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

Abstract

The application 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 electronic equipment, the electronic equipment is in communication connection with a battery throwing mechanism of a vehicle, and the method comprises the following steps: in the case that a control request of the vehicle exceeds the control performance of the vehicle, the battery throwing function of the vehicle is started, the control request of the vehicle comprises at least one of a steering request and a braking request; the vehicle running condition and the traffic environment of the vehicle are acquired; the target throwing scheme of the battery is determined based on the vehicle running condition and the traffic environment; the 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 scheme. The application can improve the driving safety of the vehicle when the vehicle encounters an emergency accident.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and particularly relates to a battery throwing method and device, electronic equipment and a computer readable storage medium. BACKGROUND

[0002] With the rapid development of new energy vehicles, the power performance of the new energy vehicles is continuously improved, and the driving speed of the new energy vehicles on the road is getting faster and faster. However, high-speed driving also brings higher safety risks.

[0003] For example, in an emergency situation, such as a sudden accident, the vehicle may be difficult to complete emergency braking or steering within the expected time due to the capability limitation of the steering system and the braking system, which may cause the vehicle to fail to avoid the dangerous area or fail to quickly and accurately stop before the collision, thereby affecting the driving safety. SUMMARY

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

[0005] In a first aspect, the embodiments of the present application provide a battery throwing method applied to an electronic equipment, the electronic equipment being in communication connection with a battery throwing mechanism of a vehicle, and the method comprising:

[0006] In the case that a control request of the vehicle exceeds the control performance of the vehicle, starting a battery throwing function of the vehicle;

[0007] The control request of the vehicle includes at least one of a steering request and a braking request.

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

[0009] Determining a target throwing scheme of the battery based on the vehicle operating condition and the traffic environment;

[0010] Sending a battery throwing instruction to the battery throwing mechanism, so that the battery throwing mechanism throws the battery of the vehicle according to the target throwing scheme.

[0011] In the case that the control request of the vehicle exceeds the control performance of the vehicle, the target throwing scheme of the battery is determined in combination with the vehicle operating condition and the traffic environment, so that the vehicle can adopt appropriate battery throwing measures in various scenarios. Then, the battery throwing mechanism of the vehicle throws the battery according to the target throwing scheme. The thrown battery can reduce the mass of the vehicle and thus reduce the inertia, so as to facilitate rapid braking or turning of the vehicle. In addition, the thrown battery can also share the kinetic energy of the vehicle, which can assist the remaining main body of the vehicle to rapidly decelerate, turn, reduce the probability of dangerous accidents such as collision and driving into a dangerous area, and thus ensure driving safety.

[0012] In addition, the thrown battery can reduce the energy of the power system of the vehicle, so as to reduce the risk of battery fire caused by vehicle collision.

[0013] In some embodiments, the target throwing scheme of the battery is determined based on the vehicle operating condition and the traffic environment, comprising:

[0014] obtaining a candidate throwing scheme;

[0015] estimating 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 to obtain an estimated motion state;

[0016] if it is determined based on the estimated motion state that the vehicle meets the preset safe driving rule, the target throwing scheme is determined based on the candidate throwing scheme.

[0017] In some embodiments, the determination that the vehicle meets the preset safe driving rule based on the estimated motion state comprises:

[0018] determining a vehicle control target met by the vehicle among preset vehicle control targets based on the estimated motion state;

[0019] finding a safety index requirement matched with the vehicle control target; wherein the safety index requirement is used to indicate the safety degree requirement for people and objects;

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

[0021] if the safety influence degree meets the matched safety index requirement, it is determined that the vehicle meets the safe driving rule.

[0022] In some embodiments, the estimation of 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 to obtain an estimated motion state comprises:

[0023] Based on a preset vehicle dynamics model, a 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 a predicted 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 predicted motion state that the vehicle does not meet a preset safe driving rule, it is detected whether the first battery throwing number reaches a maximum value;

[0026] If the battery throwing number does not reach the maximum value, the first battery throwing number is increased to obtain a second battery throwing number, and the first battery throwing frequency is taken as a second battery throwing frequency;

[0027] If the first battery throwing number reaches the maximum value and the first battery throwing frequency does not reach the maximum value, the first battery throwing frequency is increased to obtain a second battery throwing frequency, and a minimum battery throwing number corresponding to the second battery throwing frequency is taken as a second battery throwing number;

[0028] A second throwing control parameter is obtained;

[0029] A new candidate throwing scheme is determined based on the second throwing control parameter, the second battery throwing number, and the second battery throwing number;

[0030] The step of estimating 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 continuously performed until the predicted motion state meets the safe driving rule.

[0031] In some embodiments, the candidate throwing scheme is obtained by:

[0032] A throwing control parameter in a preset first control parameter interval is selected as the first throwing control parameter;

[0033] The second throwing control parameter is obtained by:

[0034] The adjustment direction of the first throwing control parameter is determined based on the predicted motion state and the safe driving rule;

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

[0036] select a throw control parameter in the second control parameter interval as the second throw control parameter.

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

[0038] In the case that a thermal safety accident occurs in the battery, the battery throwing function of the vehicle is started.

[0039] In a second aspect, the embodiments of the present application further provide a battery throwing device applied to an electronic device, wherein the electronic device is in communication connection with a battery throwing mechanism of a vehicle, and the device comprises:

[0040] A function activation module is configured to start the battery throwing function of the vehicle in the case that a control request of the vehicle exceeds a control performance of the vehicle, wherein the control request of the vehicle comprises at least one of a steering request and a braking request.

[0041] An information acquisition module is configured to acquire a vehicle operating condition and a traffic environment of the vehicle.

[0042] A scheme generation module is configured to determine a target throwing scheme of the battery based on the vehicle operating condition and the traffic environment.

[0043] A throwing execution module is configured 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 scheme.

[0044] In a third aspect, the embodiments of the present application further provide an electronic device, wherein the electronic device comprises a processor and a memory, the memory is configured to store instructions, and the processor is configured to call the instructions in the memory, so that the electronic device executes the battery throwing method in the first aspect.

[0045] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, wherein the computer readable storage medium stores computer instructions, and when the computer instructions run on an electronic device, the electronic device executes the battery throwing method in the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 A structural schematic diagram of a battery throwing system provided by an embodiment of the present application.

[0047] Figure 2 A step flowchart of a battery throwing method provided by an embodiment of the present application.

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

[0049] Figure 4A structural schematic diagram of a battery throwing device provided by an embodiment of the present application.

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

[0051] In order to more clearly understand the above objectives, features and advantages of the present application, the present application will be described in detail below with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0052] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application. The described embodiments are merely some of the embodiments of the present application, and are not all the embodiments.

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

[0054] It should be further noted that, in this document, the terms "comprise", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of another identical element in the process, method, article or device comprising the element.

[0055] In the present application, "at least one" means one or more, and "multiple" means two or more than two. The "and / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence.

[0056] In the embodiments of the present application, the word "exemplary" or "for example" is used to mean serving as an example, instance, or illustration. Any embodiment or design presented as "exemplary" or "for example" in the embodiments of the present application is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "for example" is intended to present concepts in a concrete manner.

[0057] The embodiments of the present application provide 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 embodiments of the present application, if the control request issued to the vehicle exceeds the control performance of the vehicle, the electronic device can determine a target throwing scheme of the battery in combination with the vehicle operating condition and the traffic environment, which is beneficial to make the vehicle adopt appropriate battery throwing measures in various scenarios. Then, the battery throwing mechanism of the vehicle throws the battery according to the target throwing scheme. The thrown battery can reduce the mass of the vehicle and thus reduce the inertia, which is beneficial to make the vehicle brake or turn quickly. In addition, the thrown battery can also share the kinetic energy of the vehicle, which can assist the remaining main body of the vehicle to slow down or turn quickly, and reduce the probability of dangerous accidents such as collision.

[0059] In addition, the thrown battery can reduce the energy of the power system of the vehicle, and try to reduce the risk of battery fire caused by vehicle collision, thereby improving driving safety.

[0060] The battery throwing method of the embodiments of the present application can be applied to one or more electronic devices. The electronic device is a device capable of automatically performing numerical calculation and / or information processing according to pre-set or stored instructions. The hardware thereof includes but is not limited to a processor, a microprogrammed control unit (MCU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.

[0061] The electronic device can be a controller configured in the vehicle. For example, as shown in Figure 1 , the electronic device can be a battery throwing controller as shown in Figure 1 , but is not limited thereto. The battery throwing controller can be in communication connection with the battery throwing mechanism.

[0062] The battery throw controller can communicate with other controllers through CAN, LIN, FLAXRAY, or Ethernet, etc. vehicle network, and obtain the vehicle operating conditions and traffic environment in real time.

[0063] The vehicle operating condition refers to the working condition of the vehicle during driving, which includes the working conditions of various systems of the vehicle, the position and attitude of the vehicle, and other aspects.

[0064] For example, the battery throw controller can communicate with the vehicle controller to obtain the vehicle speed, steering wheel angle, accelerator pedal state, brake pedal state, total drive and brake recovery torque, etc. vehicle operating conditions in real time.

[0065] The battery throw controller can communicate with the active safety system to obtain the active safety related braking, acceleration, steering instruction signal, etc. vehicle operating conditions in real time.

[0066] The battery throw controller can communicate with the vehicle perception and state monitoring system to obtain the vehicle position and attitude, brake torque, steering torque, steering angle, tire state, driver state, passenger state, etc. vehicle operating conditions, as well as the surrounding vehicle position and attitude, speed, obstacle position and size, lane line and traffic signal, road height, etc. traffic environment.

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

[0068] Reference Figure 2 As shown, Figure 2 is a step flowchart of an embodiment of the battery throw method of the application. The order of the steps in the flowchart can be changed according to different needs, and some steps can be omitted. The battery throw method can include the following steps.

[0069] Step 201, in the case that the control request of the vehicle exceeds the control performance of the vehicle, the battery throw function of the vehicle is started.

[0070] The control request can include braking request and / or steering request, etc. The control performance refers to the control ability limit of the vehicle, for example, the control performance can include the maximum braking capacity and / or the maximum steering capacity of the vehicle, etc.

[0071] For example, in the scenario that the vehicle is about to collide with an obstacle at a high speed and the collision speed is high, the damage to the vehicle is serious, and even the health and life of the passengers in the passenger compartment are endangered, the driver or the driving assistance system will issue an emergency braking request or an emergency steering request, which may exceed the maximum braking capacity or the maximum steering capacity of the vehicle. Therefore, the electronic device can start the battery throwing function of the vehicle to assist the vehicle in braking or steering.

[0072] For another example, in the scenario that the vehicle is about to enter a dangerous area such as the edge of a road, a bridge, or a building, and needs to be braked or steered urgently in a short time, the driver or the driving assistance system will issue an emergency braking request or an emergency steering request, which may not be met by the braking system or the steering system of the vehicle to achieve risk avoidance. Therefore, the electronic device can start the battery throwing function of the vehicle to assist the vehicle in braking or steering.

[0073] In some embodiments, the electronic device can also start the battery throwing function of the vehicle in the case that a thermal safety accident occurs in the battery, for example, in the case that a thermal safety accident phenomenon such as spontaneous combustion, spontaneous explosion, appearance of an open flame, dangerous electrochemical reaction, liquid leakage, or abnormally high temperature occurs in the battery pack of the vehicle.

[0074] For example, the vehicle perception and state monitoring system can monitor the operating conditions of the vehicle and the traffic environment in real time, and determine whether the vehicle has a fault based on the operating conditions of the vehicle and the traffic environment. If the vehicle has a fault, the cause of the fault can be analyzed. If the cause of the fault is a thermal safety accident of the battery, the battery throwing function can be activated. If the cause of the fault is a serious fault related to the powertrain, the braking system, or the steering system, the active safety system can take intervention measures such as braking or steering, and remind the driver to stop the vehicle as soon as possible. If it is a non-serious fault, the vehicle can remind the driver through display, voice, or other means.

[0075] The vehicle perception and state monitoring system can also determine whether the vehicle has a risk of collision or entering a dangerous area. If the vehicle has a risk of collision or entering a dangerous area, the active safety system can take intervention measures such as braking or steering, and remind the driver. The electronic device can determine whether the braking request or the steering request exceeds the handling performance of the vehicle (such as exceeding the capacity limit of the steering system or the braking system). If the braking request or the steering request exceeds the handling performance of the vehicle, the electronic device can start the battery throwing function.

[0076] After the electronic device starts the battery throwing function, the following steps 202-204 can be performed.

[0077] Step 202: Obtain the operating conditions of the vehicle and the traffic environment.

[0078] The vehicle operating condition refers to the working condition of the vehicle during driving, including the working conditions of various systems of the vehicle, the position and attitude of the vehicle, and other aspects.

[0079] The vehicle operating condition can be used to describe whether the vehicle is in a normal operating state, whether there is a hidden danger, and the driving state of the vehicle.

[0080] For example, the vehicle operating condition can include vehicle speed, steering wheel angle, accelerator pedal state, brake pedal state, total drive and brake recovery torque, vehicle pose, brake system braking torque, steering torque, steering angle, tire state, driver state, passenger state, and the like.

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

[0082] For example, the traffic environment can include the poses, speeds, obstacle positions and geometric sizes of vehicles around the vehicle, and road information such as lane lines, traffic signals, and road surface heights.

[0083] In step 203, a target throwing scheme of the battery is determined based on the vehicle operating condition and the traffic environment.

[0084] The target throwing scheme can include the number of times of battery throwing, the number of batteries to be thrown, and throwing control parameters. The target throwing scheme can refer to a battery throwing scheme that meets a predetermined safe driving rule. The safe driving rule can be set according to the safety driving requirements of the vehicle, which is not limited in the embodiments of the present application.

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

[0086] The number of batteries to be thrown is used to indicate the total number of batteries that need to be thrown by the battery throwing mechanism.

[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 can include the battery unit number, and the throwing time, direction, angle, acceleration, and the like of the battery, but are not limited thereto.

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

[0089] The throwing scheme generation model can be trained based on a training sample. The training sample can include vehicle operating conditions and traffic environment information, and a throwing scheme 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 safety driving rule after the battery is thrown according to the throwing scheme label.

[0090] In some embodiments, the electronic device can obtain a plurality of candidate throwing schemes, and then respectively estimate the motion state of the vehicle after the battery is thrown according to the candidate throwing schemes in the vehicle operating conditions and traffic environment to obtain each estimated motion state. The candidate throwing scheme is determined based on the estimated motion state, and the target throwing scheme is determined based on the candidate throwing scheme.

[0091] For example, in the case of a thermal safety accident of the battery, the step of obtaining a candidate throwing scheme can include: the electronic device can set the battery throwing number to 1, and set the battery unit with a thermal safety accident as the battery unit to be thrown, so as to obtain the battery throwing number and the number of the battery unit to be thrown. Then, a plurality of sets of throwing control parameters are generated for the battery unit to be thrown, for example, a plurality of sets of throwing control parameters are selected in a preset control parameter interval to obtain a plurality of candidate control schemes.

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

[0093] The above is an embodiment of generating a candidate throwing scheme in the case of a thermal safety accident. In some embodiments, in the case where the control request exceeds the control performance of the vehicle, the step of generating a candidate control scheme can include: determining the throwing control parameters under different battery throwing numbers and different battery throwing times to obtain a plurality of candidate throwing control schemes.

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

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

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

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

[0098] Table I

[0099]

[0100] The electronic device can generate throwing control parameters for the combination of the first-level number of the scheme and the second-level number of the scheme in the above table to obtain a candidate throwing scheme.

[0101] For example, when the battery throwing number is 1 (that is, the first-level number of the scheme is 1), the corresponding throwing control parameters are generated for the battery throwing number 1-10.

[0102] When the battery throwing number is 2, the corresponding throwing control parameters are generated for the battery throwing number 2-10, and so on.

[0103] Suppose that when the battery throwing number 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 third-level number.

[0104] Suppose that the number of the candidate throwing scheme is 1-(1)-①, and the candidate throwing scheme can be as shown in Table II.

[0105] Table II

[0106]

[0107] The throwing time, throwing direction, throwing angle, and throwing acceleration of each battery cell can be selected in a preset control parameter interval, or can be determined by other means, for example, by a pre-trained throwing parameter generation model, which is not limited in the embodiments of the application.

[0108] The electronic device can gradually verify each candidate throwing scheme in order of increasing battery throwing number and increasing battery throwing number to verify whether it meets the safe driving rule to obtain a target throwing scheme.

[0109] Further, if the vehicle adopts multiple candidate throwing schemes that meet the safe driving rule, the candidate throwing scheme with the smallest battery throwing number can be selected as the target throwing scheme from the multiple candidate throwing schemes, and if the battery throwing numbers of the multiple candidate throwing schemes are the same, the candidate throwing scheme with the smallest battery throwing number can be selected as the target throwing scheme from the multiple candidate throwing schemes.

[0110] That is, the embodiments of the present application select a target throwing scheme according to the principle of minimizing the number of battery throwing times and the number of battery throwing units, which can reduce the complexity of battery throwing.

[0111] In the above embodiments, the electronic device can generate a plurality of candidate throwing schemes, and then gradually verify each candidate throwing scheme in order of increasing battery throwing times and increasing battery throwing units to verify whether it meets the safe driving rules to obtain the target throwing scheme.

[0112] In other embodiments, the embodiments of the present application can generate a candidate throwing scheme when the candidate throwing scheme is the minimum battery throwing times and the minimum battery throwing number, estimate whether the candidate throwing scheme meets the safe driving requirements, and adjust the candidate throwing scheme until the target throwing scheme that meets the safe driving requirements is obtained.

[0113] Reference Figure 3 As shown in FIG. 3, step 203 can be implemented in the following way:

[0114] Step 301: Obtain a candidate throwing scheme.

[0115] In some embodiments, the candidate throwing scheme includes a first battery throwing time, a first battery throwing number, and a first throwing control parameter.

[0116] The first throwing control parameter is used to indicate the initial motion state of each battery thrown at each battery throwing.

[0117] In some embodiments, when the candidate throwing scheme is generated for the first time, the first battery throwing time can be set to a minimum value, for example, the first battery throwing time is set to once; the first battery throwing number can also be set to a minimum value, for example, one battery unit is thrown, and then a throwing control parameter in a preset first control parameter interval is selected as the first throwing control parameter.

[0118] Step 302: Estimate the motion state of the vehicle after the vehicle adopts the candidate throwing scheme to throw the battery under the vehicle operating condition and traffic environment to obtain an estimated motion state.

[0119] The estimated motion state is used to describe the position, speed, acceleration, and attitude of the vehicle after the vehicle and the battery adopt the candidate throwing scheme.

[0120] In some embodiments, step 302 can be implemented in the following way: based on a preset whole vehicle dynamics model, the motion state of the vehicle after the vehicle adopts the candidate throwing scheme to throw the battery under the vehicle operating condition and traffic environment is estimated to obtain the estimated motion state.

[0121] The whole vehicle dynamics model is a mathematical model used for describing the motion characteristics and force conditions of a vehicle during driving.

[0122] The electronic device can also employ an artificial intelligence technology to estimate the motion state of the vehicle after the battery is thrown by using the candidate throwing scheme under the vehicle operating condition and the traffic environment, and obtain the estimated motion state.

[0123] In step 303, it is determined whether the vehicle meets the preset safe driving rule.

[0124] In some embodiments, step 303 can be implemented by the following steps:

[0125] In step a, based on the estimated motion state, the vehicle control target that the vehicle meets is determined from the preset vehicle control targets at different levels.

[0126] The vehicle control target can be set according to actual application requirements, and the vehicle control targets at different levels can correspond to different safety levels.

[0127] For example, the vehicle control targets at different levels can include:

[0128] Target 1: the vehicle is decelerated to 0 without collision;

[0129] Target 2: a slight collision occurs before the vehicle speed is decelerated to 0, and is better than the no-throw result;

[0130] Target 3: a serious collision occurs before the vehicle speed is decelerated to 0, and is better than the no-throw result.

[0131] In some embodiments, the electronic device can determine whether the vehicle will be decelerated 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, to determine the matched vehicle control target.

[0132] In some embodiments, after step a, it can also include: if the vehicle that uses the candidate throwing scheme does not meet the control target with the highest safety level, adjusting the candidate throwing scheme to generate a new candidate throwing scheme, then performing step 302 until the vehicle meets the control target with the highest safety level based on the estimated motion state corresponding to a certain candidate throwing scheme, or when the termination generation condition of the candidate throwing scheme is reached, the estimated motion state corresponding to all generated candidate throwing schemes does not meet the control target with the highest safety level.

[0133] When the estimated motion state corresponding to all the generated candidate throwing schemes does not satisfy the vehicle control target with the highest safety level, a candidate throwing scheme satisfying a vehicle control target with a next safety level can be continuously searched for; when all the candidate throwing schemes do not satisfy any vehicle control target, the electronic device can reacquire the vehicle operating condition and the traffic environment to generate a new candidate throwing scheme.

[0134] That is, the embodiment of the present application can also determine the candidate throwing scheme according to the order of the safety levels of the vehicle control targets from high to low, so as to improve the driving safety of the vehicle as much as possible.

[0135] The termination generation condition of the candidate throwing scheme can include that the number of times of generation of the candidate throwing scheme reaches a maximum number.

[0136] For example, the termination generation condition of the candidate throwing scheme can include that the number of battery throwing times and the number of throwing control parameters in the currently generated candidate throwing scheme both reach a maximum value, and the number of candidate throwing schemes with the number of battery throwing times and the number of throwing control parameters both reaching the maximum value reaches a preset number, but is not limited thereto.

[0137] In some embodiments, adjusting the candidate throwing scheme can be implemented in the following manner:

[0138] If the number of first battery throwing times in the candidate throwing scheme does not reach a maximum value, the number of first battery throwing times is increased to obtain the number of second battery throwing times, and the number of first battery throwing times is taken as the number of second battery throwing times.

[0139] If the number of first battery throwing times in the candidate throwing scheme reaches a maximum value, and the number of first battery throwing times does not reach a maximum value, the number of first battery throwing times is increased to obtain the number of second battery throwing times, and the minimum number of battery throwing times corresponding to the number of first battery throwing times is taken as the number of second battery throwing times. For example, the number of battery throwing times is 2, and the minimum number of battery throwing times corresponding to the number of first battery throwing times is also 2.

[0140] Further, the updating manner of the first throwing control parameter is as follows:

[0141] The electronic device determines the adjustment direction of the first throwing control parameter based on the estimated motion state and the target control level, then narrows the first control parameter interval based on the adjustment direction to obtain a second control parameter interval, the first control parameter interval being a preset selection interval of the first throwing control parameter; next, a throwing control parameter is selected in the second control parameter interval as the second throwing control parameter.

[0142] For example, the estimated motion state represents that the vehicle is not decelerated to 0, and the target control level indicates that the vehicle needs to be decelerated to 0, and the adjustment direction can be to increase the acceleration of the battery ejection, assuming that the acceleration interval of the ejection in the first control parameter interval is [a, b], and the acceleration in the first ejection control parameter is c, then the second control parameter interval can be [c, b].

[0143] In the above manner, the ejection control parameter can be gradually optimized, and the generation speed of the target ejection scheme can be accelerated.

[0144] Step b, find the safety index requirement matched with the vehicle control target.

[0145] The safety index requirement can include the degree of safety impact on people and objects. For example, the safety index requirement can include whether to endanger the vehicle itself, whether to endanger other vehicles and passengers, whether to endanger pedestrians, whether to endanger surrounding facilities, etc., but is not limited thereto.

[0146] The electronic device can determine "whether to eject" by verifying the safety index requirements, and if the result of "whether to eject" is to eject, it means that the vehicle meets the preset safety driving rules, and the candidate ejection scheme can be used as the target ejection scheme.

[0147] If the result of "whether to eject" is not to eject, it means that the candidate ejection scheme does not meet the safety driving rules, and the vehicle does not perform ejection, and the electronic device can continue to generate a new candidate ejection scheme.

[0148] The following takes the vehicle control targets of the above target 1, target 2 and target 3 as an example to explain the safety index requirement matched with each vehicle control target.

[0149] Among them, the safety index requirement matched with the target 1 can refer to the following Table 3, when the vehicle control target corresponding to the candidate ejection scheme is the target 1, the electronic device can verify the situation met by the vehicle line by line to determine whether the candidate ejection scheme can be used as the target ejection scheme.

[0150] For example, the first row of the Table 3 verification result indicates that the vehicle adopting the candidate ejection scheme will not endanger the vehicle itself, will not endanger other vehicles and passengers, will not endanger pedestrians, and will not endanger or slightly endanger surrounding facilities, and the ejection can be performed, that is, the electronic device takes the candidate ejection scheme as the target ejection scheme, and issues an audible and visual warning in advance that the battery will be ejected.

[0151] The second row of the Table 3 verification result indicates that the vehicle adopting the candidate ejection scheme will not endanger the vehicle itself, will not endanger other vehicles and passengers, will not endanger pedestrians, and will seriously endanger surrounding facilities, and the battery cannot be ejected.

[0152] The third row of the table three test results shows that: in the candidate throwing scheme, the self vehicle is not endangered, other vehicles and passengers are not endangered, and the pedestrian is slightly damaged, so whether or not the surrounding facilities are endangered, the battery will not be thrown.

[0153] Table three

[0154]

[0155] The safety index requirements matched by target 2 can refer to the following table four.

[0156] Table four

[0157]

[0158] The safety index requirements matched by target 3 can refer to the following table five.

[0159] Table five

[0160]

[0161] Step c, based on the estimated motion state, estimating the safety influence degree of the vehicle on people and objects in the traffic environment.

[0162] The safety influence 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 endangerment can be divided according to the actual application requirements, and the embodiments of the present application are not limited thereto.

[0163] For example, the electronic device can simulate the safety influence degree of the vehicle on people and objects when driving in the traffic environment according to the estimated motion state, for example, whether the self vehicle is endangered, whether other vehicles and passengers are endangered, whether the pedestrian is endangered, whether the surrounding facilities are endangered, and the degree of endangerment, such as slightly endangering the safety of the vehicle, seriously endangering the safety of the vehicle, etc.

[0164] Step d, if the safety influence degree meets the matched safety index requirements, it is determined that the vehicle meets the safety driving rule.

[0165] Specifically, if the electronic device determines that the result of "whether to throw" according to the safety influence degree is throwing, it means that the safety influence degree meets the matched safety index requirements, that is, the vehicle meets the safety driving rule.

[0166] If the safety influence degree does not meet the matched safety index requirements, it is determined that the vehicle does not meet the safety driving rule.

[0167] In some embodiments, step 304 can be executed in a case where it is determined based on the estimated motion state that the vehicle does not satisfy the preset safety driving rule; and step 305 can be executed in a case where it is determined based on the estimated motion state that the vehicle satisfies the preset safety driving rule.

[0168] Step 304: updating the first battery throwing frequency, the first battery throwing number and the first throwing control parameter in the candidate throwing scheme to obtain a new candidate throwing scheme.

[0169] In some embodiments, the updating manner of the first battery throwing frequency and the first battery throwing number can be as follows:

[0170] If the first battery throwing number 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 a second battery throwing number, and the first battery throwing frequency is taken as a second battery throwing frequency.

[0171] If the first battery throwing number in the candidate throwing scheme reaches the maximum value and the battery throwing frequency does not reach the maximum value, the first battery throwing frequency is increased, for example, the first battery throwing frequency is increased by 1 to obtain a second battery throwing frequency, and the minimum battery throwing number is taken as a second battery throwing number.

[0172] In some embodiments, the updating manner of the first throwing control parameter is as follows:

[0173] The electronic device determines an adjustment direction of the first throwing control parameter based on the estimated motion state and the safety driving rule, then narrows the first control parameter interval based on the adjustment direction to obtain a second control parameter interval, the first control parameter interval being a preset selection interval of the first throwing control parameter; and then selects a throwing control parameter in the second control parameter interval as the second throwing control parameter.

[0174] In this way, a new candidate throwing scheme can be obtained, and then the electronic device can execute step 302 again until the new candidate throwing scheme satisfies the preset safety driving rule, and step 305 can be executed.

[0175] Step 305: taking the candidate throwing scheme as a target throwing scheme.

[0176] Step 204: sending a battery throwing instruction to the battery throwing mechanism.

[0177] The battery throwing instruction is used to instruct the battery throwing mechanism to throw the battery of the vehicle according to the target throwing scheme.

[0178] After the battery throwing mechanism throws the vehicle's batteries according to the target throwing plan, it can check whether the vehicle has reached the expected motion state. If the expected motion state is reached, the vehicle can turn off the battery throwing function. After the battery throwing function is turned off, the vehicle can identify whether all batteries have been thrown and whether the vehicle is in a stopped state. If the vehicle has not thrown all batteries and is not in a stopped state, the vehicle can continue to be monitored to determine whether the vehicle should restart the battery throwing function.

[0179] If the vehicle does not reach the expected state and not all batteries have been discarded, the battery discarding function can remain on.

[0180] Throwing batteries can reduce vehicle mass and thus reduce inertia, which is beneficial for quick braking or steering. In addition, throwing batteries can also distribute the vehicle's kinetic energy, which can help the remaining body of the vehicle to decelerate and steer quickly, avoiding dangerous accidents such as rear-end collisions and impacts.

[0181] The following is a brief explanation of the principle behind using battery throwing to assist in rapid vehicle deceleration or steering. In this explanation, the forces exerted on the vehicle by the ground, air, etc., are ignored, and the vehicle body, battery pack, and occupants are considered as internal sub-components of the vehicle system.

[0182] The overall vehicle weight can be described as follows:

[0183] M = m1 + m2, where M is the total vehicle mass, including the mass of the vehicle body, battery pack, occupants, etc.; m1 is the total mass of the vehicle's components other than the battery pack system; and m2 is the mass of the battery pack system.

[0184] Assuming the total momentum and kinetic energy of the vehicle are conserved, different components can interact with each other through internal forces, changing their speed and direction of motion:

[0185] m1v1+m2v2=m1v1'+m2v2';

[0186] 1 / 2m1v1 2 +1 / 2m2v2 2 =1 / 2m1v1' 2 +1 / 2m2v2' 2 .

[0187] Where v1 is the speed of the vehicle's components other than 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.

[0188] At the moment the hazardous condition occurs, that is, before the battery pack ejection event:

[0189] v1=v2=V vehspd Among them, Vvehspd Characterize vehicle speed 。

[0190] Thus, the following relationship can be derived:

[0191] m1v1'= (m1+m2)v vehsdp -m2v2';

[0192] v1'= v vehspd+ m2 / m1(v vehspd -v2');

[0193] After the battery is thrown, if the speed of the battery increases (v2'>v vehspd ), the speed of the vehicle body and the passengers will decrease (v1'<v vehspd ), so as to assist the braking system to realize braking, and it can be seen from the above formula that the greater the mass of the thrown battery and the faster the speed of the thrown battery, the more obvious the effect of deceleration of the vehicle.

[0194] Meanwhile, based on Newton's second law, the following relationship can be obtained:

[0195] F=Ma; F'=m1a';

[0196] Wherein, F is the braking force of the vehicle without throwing the battery, a is the deceleration of the vehicle subjected to the braking force, F' is the braking force of the vehicle after throwing the battery, and a' is the deceleration of the vehicle subjected to the braking force.

[0197] Since m1=M-m2<M, when F=F', a'=Ma / m1>a.

[0198] Thus, it can be seen that after the vehicle throws the battery, under the action of the same braking force, the deceleration of the vehicle is greater, and the vehicle is more likely to realize deceleration. Therefore, the battery throwing realized by the target throwing scheme of the embodiments of the application can effectively assist the vehicle to brake and turn, and improve the driving safety.

[0199] Moreover, the thrown battery can cut off the power system energy of the vehicle, so as to avoid the acceleration out-of-control accident caused by the failure of the power system and the braking system of the vehicle, and reduce the risk of battery fire caused by vehicle collision as much as possible.

[0200] In addition, in the case that the control request of the vehicle exceeds the control performance of the vehicle, the target throwing scheme of the battery is determined in combination with the vehicle operating condition and the traffic environment, which is beneficial to make the vehicle adopt appropriate battery throwing measures in various scenarios.

[0201] Based on the same idea as the battery throwing method in the above embodiments, the application also provides a battery throwing device which can be used to perform the above battery throwing method. For the convenience of description, only the parts related to the embodiments of the application are shown in the structural schematic diagram of the battery throwing device embodiments, and those skilled in the art can understand that the illustrated structure does not constitute a limitation on the device, and the device can include more or less components than the illustrated components, or combine certain components, or have different component arrangements.

[0202] As shown in Figure 4 , the battery throwing device includes a function activation module 401, an information acquisition module 402, a scheme 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 executable by a processor. It can be understood that in other embodiments, the above modules can also be program instructions or firmware fixed in the processor.

[0203] The function activation module 401 is configured to start the battery throwing function of the vehicle when the operation request of the vehicle exceeds the operation performance of the vehicle; wherein the operation request of the vehicle includes at least one of a steering request and a braking request.

[0204] The information acquisition module 402 is configured to acquire the vehicle operating condition and the traffic environment of the vehicle.

[0205] The scheme generation module 403 is configured to determine the target throwing scheme of the battery based on the vehicle operating condition and the traffic environment.

[0206] The throwing execution module 404 is configured 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 scheme.

[0207] Figure 5 The schematic diagram of an embodiment of the electronic device of the application.

[0208] 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. The processor 30 implements the steps in the above battery throwing method embodiments when executing the computer program 40, for example Figure 2 the steps 201 to 204 shown in the above embodiments.

[0209] For example, 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 capable of completing a specific function, which are used to describe the execution process of the computer program 40 in the electronic device 100. For example, the computer program 40 can be divided into Figure 4 The functions of the function activation module 401, the information acquisition module 402, the scheme generation module 403, and the throwing execution module 404 are shown.

[0210] Those skilled in the art can understand that the schematic diagram is only an example of the electronic device 100 and does not constitute a limitation on the electronic device 100, which can include more or fewer components than shown, or combine certain components, or different components, for example, the electronic device 100 can also include an input / output device, a network access device, a bus, etc.

[0211] The processor 30 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, a single-chip processor or the processor 30 can also be any conventional processor.

[0212] The memory 20 can be used to store the computer program 40 and / or the modules / units, and the processor 30 realizes various functions of the electronic device 100 by running or executing the computer program and / or the modules / units 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, at least one application program required for a function (such as a sound playing function, an image playing 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, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device.

[0213] The modules / units integrated in the electronic device 100, if implemented in the form of software function units and sold or used as independent products, can be stored in a computer-readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be implemented by a computer program instructing related hardware to complete, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms. The computer-readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the computer-readable medium can include appropriate additions and subtractions according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0214] In several embodiments provided in the present application, it should be understood that the disclosed electronic device and method can be implemented in other ways. For example, the above-described electronic device embodiments are only illustrative, for example, the division of the units is only a logical function division, and another division mode can be used in actual implementation.

[0215] In addition, each functional unit in each embodiment of the present application can be integrated in the same processing unit, or each unit can be physically present separately, or two or more units can be integrated in the same unit. The integrated unit can be realized in the form of hardware or hardware plus software function module.

[0216] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting in any respect. In addition, it is obvious that the word "comprise" does not exclude other units or steps, and the singular does not exclude the plural. The plurality of units or electronic devices stated in the electronic device claims 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 specific order.

[0217] Finally, it should be noted that the above examples are merely intended to illustrate the technical solutions of the present application and not to limit the same. Although the present application has been described in detail with reference to the above examples, those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A battery ejection method characterized by, Applied to an electronic device that is communicatively connected to a vehicle's battery disposal mechanism, the method includes: If the demand for control of the vehicle exceeds the vehicle's control performance, the vehicle's battery throwing function is activated. The vehicle control request includes at least one of a steering request and a braking request; Obtain the vehicle's operating conditions and traffic environment; Determine the target throwing scheme for the battery based on the vehicle operating conditions and the traffic environment; Send a battery throwing command to the battery throwing mechanism so that the battery throwing mechanism can throw the vehicle's battery according to the target throwing scheme; The process of determining the target throwing scheme for the battery based on the vehicle operating conditions and the traffic environment includes: Obtain candidate throwing schemes; Based on the preset vehicle dynamics model, the motion state of the vehicle after throwing the battery using the candidate throwing scheme under the vehicle operating conditions and traffic environment is predicted to obtain the predicted motion state. The vehicle dynamics model is a mathematical model used to describe the motion characteristics and force conditions of the vehicle during driving. The predicted motion state is used to describe the position, velocity, acceleration and attitude of the vehicle after using the candidate throwing scheme. If the vehicle is determined to meet the preset safe driving rules based on the estimated motion state, the target throwing scheme is determined based on the candidate throwing schemes.

2. The battery ejection method according to claim 1, wherein The step of determining that the vehicle meets the preset safe driving rules based on the estimated motion state includes: Based on the estimated motion state, the vehicle control target that the vehicle satisfies is determined from the preset vehicle control targets at each level. Find safety indicator requirements that match the vehicle control objective; wherein the safety indicator requirements are used to indicate the required level of safety for people and objects; Based on the estimated motion state, the degree of safety impact of the vehicle on people and objects in the traffic environment is estimated. If the degree of safety impact meets the matching safety indicator requirements, then the vehicle is determined to meet the safe driving rules.

3. The battery ejection method according to claim 1, wherein The candidate throwing scheme includes: a first number of battery throwing attempts, a first number of battery throwing attempts, and a first throwing control parameter, wherein the first throwing control parameter is used to indicate the initial motion state of each battery thrown in each battery throwing attempt; the battery throwing method further includes: If, based on the estimated motion state, it is determined that the vehicle does not meet the preset safe driving rules, it is detected whether the number of the first battery thrown has reached the maximum value. If the number of times the first battery is thrown does not reach the maximum value, then the number of times the first battery is thrown is increased to obtain the number of times the second battery is thrown, and the number of times the first battery is thrown is taken as the number of times the second battery is thrown. If the number of the first battery throws reaches the maximum value, but the number of times the first battery is thrown does not reach the maximum value, then the number of times the first battery is thrown is increased to obtain the number of times the second battery is thrown, and the minimum number of batteries thrown corresponding to the number of times the second battery is thrown is taken as the number of the second battery throws; Obtain the second throwing control parameters; A new candidate throwing scheme is determined based on the second throwing control parameters, the number of the second battery thrown, and the number of the second battery thrown. Continue executing the step of estimating the motion state of the vehicle after throwing the battery using the candidate throwing scheme under the vehicle operating conditions and traffic environment, and obtaining the estimated motion state, until the estimated motion state meets the safe driving rules.

4. The battery ejection method according to claim 3, wherein The method for obtaining candidate throwing schemes includes: Select the throwing control parameter as the first throwing control parameter from the preset first control parameter range; The acquisition of the second throwing control parameters includes: The adjustment direction of the first throwing control parameter is determined based on the estimated motion state and the safe driving rules; Based on the adjustment direction, the first control parameter range is narrowed to obtain the second control parameter range; Select the throwing control parameter as the second throwing control parameter within the second control parameter range.

5. The battery ejection method according to any one of claims 1 to 4, wherein The battery throwing method further includes: In the event of a thermal safety incident involving the battery, the vehicle's battery disposal function will be activated.

6. A battery throwing device, characterized in that, An electronic device communicatively connected to a vehicle's battery disposal mechanism, the device comprising: A function activation module is used to activate the vehicle's battery throwing function when the vehicle's control request exceeds the vehicle's control performance; wherein the vehicle's control request includes at least one of a steering request and a braking request. The information acquisition module is used to acquire the vehicle's operating conditions and traffic environment. The scheme generation module is used to determine the target throwing scheme of the battery based on the vehicle operating conditions and the traffic environment; The throwing execution module is used to send a battery throwing command to the battery throwing mechanism so that the battery throwing mechanism can throw the battery according to the target throwing scheme; The scheme generation module determines the target throwing scheme for the battery based on the vehicle operating conditions and the traffic environment, including: Obtain candidate throwing schemes; Based on the preset vehicle dynamics model, the motion state of the vehicle after throwing the battery using the candidate throwing scheme under the vehicle operating conditions and traffic environment is predicted to obtain the predicted motion state. The vehicle dynamics model is a mathematical model used to describe the motion characteristics and force conditions of the vehicle during driving. The predicted motion state is used to describe the position, velocity, acceleration and attitude of the vehicle after using the candidate throwing scheme. If the vehicle is determined to meet the preset safe driving rules based on the estimated motion state, the target throwing scheme is determined based on the candidate throwing schemes.

7. An electronic device, the electronic device comprising a processor and a memory, characterized in that, The memory is used to store instructions, and the processor is used to invoke the instructions in the memory to cause the electronic device to perform the battery throwing method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on an electronic device, cause the electronic device to perform the battery throwing method as described in any one of claims 1 to 5.

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