Vehicle, control method and control device thereof, and storage medium

Abstract

The invention discloses a vehicle, a control method and device of the vehicle and a storage medium, and the control method of the vehicle comprises the steps that in response to energy recovery instruction information, the energy recovery distance of the vehicle is determined according to working parameters and environment information of the vehicle; and controlling the vehicle to enter an energy recovery driving mode according to the energy recovery distance and the relative distance between the vehicle and the front obstacle. According to the scheme, in the energy recovery process, it can be guaranteed that the vehicle is braked to the target position without stepping on the accelerator pedal again for acceleration, energy consumption of the vehicle is not increased, and meanwhile the vehicle can be controlled to run or brake according to the intention of a driver.

Description

Vehicle, control method thereof, control device and storage medium

Technical field

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

[0002] With the development of energy recovery technology, new energy vehicles often include an energy recovery function. This function converts kinetic energy from braking or coasting into electrical energy through the reverse pull of the motor. However, during the energy recovery process, existing vehicles may fail to brake to the target position, requiring the accelerator pedal to accelerate again to continue the vehicle forward. This does not meet the driver's intention and may even increase the vehicle's energy consumption due to repeated acceleration.

[0003] [Summary of the invention]

[0004] The present application at least provides a vehicle and its control method, control device and storage medium, which can solve the problem that during the energy recovery process of existing vehicles, the vehicle may not be able to brake to the target position and needs to step on the accelerator pedal again to accelerate the vehicle to continue moving forward, which is not in line with the driver's intention and may even increase the energy consumption of the entire vehicle due to repeated acceleration.

[0005] The present application provides a vehicle control method, which includes: responding to energy recovery instruction information, determining the energy recovery distance of the vehicle according to the vehicle's operating parameters and environmental information; and controlling the vehicle to enter an energy recovery driving mode according to the energy recovery distance and the relative distance between the vehicle and a front obstacle.

[0006] In the above scheme, the energy recovery driving mode can be selected according to the energy recovery distance and the relative distance between the vehicle and the obstacle in front, so as to avoid the problem that the vehicle cannot be braked to the target position during the energy recovery process. That is, during the energy recovery process, there is no need to step on the accelerator pedal again to accelerate, and the vehicle can be braked to the target position. Not only can the vehicle maximize energy recovery to stop or decelerate to the target speed at the position where it needs to stop, and will not increase the energy consumption of the vehicle, but it can also control the vehicle to drive or brake according to the driver's intention.

[0007] In some embodiments, the energy recovery driving mode includes automatic cruising and energy recovery braking; the step of controlling the vehicle to enter the energy recovery driving mode based on the energy recovery distance and the relative distance between the vehicle and the obstacle ahead includes: if the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance, controlling the vehicle to perform automatic cruising; if the relative distance between the vehicle and the obstacle ahead reaches the energy recovery distance, controlling the vehicle to enter energy recovery braking.

[0008] In the above scheme, the vehicle is controlled to perform automatic cruising when the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance; on the one hand, the pressure on the driver's feet can be relieved; on the other hand, automatic following can be achieved; at the same time, it can prevent the vehicle from slowing down prematurely, causing the vehicle to enter the energy recovery braking process and fail to brake to the target position; and when the relative distance between the vehicle and the obstacle ahead reaches the energy recovery distance, the vehicle is controlled to enter the energy recovery braking, which not only achieves energy recovery but also does not increase the energy consumption of the vehicle; this scheme enables the driver to release the accelerator pedal at any time when the relative distance between the vehicle and the obstacle ahead is within or outside the energy recovery distance, and the vehicle can be controlled to drive or brake according to the driver's intention; it does not increase the driver's operation, nor does it cause a large energy consumption of the entire vehicle due to repeated acceleration.

[0009] In some embodiments, if the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance, the step of controlling the vehicle to perform automatic cruising includes: if the obstacle ahead is a static obstacle, controlling the vehicle to perform automatic cruising at a set speed.

[0010] This not only allows the vehicle to continue moving forward, but also prevents the vehicle from slowing down prematurely due to the release of the accelerator pedal, which results in the vehicle being unable to brake to the target position or slow down to the preset speed after the relative distance between the vehicle and the obstacle ahead is within the energy recovery distance.

[0011] In some embodiments, if the distance between the vehicle and the obstacle ahead is greater than the energy recovery distance, the step of controlling the vehicle to perform automatic cruising includes: if the obstacle ahead is a dynamic obstacle, controlling the vehicle to perform automatic cruising according to the movement speed of the obstacle ahead.

[0012] In the above scheme, the vehicle can be prevented from affecting the forward movement of the vehicle behind it, and the purpose of automatic forward movement can be achieved without colliding with the vehicle in front.

[0013] In some embodiments, if the obstacle ahead is a dynamic obstacle, the step of controlling the vehicle to automatically cruise according to the movement speed of the obstacle ahead includes: if the movement speed of the dynamic obstacle is less than a first preset value, the vehicle automatically cruises at a first set speed; wherein the first preset value is less than the first set speed.

[0014] In the above scheme, by making the vehicle automatically cruise at the first set speed, not only can the vehicle's driving speed be prevented from being too low, which greatly reduces the practicality of the vehicle and significantly reduces the user experience; but the stable vehicle speed can also minimize the battery loss of the vehicle.

[0015] In some embodiments, the step of controlling the vehicle to enter the energy recovery driving mode based on the energy recovery distance and the relative distance between the vehicle and the obstacle ahead includes: if the relative distance between the vehicle and the obstacle ahead is equal to or less than the energy recovery distance, controlling the vehicle to enter energy recovery braking.

[0016] In the above solution, by ensuring that the relative distance between the vehicle and the obstacle ahead is equal to or less than the energy recovery distance, the vehicle is controlled to enter energy recovery braking, which can substantially save energy loss of the vehicle.

[0017] In some embodiments, the step of determining the energy recovery distance of the vehicle in response to energy recovery instruction information based on the operating parameters and environmental information of the vehicle includes: determining the maximum deceleration of the vehicle using the vehicle speed, the movement speed of the obstacle in front, the relative distance between the vehicle and the obstacle in front, the maximum torque of the vehicle, and the comfort requirement of the vehicle; and determining the energy recovery distance of the vehicle at the current speed and the relative distance based on the maximum deceleration.

[0018] In the above scheme, the energy recovery distance is determined in real time by utilizing the vehicle speed, the movement speed of the obstacle in front, the relative distance between the vehicle and the obstacle in front, the maximum torque of the vehicle, and the comfort requirement of the vehicle to ensure that the vehicle always maintains a safe distance from the obstacle in front. During the vehicle control process, the current driving mode of the vehicle can be controlled in real time according to the energy recovery distance, so as to maximize the use of energy recovery braking to automatically control the vehicle to brake to the target position.

[0019] In some embodiments, before the step of controlling the vehicle to enter energy regenerative braking, it also includes: determining the relative speed of the vehicle and the obstacle in front based on the vehicle speed and the movement speed of the obstacle in front; determining the vehicle's current target deceleration based on the relative speed and the energy regeneration distance; wherein the target deceleration is less than the maximum deceleration; the step of controlling the vehicle to enter energy regenerative braking includes: controlling the vehicle to perform energy regenerative braking at the target deceleration.

[0020] In the above scheme, by determining the current target deceleration of the vehicle based on the relative speed and the energy recovery distance, and controlling the vehicle to recover energy at the target deceleration, the deceleration of the vehicle can be adjusted in real time during the recovery process, so that the vehicle can be smoothly braked to the target position through energy recovery at this deceleration.

[0021] In some embodiments, the step of controlling the vehicle to perform energy recovery braking at the target deceleration further includes: if the vehicle cannot be braked within the energy recovery distance or maintain a safe distance from the obstacle ahead at the current target deceleration, synchronously calling the vehicle's hydraulic brake to brake the vehicle.

[0022] In the above scheme, when the current target deceleration cannot brake the vehicle within the energy recovery distance or maintain a safe distance from the obstacle in front, energy recovery braking and hydraulic mechanical braking are used synchronously to brake the vehicle or maintain a safe distance from the vehicle in front, thereby avoiding collision between the vehicle and the obstacle in front.

[0023] In some embodiments, before the step of determining the energy recovery distance of the vehicle according to the operating parameters and environmental information of the vehicle in response to the energy recovery instruction information, it also includes: using a binocular camera and / or radar to monitor the movement speed of the obstacle in front and the relative distance between the vehicle and the obstacle in front.

[0024] In the above scheme, by using binocular cameras and / or radars to monitor the movement speed of the obstacle in front and the relative distance between the vehicle and the obstacle in front, relevant data can be automatically acquired, and when the camera and radar monitor the relevant data at the same time, the monitoring accuracy can be improved.

[0025] In some embodiments, the step of using the camera and / or the radar to monitor the movement speed of the obstacle ahead and the relative distance between the vehicle and the obstacle ahead includes: respectively obtaining data collected by the camera and the radar; performing redundancy check on the data collected by the camera and the radar to obtain the movement speed of the obstacle ahead and the relative distance between the vehicle and the obstacle ahead.

[0026] In the above scheme, redundant verification is performed on the data collected by both cameras and radars to obtain the movement speed of the obstacle in front and the relative distance between the vehicle and the obstacle in front, which can achieve two-way backup redundant calculation, improve monitoring accuracy, and avoid misjudgment leading to vehicle operation safety problems.

[0027] In some embodiments, after the step of controlling the vehicle to enter the energy recovery driving mode based on the energy recovery distance and the relative distance between the vehicle and the obstacle ahead, the step includes: detecting that the user steps on the accelerator pedal again, responding to the user's stepping operation, and running the vehicle according to the stepping operation.

[0028] In the above scheme, by detecting that the user steps on the accelerator pedal again, responding to the user's stepping operation, and running the vehicle according to the stepping operation, it is possible to ensure normal forward movement of the vehicle when there is no obstacle in front of it, and avoid affecting the driving process of the vehicle behind.

[0029] The present application provides a vehicle control device, comprising: an energy recovery distance determination module, for determining the energy recovery distance of the vehicle in response to energy recovery instruction information and based on the operating parameters and environmental information of the vehicle; a control module, connected to the energy recovery distance determination module, for controlling the vehicle to enter an energy recovery driving mode based on the energy recovery distance and the relative distance between the vehicle and the obstacle ahead.

[0030] The present application provides a vehicle, comprising a memory and a processor, wherein the processor is configured to execute program instructions stored in the memory to implement any of the above-mentioned vehicle control methods.

[0031] The present application provides a computer-readable storage medium having program instructions stored thereon, which implement the above-mentioned vehicle control method when the program instructions are executed by a processor.

[0032] In the above scheme, the energy recovery distance of the vehicle is determined according to the operating parameters and environmental information of the vehicle through energy recovery instruction information; then, according to the energy recovery distance and the relative distance between the vehicle and the obstacle in front, the vehicle is controlled to enter the energy recovery driving mode; wherein, the energy recovery driving mode includes automatic cruising or energy recovery braking; in this way, energy recovery braking or automatic cruising can be selected according to the energy recovery distance and the relative distance between the vehicle and the obstacle in front to avoid the problem that the vehicle cannot be braked to the target position during the energy recovery process, that is, during the energy recovery process, there is no need to step on the accelerator pedal again to accelerate, and the vehicle can be braked to the target position. Not only can the vehicle be maximized through energy recovery to stop or decelerate to the target speed at the position where it needs to stop, and the energy consumption of the vehicle will not be increased, but the vehicle can be controlled to drive or brake according to the driver's intention.

[0033] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

Brief Description of the Drawings

[0034] The drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and, together with the specification, are used to illustrate the technical solutions of the present application.

[0035] FIG1 is a flow chart of an embodiment of a vehicle control method provided by the present application;

[0036] FIG2 is a sub-flow chart of step S1 in FIG1 ;

[0037] FIG3 is a schematic structural diagram of an embodiment of a vehicle control device provided by the present application;

[0038] FIG4 is a schematic structural diagram of another embodiment of a vehicle control device provided by the present application;

[0039] FIG5 is a schematic structural diagram of an embodiment of a vehicle provided by the present application;

[0040] FIG6 is a schematic structural diagram of an embodiment of a computer-readable storage medium of the present application.

[0041] Reference numerals: 40 - control device, 41 - energy recovery distance determination module, 42 - control module, 43 - redundancy check module, 50 - vehicle, 51 - memory, 52 - processor, 60 - computer-readable storage medium, 61 - program instruction. [Specific implementation method]

[0042] The following describes the embodiments of the present application in detail with reference to the accompanying drawings.

[0043] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0044] The term "and / or" in this document simply describes an association between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship. Furthermore, "many" in this document means two or more than two. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more of a plurality of items. For example, "at least one of A, B, and C" can mean any one or more elements selected from the set consisting of A, B, and C.

[0045] The inventors of this solution discovered that in related technologies, the distance to the vehicle ahead and the regenerative distance are determined by the distance between the vehicle and the obstacle ahead, the speed of the obstacle ahead, and the vehicle's speed, thereby determining whether to activate regenerative braking. If the driver releases the accelerator pedal within the regenerative braking distance, regenerative braking will proceed smoothly. However, if the driver releases the accelerator pedal outside the regenerative braking distance, the vehicle will free-coast, causing the vehicle to slow down. To continue forward, the accelerator pedal must be re-engaged. However, this approach does not reduce driver effort, does not fully meet the driver's intent, and may even result in significant energy consumption for the vehicle due to repeated acceleration.

[0046] Based on this, the inventors of this solution discovered through research that when the vehicle is far from a parking position or a forward obstacle, it can be controlled to automatically enter low-speed cruising. This not only relieves the driver's foot pressure but also enables automatic following. When the vehicle is close to a parking position or a forward obstacle, it automatically controls the vehicle to perform regenerative braking, achieving regenerative braking or speed reduction requirements. This solution allows the vehicle to be controlled according to the driver's intention and brake to the target position even if the driver releases the accelerator pedal outside the regenerative range, without the need for repeated accelerator pedal application and without increasing vehicle energy consumption. Specific vehicle control methods are described in the following embodiments.

[0047] Referring to FIG. 1 , the vehicle control method provided herein may include the following steps S1 and S2. Step S1: In response to energy recovery instruction information, determining the vehicle's energy recovery distance based on the vehicle's operating parameters and environmental information. Step S2: Controlling the vehicle to enter energy recovery driving mode based on the energy recovery distance and the relative distance between the vehicle and a forward obstacle.

[0048] Among them, the energy recovery instruction information can be an accelerator pedal release operation. The vehicle can be any vehicle that contains a battery. For example, the vehicle can be a new energy vehicle (for example, an electric car), an electric motorcycle, an electric bicycle, etc. The obstacle in front can be a static obstacle or a dynamic obstacle. For example, a static obstacle can be a zebra crossing, a traffic light intersection, a billboard, a railing, a stalled vehicle, a stone pillar, etc. Dynamic obstacles can be moving vehicles, animals, pedestrians, etc.; this application takes the dynamic obstacle as an example of a moving vehicle for explanation. The accelerator pedal is used to control the running speed of the vehicle; wherein, when the accelerator pedal is stepped on, the running speed of the vehicle will gradually increase; when the accelerator pedal is released, the running speed of the vehicle will gradually decrease. The operating parameters of the vehicle include the current speed of the vehicle, the maximum torque of the vehicle, and the comfort requirement of the vehicle. Environmental information includes the movement speed of the obstacle in front and the relative distance between the vehicle and the obstacle in front; wherein, it can be understood that when the obstacle in front is a static obstacle, the movement speed of the obstacle in front is 0.

[0049] The energy recovery distance is a predicted distance. The energy recovery distance is the maximum distance between the vehicle and the obstacle in front when the vehicle turns on the energy recovery function. The energy recovery distance is greater than the safe distance between the vehicle and the obstacle in front; this safety distance can ensure that the vehicle and the obstacle in front will not collide, and the specific setting can be made according to the actual situation. The relative distance between the vehicle and the obstacle in front is the distance between the vehicle and the obstacle in front at the current moment. The relative distance between the vehicle and the obstacle in front can be obtained by using the binocular camera and / or radar monitoring in the Advanced Driving Assistance System (ADAS) equipped with the vehicle. The radar can be a millimeter wave radar or a lidar.

[0050] Energy recovery driving modes include automatic cruise control and energy recovery braking. Automatic cruise control allows the vehicle to continue driving at a certain speed even when the accelerator pedal is released. Energy recovery braking allows the vehicle to recover energy by controlling the motor to reverse the kinetic energy and convert it into electrical energy for storage when the accelerator pedal is released.

[0051] In some application scenarios, the accelerator pedal's own equipment, such as a sensor, is used to detect the state of the accelerator pedal in real time to determine whether the accelerator pedal is released. When the driver releases the accelerator pedal, i.e., the accelerator pedal is released, the driver's intention is either to reach the target position by free coasting or coasting energy recovery, or to slow down and follow the vehicle. In actual scenarios, it is often impossible to accurately locate the appropriate time to release the accelerator pedal when the distance to the target position or target vehicle speed is too close. However, the above-mentioned method of the present application enables the driver to control the vehicle to drive or brake according to his or her intention regardless of when the accelerator pedal is released.

[0052] In the above scheme, by responding to energy recovery instruction information, such as responding to the accelerator pedal release operation, the vehicle's energy recovery distance is determined according to the vehicle's operating parameters and environmental information; then, according to the energy recovery distance and the relative distance between the vehicle and the obstacle in front, the vehicle is controlled to enter the energy recovery driving mode; wherein, the energy recovery driving mode includes automatic cruising or energy recovery braking; in this way, energy recovery braking or automatic cruising can be selected according to the energy recovery distance and the relative distance between the vehicle and the obstacle in front, which can avoid the problem that the vehicle cannot be braked to the target position during the energy recovery process. That is, during the energy recovery process, there is no need to step on the accelerator pedal again to accelerate, and the vehicle can be braked to the target position. Not only can the vehicle be maximized through energy recovery to stop or decelerate to the target speed at the position where it needs to stop, and the energy consumption of the vehicle will not be increased, but the vehicle can be controlled to drive or brake according to the driver's intention.

[0053] In some embodiments, step S2 may include: if the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance, controlling the vehicle to perform automatic cruising; if the relative distance between the vehicle and the obstacle ahead reaches the energy recovery distance, controlling the vehicle to enter energy recovery braking; until it is detected that the user steps on the accelerator pedal again.

[0054] In one application scenario, when the vehicle is traveling at a low speed and ADAS is not activated, when the driver releases the accelerator pedal and the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance, the low-speed cruise function is automatically turned on and the vehicle continues to follow until the driver takes over the accelerator pedal.

[0055] Exemplarily, step S1 determines that the current energy recovery distance of the vehicle is 10m; if the relative distance between the vehicle and the obstacle ahead is 15m, the vehicle is controlled to perform automatic cruising; if the relative distance between the vehicle and the obstacle ahead is 8m, the vehicle is controlled to enter energy recovery braking to increase the vehicle's deceleration and brake the vehicle to the target position or preset speed.

[0056] In the above solution, the vehicle is controlled to perform automatic cruising when the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance. This can relieve the pressure on the driver's feet and achieve automatic following. At the same time, it can prevent the vehicle from slowing down prematurely after the accelerator pedal is released, causing the vehicle to enter the energy recovery braking process and fail to brake to the target position. In addition, when the relative distance between the vehicle and the obstacle ahead reaches the energy recovery distance, the vehicle is controlled to enter energy recovery braking. This not only achieves energy recovery, but also does not increase the vehicle's energy consumption. This solution allows the driver to release the accelerator pedal at any time when the relative distance between the vehicle and the obstacle ahead is within or outside the energy recovery distance, and the vehicle can be controlled to drive or brake according to the driver's intention. This does not increase the driver's operation, nor does it cause a large energy consumption of the entire vehicle due to repeated acceleration.

[0057] In some embodiments, if the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance, the step of controlling the vehicle to perform automatic cruising includes: if the obstacle ahead is a static obstacle, controlling the vehicle to perform automatic cruising at a set speed.

[0058] For example, if the obstacle ahead is a red light intersection, the vehicle is controlled to cruise at a set speed. The set speed can be the vehicle's driving speed or a speed lower than the vehicle's driving speed. It will be understood that in this case, when the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance, the vehicle will maintain a constant speed even if the accelerator pedal is released.

[0059] In the above scheme, by controlling the vehicle to perform automatic cruising at a set speed when the obstacle ahead is a static obstacle and the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance, it can not only keep the vehicle moving forward, but also avoid the problem of the vehicle's accelerator pedal being released to cause the vehicle to slow down prematurely, resulting in the relative distance between the vehicle and the obstacle ahead being within the energy recovery distance, and the vehicle being unable to brake to the target position or decelerate to the preset speed.

[0060] In some embodiments, if the distance between the vehicle and the obstacle ahead is greater than the energy recovery distance, the step of controlling the vehicle to perform automatic cruising includes: if the obstacle ahead is a dynamic obstacle, controlling the vehicle to perform automatic cruising according to the movement speed of the obstacle ahead.

[0061] When the dynamic obstacle is a pedestrian, the speed of the obstacle ahead is the pedestrian's walking speed. When the dynamic obstacle is a vehicle, the speed of the obstacle ahead is the vehicle's driving speed. When the dynamic obstacle is an animal, such as a cow, sheep, or dog, the speed of the obstacle ahead is the animal's walking speed. The speed of the obstacle ahead can be monitored using a binocular camera and / or radar.

[0062] For example, the dynamic obstacle is a vehicle. If the vehicle is currently in a decelerating state, the vehicle is controlled to decelerate; if the vehicle is currently in an accelerating state, the vehicle is controlled to accelerate; and if the vehicle is currently in a constant speed state, the vehicle is controlled to maintain a constant speed.

[0063] In the above scheme, when the obstacle in front is a dynamic obstacle and the distance between the vehicle and the obstacle in front is greater than the energy recovery distance, the vehicle is controlled to cruise automatically according to the movement speed of the obstacle in front; this can avoid the vehicle affecting the forward movement of the vehicle behind and achieve the purpose of automatic forward movement; at the same time, it will not collide with the vehicle in front.

[0064] In some embodiments, if the obstacle ahead is a dynamic obstacle, the step of controlling the vehicle to automatically cruise according to the movement speed of the obstacle ahead includes: if the movement speed of the dynamic obstacle is less than a first preset value, the vehicle automatically cruises at a first set speed; wherein the first preset value is less than the first set speed.

[0065] The first set speed can be 12 km / h; of course, it can also be 10 km / h, 15 km / h, 20 km / h, etc., and can be set according to actual circumstances, and this application does not limit this. The specific value of the first preset value can also be manually set, such as 8 km / h, 6 km / h, 5 km / h, etc. For example, if the dynamic obstacle is a moving vehicle and the moving speed of the moving vehicle is less than the first preset value, the vehicle can automatically cruise at a speed of 12 km / h.

[0066] In the above scheme, when the obstacle ahead is a dynamic obstacle and the movement speed of the dynamic obstacle is less than a first preset value, the vehicle is controlled to cruise automatically at the first set speed; this not only prevents the vehicle from traveling at too low a speed, which greatly reduces the practicality of the vehicle and significantly reduces the user experience; but also the stable speed can minimize the battery loss of the vehicle.

[0067] In other embodiments, step S2 may include: if the relative distance between the vehicle and the obstacle ahead is equal to or less than the energy recovery distance, controlling the vehicle to enter energy recovery braking.

[0068] In other words, when the relative distance between the vehicle and the obstacle ahead is within the energy recovery distance, the vehicle is controlled to enter energy recovery braking. If the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance, whether to perform automatic cruise control can be selected or not.

[0069] In the above solution, by controlling the relative distance between the vehicle and the obstacle ahead to be equal to or less than the energy recovery distance, the vehicle is controlled to enter energy recovery braking, which can fully save the energy loss of the vehicle.

[0070] In some embodiments, referring to FIG. 2 , which is a sub-flowchart of step S1 in FIG. 1 , in response to an accelerator pedal release operation, determining the vehicle's energy recovery distance based on the vehicle's operating parameters and environmental information includes steps S11 and S12 . Step S11 includes determining the vehicle's maximum deceleration using the vehicle's speed, the speed of a forward obstacle, the relative distance between the vehicle and the forward obstacle, the vehicle's maximum torque, and the vehicle's comfort requirement. Step S12 includes determining the vehicle's energy recovery distance based on the maximum deceleration at the vehicle's current speed and relative distance.

[0071] The maximum deceleration is the deceleration used during the subsequent energy recovery process of the vehicle. The maximum deceleration can be calibrated or obtained by looking up the table based on the vehicle speed, the speed of the obstacle ahead, the relative distance between the vehicle and the obstacle ahead, the maximum torque of the vehicle, the maximum rechargeable energy of the vehicle battery, and the comfort requirements of the vehicle. It can also be pre-set after testing the driving comfort. During the energy recovery process, the vehicle's driving deceleration does not exceed the maximum deceleration. Specifically, when the speed of the obstacle ahead is not zero, that is, when the obstacle ahead is a dynamic obstacle, the vehicle must ensure that the relative distance between the vehicle and the obstacle ahead is maintained outside the safe distance during driving to ensure that there is no risk of collision due to being too close. The safe distance can be set manually in advance, or a more appropriate distance can be determined based on the current vehicle speed and the relative distance between the vehicle and the obstacle ahead.

[0072] After the maximum deceleration is determined, the energy recovery distance of the vehicle at the current speed and relative distance can be determined by looking up a table.

[0073] In the above scheme, the energy recovery distance is determined in real time by utilizing the vehicle speed, the movement speed of the obstacle in front, the relative distance between the vehicle and the obstacle in front, the maximum torque of the vehicle, and the comfort requirement of the vehicle to ensure that the vehicle always maintains a safe distance from the obstacle in front. During the vehicle control process, the current driving mode of the vehicle can be controlled in real time according to the energy recovery distance. For example, when the relative distance between the vehicle and the obstacle in front is greater than the energy recovery distance, the vehicle is controlled to perform automatic cruising; when the relative distance between the vehicle and the obstacle in front reaches the energy recovery distance, the vehicle is controlled to enter energy recovery braking to maximize the use of energy recovery braking to automatically control the vehicle to brake to the target position, thereby ensuring the best driving experience.

[0074] In some embodiments, before the step of controlling the vehicle to enter regenerative braking, steps S3 and S4 are further included. Step S3: Determine the relative speed between the vehicle and the obstacle ahead based on the vehicle speed and the speed of the obstacle ahead. Step S4: Determine the vehicle's current target deceleration based on the relative speed and the regenerative distance; the target deceleration is less than the maximum deceleration. In this embodiment, the step of controlling the vehicle to enter regenerative braking specifically includes controlling the vehicle to perform regenerative braking at the target deceleration.

[0075] The relative speed between the vehicle and the obstacle ahead is the speed difference between the vehicle and the obstacle ahead. For example, the vehicle's speed is v1; the speed of the obstacle ahead is v2, then the relative speed between the vehicle and the obstacle ahead is v0 = v1 - v2. In an application scenario, the vehicle's speed in a first direction is v1, the obstacle ahead, such as a vehicle, has a speed in the first direction of v2, and the energy recovery distance is S, then the vehicle's current target deceleration a = S / (v1 - v2). The target deceleration a is less than the maximum deceleration.

[0076] In the above scheme, the vehicle's current target deceleration is determined based on the relative speed and the energy recovery distance, and the vehicle is controlled to perform energy recovery braking at the target deceleration; during the recovery process, the vehicle's deceleration can be adjusted in real time according to the vehicle's speed and the movement speed of the obstacle in front, so that the vehicle can smoothly perform energy recovery braking to the target position under the deceleration.

[0077] In some embodiments, the step of controlling the vehicle to recover energy at a target deceleration also includes: if the current target deceleration cannot brake the vehicle within the energy recovery distance or maintain a safe distance from the obstacle ahead, synchronously calling the vehicle's hydraulic brake to brake the vehicle.

[0078] The safe distance is the minimum distance between a vehicle and a preceding obstacle without colliding. Hydraulic braking utilizes the vehicle's hydraulic brakes, i.e., brakes, which are mechanical components that stop or slow down moving parts in a machine. Brakes primarily consist of a frame, brake components, and operating devices. Some brakes are also equipped with automatic adjustment devices for the brake component clearance. In some application scenarios, the vehicle's deceleration, determined based on relative speed and energy recovery distance, is greater than the maximum acceleration. However, the vehicle can only perform energy recovery braking at the maximum deceleration. Therefore, if the vehicle performs energy recovery braking at this maximum deceleration at the current speed, it will not be able to brake within the energy recovery distance and will not be able to maintain a safe distance from the preceding obstacle. In this case, the hydraulic brake can be activated synchronously to alert the user and brake the vehicle.

[0079] In the above scheme, when the current target deceleration cannot brake the vehicle within the energy recovery distance or maintain a safe distance from the obstacle in front, energy recovery braking and hydraulic mechanical braking are used synchronously to brake the vehicle or maintain a safe distance from the vehicle in front, thereby avoiding collision between the vehicle and the obstacle in front.

[0080] In some embodiments, before step S1 , the method further includes: using a binocular camera and / or a radar to monitor the movement speed of the obstacle in front and the relative distance between the vehicle and the obstacle in front.

[0081] In the above scheme, by using binocular cameras and / or radars to monitor the movement speed of the obstacle ahead and the relative distance between the vehicle and the obstacle ahead, relevant data can be automatically acquired, and when the camera and radar monitor the relevant data simultaneously, the monitoring accuracy can be improved.

[0082] In some embodiments, the step of using a camera and / or radar to monitor the speed of a forward obstacle and the relative distance between the vehicle and the forward obstacle includes steps A and B. Step A involves acquiring data collected by the camera and radar, respectively. Step B involves performing a redundancy check on the data collected by the camera and radar to obtain the speed of the forward obstacle and the relative distance between the vehicle and the forward obstacle.

[0083] As mentioned above, the data collected by the camera and radar include the speed of the obstacle ahead and the relative distance between the vehicle and the obstacle ahead. The speed of the obstacle ahead, obtained by performing a redundancy check on the data collected by the camera and radar, can be the average of the speeds of the obstacle ahead collected by the camera and the speeds of the obstacle ahead collected by the radar; or it can be an intermediate value between the two. Similarly, the relative distance between the vehicle and the obstacle ahead, obtained by performing a redundancy check on the data collected by the camera and radar, can be the average of the speeds of the obstacle ahead collected by the camera and the speeds of the obstacle ahead collected by the radar; or it can be an intermediate value between the two.

[0084] In the above scheme, redundant verification is performed on the data collected by both cameras and radar to obtain the movement speed of the obstacle in front and the relative distance between the vehicle and the obstacle in front. This can achieve two-way backup redundant calculation, improve monitoring accuracy, and avoid misjudgment that may lead to vehicle operation safety problems.

[0085] In some embodiments, after the step of controlling the vehicle to enter the energy recovery driving mode based on the energy recovery distance and the relative distance between the vehicle and the obstacle ahead, the step includes: detecting that the user steps on the accelerator pedal again, responding to the user's stepping operation, and running the vehicle according to the stepping operation.

[0086] As described above, stepping on the accelerator means that the driver intends to accelerate the vehicle.

[0087] In the above scheme, by detecting that the user steps on the accelerator pedal again, responding to the user's stepping operation, and running the vehicle according to the stepping operation, it is possible to ensure normal forward movement of the vehicle when there is no obstacle in front of it, and avoid affecting the driving process of the vehicle behind.

[0088] The above solution of this application mainly distinguishes two scenarios: whether the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance after the driver releases the accelerator pedal:

[0089] If the vehicle is outside the energy recovery distance, the driver releasing the pedal means coasting to follow the vehicle or preparing to brake. If the distance to the obstacle ahead is far, the vehicle can keep following the vehicle. If the obstacle ahead accelerates, the vehicle accelerates. If the obstacle ahead decelerates, the vehicle also decelerates, so that the vehicle can follow the obstacle ahead at any time to avoid affecting the progress of the vehicle behind and achieve the purpose of automatic forward movement until the driver steps on the accelerator again to take over the vehicle; or until the obstacle ahead brakes and enters the energy recovery distance, it automatically starts energy recovery and decelerates until braking stops. The target deceleration is calculated and adjusted in real time according to the working conditions of the obstacle ahead.

[0090] If the vehicle is within the energy recovery distance and the braking demand is urgent, the target deceleration needs to be calculated based on the relative speed and relative distance between the vehicle and the obstacle in front, combined with the maximum deceleration of the vehicle. The target deceleration must not exceed the maximum deceleration. If the target deceleration is not enough to stop the vehicle within the relative distance, the hydraulic brake needs to be automatically called to control the vehicle's emergency braking. The energy recovery brake and hydraulic mechanical brake are used at the same time to stop the vehicle safely, which can avoid collision failures.

[0091] In the above scheme, in the above scheme, by responding to energy recovery instruction information, such as responding to the accelerator pedal release operation, the vehicle's energy recovery distance is determined according to the vehicle's operating parameters and environmental information; then, according to the energy recovery distance and the relative distance between the vehicle and the obstacle in front, the vehicle is controlled to enter the energy recovery driving mode; wherein, the energy recovery driving mode includes automatic cruising or energy recovery braking; in this way, energy recovery braking or automatic cruising can be selected according to the energy recovery distance and the relative distance between the vehicle and the obstacle in front to avoid the problem that the vehicle cannot be braked to the target position during the energy recovery process, that is, during the energy recovery process, there is no need to step on the accelerator pedal again to accelerate, and the vehicle can be braked to the target position, which can not only maximize the vehicle through energy recovery to stop or decelerate to the target speed at the position where it needs to stop, but also will not increase the energy consumption of the vehicle.

[0092] In addition, by controlling the vehicle to perform automatic cruising when the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance, it can relieve the pressure on the driver's feet on the one hand, and realize automatic following of the vehicle on the other hand; at the same time, it can prevent the vehicle from slowing down prematurely, causing the vehicle to enter the energy recovery braking process and fail to brake to the target position; and when the relative distance between the vehicle and the obstacle ahead reaches the energy recovery distance, the vehicle is controlled to enter the energy recovery braking process, which not only realizes energy recovery but also does not increase the energy consumption of the vehicle; this solution enables the driver to release the accelerator pedal at any time and control the vehicle to drive or brake according to the driver's intention.

[0093] The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced with each other and will not be repeated herein for the sake of brevity.

[0094] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation methods described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, units or components can be combined or integrated into another system, 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, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0095] Please refer to FIG3 , which is a schematic diagram of the structure of an embodiment of a control device for a vehicle of the present application. The vehicle control device 40 includes an energy recovery distance determination module 41 and a control module 42. The energy recovery distance determination module 41 is configured to determine the energy recovery distance of the vehicle based on the vehicle's operating parameters and environmental information in response to energy recovery instruction information; the control module 42 is connected to the energy recovery distance determination module 41 and is configured to control the vehicle to enter an energy recovery driving mode based on the energy recovery distance and the relative distance between the vehicle and a forward obstacle; wherein the energy recovery driving mode includes automatic cruising or energy recovery braking.

[0096] The above scheme determines the energy recovery distance of the vehicle according to the vehicle's operating parameters and environmental information in response to energy recovery instruction information, such as in response to the accelerator pedal release operation; then controls the vehicle to enter the energy recovery driving mode according to the energy recovery distance and the relative distance between the vehicle and the obstacle in front; wherein the energy recovery driving mode includes automatic cruising or energy recovery braking; in this way, energy recovery braking or automatic cruising can be selected according to the energy recovery distance and the relative distance between the vehicle and the obstacle in front, which can avoid the problem of the vehicle being unable to brake to the target position during the energy recovery process. That is, during the energy recovery process, there is no need to step on the accelerator pedal again to accelerate, and the vehicle can be braked to the target position. Not only can the vehicle be stopped or decelerated to the target speed at the required parking position by maximizing energy recovery, but it will not increase the energy consumption of the vehicle, and at the same time, the vehicle can be controlled to drive or brake according to the driver's intention.

[0097] In some embodiments, the control module 42 is specifically used to control the vehicle to perform automatic cruising if the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance; if the relative distance between the vehicle and the obstacle ahead reaches the energy recovery distance, control the vehicle to enter energy recovery braking; until it is detected that the user steps on the accelerator pedal again.

[0098] In the above solution, the vehicle is controlled to perform automatic cruising when the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance. This can relieve the pressure on the driver's feet and achieve automatic following. At the same time, it can prevent the vehicle from slowing down prematurely after the accelerator pedal is released, causing the vehicle to enter the energy recovery braking process and fail to brake to the target position. In addition, when the relative distance between the vehicle and the obstacle ahead reaches the energy recovery distance, the vehicle is controlled to enter energy recovery braking. This not only achieves energy recovery, but also does not increase the vehicle's energy consumption. This solution allows the driver to release the accelerator pedal at any time when the relative distance between the vehicle and the obstacle ahead is within or outside the energy recovery distance, and the vehicle can be controlled to drive or brake according to the driver's intention. This does not increase the driver's operation, nor does it cause a large energy consumption of the entire vehicle due to repeated acceleration.

[0099] In some embodiments, the control module 42 is further configured to control the vehicle to perform automatic cruising at a set speed if the obstacle ahead is a static obstacle.

[0100] The above solution not only keeps the vehicle moving forward, but also prevents the vehicle from slowing down prematurely due to the release of the accelerator pedal, which results in the vehicle being unable to brake to the target position or slow down to the preset speed after the relative distance between the vehicle and the obstacle ahead is within the energy recovery distance.

[0101] In some embodiments, the control module 42 is further configured to control the vehicle to perform automatic cruising according to the movement speed of the obstacle ahead if the obstacle ahead is a dynamic obstacle.

[0102] The above solution can prevent the vehicle from affecting the progress of the vehicle behind it and achieve the purpose of automatic progress; at the same time, it will not collide with the vehicle in front.

[0103] In some embodiments, the control module 42 is further configured to cause the vehicle to automatically cruise at a first set speed if the movement speed of the dynamic obstacle is less than a first preset value; wherein the first preset value is less than the first set speed.

[0104] The above solution can not only prevent the vehicle from traveling at too low a speed, which greatly reduces the practicality of the vehicle and significantly reduces the user experience, but also the stable speed can minimize the battery loss of the vehicle.

[0105] In other embodiments, the control module 42 is configured to control the vehicle to enter regenerative braking if the relative distance between the vehicle and the obstacle ahead is equal to or less than the regenerative distance.

[0106] The above solution controls the vehicle to enter energy recovery braking by ensuring that the relative distance between the vehicle and the obstacle ahead is equal to or less than the energy recovery distance, thereby fully saving the vehicle's energy loss.

[0107] In some embodiments, the recoupling distance determination module 41 is specifically configured to determine the maximum deceleration of the vehicle using the vehicle speed, the speed of the obstacle ahead, the relative distance between the vehicle and the obstacle ahead, the vehicle's maximum torque, and the vehicle's comfort requirement. The recoupling distance for the vehicle at the current speed and relative distance is then determined based on the maximum deceleration.

[0108] The above solution determines the energy recovery distance in real time by utilizing the vehicle speed, the speed of the obstacle ahead, the relative distance between the vehicle and the obstacle ahead, the vehicle's maximum torque, and the vehicle's comfort requirements, ensuring that the vehicle always maintains a safe distance from the obstacle ahead. During the vehicle control process, the vehicle's current driving mode can be controlled in real time according to the energy recovery distance, so as to maximize the use of energy recovery braking to automatically control the vehicle to brake to the target position, ensuring the best driving experience.

[0109] In some embodiments, control module 42 is further configured to determine the relative speed between the vehicle and the obstacle ahead based on the vehicle speed and the speed of the obstacle ahead; then, based on the relative speed and the energy recovery distance, determine the vehicle's current target deceleration; wherein the target deceleration is less than the maximum deceleration. In this embodiment, control module 42 specifically controls the vehicle to perform energy recovery at the target deceleration.

[0110] The above solution can adjust the vehicle's deceleration in real time according to the vehicle's speed and the speed of the obstacle ahead during the recovery process, so that the vehicle can smoothly brake to the target position through energy recovery at this deceleration.

[0111] In some embodiments, the control module 42 is further configured to synchronously call the vehicle's hydraulic brake to brake the vehicle if the current target deceleration cannot brake the vehicle within the energy recovery distance or maintain a safe distance from the obstacle ahead.

[0112] The above solution uses energy recovery braking and hydraulic mechanical braking to synchronously brake the vehicle or maintain a safe distance from the vehicle in front, which can avoid collision between the vehicle and the obstacle in front.

[0113] In some embodiments, the vehicle control device 40 further includes a binocular camera and / or a radar, and the binocular camera and / or the radar are used to monitor the movement speed of the obstacle in front and the relative distance between the vehicle and the obstacle in front.

[0114] The above solution can automatically obtain relevant data and improve monitoring accuracy when the camera and radar monitor relevant data simultaneously.

[0115] In some embodiments, referring to FIG4 , FIG4 is a schematic structural diagram of another embodiment of a vehicle control device provided in the present application; the vehicle control device 40 also includes a redundant check module 43, which is used to obtain data collected by the camera and the radar respectively; and then perform redundant check on the data collected by the camera and the radar to obtain the movement speed of the obstacle ahead and the relative distance between the vehicle and the obstacle ahead.

[0116] The above solution can achieve two-way backup redundant calculation, improve monitoring accuracy, and avoid misjudgment leading to vehicle operation safety problems.

[0117] In some embodiments, the control module 42 is further configured to detect that the user steps on the accelerator pedal again, respond to the user's stepping operation, and operate the vehicle according to the stepping operation.

[0118] The above solution can ensure the normal forward movement of the vehicle when there is no obstacle in front of it, and avoid affecting the driving process of the vehicle behind it.

[0119] Please refer to Figure 5, which is a schematic diagram of the structure of an embodiment of a vehicle of the present application. Vehicle 50 includes a memory 51 and a processor 52. Processor 52 is configured to execute program instructions stored in memory 51 to implement the steps of the above-described vehicle control method embodiment. The vehicle also includes a battery (not shown) that provides electrical energy to propel the vehicle forward.

[0120] Specifically, the processor 52 is used to control itself and the memory 51 to implement the steps in the above-mentioned vehicle control method embodiment. The processor 52 can also be called a CPU (Central Processing Unit). The processor 52 may be an integrated circuit chip with signal processing capabilities. The processor 52 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 52 can be implemented by an integrated circuit chip.

[0121] The above scheme determines the energy recovery distance of the vehicle according to the vehicle's operating parameters and environmental information in response to energy recovery instruction information, such as in response to the accelerator pedal release operation; then controls the vehicle to enter the energy recovery driving mode according to the energy recovery distance and the relative distance between the vehicle and the obstacle ahead; wherein the energy recovery driving mode includes automatic cruise control or energy recovery braking; in this way, energy recovery braking or automatic cruise control can be selected according to the energy recovery distance and the relative distance between the vehicle and the obstacle ahead to avoid the problem that the vehicle cannot be braked to the target position during the energy recovery process, that is, during the energy recovery process, there is no need to step on the accelerator pedal again to accelerate, and the vehicle can be braked to the target position. This not only allows the vehicle to maximize energy recovery and stop or decelerate to the target speed at the location where it needs to stop, but also does not increase the energy consumption of the vehicle. At the same time, the vehicle can be controlled to drive or brake according to the driver's intention.

[0122] Please refer to Figure 6, which is a schematic diagram of the structure of an embodiment of a computer-readable storage medium of the present application. The computer-readable storage medium 60 provided in this embodiment stores program instructions 61, which are executed by a processor and are used to implement the steps of any of the above-mentioned vehicle control method embodiments.

[0123] The above scheme determines the energy recovery distance of the vehicle according to the vehicle's operating parameters and environmental information in response to energy recovery instruction information, such as in response to the accelerator pedal release operation; then controls the vehicle to enter the energy recovery driving mode according to the energy recovery distance and the relative distance between the vehicle and the obstacle ahead; wherein the energy recovery driving mode includes automatic cruise control or energy recovery braking; in this way, energy recovery braking or automatic cruise control can be selected according to the energy recovery distance and the relative distance between the vehicle and the obstacle ahead to avoid the problem that the vehicle cannot be braked to the target position during the energy recovery process, that is, during the energy recovery process, there is no need to step on the accelerator pedal again to accelerate, and the vehicle can be braked to the target position. This not only allows the vehicle to maximize energy recovery and stop or decelerate to the target speed at the location where it needs to stop, but also does not increase the energy consumption of the vehicle. At the same time, the vehicle can be controlled to drive or brake according to the driver's intention.

[0124] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments. For the sake of brevity, it will not be repeated here.

[0125] The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced with each other and will not be repeated herein for the sake of brevity.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation methods described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, units or components can be combined or integrated into another system, 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, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0127] In addition, the functional units in the various embodiments of the present application 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. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. If the integrated 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 technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

Claims

1. A method for controlling a vehicle, in, The vehicle control method comprises: In response to the energy recovery instruction information, determining the energy recovery distance of the vehicle according to the operating parameters and environmental information of the vehicle; The vehicle is controlled to enter an energy recovery driving mode according to the energy recovery distance and the relative distance between the vehicle and a front obstacle.

2. The vehicle control method according to claim 1, in, The energy recovery driving mode includes automatic cruising and energy recovery braking; The step of controlling the vehicle to enter an energy recovery driving mode according to the energy recovery distance and the relative distance between the vehicle and the front obstacle includes: If the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance, controlling the vehicle to perform automatic cruising; When the relative distance between the vehicle and the front obstacle reaches the energy recovery distance, the vehicle is controlled to enter energy recovery braking.

3. The vehicle control method according to claim 2, in, The step of controlling the vehicle to perform automatic cruising if the relative distance between the vehicle and the obstacle ahead is greater than the energy recovery distance comprises: If the obstacle ahead is a static obstacle, the vehicle is controlled to perform automatic cruising at a set speed.

4. The vehicle control method according to claim 2, in, The step of controlling the vehicle to perform automatic cruising if the distance between the vehicle and the obstacle ahead is greater than the energy recovery distance comprises: If the front obstacle is a dynamic obstacle, the vehicle is controlled to perform automatic cruising according to the moving speed of the front obstacle.

5. The vehicle control method according to claim 4, in, If the obstacle ahead is a dynamic obstacle, the step of controlling the vehicle to perform automatic cruising according to the moving speed of the obstacle ahead includes: If the moving speed of the dynamic obstacle is less than a first preset value, the vehicle automatically cruises at a first set speed; wherein the first preset value is less than the first set speed.

6. The vehicle control method according to claim 1, in, The step of controlling the vehicle to enter the energy recovery driving mode according to the energy recovery distance and the relative distance between the vehicle and the front obstacle comprises: If the relative distance between the vehicle and the front obstacle is equal to or less than the energy recovery distance, the vehicle is controlled to enter energy recovery braking.

7. The vehicle control method according to claim 2, in, The step of determining the energy recovery distance of the vehicle according to the operating parameters and environmental information of the vehicle in response to the energy recovery instruction information comprises: determining a maximum deceleration of the vehicle by using a vehicle speed of the vehicle, a moving speed of a front obstacle, a relative distance between the vehicle and the front obstacle, a maximum torque of the vehicle, and a comfort requirement of the vehicle; An energy recovery distance of the vehicle at a current vehicle speed and the relative distance is determined according to the maximum deceleration.

8. The vehicle control method according to claim 7, in, Before the step of controlling the vehicle to enter energy recovery braking, the method further includes: Determining the relative speed between the vehicle and the obstacle ahead according to the vehicle speed and the moving speed of the obstacle ahead; Determining a current target deceleration of the vehicle according to the relative speed and the energy recovery distance; wherein the target deceleration is less than the maximum deceleration; The step of controlling the vehicle to enter energy recovery braking comprises: The vehicle is controlled to perform energy regenerative braking at the target deceleration.

9. The vehicle control method according to claim 8, in, The step of controlling the vehicle to perform energy recovery braking at the target deceleration further includes: If the vehicle cannot be braked within the energy recovery distance or a safe distance from a front obstacle cannot be maintained with the current target deceleration, the hydraulic brake of the vehicle is synchronously called to brake the vehicle.

10. The vehicle control method according to claim 1, in, Before the step of determining the energy recovery distance of the vehicle according to the operating parameters and environmental information of the vehicle in response to the energy recovery instruction information, the method further includes: The moving speed of the obstacle in front and the relative distance between the vehicle and the obstacle in front are monitored by a binocular camera and / or a radar.

11. The vehicle control method according to claim 10, in, The step of using the camera and / or the radar to monitor the movement speed of the obstacle ahead and the relative distance between the vehicle and the obstacle ahead includes: Respectively obtaining data collected by the camera and the radar; The moving speed of the obstacle ahead and the relative distance between the vehicle and the obstacle ahead are obtained by performing a redundancy check on the data collected by the camera and the radar.

12. The vehicle control method according to claim 1, in, After the step of controlling the vehicle to enter the energy recovery driving mode according to the energy recovery distance and the relative distance between the vehicle and the front obstacle, the method further comprises: It is detected that the user steps on the accelerator pedal again, responds to the user's stepping operation, and operates the vehicle according to the stepping operation.

13. A control device for a vehicle, in, include: an energy recovery distance determination module, configured to determine the energy recovery distance of the vehicle according to the operating parameters and environmental information of the vehicle in response to the energy recovery instruction information; A control module is connected to the energy recovery distance determination module and is used to control the vehicle to enter an energy recovery driving mode according to the energy recovery distance and the relative distance between the vehicle and a front obstacle.

14. A vehicle, in, It comprises a memory and a processor, wherein the processor is used to execute program instructions stored in the memory to implement the vehicle control method according to any one of claims 1 to 12.

15. A computer-readable storage medium having program instructions stored thereon, in, When the program instructions are executed by a processor, the vehicle control method according to any one of claims 1 to 12 is implemented.

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