Range extender power generation control method and device, range extender controller and new energy automobile

Abstract

The invention relates to the technical field of range extender control, in particular to a range extender power generation control method and device, a range extender controller and a new energy automobile. The method comprises the steps that when it is recognized that the range extender is in a power generation working condition, original power generation power is obtained; identifying a current pavement grade, wherein the pavement grade at least comprises a high-grade pavement, a secondary high-grade pavement, a middle-grade pavement, a low-grade pavement and a pothole pavement; and when the current pavement grade is higher than a preset pavement grade, reducing the original power generation power according to a preset adjustment rule. By adopting the method, the problem that the NVH performance of the whole vehicle is reduced due to power generation of the range extender can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of range extender control, and in particular to a range extender power generation control method, device, range extender controller and new energy vehicle. Background Art

[0002] When a range-extended vehicle is driving, if the battery power is lower than a preset low-power threshold, if it detects that the driver needs greater power output (such as acceleration or climbing), or if the driver manually starts the range extender, the range extender will enter the power generation state.

[0003] However, when the range extender generates electricity, the engine and generator inside it will generate some noise, which will reduce the NVH (Noise, Vibration, Harshness) performance of the vehicle. Especially on smoother roads, these noises will disrupt the quiet and comfortable interior environment and reduce the driving experience of the passengers. Summary of the invention

[0004] Based on this, a range extender power generation control method, device, range extender controller and new energy vehicle are provided to improve the problem of reduced NVH performance of the whole vehicle caused by range extender power generation.

[0005] In a first aspect, a range extender power generation control method is provided, the method comprising:

[0006] When it is identified that the range extender is in a power generation condition, the original power generation power is obtained;

[0007] Identify the current road surface grade, where the road surface grade includes at least high-grade road surface, secondary high-grade road surface, intermediate road surface, low-grade road surface and pothole road surface;

[0008] When the current road surface grade is higher than a preset road surface grade, the original generated power is reduced according to a preset adjustment rule.

[0009] In combination with the first aspect, in a first implementable embodiment of the first aspect, the method further includes:

[0010] When the current road surface grade is equal to the preset road surface grade, maintaining the original generated power;

[0011] When the current road surface grade is lower than the preset road surface grade, the original generated power is increased according to the preset adjustment rule.

[0012] In combination with the first possible implementation of the first aspect, in a second possible implementation of the first aspect, the preset adjustment rule includes a correspondence between different road surface grades and preset adjustment thresholds, and the preset adjustment threshold includes at least one of a preset power threshold and a preset adjustment coefficient;

[0013] Reducing the original generated power according to a preset adjustment rule includes: reducing the original generated power according to a preset adjustment threshold corresponding to the current road surface grade;

[0014] Increasing the original power generation power according to the preset adjustment rule includes: increasing the original power generation power according to a preset adjustment threshold corresponding to the current road surface grade.

[0015] In combination with the first possible implementation of the first aspect, in a third possible implementation of the first aspect,

[0016] The preset adjustment rule includes a correspondence between different road surface grades, multiple power generation ranges and preset adjustment thresholds, and the preset adjustment threshold includes at least one of a preset power threshold and a preset adjustment coefficient;

[0017] Reducing the original generated power according to a preset adjustment rule includes: reducing the original generated power according to a preset adjustment threshold corresponding to the power interval to which the original generated power belongs under the current road surface grade;

[0018] Increasing the original power generation power according to the preset adjustment rule includes: under the current road surface grade, increasing the original power generation power according to a preset adjustment threshold corresponding to the power generation range to which the original power generation power belongs.

[0019] In combination with the first aspect, in a fourth possible implementation manner of the first aspect, identifying the current road surface grade includes:

[0020] At least two current road surface images are acquired by at least two image acquisition devices, wherein the at least two image acquisition devices are arranged at the same height, and acquisition ranges of any two adjacent image acquisition devices overlap among the at least two image acquisition devices, and the sum of the acquisition ranges of the at least two image acquisition devices can cover the road surface to be measured;

[0021] Determining the current road surface flatness according to the at least two current road surface images;

[0022] According to the current road surface flatness, the current road surface grade is identified according to a preset grade classification rule.

[0023] In combination with the fourth implementable embodiment of the first aspect, in a fifth implementable embodiment of the first aspect, determining the current road surface flatness according to the at least two current road surface images includes:

[0024] According to the at least two current road surface images, a triangulation method is used to obtain the length of the current road surface and the elevations of multiple positions on the current road surface;

[0025] The current road surface flatness is determined according to the current road surface length and the elevations of the multiple locations.

[0026] In combination with the fifth implementable embodiment of the first aspect, in a sixth implementable embodiment of the first aspect, determining the current road surface flatness according to the current road surface length and the elevations of the multiple locations includes:

[0027] Calculating the elevation difference between adjacent positions according to the elevations of the plurality of positions;

[0028] The elevation differences between the adjacent positions are superimposed, and the current road surface flatness is determined according to a quotient of the superimposed elevation differences and the current road surface length.

[0029] In a second aspect, a range extender power generation control device is provided, the device comprising:

[0030] An acquisition module, used to acquire the original power generation when it is identified that the range extender is in a power generation condition;

[0031] An identification module, used for identifying the current road surface grade, wherein the road surface grade includes at least high-grade road surface, secondary high-grade road surface, intermediate road surface, low-grade road surface and pothole road surface;

[0032] The control module is used to reduce the original generated power according to a preset adjustment rule when the current road surface grade is higher than a preset road surface grade.

[0033] In a third aspect, a range extender controller is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, steps of a range extender power generation control method as described in any one of the first aspect or the first to sixth embodiments of the first aspect are implemented.

[0034] In a fourth aspect, a new energy vehicle is provided, wherein the new energy vehicle is equipped with the range extender power generation control device as described in the second aspect.

[0035] The above-mentioned range extender power generation control method, device, range extender controller and new energy vehicle, when identifying that the range extender is in the power generation condition, obtain the original power generation power of the range extender; identify the current road surface grade, which includes high-grade road surface, sub-high-grade road surface, intermediate road surface, low-grade road surface and pothole road surface; when the current road surface grade is higher than the preset road surface grade, reduce the original power generation power according to the preset adjustment rules, so that the range extender generates electricity according to the reduced original power generation power. Through the range extender power generation control method of the present application, the original power generation power of the range extender can be appropriately reduced on a higher-grade road surface, thereby reducing the noise generated by the range extender power generation condition, improving the NVH performance of the whole vehicle under the range extender power generation condition, ensuring that a relatively quiet riding environment can be provided for the occupants under the range extender power generation condition, and ensuring the driving experience of the occupants. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a flow chart of a method for controlling power generation of a range extender in one embodiment;

[0037] Figure 2 is a structural block diagram of a range extender power generation control device in one embodiment;

[0038] Figure 3 FIG. 4 is a structural block diagram of a range extender power generation control device in one embodiment. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] It should be noted that the illustrations provided in this embodiment only illustrate the basic concept of the present application in a schematic manner, and therefore the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0041] The structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which this application can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by this application, should still fall within the scope of the technical contents disclosed in this application.

[0042] The directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "middle", "longitudinal", "lateral", "horizontal", "inner", "outer", "radial", "circumferential" and the like in this specification are based on the directions or positional relationships shown in the drawings and are only for the convenience of simplifying the description. They do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0043] When the vehicle is traveling on a higher-grade road, the noise generated is smaller, which can provide a quieter riding environment for the occupants. At this time, if the range extender is in the power generation condition, the operation of the engine and generator inside the range extender will generate certain noise, resulting in a decrease in the NVH performance of the entire vehicle, breaking the originally quiet and comfortable riding environment, and thus reducing the driving experience of the occupants.

[0044] To this end, the present application proposes a range extender power generation control method, device, range extender controller and new energy vehicle. When the range extender is identified as being in a power generation condition, the original power generation power of the range extender is obtained, and the current road surface grade is identified as a high-grade road surface, a secondary high-grade road surface, an intermediate road surface, a low-grade road surface or a pothole road surface; when the current road surface grade is higher than the preset road surface grade, the original power generation power is reduced according to the preset adjustment rules. It can be seen that the present application can appropriately reduce the original power generation power of the range extender on a higher-grade road surface, and the range extender generates power according to the reduced original power generation power, so that the noise during the power generation process is reduced, the NVH performance of the whole vehicle under the power generation condition is improved, and the impact of the noise generated by the range extender power generation on the originally quiet riding environment is improved, and the driving experience of the occupants is improved.

[0045] Next, the present application will be described in detail through the following examples.

[0046] In one embodiment, Figure 1 As shown, a range extender power generation control method is provided, which is described by taking the method applied to a range extender controller as an example, and includes the following steps:

[0047] Step 202: when it is identified that the range extender is in a power generation condition, the original power generation power is obtained.

[0048] In some embodiments, when the range extender is started to generate electricity, it is considered that the range extender is identified as being in a power generation condition; generally, the start of the range extender includes automatic triggering, manual triggering, or a combination of the two; regardless of the triggering method, when the range extender is started to generate electricity, the target power generation power of the range extender is obtained as the original power generation power.

[0049] Among them, automatic triggering includes: when the battery power drops to a preset low power threshold, the range extender is automatically started to charge the battery or directly drive the motor; or, when it is detected that the driver needs greater power output (such as acceleration or climbing, etc.), and the battery cannot provide sufficient power support at this time, the range extender will also be activated; or, the intelligent control system starts the range extender under specific conditions to ensure the highest efficiency of the overall system, such as when driving at a constant speed on the highway. Human triggering includes: in order to adapt to specific scenarios or personal preferences, the driver manually starts the range extender, for example: before a long period of high power demand is expected, or in order to heat the interior space faster in cold weather, the driver turns on the range extender in advance through physical buttons, elements on the vehicle terminal interface, or applications on the smart terminal.

[0050] Step 204, identifying the current road surface grade, wherein the road surface grade includes at least high-grade road surface, secondary high-grade road surface, intermediate road surface, low-grade road surface and pothole road surface.

[0051] In some embodiments, the road surface grade is divided according to the construction technology and materials of the road surface and the degree of damage of the road surface, including high-grade, sub-high-grade, intermediate, low-grade road surfaces and pothole-prone road surfaces. Among them, high-grade road surfaces generally use asphalt concrete and cement concrete as materials, and are roads connecting important political, economic, and cultural centers and some interchanges, including expressways, first-class and second-class roads; sub-high-grade road surfaces use asphalt penetration, asphalt crushed stone and asphalt surface treatment processes, and are trunk roads connecting political and economic centers or large industrial and mining areas or suburban roads with busy transportation, including third-class and some fourth-class roads; intermediate road surfaces use crushed stone, gravel (mud-bound or graded), semi-uniform stones and other granular materials as materials, and are branch roads connecting counties or cities above the county level, including some fourth-class roads; low-grade road surfaces use granular reinforced soil, other local materials reinforced or improved soil as materials, including some fourth-class roads; pothole-prone road surfaces refer to the phenomenon that there are many uneven potholes and protrusions on the road surface, resulting in uneven road surfaces, which will seriously affect the driving experience.

[0052] The road surface grade can reflect the flatness of the road surface, and the noise generated by the vehicle when driving on different grades of roads and the noise generated by the range extender when generating electricity are different. Therefore, in order to improve the impact of the noise generated by the range extender when generating electricity on the vehicle interior environment, it is necessary to identify the current road surface grade as high-grade road surface, sub-high-grade road surface, intermediate road surface, low-grade road surface or pothole road surface, among which the road surface flatness corresponding to high-grade road surface, sub-high-grade road surface, intermediate road surface, low-grade road surface and pothole road surface decreases in sequence.

[0053] In some embodiments, the current road surface image is captured by a high-resolution camera, and a computer vision algorithm is used to analyze the color, texture, shape, cracks and other irregular features in the current road surface image. Based on these features, the road surface material, such as asphalt and concrete, is identified, and the road surface condition is evaluated, such as whether there are cracks, potholes, etc., and the current road surface grade is determined in combination with the road surface material and road surface condition. In other embodiments, the current road surface flatness is evaluated by analyzing the features of the current road surface image, and then the road surface grade is determined based on the flatness of the current road surface, wherein the road surface grade is proportional to the flatness, that is, the higher the flatness, the higher the road surface grade.

[0054] In some embodiments, the vehicle's motion state information, such as tilt angle, pitch angle, and vibration, is sensed by an accelerometer and a gyroscope of an inertial measurement unit (IMU). When the vehicle passes over an uneven road, the motion state information collected by the IMU will change accordingly. The road grade can be inferred based on the degree of change in the motion state information.

[0055] In some embodiments, the vehicle is preloaded with a high-precision map, which contains not only geographic information but also road type information. The vehicle can query the map database based on the current location to know in advance the nature of the road section to be encountered, such as the road surface grade described in this application. Other related technologies can also be used to identify the current road surface grade, which is not limited or exhaustive in this application.

[0056] Step 206: When the current road surface grade is higher than a preset road surface grade, the original generated power is reduced according to a preset adjustment rule.

[0057] It should be understood that since the road surface grades include at least high-grade road surface, sub-high-grade road surface, intermediate road surface, low-grade road surface and pothole-prone road surface, the preset road surface grade is one of the high-grade road surface, sub-high-grade road surface, intermediate road surface, low-grade road surface and pothole-prone road surface; by conducting actual vehicle tests on roads of different road surface grades, the decibels of the noise inside the vehicle when the range extender is not turned on and when the range extender is generating electricity are recorded respectively. Preferably, the power generation power of the range extender is set to the maximum power generation power; when the decibels of the noise inside the vehicle do not change significantly, the corresponding road surface grade is used as the preset road surface grade.

[0058] Wherein, reducing the original power generation according to the preset adjustment rule includes: reducing the original power generation according to the preset adjustment threshold, and the specific value of the preset adjustment threshold is different as the current road surface grade is higher than the preset road surface grade, and the higher the current road surface grade is, the greater the original power generation needs to be reduced. The specific value of the preset adjustment threshold can be determined by conducting actual vehicle tests on a road surface with a grade higher than the preset road surface grade.

[0059] Since the preset road surface grade indicates that the decibel of in-vehicle noise has not changed significantly before and after the range extender is started, if the current road surface grade is higher than the preset road surface grade, then when the range extender is not started, the decibel of in-vehicle noise generated when the vehicle is traveling on a road of the current road surface grade is lower than the decibel of in-vehicle noise generated when the vehicle is traveling on a road of the preset road surface grade. At this time, by appropriately reducing the original power generation, and thereby reducing the noise generated by the operation of the engine and generator inside the range extender, the problem of reduced NVH performance of the whole vehicle due to power generation by the range extender is improved, ensuring that a quiet environment can still be provided for the occupants when the range extender is generating electricity, thereby ensuring the driving experience of the occupants.

[0060] In one embodiment, the method further includes: when the current road surface grade is equal to the preset road surface grade, maintaining the original power generation; when the current road surface grade is lower than the preset road surface grade, increasing the original power generation according to the preset adjustment rule. Increasing the original power generation according to the preset adjustment rule includes: increasing the original power generation according to the preset adjustment threshold, and the specific value of the preset adjustment threshold is different as the current road surface grade is lower than the preset road surface grade, and the lower the current road surface grade is, the greater the increase in the original power generation is required.

[0061] In this embodiment, if the current road surface grade is lower than the preset road surface grade, then when the range extender is not started, the decibels of in-vehicle noise generated when the vehicle is traveling on a road surface of the current road surface grade are higher than the decibels of in-vehicle noise generated when the vehicle is traveling on a road surface of the preset road surface grade; since the engine is in the engine compartment, the noise generated when the range extender generates electricity can be reduced to a certain extent through the engine compartment cover and other sound insulation measures. At this time, even if the original power generation power is appropriately increased, it can still be ensured that the noise of the whole vehicle will not increase while speeding up the power generation, providing a higher NVH performance of the whole vehicle and ensuring the driving experience of the people in the vehicle.

[0062] In one embodiment, the preset adjustment rule includes a correspondence between different road surface grades and preset adjustment thresholds, and the preset adjustment threshold includes at least one of a preset power threshold and a preset adjustment coefficient. In this embodiment, after the current road surface grade is identified, the current road surface grade is searched in the preset adjustment rule, and the original power generation power is reduced or increased according to the preset adjustment threshold (preset power threshold or preset adjustment coefficient) corresponding to the current road surface grade.

[0063] Table 1 shows an exemplary preset adjustment rule, where "-" and "+" represent a corresponding degree of reduction and increase based on the original power generation, and the preset road surface grade is a sub-high road surface grade. It should be noted that the preset adjustment threshold may include both the preset power threshold and the preset adjustment coefficient, but when used, any one of the preset power threshold and the preset adjustment coefficient may be used to adjust the original power generation.

[0064] Table 1 Preset adjustment rules

[0065]

[0066] In this example, the preset road surface grade is a medium-grade road surface. When the current road surface grade is a high-grade road surface, the original power generation power is subtracted by 1kW or multiplied by 0.95, so that the adjusted original power generation power is lower than the original power generation power before adjustment; when the current road surface grade is an intermediate-grade road surface, the original power generation power is added by 2kW or multiplied by 1.05; when the current road surface grade is a low-grade road surface, the original power generation power is added by 3kW or multiplied by 1.1; when the current road surface grade is a bumpy road surface, the original power generation power is added by 4kW or multiplied by 1.15, so that the adjusted original power generation power is higher than the original power generation power before adjustment.

[0067] The specific values ​​of the above-mentioned preset power threshold and preset adjustment coefficient can be determined by conducting actual vehicle tests on various grades of roads different from the preset road surface grade. For example, when conducting actual vehicle tests on a road surface with a road surface grade higher than the preset road surface grade, multiple power thresholds and adjustment coefficients are set, and each power threshold is a negative number, and the adjustment coefficient is a positive number less than 1; the original power generation power is added to each power threshold or multiplied by each adjustment coefficient, so that the adjusted original power generation power is reduced, and then the noise decibel in the car is re-detected; if the noise decibel in the car obtained by re-detection is basically the same as the noise decibel in the car when the range extender is not started or the difference is small, then the power threshold is used as the preset power threshold or the adjustment coefficient is used as the preset adjustment coefficient. Similarly, when conducting actual vehicle tests on a road surface with a road surface grade lower than the preset road surface grade, multiple power thresholds and adjustment coefficients are set, each power threshold is greater than 0, each adjustment coefficient is greater than 1, and the remaining steps are the same as the above steps, which will not be repeated here.

[0068] Since the corresponding original power generation is different under different power generation conditions, the noise generated is also different. Therefore, in one embodiment, as shown in Table 2, the preset adjustment rule includes the corresponding relationship between different road surface grades, multiple power generation intervals and preset adjustment thresholds, and the preset adjustment threshold includes at least one of a preset power threshold and a preset adjustment coefficient. It should be noted that the preset adjustment threshold can include both the preset power threshold and the preset adjustment coefficient, but when in use, any one of the preset power threshold and the preset adjustment coefficient can be used to adjust the original power generation.

[0069] Table 2 Preset adjustment rules

[0070]

[0071]

[0072] In Table 2, “-” and “+” represent the reduction and increase of the original power generation capacity, respectively. The preset road surface grade is the secondary road surface, P1~P n The value of -P gradually increases. 01 ~-P 0n 、+P 11 ~+P 1n 、……、+P m1 ~+P mn and 01 ~λ 0n , 11 ~λ 1n , ..., λ m1 ~λ mn The value of decreases gradually.

[0073] It should be understood that when the current road surface grade is higher than the preset road surface grade, when the road surface grade is constant, as the generated power increases, the original generated power needs to be reduced to a greater extent, and the preset power threshold and the preset adjustment coefficient have smaller values; when the generated power range is constant, as the road surface grade is higher, the original generated power needs to be reduced to a greater extent, and the preset power threshold and the preset adjustment coefficient have smaller values; when the current road surface grade is lower than the preset road surface grade, when the road surface grade is constant, as the generated power increases, the original generated power can be increased to a smaller extent, and the preset power threshold and the preset adjustment coefficient have smaller values; when the generated power range is constant, as the road surface grade is lower, the original generated power can be increased to a greater extent, and the preset power threshold and the preset adjustment coefficient have larger values.

[0074] In this embodiment, the specific values ​​of the preset power threshold and the preset adjustment coefficient can also be determined by conducting actual vehicle tests on various road surfaces of different levels from the preset road surface level. For example, when conducting actual vehicle tests on a road surface with a road surface level higher than the preset road surface level, for each road surface level, a different power generation range is set, each power generation range corresponds to multiple power thresholds and adjustment coefficients, and each power threshold is a negative number, and the adjustment coefficient is a positive number less than 1; according to the relevant steps of the previous embodiment, the corresponding preset power threshold or preset adjustment coefficient is determined, and then through data statistics, the original power generation corresponding to the same preset power threshold or preset adjustment coefficient is merged into one power generation range; similarly, when conducting actual vehicle tests on a road surface with a road surface level lower than the preset road surface level, multiple power thresholds and adjustment coefficients are set, each power threshold is greater than 0, each adjustment coefficient is greater than 1, and the remaining steps are the same as the above steps, and will not be repeated here, thereby obtaining a preset adjustment rule for distinguishing different original power generation.

[0075] In this embodiment, after the current road surface grade is identified, the current road surface grade is searched in the preset adjustment rules, and then in each power generation interval corresponding to the current road surface grade, and the original power generation is reduced or increased according to the preset adjustment threshold (preset power threshold or preset adjustment coefficient) corresponding to the power generation interval to which the original power generation belongs. By distinguishing different power generation conditions, the original power generation of different values ​​can be reduced or increased to different degrees, thereby improving the adaptability to the scene.

[0076] In one embodiment, at least two image acquisition devices are installed on a vehicle, and the at least two image acquisition devices are arranged at the same height. Among the at least two image acquisition devices, the acquisition ranges of any two adjacent image acquisition devices overlap, and the sum of the acquisition ranges of the at least two image acquisition devices can cover the road surface to be tested.

[0077] In this embodiment, at least two current road surface images are collected by at least two image acquisition devices; the current road surface flatness is determined based on at least two current road surface images using computer vision technology; and the current road surface grade is identified according to the current road surface flatness according to a preset grade classification rule. In one example, the road surface flatness uses the International Roughness Index (IRI), which represents the cumulative vertical displacement of the vehicle per kilometer traveled, in units of m / km. Preferably, three image acquisition devices are set.

[0078] The current road surface image is collected by the image acquisition device, and then the current road surface grade is identified based on the current road surface image. In this process, not only the road surface flatness can be detected, but also various road surface damage information such as cracks and potholes can be collected at the same time to provide support for comprehensive identification of road surface grade. In addition, by collecting at least two current road surface images and combining them with advanced computer vision algorithms, road surface features can be accurately extracted from images taken at different angles, improving the accuracy and reliability of road surface grade identification results.

[0079] In a specific implementation, in combination with ground measurement methods, the current road surface flatness is determined based on at least two current road surface images, specifically including: using triangulation method to obtain the current road surface length and the elevation of multiple locations on the current road surface based on at least two current road surface images; determining the current road surface flatness based on the current road surface length and the elevation of multiple locations.

[0080] Among them, triangulation is a mature ground measurement method, which refers to the method of calculating the height difference between two control points by observing the horizontal distance and zenith distance (or altitude angle) between the two control points. It can be used to measure the elevation of the point to be measured. The elevation refers to the distance from a point to the absolute base surface along the plumb line. The use of triangulation can accurately calculate the spatial position of the characteristic points of the road surface, thereby achieving accurate measurement of the elevation of the road surface. It can also detect subtle changes in the height of the road surface, which helps to identify early-formed potholes, cracks and other road damage phenomena.

[0081] In an example, the current road elevation can be detected by the following steps:

[0082] Three ultra-high-definition human bionic cameras (hereinafter referred to as cameras) are arranged on the roof. They are camera devices that simulate the human visual system and have the following advantages: they can provide high-resolution images, usually 4K or higher; they can provide higher-quality images under extreme lighting conditions (such as backlit scenes or low-light scenes) to reduce overexposure or underexposure; they use special algorithms to reduce motion blur, have better performance in handling fast-moving objects, and maintain the smoothness of the video.

[0083] The three cameras are installed at the same height on the roof and maintain a fixed angle relative to the ground. Usually, this angle is vertically downward or slightly tilted to cover a larger range. The horizontal spacing between adjacent cameras can be set according to the required measurement accuracy. A wider spacing can improve the measurement accuracy. The field of view of each adjacent camera needs to ensure sufficient overlap so that the subsequent image matching process can find common feature points. The layout of the three cameras must also meet the requirement of fully covering the road section to be tested to avoid blind spots. In order to ensure the consistency of multi-view images, the three cameras should have good time synchronization function to ensure that the road image is captured at the same time.

[0084] Each camera needs to be calibrated to determine its internal parameters (such as focal length, principal point coordinates, etc.), which can be done through a standard chessboard or other known geometric shape image; at the same time, determine the position and posture of each camera relative to the world coordinate system, which involves the relative position relationship between the cameras. Since multiple cameras are used, the entire system also needs to be stereo calibrated, including calculating the baseline length (i.e. the distance between cameras), relative rotation and translation vectors, in order to establish a relationship model between the cameras.

[0085] After the three cameras collect the current road surface images respectively, feature extraction algorithms such as SIFT, SURF, and ORB are used to find corresponding feature points in the overlapping parts of each pair of images, such as corner points, edges, or areas with rich textures, including road edges, lane lines, or landmarks; robust estimation methods such as RANSAC are used to remove erroneous feature points.

[0086] Using the matched feature points and known camera parameters, the spatial coordinates of these points are calculated through the principle of triangulation to obtain the three-dimensional structure of the object surface; the calculated spatial coordinates are projected onto the ground plane (usually a preset horizontal plane) to form a series of two-dimensional coordinate points. Based on these two-dimensional coordinate points, the path is integrated along the extension direction of the road surface or the distance between two points is directly measured to obtain the current road surface length.

[0087] For large areas of road surface, a continuous depth map can be generated to represent the elevation information corresponding to each pixel point; the generated depth map is filtered and smoothed to reduce noise interference; a suitable reference plane is selected as a reference, such as an ideal flat road surface or a fixed horizontal plane; by comparing the height difference between the actual measurement point and the reference plane, the current road surface elevation is calculated for flatness evaluation.

[0088] The calculation results of the current road surface length and the current road surface elevation are compared and integrated with the detection results of other measurement methods (such as laser scanners) to ensure the accuracy and reliability of the calculation results.

[0089] In a specific implementation, a preset algorithm is used to determine the current road surface flatness based on the current road surface length and the elevations of multiple locations, specifically including: calculating the elevation difference between each adjacent location based on the elevations of multiple locations; superimposing the elevation difference between each adjacent location, and determining the current road surface flatness based on the quotient of the superimposed elevation difference and the current road surface length.

[0090] The mathematical expressions used include: IRI represents the current road surface flatness, n represents the total number of locations in the current road surface, i represents the index of the location, y i represents the elevation of the i-th position, y i-1 represents the elevation of the i-1th position, and L represents the current road length.

[0091] Since the road surface flatness indicates the vertical deviation of the road surface surface from the ideal plane, in a specific implementation, the current road surface grade is identified according to the current road surface flatness according to a preset grade division rule, wherein the grade division rule includes the correspondence between different road surface grades and road surface flatness intervals. The current road surface flatness is searched in the grade division rule, and the road surface grade corresponding to the road surface flatness interval to which the current road surface flatness belongs is taken as the current road surface grade. Table 3 shows an example of grade division rules.

[0092] Table 3 Classification rules

[0093] Road surface grade Road surface roughness range Road conditions High-grade road <2.0m / km Very smooth road surface Second-class road surface 2 / km~4 / km Slightly bumpy road Intermediate road 4 / km~6 / km Uneven road surface Low-grade road 6 / km~8 / km The road surface has cracks and small potholes Potholes >8 / km There are many potholes on the road

[0094] Since IRI provides an internationally recognized standard for measuring road surface smoothness, road surface grade identification between different countries and regions can be carried out under the same standard, which helps to establish a standardized road surface grade identification mechanism and provide more scientific, objective and accurate road surface grade identification results.

[0095] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0096] In one embodiment, Figure 2 As shown, a range extender power generation control device is provided, comprising: an acquisition module, an identification module and a control module, wherein:

[0097] An acquisition module, used to acquire the original power generation when it is identified that the range extender is in a power generation condition;

[0098] An identification module, used for identifying the current road surface grade, wherein the road surface grade includes at least high-grade road surface, secondary high-grade road surface, intermediate road surface, low-grade road surface and pothole road surface;

[0099] The control module is used to reduce the original generated power according to a preset adjustment rule when the current road surface grade is higher than a preset road surface grade.

[0100] In one embodiment, the control module is also used to: when the current road surface grade is equal to the preset road surface grade, maintain the original power generation power; when the current road surface grade is lower than the preset road surface grade, increase the original power generation power according to the preset adjustment rules.

[0101] In one embodiment, the preset adjustment rules include a correspondence between different road surface grades and preset adjustment thresholds, and the preset adjustment thresholds include at least one of a preset power threshold and a preset adjustment coefficient; the control module is specifically used to: reduce the original generated power according to the preset adjustment threshold corresponding to the current road surface grade; and increase the original generated power according to the preset adjustment threshold corresponding to the current road surface grade.

[0102] In one embodiment, the preset adjustment rules include the correspondence between different road surface grades, multiple power generation intervals and preset adjustment thresholds, and the preset adjustment thresholds include at least one of a preset power threshold and a preset adjustment coefficient; the control module is specifically used to: under the current road surface grade, reduce the original power generation power according to the preset adjustment threshold corresponding to the power generation interval to which the original power generation power belongs; and, under the current road surface grade, increase the original power generation power according to the preset adjustment threshold corresponding to the power generation interval to which the original power generation power belongs.

[0103] In one embodiment, Figure 3 As shown, the recognition module includes an image acquisition unit and an image processing unit, wherein: the image acquisition unit is used to acquire at least two current road surface images through at least two image acquisition devices, the at least two image acquisition devices are arranged at the same height, and among the at least two image acquisition devices, the acquisition ranges of any two adjacent image acquisition devices overlap, and the sum of the acquisition ranges of the at least two image acquisition devices can cover the road surface to be tested; the image processing unit is used to determine the flatness of the current road surface according to the at least two current road surface images; and according to the current road surface flatness, identify the current road surface grade according to a preset grade classification rule.

[0104] In one embodiment, the image processing unit is specifically used to: obtain the current road surface length and the elevations of multiple positions on the current road surface using triangulation based on the at least two current road surface images; and determine the flatness of the current road surface based on the current road surface length and the elevations of the multiple positions.

[0105] In one embodiment, the image processing unit is specifically used to: calculate the elevation difference between each adjacent position based on the elevations of the multiple positions; superimpose the elevation differences between the adjacent positions, and determine the flatness of the current road surface based on the quotient of the superimposed elevation difference and the current road surface length.

[0106] For the specific definition of the range extender power generation control device, please refer to the definition of the range extender power generation control method above, which will not be repeated here. Each module in the above-mentioned range extender power generation control device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0107] In one embodiment, a range extender controller is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the range extender power generation control method described in the above embodiment when executing the computer program.

[0108] In one embodiment, a new energy vehicle is provided, wherein the new energy vehicle is equipped with the range extender power generation control device as described in the above embodiment to implement the steps of the range extender power generation control method as described in the above embodiment.

[0109] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0110] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A range extender power generation control method, characterized in that: include: When it is identified that the range extender is in a power generation condition, the original power generation power is obtained; Identify the current road surface grade, where the road surface grade includes at least high-grade road surface, secondary high-grade road surface, intermediate road surface, low-grade road surface and pothole road surface; When the current road surface grade is higher than a preset road surface grade, the original generated power is reduced according to a preset adjustment rule.

2. The range extender power generation control method according to claim 1, characterized in that: The method further comprises: When the current road surface grade is equal to the preset road surface grade, maintaining the original generated power; When the current road surface grade is lower than the preset road surface grade, the original generated power is increased according to the preset adjustment rule.

3. The range extender power generation control method according to claim 2, characterized in that: The preset adjustment rule includes a correspondence between different road surface grades and preset adjustment thresholds, and the preset adjustment thresholds include at least one of a preset power threshold and a preset adjustment coefficient; Reducing the original generated power according to a preset adjustment rule includes: reducing the original generated power according to a preset adjustment threshold corresponding to the current road surface grade; Increasing the original power generation power according to the preset adjustment rule includes: increasing the original power generation power according to a preset adjustment threshold corresponding to the current road surface grade.

4. The range extender power generation control method according to claim 2, characterized in that: The preset adjustment rule includes a correspondence between different road surface grades, multiple power generation ranges and preset adjustment thresholds, and the preset adjustment threshold includes at least one of a preset power threshold and a preset adjustment coefficient; Reducing the original generated power according to a preset adjustment rule includes: reducing the original generated power according to a preset adjustment threshold corresponding to the power interval to which the original generated power belongs under the current road surface grade; Increasing the original power generation power according to the preset adjustment rule includes: under the current road surface grade, increasing the original power generation power according to a preset adjustment threshold corresponding to the power generation range to which the original power generation power belongs.

5. The range extender power generation control method according to claim 1, characterized in that: Identify the current road surface grade, including: At least two current road surface images are acquired by at least two image acquisition devices, wherein the at least two image acquisition devices are arranged at the same height, and acquisition ranges of any two adjacent image acquisition devices overlap among the at least two image acquisition devices, and the sum of the acquisition ranges of the at least two image acquisition devices can cover the road surface to be measured; Determining the current road surface flatness according to the at least two current road surface images; According to the current road surface flatness, the current road surface grade is identified according to a preset grade classification rule.

6. The range extender power generation control method according to claim 5, characterized in that: Determining the current road surface flatness according to the at least two current road surface images includes: According to the at least two current road surface images, a triangulation method is used to obtain the length of the current road surface and the elevations of multiple positions on the current road surface; The current road surface flatness is determined according to the current road surface length and the elevations of the multiple locations.

7. The range extender power generation control method according to claim 6, characterized in that: Determining the current road surface flatness according to the current road surface length and the elevations of the plurality of locations includes: Calculating the elevation difference between adjacent positions according to the elevations of the plurality of positions; The elevation differences between the adjacent positions are superimposed, and the current road surface flatness is determined according to a quotient of the superimposed elevation differences and the current road surface length.

8. A range extender power generation control device, characterized in that: The device comprises: An acquisition module, used to acquire the original power generation when it is identified that the range extender is in a power generation condition; An identification module, used for identifying the current road surface grade, wherein the road surface grade includes at least high-grade road surface, secondary high-grade road surface, intermediate road surface, low-grade road surface and pothole road surface; The control module is used to reduce the original generated power according to a preset adjustment rule when the current road surface grade is higher than a preset road surface grade.

9. A range extender controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the range extender power generation control method according to any one of claims 1 to 7 are implemented.

10. A new energy vehicle, characterized in that: The new energy vehicle is equipped with the range extender power generation control device as claimed in claim 8.

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