New energy bus intelligent braking energy-saving control method and system and storage medium

Abstract

The invention discloses an intelligent braking energy-saving control method for a new energy bus. The intelligent braking energy-saving control method comprises the following steps that front information and surrounding road condition information of a current bus and gradient information of a ramp where the current bus is located are obtained; determining the state information of the current vehicle according to the front information of the current vehicle, the surrounding road condition information and the gradient information of the located ramp; acquiring driving road condition map information of the current vehicle; and controlling the braking force of the current vehicle according to the driving road condition map information and the state information of the current vehicle, and controlling the output torque of the driving motor by utilizing the braking force of the current vehicle. According to the vehicle, the electric braking force can be actively distributed according to the collected information, air braking is reduced under the conditions of downhill and the like, the electric braking capacity is improved, and therefore the energy consumption of the whole vehicle is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of braking control for new energy buses, and in particular to an intelligent braking energy-saving control method, system and storage medium for new energy buses. Background Art

[0002] As environmental problems become increasingly severe, more and more users choose to use new energy vehicles. One of the ways to save energy for new energy vehicles is to control the vehicle's braking. At present, under the premise that the original system structure and vehicle remain unchanged, there are mainly the following methods to improve the economy of new energy vehicles: 1. Optimize the working state of the vehicle's power-consuming components; 2. Optimize the vehicle's control strategy based on the vehicle's specific operating conditions; 3. Install a road condition recognition device to reasonably allocate the vehicle's required driving force and braking force according to the real-time road conditions. The above three methods do not conflict with each other in the energy-saving optimization of vehicles. Method 3 is currently mainly based on millimeter-wave radar to identify road conditions, in which millimeter-wave radar can only identify the information of the vehicle in front; in the prior art, the current new energy bus can control the vehicle by using pneumatic mechanical braking based on the identification of the road condition information ahead, which has a poor braking energy-saving effect on the vehicle, resulting in poor energy-saving effect. Summary of the invention

[0003] The purpose of the present invention is to provide a new energy bus intelligent braking energy-saving control method, system and storage medium, which are used to solve the problem that the pneumatic mechanical braking method used in the prior art has a poor braking energy-saving effect on the vehicle.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] An intelligent braking energy-saving control method for a new energy bus comprises the following steps:

[0006] S10, obtaining information about the front of the current vehicle, surrounding road conditions, and the slope of the ramp on which the vehicle is located;

[0007] S20, determining the state information of the current vehicle according to the front information of the current vehicle, the surrounding road condition information and the slope information of the ramp on which the vehicle is located;

[0008] S30, obtaining the current vehicle's driving road condition map information;

[0009] S40, controlling the braking force of the current vehicle according to the driving road condition map information and the state information of the current vehicle, and using the braking force of the current vehicle to control the output torque of the drive motor.

[0010] As a further solution of the present invention: the method for obtaining the front information of the current vehicle in step S10 is: the current vehicle adopts a front camera and a millimeter-wave radar for fusion to obtain the front information of the current vehicle perceived by the front environment in real time.

[0011] As a further solution of the present invention: the method for obtaining the road condition information around the current vehicle in step S10 is: multiple radar sensors are installed around the body of the current vehicle, and the data collected by the multiple radar sensors are uploaded to the radar controller, and the radar controller performs data processing to obtain real-time surrounding real-time road condition information perceived by the current vehicle's surrounding environment.

[0012] As a further solution of the present invention: the method for obtaining the slope information of the slope on which the current vehicle is located in step S10 is: the current vehicle is equipped with an inclination sensor to obtain in real time the slope information of the current vehicle being perceived in an environment of a horizontal road, an uphill road or a downhill road.

[0013] As a further solution of the present invention: the method for determining the status information of the current vehicle in step S10 is: feeding back the acquired front information, the surrounding road condition information and the slope information to the intelligent host on the current vehicle, performing information fusion and processing by the intelligent host, determining the status information of the current vehicle, and outputting the determined status information to the vehicle controller of the vehicle.

[0014] As a further solution of the present invention: the method for obtaining the driving road condition map information of the current vehicle in step S30 is: the current vehicle adopts a remote monitoring system to obtain the driving road condition map information, and outputs the driving road condition map information to the vehicle controller; wherein the driving road condition map information includes road congestion information, road type information and driving path information.

[0015] As a further solution of the present invention: the method for controlling the braking force of the current vehicle in step S40 is: the vehicle controller performs data analysis and integration of the received driving road condition map information and the status information, and uses a preset braking strategy and control algorithm to calculate the braking force required for the current vehicle, so as to achieve control of the braking force of the current vehicle.

[0016] As a further solution of the present invention: the method of using the braking force of the current vehicle to control the output torque of the drive motor in step S40 is: the vehicle controller sends the calculated braking force instruction to the motor controller through the CAN bus, and after receiving the instruction, the motor controller controls the output torque of the drive motor to achieve braking.

[0017] An intelligent braking energy-saving control system for a new energy bus, comprising:

[0018] The front camera and millimeter-wave radar are used to obtain the front information of the current vehicle's front environment in real time;

[0019] Multiple radar sensors and radar controllers are used to obtain real-time surrounding road condition information perceived by the current vehicle surrounding environment;

[0020] The inclination sensor is installed to obtain the slope information of the vehicle on the horizontal road, uphill road or downhill road in real time;

[0021] A remote monitoring system, used to obtain the driving road condition map information;

[0022] An intelligent host, used for fusing and processing the received front information, the surrounding road condition information and the slope information, and determining the current state information of the vehicle;

[0023] A vehicle controller, used to perform data analysis and fusion on the received state information and the driving map information, and calculate the braking force required by the current vehicle using a preset braking strategy and control algorithm, so as to control the braking force of the current vehicle;

[0024] The motor controller and the drive motor, the braking force instruction is sent to the motor controller via the CAN bus, and after receiving the instruction, the motor controller controls the drive motor to output torque to achieve braking.

[0025] A computer storage medium stores a computer program, which implements the above control method when executed by a processor.

[0026] Beneficial effects of the present invention:

[0027] (1) The vehicle of the present application can actively allocate the size of the electric braking force based on the collected information, and reduce the air braking capacity and increase the electric braking capacity in downhill conditions, thereby reducing the energy consumption of the entire vehicle;

[0028] (2) Based on the vehicle information adopted, the present application can control the braking force of the current vehicle in real time, so as to control the output torque of the drive motor to achieve braking. When the vehicle needs braking, electric braking is preferred, which has the advantages of fast response, precise control, and low energy consumption;

[0029] (3) The use of electric brakes in this application can minimize the use of air brakes. In downhill conditions, electric brakes are used for auxiliary braking to reduce the frequency and intensity of air brake use. By reducing the use of air brakes, the operating frequency and energy consumption of the electric air compressor are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below in conjunction with the accompanying drawings.

[0031] Figure 1 It is a flow chart of the intelligent braking energy-saving control method for new energy buses of the present invention;

[0032] Figure 2 It is a framework diagram of the intelligent braking energy-saving control system for new energy buses of the present invention;

[0033] Figure 3 is a block diagram of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention; in the description of the present invention, the meaning of "multiple" and "several" is at least two, for example two, three, etc., unless otherwise clearly and specifically defined.

[0036] Example 1

[0037] See also Figure 1 As shown, the present invention is a new energy bus intelligent braking energy-saving control method, comprising the following steps:

[0038] S10, obtaining the front information of the current vehicle, the surrounding road condition information and the slope information of the ramp on which the vehicle is located; the method for obtaining the front information of the current vehicle in this step is: the current vehicle adopts the front camera and the millimeter wave radar for fusion, and obtains the front information perceived by the front environment of the current vehicle in real time; the method for obtaining the road condition information around the current vehicle in this step is: multiple radar sensors are installed around the body of the current vehicle, and the data collected by the multiple radar sensors are uploaded to the radar controller, and the radar controller performs data processing to obtain the surrounding real-time road condition information perceived by the surrounding environment of the current vehicle in real time; the method for obtaining the slope information of the ramp on which the current vehicle is located in this step is: the current vehicle adopts the inclination sensor for installation, and obtains the slope information perceived by the current vehicle on the horizontal road surface, uphill road surface or downhill road surface in real time.

[0039] In this specific implementation, the front camera and millimeter-wave radar are important sensors for realizing real-time monitoring of the environment in front of the vehicle. In order to achieve more accurate perception of the environment in front of the vehicle, the front camera and millimeter-wave radar can be fused. By fusing the data of the two sensors, their respective deficiencies can be complemented to improve the accuracy and reliability of the overall perception.

[0040] In this specific embodiment, radar sensors, especially radars used in the automotive field, such as millimeter wave radars, use wireless detection technologies such as frequency modulated continuous wave (FMCW). They transmit high-frequency electromagnetic waves (such as 62GHz or 24GHz) through antennas, which are reflected back when encountering obstacles (such as vehicles, pedestrians or other road users) and received by the radar. By comparing the frequency difference or phase shift between the transmitted signal and the reflected signal, the radar can calculate the distance, speed and relative position of the obstacle.

[0041] In this specific implementation manner, vehicle braking needs to consider the impact of the braking environment on the slope. By using an inclination sensor, it is possible to determine whether the vehicle is on an uphill or downhill road condition by measuring the change in the inclination of the vehicle relative to the horizontal plane.

[0042] S20. Determine the status information of the current vehicle based on the current vehicle's front information, surrounding road condition information, and slope information of the ramp on which the vehicle is located. The method for determining the status information of the current vehicle in this step is: feed back the acquired front information, surrounding road condition information, and slope information to the intelligent host on the current vehicle, perform information fusion and processing through the intelligent host, determine the status information of the current vehicle, and output the determined status information to the vehicle controller.

[0043] In this specific implementation, the specific method for information fusion and processing by the intelligent host is as follows: pre-processing the front information, surrounding road condition information and slope information obtained from multiple sources, including denoising, filtering, calibration and other steps to improve the accuracy and reliability of the data; fusing the front information, surrounding road condition information and slope information, and realizing the fusion and complementarity of data from different sources through multi-sensor fusion algorithms (such as Kalman filtering, particle filtering, etc.).

[0044] S30, obtaining the driving road condition map information of the current vehicle; the method for obtaining the driving road condition map information of the current vehicle in this step is: the current vehicle adopts a remote monitoring system to obtain the driving road condition map information, and outputs the driving road condition map information to the vehicle controller; wherein the driving road condition map information includes road congestion information, road type information and driving path information.

[0045] In this specific implementation, the remote monitoring system is usually composed of four parts: front-end acquisition equipment, transmission network, back-end processing center and user terminal. The front-end acquisition equipment is responsible for collecting road condition information, the transmission network is responsible for transmitting the information to the back-end processing center, the back-end processing center processes and analyzes the information, and finally displays it to the user through the user terminal, so that the remote monitoring system can provide accurate and real-time road condition map information.

[0046] S40. Control the braking force of the current vehicle according to the driving map information and status information of the current vehicle, and use the braking force of the current vehicle to control the output torque of the drive motor; the method for controlling the braking force of the current vehicle in this step is: the vehicle controller performs data analysis and integration on the received driving map information and status information, and uses the preset braking strategy and control algorithm to calculate the braking force required for the current vehicle to achieve control of the braking force of the current vehicle; the method for using the braking force of the current vehicle to control the output torque of the drive motor in this step is: the vehicle controller sends the calculated braking force command to the motor controller via the CAN bus, and after receiving the command, the motor controller controls the drive motor to output torque to achieve braking.

[0047] During the use of the control method of the present application, the vehicle can actively allocate the size of the electric braking force according to the collected information, and reduce air braking and increase electric braking capacity in downhill situations, thereby reducing the energy consumption of the entire vehicle; the present application can control the braking force of the current vehicle in real time based on the adopted vehicle information, so as to control the output torque of the drive motor to achieve braking. When the vehicle needs to brake, electric braking is used preferentially. Electric braking has the advantages of fast response, precise control, and low energy consumption; the present application uses electric braking to minimize the use of air braking. In downhill situations, electric braking is used for auxiliary braking to reduce the frequency and intensity of air braking. By reducing the use of air braking, the operating frequency and energy consumption of the electric air compressor are reduced.

[0048] Example 2

[0049] like Figure 2As shown, the present invention also provides an intelligent braking energy-saving control system for new energy buses, including a front camera and a millimeter-wave radar, which fuses data of the front camera and the millimeter-wave radar to obtain front information perceived by the current vehicle in front of the vehicle in real time; multiple radar sensors and radar controllers are used to obtain real-time surrounding real-time road condition information perceived by the current vehicle's surrounding environment; the inclination sensor is installed to obtain real-time slope information perceived by the current vehicle on a horizontal road, uphill road or downhill road; the remote monitoring system is used to obtain driving road condition map information; the intelligent host is used to fuse and process the received front information, surrounding road condition information and slope information to determine the current vehicle status information; the vehicle controller is used to analyze and fuse the received status information and driving road condition map information, and use the preset braking strategy and control algorithm to calculate the braking force required for the current vehicle to achieve control of the braking force of the current vehicle; the braking force command is sent to the motor controller through the CAN bus, and after receiving the command, the motor controller controls the drive motor to output torque to achieve braking.

[0050] By adopting the control system of the present application, the vehicle can actively distribute the size of the electric braking force according to the collected information, and reduce the air braking and increase the electric braking capacity in downhill conditions, thereby reducing the energy consumption of the entire vehicle.

[0051] Example 3

[0052] like Figure 3 As shown, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor being used to obtain the front information, surrounding real-time road condition information, slope information, and driving road condition map information of the current new energy bus through an interface circuit, and the above-mentioned control method is implemented when the processor executes the computer program.

[0053] A computer-readable storage medium stores a computer program, which implements the above control method when executed by a processor.

[0054] It should be understood that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the above program can be stored in a computer-readable storage medium. When the program code is called by the processor, the processor is used to execute the control method executed in the above method embodiment. The embodiment of the present invention does not limit the form and number of the memory and the processor. For example, the memory can be a CPU or other processor that can call a program, and the memory can be a read-only memory ROM, a random access memory RAM, a disk or an optical disk, and other media that can store program codes.

[0055] It should be understood that the current vehicle driving path information data can be marked in the memory in the present application, and the stored path marking information data can use the map API to visualize the recorded GPS data and mark the vehicle's moving path. When the vehicle passes this section again, it can be quickly retrieved to meet the intelligent braking energy-saving control requirements of new energy buses.

[0056] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A new energy bus intelligent braking energy-saving control method, characterized in that: The following steps are involved: S10, obtaining information about the front of the current vehicle, surrounding road conditions, and the slope of the ramp on which the vehicle is located; S20, determining the state information of the current vehicle according to the front information of the current vehicle, the surrounding road condition information and the slope information of the ramp on which the vehicle is located; S30, obtaining the current vehicle's driving road condition map information; S40, controlling the braking force of the current vehicle according to the driving road condition map information and the state information of the current vehicle, and using the braking force of the current vehicle to control the output torque of the drive motor.

2. According to claim 1, a new energy bus intelligent braking energy-saving control method is characterized in that: The method for obtaining the front information of the current vehicle in step S10 is: the current vehicle uses a front camera and a millimeter-wave radar to fuse and obtain the front information of the current vehicle's front environment perception in real time.

3. The intelligent braking energy-saving control method for a new energy bus according to claim 1 is characterized in that: The method for obtaining the road condition information around the current vehicle in step S10 is: multiple radar sensors are installed around the current vehicle body, and the data collected by the multiple radar sensors are uploaded to the radar controller, and the radar controller processes the data to obtain the surrounding real-time road condition information perceived by the current vehicle's surrounding environment in real time.

4. The intelligent braking energy-saving control method for a new energy bus according to claim 1 is characterized in that: The method for obtaining the slope information of the slope on which the current vehicle is located in step S10 is: the current vehicle is equipped with an inclination sensor to obtain in real time the slope information of the current vehicle being perceived in an environment of a horizontal road, an uphill road or a downhill road.

5. The intelligent braking energy-saving control method for new energy buses according to claim 1 is characterized in that: The method for determining the status information of the current vehicle in step S10 is: feeding back the acquired front information, the surrounding road condition information and the slope information to the intelligent host on the current vehicle, performing information fusion and processing by the intelligent host, determining the status information of the current vehicle, and outputting the determined status information to the vehicle controller of the vehicle.

6. The intelligent braking energy-saving control method for a new energy bus according to claim 1 is characterized in that: The method for obtaining the driving road condition map information of the current vehicle in step S30 is: the current vehicle adopts a remote monitoring system to obtain the driving road condition map information, and outputs the driving road condition map information to the vehicle controller; wherein the driving road condition map information includes road congestion information, road type information and driving path information.

7. The intelligent braking energy-saving control method for a new energy bus according to claim 1 is characterized in that: The method for controlling the braking force of the current vehicle in step S40 is: the vehicle controller performs data analysis and integration on the received driving road condition map information and the status information, and uses a preset braking strategy and control algorithm to calculate the braking force required for the current vehicle to achieve control of the braking force of the current vehicle.

8. The intelligent braking energy-saving control method for new energy buses according to claim 7 is characterized in that: The method of using the braking force of the current vehicle to control the output torque of the drive motor in step S40 is: the vehicle controller sends the calculated braking force command to the motor controller through the CAN bus, and after receiving the command, the motor controller controls the output torque of the drive motor to achieve braking.

9. An intelligent braking energy-saving control system for new energy buses, characterized in that: include: The front camera and millimeter-wave radar are used to obtain real-time information about the vehicle's front environment. Multiple radar sensors and radar controllers are used to obtain real-time surrounding road condition information perceived by the current vehicle surrounding environment; The inclination sensor is installed to obtain the slope information of the vehicle on the horizontal road, uphill road or downhill road in real time; A remote monitoring system, used to obtain the driving road condition map information; An intelligent host, used for fusing and processing the received front information, the surrounding road condition information and the slope information, and determining the current state information of the vehicle; A vehicle controller, used to perform data analysis and fusion on the received state information and the driving map information, and calculate the braking force required by the current vehicle using a preset braking strategy and control algorithm, so as to control the braking force of the current vehicle; The motor controller and the drive motor, the braking force instruction is sent to the motor controller via the CAN bus, and after receiving the instruction, the motor controller controls the drive motor to output torque to achieve braking.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method according to any one of claims 1 to 8 is implemented.

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