Battery throwing method and device, electronic equipment and computer readable storage medium

Abstract

The invention relates to the technical field of vehicle control, in particular to a battery throwing method and device, electronic equipment and a computer readable storage medium. The battery throwing method is applied to the electronic equipment, the electronic equipment is in communication connection with a battery throwing mechanism of a vehicle, and the method comprises the steps that under the condition that a control request for the vehicle exceeds the control performance of the vehicle, the battery throwing function of the vehicle is started, and the control request for the vehicle comprises at least one of a steering request and a braking request; acquiring a vehicle operation condition and a traffic environment of the vehicle; determining a target throwing scheme of the battery based on the vehicle operation condition and the traffic environment; and a battery throwing instruction is sent to a battery throwing mechanism, so that the battery throwing mechanism throws the battery of the vehicle according to the target throwing scheme. According to the invention, the driving safety of the vehicle can be improved when the vehicle encounters a sudden accident.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a battery throwing method, device, electronic device and computer-readable storage medium. Background Art

[0002] With the rapid development of new energy vehicles, their power performance is constantly improving, and vehicles are traveling faster and faster on the road. However, high-speed driving also brings higher safety risks.

[0003] For example, in an emergency situation, such as an accident, the vehicle may find it difficult to complete emergency braking or steering within the expected time due to the limited capabilities of the steering system and braking system. This may cause the vehicle to be unable to avoid dangerous areas, or unable to stop quickly and accurately before a collision, thus affecting driving safety. Summary of the invention

[0004] In view of the above, the embodiments of the present application provide a battery throwing method, device, electronic device and computer-readable storage medium, which are beneficial to improving vehicle driving safety.

[0005] In a first aspect, an embodiment of the present application provides a battery throwing method, which is applied to an electronic device, wherein the electronic device is communicatively connected to a battery throwing mechanism of a vehicle, and the method includes:

[0006] In the event that the control request for the vehicle exceeds the control performance of the vehicle, activating a battery jettisoning function of the vehicle;

[0007] Wherein, the vehicle control request includes at least one of a steering request and a braking request;

[0008] Obtaining vehicle operating conditions and traffic environment of the vehicle;

[0009] Determining a target throwing plan for the battery based on the vehicle operating conditions and traffic environment;

[0010] A battery throwing instruction is sent to the battery throwing mechanism so that the battery throwing mechanism throws the battery of the vehicle according to the target throwing plan.

[0011] In the embodiment of the present application, when the control request for the vehicle exceeds the control performance of the vehicle, the target battery throwing plan is determined in combination with the vehicle operating conditions and traffic environment, which is conducive to enabling the vehicle to adopt appropriate battery throwing measures in a variety of scenarios. Then, the battery throwing mechanism of the vehicle throws the battery of the vehicle according to the target throwing plan. Throwing the battery can reduce the mass of the vehicle and thus reduce inertia, which is conducive to rapid braking or steering of the vehicle. Moreover, the throwing battery can also share the kinetic energy of the vehicle, which can assist the remaining body of the vehicle to quickly decelerate and turn, and reduce the probability of dangerous accidents such as collisions and driving into dangerous areas, thereby ensuring driving safety.

[0012] In addition, throwing the battery can reduce the vehicle's power system energy, thereby reducing the risk of battery fire caused by vehicle collision.

[0013] In some embodiments, determining a target throwing scheme of the battery based on the vehicle operating conditions and traffic environment includes:

[0014] Get candidate throwing solutions;

[0015] estimating a motion state of the vehicle after the battery is jettisoned using the candidate jettisoning scheme under the vehicle operating condition and traffic environment to obtain an estimated motion state;

[0016] If it is determined based on the estimated motion state that the vehicle satisfies preset safe driving rules, the target throwing plan is determined based on the candidate throwing plans.

[0017] In some embodiments, determining that the vehicle satisfies a preset safe driving rule based on the estimated motion state includes:

[0018] Based on the estimated motion state, determining a vehicle control target satisfied by the vehicle among preset vehicle control targets at various levels;

[0019] Finding a safety index requirement that matches the vehicle control target; wherein the safety index requirement is used to indicate the safety level requirement for people and objects;

[0020] Based on the estimated motion state, estimating the degree of safety impact of the vehicle on people and objects in the traffic environment;

[0021] If the safety impact degree meets the matching safety index requirement, it is determined that the vehicle meets the safe driving rules.

[0022] In some embodiments, estimating the motion state of the vehicle after the battery is thrown away using the candidate throwing scheme under the vehicle operating condition and traffic environment to obtain the estimated motion state includes:

[0023] Based on a preset vehicle dynamics model, the motion state of the vehicle after the battery is thrown by the candidate throwing scheme under the vehicle operating condition and traffic environment is estimated to obtain the estimated motion state.

[0024] In some embodiments, the candidate throwing scheme includes: a first battery throwing frequency, a first battery throwing number and a first throwing control parameter, wherein the first throwing control parameter is used to indicate an initial motion state of each battery thrown each time the battery is thrown; the battery throwing method further includes:

[0025] In a case where it is determined based on the estimated motion state that the vehicle does not meet a preset safe driving rule, detecting whether the number of the first battery thrown reaches a maximum value;

[0026] If the number of battery throws does not reach the maximum value, the first battery throw number is increased to obtain the second battery throw number, and the first battery throw number is used as the second battery throw number;

[0027] If the first battery throwing number reaches the maximum value, and the first battery throwing times do not reach the maximum value, then increase the first battery throwing times to obtain the second battery throwing times, and use the minimum battery throwing number corresponding to the second battery throwing times as the second battery throwing number;

[0028] Get the second throwing control parameters;

[0029] Determine a new candidate throwing scheme based on the second throwing control parameter, the second battery throwing number and the second battery throwing number;

[0030] Continue to perform the step of estimating the motion state of the vehicle after the battery is thrown away using the candidate throwing scheme under the vehicle operating condition and traffic environment to obtain an estimated motion state until the estimated operating state meets the safe driving rules.

[0031] In some embodiments, obtaining a candidate throwing solution includes:

[0032] Selecting a throwing control parameter in a preset first control parameter interval as the first throwing control parameter;

[0033] The obtaining of the second throwing control parameter comprises:

[0034] Determining an adjustment direction of the first throwing control parameter based on the estimated motion state and the safe driving rules;

[0035] Narrowing the first control parameter interval based on the adjustment direction to obtain a second control parameter interval;

[0036] A throwing control parameter is selected in the second control parameter interval as the second throwing control parameter.

[0037] In some embodiments, the battery throwing method further comprises:

[0038] In the event of a thermal safety accident occurring in the battery, a battery throwing function of the vehicle is activated.

[0039] In a second aspect, an embodiment of the present application further provides a battery throwing device, which is applied to an electronic device, wherein the electronic device is communicatively connected to a battery throwing mechanism of a vehicle, and the device comprises:

[0040] A function activation module, configured to activate a battery jettisoning function of the vehicle when a control request for the vehicle exceeds the control performance of the vehicle; wherein the control request for the vehicle includes at least one of a steering request and a braking request;

[0041] An information acquisition module, used to acquire the vehicle operating conditions and traffic environment of the vehicle;

[0042] A scheme generating module, used for determining a target throwing scheme of the battery based on the vehicle operating condition and traffic environment;

[0043] The throwing execution module is used to send a battery throwing instruction to the battery throwing mechanism so that the battery throwing mechanism throws the battery according to the target throwing plan.

[0044] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the battery throwing method described in the first aspect.

[0045] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the battery throwing method described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of the structure of a battery throwing system provided in one embodiment of the present application.

[0047] Figure 2 A flowchart of the steps of a battery throwing method provided in one embodiment of the present application.

[0048] Figure 3 A flowchart of sub-steps of step 203 provided in an embodiment of the present application.

[0049] Figure 4A schematic diagram of the structure of a battery throwing device provided in one embodiment of the present application.

[0050] Figure 5 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0052] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all of the implementations.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0054] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0055] In this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0056] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0057] The present application provides a battery throwing method, a battery throwing device, an electronic device and a computer-readable storage medium.

[0058] In the battery throwing method of the embodiment of the present application, if the control request issued to the vehicle exceeds the control performance of the vehicle, the electronic device can determine the target battery throwing plan in combination with the vehicle operating conditions and traffic environment, which is conducive to enabling the vehicle to adopt appropriate battery throwing measures in a variety of scenarios. Then, the battery throwing mechanism of the vehicle throws the battery of the vehicle according to the target throwing plan. Throwing the battery can reduce the mass of the vehicle and thus reduce inertia, which is conducive to rapid braking or steering of the vehicle. Moreover, the throwing battery can also share the kinetic energy of the vehicle, which can assist the remaining body of the vehicle to quickly decelerate and turn, and reduce the probability of dangerous accidents such as collisions.

[0059] In addition, throwing batteries can reduce the vehicle's power system energy and minimize the risk of battery fires caused by vehicle collisions, thereby improving driving safety.

[0060] The battery throwing method of the embodiment of the present application can be applied to one or more electronic devices. The electronic device is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to processors, microprogrammed control units (MCU), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), digital signal processors (DSP), embedded devices, etc.

[0061] The electronic device may be a controller configured in a vehicle, for example, Figure 1 As shown, the electronic device can be Figure 1 The battery ejection controller shown is, but not limited to, the battery ejection controller can be communicatively connected with the battery ejection mechanism.

[0062] The battery disposal controller can communicate with other controllers through vehicle networks such as CAN, LIN, FLAXRAY, or Ethernet to obtain vehicle operating conditions and traffic environment in real time.

[0063] Vehicle operating conditions refer to the working conditions of the vehicle during driving, which include the working conditions of various vehicle systems, the position and posture of the vehicle, and other aspects.

[0064] For example, the battery disposal controller can communicate with the vehicle controller to obtain real-time vehicle operating conditions such as vehicle speed, steering wheel angle, accelerator pedal status, brake pedal status, total power drive and brake recovery torque.

[0065] The battery disposal controller can communicate with the active safety system to obtain active safety-related braking, acceleration, steering command signals and other vehicle operating conditions in real time.

[0066] The battery disposal controller can communicate with the vehicle perception and status monitoring system to obtain real-time vehicle operating conditions such as vehicle posture, braking system braking torque, steering torque, steering angle, tire status, driver status, passenger status, as well as surrounding vehicle posture, speed, obstacle position and geometric dimensions, as well as traffic environment such as lane lines, traffic lights, and road surface height.

[0067] When the vehicle is in a dangerous situation, for example, the vehicle is about to collide, the vehicle enters a dangerous area, or the battery has a thermal safety accident, the battery throwing controller can execute the battery throwing method provided in the embodiment of the present application based on the above-collected information.

[0068] refer to Figure 2 As shown, Figure 2 This is a flowchart of the steps of an embodiment of the battery throwing method of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. The battery throwing method can include the following steps.

[0069] Step 201 : when the control request for the vehicle exceeds the control performance of the vehicle, start the battery jettisoning function of the vehicle.

[0070] The maneuvering request may include: a braking request and / or a steering request, etc. Maneuvering performance refers to the maneuvering capability limit of the vehicle, for example, the maneuvering performance may include the maximum braking capability and / or the maximum steering capability of the vehicle, etc.

[0071] For example, when a vehicle is about to hit an obstacle with a high impact speed and severe damage to the vehicle, or even endangering the health and lives of people in the passenger compartment, the driver or the driving assistance system will issue an emergency braking request or an emergency steering request. The emergency braking request or the emergency steering request may exceed the maximum braking capacity or the maximum steering capacity of the vehicle. Therefore, the electronic device can activate the battery jettisoning function of the vehicle to assist the vehicle in braking or steering.

[0072] For another example, when a vehicle is about to enter a dangerous area, such as a road, bridge, or the edge of a building, and emergency braking or emergency steering is required in a short period of time, the driver or the driving assistance system will issue an emergency braking request or an emergency steering request. The vehicle's braking system and steering system capabilities alone may not be able to meet the emergency braking request or emergency steering request to achieve risk avoidance. Therefore, the electronic device can activate the vehicle's battery jettisoning function to assist the vehicle in braking or steering.

[0073] In some embodiments, in the event of a thermal safety accident involving the battery, for example, spontaneous combustion, self-explosion, open flame, dangerous electrochemical reaction, liquid leakage, or abnormally high temperature in the vehicle battery pack, the electronic device may also activate the battery throwing function of the vehicle.

[0074] For example, the vehicle perception and status monitoring system can monitor the vehicle's operating conditions and traffic environment in real time, and determine whether there is a fault in the entire vehicle based on the vehicle's operating conditions and traffic environment. If there is a fault in the entire vehicle, the cause of the fault can be analyzed. If the cause of the fault is a thermal safety accident in the battery, the battery ejection function can be activated. If the cause of the fault is a serious fault related to the powertrain, braking, or steering system, the active safety system can take braking or steering intervention measures and remind the driver to pull over as soon as possible. If it is other non-serious faults, the vehicle can remind the driver through display, voice, etc.

[0075] The vehicle perception and status monitoring system can also determine whether the vehicle is at risk of collision or entering a dangerous area. If the vehicle is at risk of collision or entering a dangerous area, the active safety system can take braking or steering intervention measures and remind the driver. The electronic equipment can determine whether the braking request or steering request exceeds the vehicle's handling performance (such as exceeding the capacity limit of the steering system or braking system). If the braking request or steering request exceeds the vehicle's handling performance, the electronic equipment can activate the battery jettisoning function.

[0076] After the battery dumping function is turned on, the electronic device can execute the following steps 202 to 204.

[0077] Step 202, obtaining the vehicle operating conditions and traffic environment of the vehicle.

[0078] Vehicle operating conditions refer to the working conditions of the vehicle during driving, including the working conditions of various vehicle systems, the position and posture of the vehicle, and other aspects.

[0079] The vehicle operating conditions can be used to describe whether the vehicle is in normal operation, whether there are potential fault hazards, and the current driving status of the vehicle.

[0080] For example, vehicle operating conditions may include vehicle speed, steering wheel angle, accelerator pedal status, brake pedal status, total power drive and brake recovery torque, vehicle posture, braking system braking torque, steering torque, steering angle, tire status, driver status, occupant status, etc.

[0081] The traffic environment refers to the natural environment, road conditions, traffic conditions and other external factors that may affect the driving of the vehicle.

[0082] For example, the traffic environment may include the vehicle's surrounding vehicle posture, vehicle speed, obstacle location and geometric dimensions, as well as road information such as lane lines, traffic lights, and road surface height.

[0083] Step 203, determining a target battery throwing plan based on the vehicle operating conditions and traffic environment.

[0084] The target throwing scheme may include the number of battery throwing times, the number of battery throwings, and the throwing control parameters. The target throwing scheme may refer to a battery throwing scheme that meets the preset safe driving rules. The safe driving rules can be set according to the safe driving requirements of the vehicle, and the embodiments of the present application are not limited to this.

[0085] The number of battery throwing times is used to indicate how many times the battery is thrown by the battery throwing mechanism.

[0086] The number of batteries thrown is used to indicate the total number of batteries that the battery throwing mechanism needs to throw.

[0087] The throwing control parameters are used to indicate the initial motion state of each battery thrown each time the battery is thrown. For example, the throwing control parameters may include the thrown battery unit number and the throwing time, throwing direction, throwing angle, throwing acceleration, etc. of the battery, but are not limited thereto.

[0088] In some embodiments, the electronic device can input the vehicle operating conditions and traffic environment into a pre-trained throwing plan generation model to obtain a target throwing plan.

[0089] The throwing plan generation model can be trained based on training samples, and the training samples may include vehicle operating conditions and traffic environment information, and a throwing plan label corresponding to the vehicle operating conditions and traffic environment information. When the vehicle is in the vehicle operating conditions and traffic environment, the vehicle can meet the safe driving rules after the battery is thrown using the throwing plan label.

[0090] In other embodiments, the electronic device can obtain multiple candidate throwing schemes, and then respectively estimate the motion state of the vehicle after the battery is thrown away using the candidate throwing schemes under the vehicle operating conditions and traffic environment to obtain each estimated motion state; based on the estimated motion states, determine the candidate throwing schemes when the vehicle meets the preset safe driving rules, and determine the target throwing scheme based on the candidate throwing schemes.

[0091] For example, in the event of a thermal safety accident in a battery, the step of obtaining candidate discarding schemes may include: the electronic device may set the number of battery discarding times to 1, and use the battery cell that has a thermal safety accident as the battery cell to be discarded, thereby obtaining the number of battery discards and the numbers of the battery cells to be discarded, and then generating multiple sets of discarding control parameters for the battery cells to be discarded, for example, selecting several sets of discarding control parameters in a preset control parameter range to obtain multiple candidate control schemes.

[0092] The preset control parameter interval may include a throwing time interval, a throwing direction interval, a throwing angle interval, a throwing acceleration interval, and the like.

[0093] The above is an embodiment of generating candidate jettisoning schemes when a thermal safety accident occurs. In some embodiments, when the control request exceeds the control performance of the vehicle, the step of generating candidate control schemes may include: determining the jettisoning control parameters under different numbers of battery jettisoning and different numbers of battery jettisoning to obtain multiple candidate jettisoning control schemes.

[0094] For example, assuming that the total number of battery cells is 10, the battery throwing times can range from 1 to 10, and the battery throwing number can range from 1 to 10. Referring to the parameters in Table 1 below, each battery throwing times is assigned a number (i.e., the first-level number of the scheme), and each battery throwing number is assigned a number (i.e., the second-level number of the scheme).

[0095] When the number of the candidate throwing scheme includes 1-(1), it means that the number of battery throwing times of the candidate throwing scheme is 1 and the number of battery throwing is 1.

[0096] When the numbers of the candidate throwing schemes include 1-(2), it means that the battery throwing times of the candidate throwing scheme is 1 and the number of battery throwing is 2, that is, the battery throwing mechanism throws two batteries at a time.

[0097] When the number of the candidate throwing scheme includes 2-(2), it means that the number of battery throwing times of the candidate throwing scheme is 2, and the number of battery throwing is 2, that is, the battery throwing mechanism throws the battery twice, throwing one battery each time.

[0098] Table 1

[0099]

[0100]

[0101] The electronic device can generate a throwing control parameter for a combination of the first-level scheme number and the second-level scheme number in the above table to obtain a candidate throwing scheme.

[0102] For example, when the number of battery throws is 1 (ie, the first-level scheme number is 1), corresponding throw control parameters are generated for the number of battery throws 1 to 10.

[0103] When the number of battery throwing times is 2, corresponding throwing control parameters are generated for the number of battery throwing times 2 to 10, and so on.

[0104] Assuming that the battery throwing times is 1 and the battery throwing number is 1, at least one set of throwing control parameters can be generated, and the number of each set of throwing control parameters is called a three-level number.

[0105] Assuming that the candidate throwing schemes are numbered 1-(1)-①, the candidate throwing schemes may be as shown in Table 2 below.

[0106] Table 2

[0107]

[0108] The throwing time, throwing direction, throwing angle and throwing acceleration of each of the above-mentioned battery cells can be selected within a preset control parameter range, or can be determined by other means, for example, by a pre-trained throwing parameter generation model, which is not limited in this embodiment of the present application.

[0109] The electronic device can gradually test each candidate throwing plan in the order of increasing battery throwing times and increasing battery throwing numbers to verify whether it meets the safe driving rules to obtain a target throwing plan.

[0110] Furthermore, if the vehicle adopts multiple candidate throwing schemes that all meet the safe driving rules, the candidate throwing scheme with the smallest number of battery throwing times can be selected as the target throwing scheme from the multiple candidate throwing schemes; if the multiple candidate throwing schemes have the same number of battery throwing times, the candidate throwing scheme with the smallest number of battery throwing times can be selected as the target throwing scheme from the multiple candidate throwing schemes.

[0111] That is, the embodiment of the present application selects a target throwing scheme based on the principle of minimizing the number of battery throwing times and minimizing the number of battery throwing units, which can reduce the complexity of battery throwing.

[0112] In the above embodiment, the electronic device can generate multiple candidate throwing plans, and then gradually test each candidate throwing plan in the order of increasing battery throwing times and increasing battery throwing numbers to verify whether it meets the safe driving rules to obtain the target throwing plan.

[0113] In other embodiments, the embodiments of the present application can generate a candidate throwing plan when the candidate throwing plan is the minimum number of battery throwing times and the minimum number of battery throwings, and estimate whether the candidate throwing plan meets the safe driving requirements. If it does not meet the safe driving requirements, the candidate throwing plan is adjusted until the target throwing plan that meets the safe driving requirements is obtained.

[0114] refer to Figure 3 As shown, step 203 can be implemented in the following manner:

[0115] Step 301, obtaining candidate throwing solutions.

[0116] In some embodiments, the candidate throwing schemes include: a first battery throwing frequency, a first battery throwing number, and a first throwing control parameter.

[0117] The first throwing control parameter is used to indicate the initial motion state of each battery thrown each time the battery is thrown.

[0118] In some embodiments, when generating candidate throwing schemes for the first time, the number of first battery throwing times can be set to a minimum value, for example, the number of first battery throwing times is set to once; the number of first battery throwing times can also be set to a minimum value, for example, one battery cell is thrown, and then, a throwing control parameter is selected in a preset first control parameter range as the first throwing control parameter.

[0119] Step 302 , predicting the motion state of the vehicle after the battery is jettisoned using the candidate jettisoning scheme under the vehicle operating condition and traffic environment, to obtain an estimated motion state.

[0120] The estimated motion state is used to describe the position, speed, acceleration, and posture of the vehicle and the battery after the vehicle and the battery adopt the candidate throwing solution.

[0121] In some embodiments, step 302 may be implemented by the following steps: based on a preset vehicle dynamics model, the motion state of the vehicle after the battery is thrown using the candidate throwing scheme under the vehicle operating conditions and traffic environment is estimated to obtain the estimated motion state.

[0122] The vehicle dynamics model is a mathematical model used to describe the motion characteristics and force conditions of a vehicle during driving.

[0123] The electronic device may also use artificial intelligence technology to estimate the motion state of the battery after the battery is thrown using the candidate throwing scheme under the vehicle operating conditions and traffic environment, and obtain the estimated motion state.

[0124] Step 303, determining whether the vehicle meets the preset safe driving rules.

[0125] In some embodiments, step 303 may be implemented by:

[0126] Step a: based on the estimated motion state, determining the vehicle control target satisfied by the vehicle among the preset vehicle control targets at various levels.

[0127] Vehicle control targets can be set according to actual application requirements, and vehicle control targets at different levels can correspond to different safety levels.

[0128] For example, vehicle control objectives at each level may include:

[0129] Objective 1: The vehicle decelerates to 0 without collision;

[0130] Objective 2: A minor collision occurs before the vehicle speed slows down to 0, and the result is better than not abandoning the vehicle;

[0131] Objective 3: A serious collision occurs before the vehicle speed slows down to 0, and the result is better than not abandoning the vehicle.

[0132] In some embodiments, the electronic device can determine whether the vehicle will decelerate to 0 based on the estimated motion state, and determine whether the vehicle will collide based on the traffic environment and the estimated motion state, thereby determining the matched vehicle control target.

[0133] In some embodiments, after step a, the following may also be included: if the vehicle using the candidate throwing scheme does not meet the control target with the highest safety level, the candidate throwing scheme is adjusted to generate a new candidate throwing scheme, and then step 302 is executed until it is determined that the vehicle meets the vehicle control target with the highest safety level based on the estimated motion state corresponding to a candidate throwing scheme, or, when the termination generation condition of the candidate throwing scheme is reached, the estimated motion states corresponding to all generated candidate throwing schemes do not meet the vehicle control target with the highest safety level.

[0134] When the estimated motion states corresponding to all generated candidate throwing plans do not meet the vehicle control target with the highest safety level, the candidate throwing plans that meet the vehicle control target with the next safety level can continue to be searched for; when all candidate throwing plans do not meet any vehicle control target, the electronic equipment can re-acquire the vehicle operating conditions and traffic environment to generate new candidate throwing plans.

[0135] That is, the embodiment of the present application can also determine candidate throwing plans according to the safety level of the vehicle control target in descending order to maximize the driving safety of the vehicle.

[0136] Among them, the termination condition of the candidate throwing scheme generation may include: the number of times the candidate throwing scheme is generated reaches a maximum number.

[0137] For another example, the conditions for terminating the generation of the candidate throwing scheme may include: the number of throwing control parameters and the number of battery throwing times in the currently generated candidate throwing scheme both reach the maximum value, and the number of candidate throwing schemes with the maximum number of throwing control parameters and the maximum number of battery throwing times reaches a preset number, but is not limited to this.

[0138] In some embodiments, adjusting the candidate throwing solutions may be achieved by:

[0139] If the first battery throwing number in the candidate throwing scheme does not reach the maximum value, the first battery throwing number is increased to obtain the second battery throwing number, and the first battery throwing number is used as the second battery throwing number.

[0140] If the number of first battery throws in the candidate throw scheme reaches the maximum value, and the first battery throw times do not reach the maximum value, the first battery throw times are increased to obtain the second battery throw times, and the minimum battery throw times corresponding to the first battery throw times are used as the second battery throw times. For example, if the battery throw times are 2, the minimum battery throw times corresponding to the first battery throw times are also 2.

[0141] Furthermore, the updating method of the first throwing control parameter is as follows:

[0142] The electronic device determines the adjustment direction of the first throwing control parameter based on the estimated motion state and the target control level, and then narrows the first control parameter range based on the adjustment direction to obtain the second control parameter range, where the first control parameter range is a preset selection range for the first throwing control parameter; next, selects the throwing control parameter in the second control parameter range as the second throwing control parameter.

[0143] For example, the estimated motion state indicates that the vehicle has not decelerated to 0, while the target control level indicates that the vehicle needs to decelerate to 0. The adjustment direction may be to increase the acceleration of the battery throwing. Assuming that the throwing acceleration interval in the first control parameter interval is [a, b], and the acceleration in the first throwing control parameter is c, the second control parameter interval may be [c, b].

[0144] Through the above method, the throwing control parameters can be gradually optimized and the generation speed of the target throwing plan can be accelerated.

[0145] Step b, searching for safety index requirements that match the vehicle control target.

[0146] The safety index requirements may include whether the safety of people and objects is affected. For example, the safety index requirements may include whether the vehicle itself is endangered, whether other vehicles and passengers are endangered, whether pedestrians are endangered, whether surrounding facilities are endangered, etc., but are not limited thereto.

[0147] The electronic device can determine "whether to throw" by verifying these safety index requirements. If the result of "whether to throw" is throwing, it means that the vehicle meets the preset safe driving rules, and the candidate throwing plan can be used as the target throwing plan.

[0148] If the result of "whether to throw" is not to throw, it means that the candidate throwing plan does not meet the safe driving rules, the vehicle does not execute the throwing, and the electronic device can continue to generate new candidate throwing plans.

[0149] The following takes the vehicle control targets as the above-mentioned target 1, target 2 and target 3 as an example to illustrate the safety indicator requirements for matching each vehicle control target.

[0150] Among them, the safety index requirements matched by target 1 can be referred to as shown in Table 3 below. When the vehicle control target corresponding to the candidate throwing solution is target 1, the electronic device can check the situations satisfied by the vehicle line by line to determine whether the candidate throwing solution can be used as the target throwing solution.

[0151] For example, the first row of the verification results in Table 3 shows that: when the vehicle adopting the candidate throwing plan will not endanger its own vehicle, other vehicles and occupants, pedestrians, surrounding facilities or slightly endanger surrounding facilities, the throwing can be executed, that is, the electronic device uses the candidate throwing plan as the target throwing plan and issues an audible and visual warning in advance that the battery will be thrown.

[0152] The second row of the verification results in Table III shows that the battery cannot be thrown away when the vehicle using the candidate throwing solution will not endanger its own vehicle, other vehicles and passengers, pedestrians, or seriously endanger surrounding facilities.

[0153] The third row of the verification results in Table 3 shows that if the candidate throwing scheme does not endanger the vehicle itself, other vehicles and passengers, and will cause slight damage to pedestrians, the battery will not be thrown regardless of whether it endangers surrounding facilities.

[0154] Table 3

[0155]

[0156] The safety indicator requirements matched by Goal 2 can be found in Table 4 below.

[0157] Table 4

[0158]

[0159]

[0160] The safety indicator requirements matched by Goal 3 can be found in Table 5 below.

[0161] Table 5

[0162]

[0163] Step c: based on the estimated motion state, estimate the degree of safety impact of the vehicle on people and objects in the traffic environment.

[0164] The safety impact degree can be used to indicate whether the safety of people and objects is endangered, and the degree of endangerment. The division method of the degree of crisis can be divided according to actual application requirements, and the embodiment of the present application is not limited to this.

[0165] For example, the electronic device can simulate the degree of impact on the safety of people and objects when the vehicle is driving in the traffic environment according to the estimated motion state, such as whether it endangers the vehicle itself, whether it endangers other vehicles and passengers, whether it endangers pedestrians, whether it endangers surrounding facilities and the degree of crisis, such as a minor threat to vehicle safety or a serious threat to vehicle safety.

[0166] Step d: If the safety impact degree meets the matching safety index requirement, it is determined that the vehicle meets the safe driving rules.

[0167] Specifically, if the electronic device determines that the result of "whether to throw" is throwing based on the safety impact level, it means that the safety impact level meets the matching safety index requirements, that is, the vehicle meets the safe driving rules.

[0168] If the safety impact degree does not meet the matched safety index requirement, it is determined that the vehicle does not meet the safe driving rules.

[0169] In some embodiments, when it is determined based on the estimated motion state that the vehicle does not satisfy the preset safe driving rules, step 304 may be executed; when it is determined based on the estimated motion state that the vehicle satisfies the preset safe driving rules, step 305 may be executed.

[0170] Step 304, updating the first battery throwing times, the first battery throwing number and the first throwing control parameter in the candidate throwing scheme to obtain a new candidate throwing scheme.

[0171] In some embodiments, the updating method of the first battery throwing times and the first battery throwing number may be as follows:

[0172] If the number of first battery throwings in the candidate throwing scheme does not reach the maximum value, the first battery throwing number is increased, for example, the first battery throwing number is increased by 1 to obtain the second battery throwing number, and the first battery throwing number is used as the second battery throwing number.

[0173] If the number of first battery throwings in the candidate throwing scheme reaches the maximum value, and the number of battery throwings does not reach the maximum value, then increase the number of first battery throwings, for example, increase the number of first battery throwings by 1 to obtain the second battery throwing number, and use the minimum number of battery throwings as the second battery throwing number.

[0174] In some embodiments, the first throwing control parameter is updated as follows:

[0175] The electronic device determines the adjustment direction of the first throwing control parameter based on the estimated motion state and the safe driving rules, and then narrows the first control parameter range based on the adjustment direction to obtain a second control parameter range, where the first control parameter range is a preset selection range for the first throwing control parameter; next, a throwing control parameter is selected in the second control parameter range as the second throwing control parameter.

[0176] A new candidate throwing solution can be obtained in the above manner, and then the electronic device can execute step 302 again until the new candidate throwing solution meets the preset safe driving rules, and then step 305 can be executed.

[0177] Step 305, taking the candidate throwing solution as the target throwing solution.

[0178] Step 204: Send a battery throwing instruction to the battery throwing mechanism.

[0179] Among them, the battery throwing instruction is used to instruct the battery throwing mechanism to throw the battery of the vehicle according to the target throwing plan.

[0180] After the battery throwing mechanism throws the battery of the vehicle according to the target throwing plan, it can be checked whether the vehicle reaches the estimated motion state. If it reaches the estimated motion state, the vehicle can turn off the battery throwing function. After turning off the battery throwing function, the vehicle identifies whether all batteries have been thrown and whether the vehicle is already in a parked state. If the vehicle has not thrown all batteries and the vehicle is not in a parked state, the vehicle can continue to be monitored to determine whether the vehicle turns on the battery throwing function again.

[0181] If the vehicle does not reach the estimated state and the vehicle has not discarded all batteries, the battery discarding function can continue to be turned on.

[0182] Throwing batteries can reduce the mass of the vehicle and thus reduce inertia, which is conducive to rapid braking or turning of the vehicle. Moreover, throwing batteries can also share the kinetic energy of the vehicle, which can assist the remaining body of the vehicle to quickly decelerate and turn, avoiding dangerous accidents such as rear-end collisions and collisions.

[0183] The following briefly describes the principle of assisting the vehicle to quickly decelerate or turn by throwing the battery. In the following principle description, the forces acting on the vehicle by the ground, air, etc. are ignored, and the vehicle body, battery pack, and occupants are regarded as internal sub-components in the vehicle system.

[0184] Among them, the vehicle mass can be shown as follows:

[0185] M=m1+m2, where M is the mass of the vehicle, including the mass of the vehicle body, battery pack, passengers, etc.; m1 is the total mass of all components of the vehicle except the battery pack system, and m2 is the mass of the battery pack system.

[0186] Assuming that the total momentum and kinetic energy of the vehicle are conserved, different components can interact with each other through internal forces to change their speed and direction of movement:

[0187] m1v1+m2v2=m1v1'+m2v2';

[0188] 1 / 2m1v1 2 +1 / 2m2v2 2 =1 / 2m1v1' 2 +1 / 2m2v2' 2 .

[0189] Among them, v1 is the speed of other components of the whole vehicle except the battery pack system, v2 is the speed of the battery pack system, v1' is the speed of the other components after the battery is thrown, and v2' is the speed of the battery pack system after the battery is thrown.

[0190] At the moment of the dangerous condition, that is, before the battery pack is thrown:

[0191] v1=v2=V vehspd ; Among them, Vvehspd Characterize the vehicle speed.

[0192] Thus, the following relational expression can be deduced:

[0193] m1v1’ = (m1 + m2)v vehsdp -m2v2’;

[0194] v1’ = v vehspd+ m2 / m1(v vehspd -v2’);

[0195] After the battery is thrown, if the battery speed increases (v2’ > v vehspd ), then the speed of the vehicle body and the occupants will decrease (v1’ < v vehspd ), thus enabling the auxiliary braking system to achieve braking. Moreover, it can be seen from the above formula that the larger the mass of the thrown battery and the faster the battery throwing speed, the more obvious the vehicle deceleration effect.

[0196] At the same time, based on Newton's second law, the following relational expression can be obtained:

[0197] F = Ma; F’ = m1a’;

[0198] Wherein, F is the braking force of the vehicle when the battery is not thrown, a is the deceleration of the vehicle under the action of the braking force, F’ is the braking force of the vehicle after the battery is thrown, and a’ is the deceleration of the vehicle under the action of the braking force.

[0199] Since m1 = M - m2 < M, therefore, when F = F’, a’ = Ma / m1 > a.

[0200] It can be seen from this that when the vehicle throws the battery, under the action of the same braking force, the vehicle movement deceleration is greater and the vehicle is easier to decelerate. Therefore, the battery throwing can be effectively assisted in braking and steering the vehicle by the target throwing scheme in the embodiments of the present application, improving driving safety.

[0201] Moreover, throwing the battery can cut off the energy source of the vehicle's power system, thus avoiding the acceleration out-of-control accident caused by the failure of the vehicle's power system and braking system, and minimizing the risk of battery fire caused by vehicle collision as much as possible.

[0202] In addition, in the case where the vehicle control request in the embodiments of the present application exceeds the vehicle control performance, the target throwing scheme of the battery is determined in combination with the vehicle operating conditions and traffic environment, which is beneficial to enabling the vehicle to adopt appropriate battery throwing measures in various scenarios.

[0203] Based on the same idea as the battery throwing method in the above embodiment, the present application also provides a battery throwing device, which can be used to perform the above battery throwing method. For ease of explanation, the structural schematic diagram of the battery throwing device embodiment only shows the parts related to the embodiment of the present application. Those skilled in the art can understand that the illustrated structure does not constitute a limitation on the device, and may include more or fewer components than shown in the diagram, or combine certain components, or arrange the components differently.

[0204] like Figure 4 As shown, the battery throwing device includes a function activation module 401, an information acquisition module 402, a solution generation module 403 and a throwing execution module 404. In some embodiments, the above modules can be programmable software instructions stored in a memory and can be called and executed by a processor. It is understood that in other embodiments, the above modules can also be program instructions or firmware solidified in the processor.

[0205] The function activation module 401 is used to activate the battery jettisoning function of the vehicle when the control request of the vehicle exceeds the control performance of the vehicle; wherein the control request of the vehicle includes at least one of a steering request and a braking request;

[0206] The information acquisition module 402 is used to acquire the vehicle operating conditions and traffic environment of the vehicle;

[0207] A solution generation module 403 is used to determine a target throwing solution of the battery based on the vehicle operating conditions and traffic environment;

[0208] The throwing execution module 404 is used to send a battery throwing instruction to the battery throwing mechanism so that the battery throwing mechanism throws the battery according to the target throwing plan.

[0209] Figure 5 This is a schematic diagram of an embodiment of an electronic device of the present application.

[0210] The electronic device 100 includes a memory 20, a processor 30, and a computer program 40 stored in the memory 20 and executable on the processor 30. When the processor 30 executes the computer program 40, the steps in the above-mentioned battery throwing method embodiment are implemented, such as Figure 2 Steps 201 to 204 are shown.

[0211] Exemplarily, the computer program 40 can also be divided into one or more modules / units, which are stored in the memory 20 and executed by the processor 30. The one or more modules / units can be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program 40 in the electronic device 100. For example, it can be divided into Figure 4 The function activation module 401, information acquisition module 402, solution generation module 403 and throwing execution module 404 are shown.

[0212] Those skilled in the art will understand that the schematic diagram is merely an example of the electronic device 100 and does not constitute a limitation of the electronic device 100. The electronic device 100 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 100 may also include input and output devices, network access devices, buses, etc.

[0213] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, a single-chip microcomputer, or the processor 30 may also be any conventional processor, etc.

[0214] The memory 20 can be used to store the computer program 40 and / or the module / unit. The processor 30 realizes various functions of the electronic device 100 by running or executing the computer program and / or the module / unit stored in the memory 20 and calling the data stored in the memory 20. The memory 20 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data (such as audio data) created according to the use of the electronic device 100, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0215] If the module / unit integrated in the electronic device 100 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0216] In the several embodiments provided in this application, it should be understood that the disclosed electronic device and method can be implemented in other ways. For example, the electronic device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation.

[0217] In addition, each functional unit in each embodiment of the present application may be integrated into the same processing unit, or each unit may exist physically separately, or two or more units may be integrated into the same unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0218] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or electronic devices stated in the electronic device claim can also be implemented by the same unit or electronic device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0219] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A battery throwing method, characterized in that: Applied to an electronic device, the electronic device is communicatively connected to a battery ejection mechanism of a vehicle, the method comprising: In the event that the control request for the vehicle exceeds the control performance of the vehicle, activating a battery jettisoning function of the vehicle; Wherein, the vehicle control request includes at least one of a steering request and a braking request; Obtaining vehicle operating conditions and traffic environment of the vehicle; Determining a target throwing scheme for the battery based on the vehicle operating condition and the traffic environment; A battery throwing instruction is sent to the battery throwing mechanism so that the battery throwing mechanism throws the battery of the vehicle according to the target throwing plan.

2. The battery throwing method according to claim 1, characterized in that: The determining of the target throwing scheme of the battery based on the vehicle operating condition and the traffic environment includes: Get candidate throwing solutions; estimating a motion state of the vehicle after the battery is thrown away by the candidate throwing scheme under the vehicle operating condition and the traffic environment to obtain an estimated motion state; If it is determined based on the estimated motion state that the vehicle satisfies preset safe driving rules, the target throwing plan is determined based on the candidate throwing plans.

3. The battery throwing method according to claim 2, characterized in that: The determining, based on the estimated motion state, that the vehicle satisfies a preset safe driving rule includes: Based on the estimated motion state, determining a vehicle control target satisfied by the vehicle among preset vehicle control targets at various levels; Finding a safety index requirement that matches the vehicle control target; wherein the safety index requirement is used to indicate the safety level requirement for people and objects; Based on the estimated motion state, estimating the degree of safety impact of the vehicle on people and objects in the traffic environment; If the safety impact degree meets the matching safety index requirement, it is determined that the vehicle meets the safe driving rules.

4. The battery throwing method according to claim 2, characterized in that: The estimating the motion state of the vehicle after the battery is thrown away by the candidate throwing scheme under the vehicle operating condition and the traffic environment to obtain the estimated motion state includes: Based on a preset vehicle dynamics model, the motion state of the vehicle after the battery is thrown by the candidate throwing scheme under the vehicle operating condition and the traffic environment is estimated to obtain the estimated motion state.

5. The battery throwing method according to claim 2, characterized in that: The candidate throwing scheme includes: a first battery throwing frequency, a first battery throwing number and a first throwing control parameter, wherein the first throwing control parameter is used to indicate an initial motion state of each battery thrown each time the battery is thrown; the battery throwing method also includes: In a case where it is determined based on the estimated motion state that the vehicle does not meet a preset safe driving rule, detecting whether the number of the first battery thrown reaches a maximum value; If the first battery throwing number does not reach the maximum value, then increase the first battery throwing number to obtain the second battery throwing number, and use the first battery throwing number as the second battery throwing number; If the first battery throwing number reaches the maximum value, and the first battery throwing times do not reach the maximum value, then the first battery throwing times are increased to obtain the second battery throwing times, and the minimum battery throwing number corresponding to the second battery throwing times is used as the second battery throwing number; Get the second throwing control parameters; Determine a new candidate throwing scheme based on the second throwing control parameter, the second battery throwing number and the second battery throwing number; Continue to perform the step of estimating the motion state of the vehicle after the battery is thrown away using the candidate throwing scheme under the vehicle operating condition and traffic environment to obtain an estimated motion state until the estimated operating state meets the safe driving rules.

6. The battery throwing method according to claim 5, characterized in that: The step of obtaining a candidate throwing solution comprises: Selecting a throwing control parameter in a preset first control parameter interval as the first throwing control parameter; The obtaining of the second throwing control parameter comprises: Determining an adjustment direction of the first throwing control parameter based on the estimated motion state and the safe driving rules; Narrowing the first control parameter interval based on the adjustment direction to obtain a second control parameter interval; A throwing control parameter is selected in the second control parameter interval as the second throwing control parameter.

7. The battery throwing method according to any one of claims 1 to 6, characterized in that: The battery throwing method also includes: In the event of a thermal safety accident occurring in the battery, a battery throwing function of the vehicle is activated.

8. A battery throwing device, characterized in that: Applied to an electronic device, the electronic device is communicatively connected with a battery throwing mechanism of a vehicle, and the device comprises: A function activation module, configured to activate a battery jettisoning function of the vehicle when a control request for the vehicle exceeds the control performance of the vehicle; wherein the control request for the vehicle includes at least one of a steering request and a braking request; An information acquisition module, used to acquire the vehicle operating conditions and traffic environment of the vehicle; A scheme generating module, used for determining a target throwing scheme of the battery based on the vehicle operating condition and the traffic environment; The throwing execution module is used to send a battery throwing instruction to the battery throwing mechanism so that the battery throwing mechanism throws the battery according to the target throwing plan.

9. An electronic device, comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the battery discarding method according to any one of claims 1 to claim 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the battery discarding method according to any one of claims 1 to 7.

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