibration time, the user or the vehicle's active braking system has less time to decelerate the vehicle, causing the vehicle's driving speed to drop rapidly during the collision time. When the vehicle's driving speed drops rapidly, the speed of the range extender cannot drop rapidly. Therefore, when the collision time is less than the first calibration time, the noise of the range extender may become more obvious. Therefore, it is necessary to determine the speed reduction strategy at this time.

[0040] Continuing with the above example, in order to avoid the noise of the range extender becoming more obvious and affecting the driving experience, the present application determines that the speed reduction strategy is to reduce the speed of the range extender when the collision time is less than or equal to the first calibration time. The speed reduction strategy is used to instruct the vehicle's range extender to start reducing the speed immediately, rather than reducing the speed of the range extender after the vehicle's driving speed drops.

[0041] Exemplarily, the collision time is recorded as ttc, the first calibration time is recorded as T1 s, and ttc is compared with T1 s. If ttc≤T1 s, the vehicle controller directly starts to reduce the speed of the range extender to avoid the vehicle's speed being reduced too quickly (when there is a risk of collision, the user actively brakes or triggers automatic braking, causing the vehicle speed to be reduced too quickly), causing the user to feel the louder noise of the range extender.

[0042] It can be understood that when ttc≤T1s, the intelligent driving domain controller sends a collision warning corresponding to ttc≤T1s to the vehicle controller through the gateway. When the vehicle controller receives the collision warning sent by the intelligent driving domain controller, it sends a speed reduction instruction to the engine management system. The vehicle controller receives the execution feedback result of the engine management system and sends the execution feedback to the intelligent driving domain controller through the gateway.

[0043] According to the technical solution provided in the embodiment of the present application, the collision time is compared with a pre-set first calibration time; if the collision time is less than or equal to the first calibration time, the speed reduction strategy is determined to be to reduce the speed of the range extender, wherein when the collision time is less than or equal to the first calibration time, the user or the vehicle's active braking system has less time to decelerate the vehicle, resulting in the vehicle's driving speed to drop rapidly within the collision time. When the vehicle's driving speed drops rapidly, the speed of the range extender cannot drop rapidly. Therefore, when the collision time is less than the first calibration time, the noise of the range extender may become more obvious. The present application determines that the speed reduction strategy is to reduce the speed of the range extender when the collision time is less than or equal to the first calibration time. The speed reduction strategy is used to instruct the vehicle's range extender to start reducing the speed immediately, rather than reducing the speed of the range extender after the vehicle's driving speed drops, to avoid the noise of the range extender becoming more obvious, thereby affecting the driving experience.

[0044] In some embodiments, Figure 3 As shown, the speed reduction strategy of the range extender of the current vehicle is determined according to the collision time, including:

[0045] S301, comparing the collision time with a preset second calibration time;

[0046] S302: If the collision time is less than or equal to the second calibration time, determine that the speed reduction strategy is to inhibit the operation of the range extender.

[0047] It can be understood that the second calibration time is a time set by relevant personnel based on actual conditions. In some examples, the second calibration time is the minimum braking time for the current vehicle to decelerate to a safe speed. When the collision time is less than or equal to the second calibration time, the user or the vehicle's active braking system cannot reduce the vehicle's speed to a safe speed (or cannot stop the vehicle), resulting in a greater risk of direct collision between the target vehicle and the current vehicle.

[0048] Continuing with the above example, in order to avoid the current vehicle colliding with the target vehicle due to insufficient braking time, resulting in the failure of the high-speed rotating parts of the range extender, causing friction fire to ignite the fuel or rotation to injure people, the present application will determine the speed reduction strategy to suppress the operation of the range extender when the collision time is less than or equal to the second calibration time. Suppressing the operation of the range extender includes: controlling the range extender to stop running, and issuing a range extender inhibition instruction to the engine management system, so that the engine management system stops supplying fuel to the range extender, and after the engine management system receives the range extender inhibition instruction, it will not send a start instruction to the range extender, so as to avoid safety accidents caused by accidentally starting the range extender.

[0049] Exemplarily, the collision time is recorded as ttc, the second calibration time is recorded as T2s, and ttc is compared with T2s. If ttc≤T2s, the vehicle controller directly shuts down the range extender. The specific strategy is as follows: the intelligent driving domain controller sends a collision warning of ttc≤T2s to the vehicle controller through the gateway. The vehicle controller receives the collision warning of ttc≤T2s sent by the intelligent driving domain controller. The vehicle controller sends a fuel cut-off instruction and a shutdown instruction to the engine management system. The vehicle controller prohibits the range extender from starting before the collision warning is lifted. The vehicle controller receives the execution feedback result of the engine management system and sends the execution feedback to the intelligent driving domain controller through the gateway.

[0050] In some examples, if T2s<ttc≤T1s, the vehicle controller will directly start to reduce the speed of the range extender to avoid the user feeling the loud noise of the range extender due to the vehicle's speed being reduced too quickly (when there is a risk of collision, the user actively brakes or triggers automatic braking, causing the vehicle speed to be reduced too quickly).

[0051] Similarly, when T2s<ttc≤T1 s, the intelligent driving domain controller sends a collision warning corresponding to T2s<ttc≤T1 s to the vehicle controller through the gateway. When the vehicle controller receives the collision warning sent by the intelligent driving domain controller, it sends a speed reduction command to the engine management system. The vehicle controller receives the execution feedback result of the engine management system and sends the execution feedback to the intelligent driving domain controller through the gateway.

[0052] According to the technical solution provided in the embodiment of the present application, the collision time is compared with a pre-set second calibration time; if the collision time is less than or equal to the second calibration time, the speed reduction strategy is determined to inhibit the operation of the range extender. When the user or the vehicle's active braking system cannot reduce the vehicle's driving speed to a safe speed (or cannot stop the vehicle), resulting in a greater direct collision risk between the target vehicle and the current vehicle, the present application will control the range extender to stop running, and send a range extender inhibition instruction to the engine management system, so that the engine management system stops supplying oil to the range extender, and after receiving the range extender inhibition instruction, the engine management system will not send a start instruction to the range extender, thereby avoiding failure of the high-speed rotating parts of the range extender, resulting in friction fire that ignites the fuel or a safety accident caused by rotation that injures people.

[0053] In some embodiments, Figure 4 As shown, determining the collision time between the current vehicle and the target vehicle includes:

[0054] S401, determining a trajectory intersection point according to a first driving trajectory and a second driving trajectory, and determining a driving distance between a current vehicle and the trajectory intersection point;

[0055] S402: Obtain the current vehicle's driving speed, determine the driving time for the current vehicle to reach the trajectory intersection point based on the driving speed and the driving distance, and use the driving time as the collision time.

[0056] It can be understood that the trajectory intersection point is determined according to the first driving trajectory and the second driving trajectory. Specifically, the place where the first driving trajectory and the second driving trajectory intersect is the trajectory intersection point.

[0057] After determining the track intersection point, the application will determine the travel distance between the current vehicle and the track intersection point, specifically, Figure 5 As shown, Figure 5 ① and ② are schematic diagrams of the intersection of the first driving trajectory of the current vehicle and the second driving trajectory of the target vehicle, respectively. In this application, the distance between the current vehicle and the intersection point of the trajectories is recorded as d1, the driving speed of the current vehicle is recorded as v1, the distance between the target vehicle and the intersection point of the trajectories is recorded as d2, and the driving speed of the target vehicle is recorded as v2. This application will subsequently use the distance d1 between the current vehicle and the intersection point of the trajectories as the driving distance between the current vehicle and the intersection point of the trajectories.

[0058] Then this application will obtain the current driving speed of the vehicle, and determine the driving time for the vehicle to reach the intersection point of the trajectories based on the driving speed and the driving distance. The driving time is the collision time. Specifically, the current driving speed of the vehicle is recorded as v1, and the driving distance between the current vehicle and the intersection point of the trajectories is recorded as d1, then the collision time (driving time) ttc = d1 / V1.

[0059] According to the technical solution provided in the embodiment of the present application, the intersection point of the trajectories is determined according to the first driving trajectory and the second driving trajectory, and the driving distance between the current vehicle and the intersection point of the trajectories is determined; the driving speed of the current vehicle is obtained, and the driving time of the vehicle to the intersection point of the trajectories is determined according to the driving speed and the driving distance, and the driving time is used as the collision time. The present application realizes accurate determination of the time when the current vehicle travels to the intersection point of the trajectories through the above method, and further realizes accurate determination of the collision time when the current vehicle may collide with the target vehicle.

[0060] In some embodiments, Figure 6 As shown, obtaining the first driving trajectory corresponding to the current vehicle includes:

[0061] S601, obtaining the current driving speed of the vehicle;

[0062] S602: If the current driving speed of the vehicle is higher than a preset speed threshold, a first driving trajectory corresponding to the current vehicle is obtained.

[0063] It is understandable that if the current vehicle speed is slow and the speed of the range extender is low, there will be no rapid decrease in vehicle speed leading to a reduction in body noise, while the range extender speed decreases slowly, resulting in a slower reduction in range extender noise, making the range extender noise more obvious and affecting the user's driving experience.

[0064] Based on the above reasons, this application will obtain the current vehicle's driving speed and compare the driving speed with a preset speed threshold (the speed threshold is set in advance by relevant personnel to determine the speed value at which the noise caused by the corresponding range extender's rotation speed will not affect the user's driving experience). If the current vehicle's driving speed is higher than the speed threshold, the current vehicle may have the above-mentioned problem, so this application will obtain the first driving trajectory corresponding to the current vehicle; if the driving speed of the front vehicle is less than or equal to the speed threshold, the current vehicle does not have the above-mentioned problem, so this application will not obtain the first driving trajectory corresponding to the current vehicle, and accordingly, the subsequent steps will not be executed.

[0065] According to the technical solution provided in the embodiment of the present application, the current driving speed of the vehicle is obtained, and the driving speed is compared with a preset speed threshold; if the current driving speed of the vehicle is higher than the speed threshold, the first driving trajectory corresponding to the current vehicle is obtained. The present application will only obtain the first driving trajectory corresponding to the current vehicle when there is a problem that the vehicle's driving speed drops rapidly, resulting in a reduction in body noise, while the range extender speed drops slowly, resulting in a slow reduction in range extender noise, making the range extender noise more obvious, affecting the user's driving experience. When the vehicle does not have the above problem, the first driving trajectory corresponding to the current vehicle will not be obtained, thereby avoiding invalid acquisition of the first driving trajectory corresponding to the current vehicle and saving system resources.

[0066] In some embodiments, Figure 7 As shown, the range extender is controlled according to the speed reduction strategy, including:

[0067] S701, obtaining the remaining power of the power battery of the current vehicle;

[0068] S702: If the remaining power is greater than or equal to a preset power threshold, the range extender is controlled according to a speed reduction strategy.

[0069] It can be understood that in order to avoid controlling the range extender according to the speed reduction strategy, resulting in the power battery being unable to meet the power requirements of the vehicle, thereby causing safety hazards such as stalling, the present application also needs to further obtain the remaining power of the power battery of the current vehicle when controlling the range extender according to the speed reduction strategy, and compare the remaining power with a pre-set power threshold, which is the minimum power that can meet the power requirements of the vehicle.

[0070] Among them, if the remaining power is greater than or equal to the power threshold, when the speed of the range extender decreases or stops, the power battery can still meet the power requirements of the vehicle and will not cause safety hazards. At this time, the current vehicle will control the range extender according to the speed reduction strategy.

[0071] If the remaining power is greater than or equal to the power threshold, when the speed of the range extender decreases or stops, the power battery cannot meet the power requirements of the vehicle, posing a safety hazard. The current vehicle will not control the range extender according to the speed reduction strategy.

[0072] In order to better understand the present application, the present application provides a more specific example for illustration, such as Figure 8 As shown, Figure 8 The figure shows a basic structural diagram of a vehicle provided by the present application. Figure 8 As shown, the vehicle controller, engine management system, and intelligent driving domain controller are all connected to the gateway, and the intelligent driving domain controller is also connected to the camera and millimeter-wave radar. The current vehicle uses millimeter-wave radar, and utilizes the beamforming technology of the millimeter-wave radar. By analyzing the radar signal reflected back by the object, the distance, speed, angle and other information between the object and the vehicle can be accurately calculated, and multiple objects can be tracked at the same time, thereby obtaining the distance between the vehicle and the current vehicle. The millimeter-wave radar sends the collected distance, speed, and angle information between the object and the current vehicle to the intelligent driving domain controller to determine the target vehicle.

[0073] The current vehicle is also photographed in real time through the camera, and the vehicle is identified through image processing technology, and then the target vehicle is determined, and then the first driving trajectory corresponding to the current vehicle is obtained, and the second driving trajectory corresponding to the target vehicle is obtained. According to the first driving trajectory and the second driving trajectory, the collision probability between the current vehicle and the target vehicle is determined; if the collision probability is greater than the probability threshold, the intelligent driving domain controller calculates the collision time ttc between the target vehicle and the current vehicle based on the distance, speed, angle and other information between the target vehicle and the current vehicle sent by the millimeter-wave radar. Then judge ttc, if T2s (calibrated value) < ttc ≤ T1 s (calibrated value), the side collision warning (level 1) is triggered, and if ttc ≤ T2s (calibrated value), the side collision warning (level 2) is triggered, and the side collision warning signal is sent to the vehicle controller through the gateway;

[0074] The vehicle controller receives the side collision warning signal sent by the intelligent driving domain controller, determines the signal level and processes it in a graded manner. When there is a side collision warning (level 1), the vehicle controller requests the engine management system to reduce the range extender speed (calibrated value) in advance; when there is a side collision warning (level 2), the vehicle controller requests the engine management system to shut down the range extender and shield any range extender start request, and the vehicle controller requests the electronic stability system to perform auxiliary braking control; the engine management system receives a speed reduction request or a shutdown request, and controls the range extender speed reduction or controls the range extender shutdown;

[0075] The role of the gateway is to convert and transmit data between different networks, forward the side collision warning signal of the intelligent driving domain controller to the vehicle controller, and receive the execution feedback of the vehicle controller.

[0076] According to the technical solution provided in the embodiment of the present application, the remaining power of the power battery of the current vehicle is obtained, and the remaining power is compared with a preset power threshold; if the remaining power is greater than or equal to the power threshold, the range extender is controlled according to the speed reduction strategy. When the remaining power is greater than or equal to the power threshold, the range extender is controlled according to the speed reduction strategy, thereby ensuring that when the speed of the range extender decreases or stops, the power battery can still meet the power demand of the vehicle and will not cause safety hazards.

[0077] In some embodiments, Fig. 9 As shown, after the range extender is controlled according to the speed reduction strategy, the method further includes:

[0078] S901, determining whether the current vehicle has collided, and if the current vehicle has collided, obtaining the physiological state of the driver and passengers in the current vehicle;

[0079] S902: When the physiological state of the driver and passengers in the current vehicle is abnormal, a rescue reminder is issued.

[0080] Specifically, if the current vehicle collides, causing the driver and passengers to become unconscious, injured or other abnormal conditions, it is often difficult for the driver and passengers to call for help on their own in the above abnormal conditions, resulting in delayed rescue time.

[0081] Based on the above reasons, after controlling the range extender according to the speed reduction strategy, the present application will further determine whether the current vehicle has collided. In the event of a collision, the physiological state of the driver and passengers in the current vehicle will be obtained; when the physiological state of the driver and passengers is abnormal, a rescue reminder will be issued, and the rescue reminder will include online rescue reminders and offline rescue reminders. The online rescue reminder is to send a message requiring rescue to a pre-set contact (such as first aid personnel, emergency contact personnel), and the offline reminder is to send a message requiring rescue through the current vehicle's own audio.

[0082] It is understandable that if the vehicle is not in a collision or the physiological state of the driver or passenger is not abnormal, no rescue reminder will be issued.

[0083] According to the technical solution provided in the embodiment of the present application, it is determined whether the current vehicle has collided. In the event that the current vehicle has collided, the physiological state of the driver and passengers in the current vehicle is obtained; in the event that the physiological state of the driver and passengers in the current vehicle is abnormal, a rescue reminder is issued so that the rescue personnel can be informed of the abnormal state of the driver and passengers in time, and then rescue the driver and passengers in time.

[0084] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0085] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0086] This embodiment also provides a range extender control device, such as Fig.10 As shown, the device comprises:

[0087] The trajectory module 1001 is configured to obtain a first driving trajectory corresponding to the current vehicle and obtain a second driving trajectory corresponding to a target vehicle, where the target vehicle is a vehicle whose distance from the current vehicle is less than a preset distance threshold;

[0088] The collision module 1002 is configured to determine the collision probability between the current vehicle and the target vehicle according to the first driving trajectory and the second driving trajectory; if the collision probability is greater than the probability threshold, determine the collision time between the current vehicle and the target vehicle;

[0089] The control module 1003 is configured to determine a speed reduction strategy of the range extender of the current vehicle according to the collision time, and control the range extender according to the speed reduction strategy.

[0090] In some examples, the control module 1003 is further configured to compare the collision time with a preset first calibration time; if the collision time is less than or equal to the first calibration time, the speed reduction strategy is determined to reduce the speed of the range extender.

[0091] In some examples, the control module 1003 is further configured to compare the collision time with a preset second calibration time; if the collision time is less than or equal to the second calibration time, determine that the speed reduction strategy is to inhibit the operation of the range extender.

[0092] In some examples, the collision module 1002 is configured to determine a trajectory intersection point based on a first driving trajectory and a second driving trajectory, and determine a driving distance between a current vehicle and the trajectory intersection point; obtain a driving speed of the current vehicle, determine a driving time for the vehicle to reach the trajectory intersection point based on the driving speed and the driving distance, and use the driving time as a collision time.

[0093] In some examples, the trajectory module 1001 is further configured to obtain the current vehicle's driving speed; if the current vehicle's driving speed is higher than a speed threshold, a first driving trajectory corresponding to the current vehicle is obtained.

[0094] In some examples, the control module 1003 is further configured to obtain the remaining power of the power battery of the current vehicle; if the remaining power is greater than or equal to the power threshold, the range extender is controlled according to the speed reduction strategy.

[0095] In some examples, the control module 1003 is also configured to determine whether the current vehicle has collided, and if the current vehicle has collided, obtain the physiological state of the occupants in the current vehicle; if the physiological state of the occupants in the current vehicle is abnormal, issue a rescue reminder.

[0096] According to the technical solution provided in the embodiment of the present application, the range extender control device provided in the present embodiment obtains the first driving trajectory corresponding to the current vehicle and the second driving trajectory corresponding to the target vehicle, and determines the collision probability between the current vehicle and the target vehicle according to the first driving trajectory and the second driving trajectory; if the collision probability is greater than the probability threshold, the collision time between the current vehicle and the target vehicle is determined; the speed reduction strategy of the range extender of the current vehicle is determined according to the collision time, and the range extender is controlled according to the speed reduction strategy. The present application determines the speed reduction strategy of the range extender of the current vehicle according to the collision time, and controls the range extender according to the speed reduction strategy to reduce the speed of the range extender, so that when the vehicle reduces the driving speed within the collision time, the speed of the range extender has been reduced in advance, thereby achieving the effect of reducing the noise of the range extender, avoiding the problem that the vehicle body noise is reduced due to the rapid decrease in vehicle speed, and the range extender speed decreases slowly, resulting in a slow reduction in the range extender noise, making the range extender noise more obvious, affecting the user's driving experience.

[0097] Fig.11 Schematic diagram of an electronic device 11 provided in an embodiment of the present application. Fig.11 As shown, the electronic device 11 of this embodiment includes: a processor 1101, a memory 1102, and a computer program 1103 stored in the memory 1102 and executable on the processor 1101. When the processor 1101 executes the computer program 1103, the steps in each of the above method embodiments are implemented. Alternatively, when the processor 1101 executes the computer program 1103, the functions of each module / unit in each of the above device embodiments are implemented.

[0098] The electronic device 11 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 11 may include, but is not limited to, a processor 1101 and a memory 1102. Those skilled in the art will appreciate that Fig.11 The electronic device 11 is merely an example and does not limit the electronic device 11 , and may include more or less components than those shown in the figure, or different components.

[0099] The processor 1101 may be a central processing unit (CPU), or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0100] The memory 1102 may be an internal storage unit of the electronic device 11, for example, a hard disk or memory of the electronic device 11. The memory 1102 may also be an external storage device of the electronic device 11, for example, a plug-in hard disk, a smart memory card (Smart Med ia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 11. The memory 1102 may also include both an internal storage unit of the electronic device 11 and an external storage device. The memory 1102 is used to store computer programs and other programs and data required by the electronic device.

[0101] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of each functional unit and module is used as an example. In actual application, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit, and the above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0102] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of each of the above-mentioned method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier distance, telecommunication distance and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of regional requirements and patent practice. For example, in some areas, according to regional requirements and patent practice, the computer-readable medium does not include electric carrier distance and telecommunication distance.

[0103] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in each of the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of each embodiment of the present application, and should all be included in the protection scope of the present application.

Claims

1. A range extender control method, characterized in that: The method comprises: Acquire a first driving trajectory corresponding to the current vehicle, and acquire a second driving trajectory corresponding to a target vehicle, wherein the target vehicle is a vehicle whose distance from the current vehicle is less than a preset distance threshold; Determining a collision probability between the current vehicle and the target vehicle according to the first driving trajectory and the second driving trajectory; If the collision probability is greater than a preset probability threshold, determining a collision time between the current vehicle and the target vehicle; A speed reduction strategy of the range extender of the current vehicle is determined according to the collision time, and the range extender is controlled according to the speed reduction strategy.

2. The method according to claim 1, characterized in that Determining a speed reduction strategy of a range extender of the current vehicle according to the collision time includes: Comparing the collision time with a preset first calibration time; If the collision time is less than or equal to the first calibration time, it is determined that the speed reduction strategy is to reduce the speed of the range extender.

3. The method according to claim 1, characterized in that Determining a speed reduction strategy of a range extender of the current vehicle according to the collision time includes: comparing the collision time with a preset second calibration time; If the collision time is less than or equal to the second calibration time, it is determined that the speed reduction strategy is to inhibit the operation of the range extender.

4. The method according to claim 1, characterized in that: Determining a collision time between the current vehicle and the target vehicle includes: Determining a trajectory intersection point according to the first driving trajectory and the second driving trajectory, and determining a driving distance between the current vehicle and the trajectory intersection point; The driving speed of the current vehicle is obtained, and the driving time of the current vehicle to the intersection point of the trajectories is determined according to the driving speed and the driving distance, and the driving time is used as the collision time.

5. The method according to claim 1, characterized in that Obtaining the first driving trajectory corresponding to the current vehicle, including: Obtaining the current driving speed of the vehicle; If the current vehicle's driving speed is higher than a preset speed threshold, the first driving trajectory corresponding to the current vehicle is acquired.

6. The method according to claim 1, characterized in that Controlling the range extender according to the speed reduction strategy includes: Obtaining the remaining power of the power battery of the current vehicle; If the remaining power is greater than or equal to a preset power threshold, the range extender is controlled according to the speed reduction strategy.

7. The method according to claim 1, characterized in that After controlling the range extender according to the speed reduction strategy, the method further includes: Determining whether the current vehicle has collided, and obtaining the physiological state of a driver and passenger in the current vehicle if the current vehicle has collided; When the physiological state of the driver and occupants in the current vehicle is abnormal, a rescue reminder is issued.

8. A range extender control device, characterized in that: The device comprises: a trajectory module, configured to obtain a first driving trajectory corresponding to a current vehicle, and obtain a second driving trajectory corresponding to a target vehicle, wherein the target vehicle is a vehicle whose distance from the current vehicle is less than a preset distance threshold; a collision module, configured to determine a collision probability between the current vehicle and the target vehicle according to the first driving trajectory and the second driving trajectory; and if the collision probability is greater than a preset probability threshold, determine a collision time between the current vehicle and the target vehicle; The control module is configured to determine a speed reduction strategy of the range extender of the current vehicle according to the collision time, and control the range extender according to the speed reduction strategy.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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