Scene mapping method, device and equipment for battery swap station and storage medium

Abstract

The invention discloses a power swap station scene mapping method, device and equipment and a storage medium, and relates to the technical field of mapping, and the method comprises the steps: determining a target power swap station matched with a vehicle when the vehicle has a power swap demand; controlling the vehicle to run to the gate of the target battery swap station, then starting to map the target battery swap station, and establishing communication interaction connection with the target battery swap station; if it is determined that the gate is in an open state through the communication interaction connection, the vehicle is controlled to enter the target battery swap station for battery swap; when it is detected that vehicle battery replacement is completed, the vehicle is controlled to drive out of the target battery replacement station and then mapping is ended, and a mapping result is obtained. Compared with a traditional electricity changing station scene mapping method which needs to depend on manual participation when facing an electricity changing station scene with a gate machine, the method enables the vehicle to automatically enter and exit the electricity changing station with the gate machine for electricity changing and mapping, thereby reducing the labor cost in the mapping process, and improving the electricity changing efficiency of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of mapping technology, and in particular to a method, device, equipment and storage medium for mapping a battery swap station scene. Background Art

[0002] With the popularity of electric vehicles, battery swap stations, as important facilities for electric vehicle energy replenishment, are becoming intelligent and unmanned, which will become the trend of future development. To realize the battery swap of unmanned vehicles, it is usually necessary to build a map of the battery swap station scene. In actual battery swap scenarios, due to the presence of gates in some battery swap stations, unmanned vehicles cannot automatically enter and exit the battery swap station to complete the battery swap and build a map, resulting in vehicles often needing to rely on manual participation when using these battery swap stations, which reduces the efficiency of battery swapping and increases labor costs. Summary of the invention

[0003] The main purpose of this application is to provide a method, device, equipment and storage medium for mapping a battery swap station scene, aiming to solve the technical problem that the prior art cannot achieve unmanned vehicles automatically entering and exiting the battery swap station to complete mapping in a battery swap station scene with a gate.

[0004] To achieve the above objectives, the present application provides a method for mapping a battery swap station scene, the method comprising the following steps:

[0005] When the vehicle needs to replace batteries, determine a target battery replacement station that is compatible with the vehicle;

[0006] After the vehicle is controlled to drive to the gate of the target battery swap station, a map of the target battery swap station is started, and a communication interaction connection with the target battery swap station is established;

[0007] If it is determined through the communication interaction that the gate is in an open state, controlling the vehicle to drive into the target battery swap station for battery swap;

[0008] When it is detected that the battery swapping of the vehicle is completed, the vehicle is controlled to drive out of the target battery swapping station and the mapping is ended to obtain a mapping result.

[0009] In one embodiment, when the vehicle has a battery replacement demand, the step of determining a target battery replacement station compatible with the vehicle includes:

[0010] When receiving a battery replacement instruction from a user or detecting that the current battery level of the vehicle is lower than a preset value, determining that the vehicle has a battery replacement requirement;

[0011] According to the basic information of the vehicle, the battery swap stations compatible with the vehicle within a preset range are screened to obtain a battery swap station set;

[0012] Determine the battery replacement cost of the vehicle corresponding to each battery replacement station in the battery replacement station set, and select a target battery replacement station from the battery replacement station set according to the battery replacement cost.

[0013] In one embodiment, the step of controlling the vehicle to drive to the gate of the target battery swap station and starting to map the target battery swap station includes:

[0014] Generate a driving route with the current position of the vehicle as the starting point and the gate of the target battery swap station as the end point;

[0015] After the vehicle is controlled to travel to the gate based on the driving route, a map of the target battery swap station is constructed according to the real-time data collected by the vehicle.

[0016] In one embodiment, the step of establishing a communication interaction connection with the target battery swap station includes:

[0017] Sending a wireless radio frequency signal to the target battery swap station so that the target battery swap station matches the vehicle according to the wireless radio frequency signal;

[0018] After the matching is completed, a handshake request signal is sent to the target battery swap station, and a response signal fed back by the target battery swap station is received;

[0019] A communication interaction connection is established with the target battery swap station according to the handshake request signal and the response signal.

[0020] In one embodiment, if it is determined through the communication interaction that the gate is in an open state, before the step of controlling the vehicle to enter the target battery swap station for battery swapping, the step further includes:

[0021] Sending interaction information to the target battery swap station through the communication interaction connection, and receiving a status message returned by the target battery swap station;

[0022] If it is detected that the status message contains a preset character, it is determined that the gate is in an open state.

[0023] In one embodiment, the step of controlling the vehicle to drive into the target battery swap station for battery swapping includes:

[0024] Controlling the vehicle to drive into the target battery swap station, and determining the battery type corresponding to the vehicle based on the identification code of the vehicle;

[0025] The target position of the vehicle is determined according to the battery type, the vehicle is controlled to travel to the target position, and the vehicle is adjusted to a battery replacement preparation state before performing battery replacement.

[0026] In addition, to achieve the above purpose, the present application also proposes a scene mapping device for a battery swap station, and the scene mapping device for a battery swap station includes:

[0027] A target determination module, used to determine a target battery swap station suitable for the vehicle when the vehicle has a battery swap demand;

[0028] A first mapping module, used to control the vehicle to start mapping the target battery swap station after driving to the gate of the target battery swap station, and establish a communication interaction connection with the target battery swap station;

[0029] A battery swap control module, configured to control the vehicle to enter the target battery swap station for battery swapping if it is determined through the communication interaction connection that the gate is open;

[0030] The second mapping module is used to control the vehicle to drive out of the target battery swap station and end the mapping to obtain a mapping result when it is detected that the vehicle battery swap is completed.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a battery swap station scene mapping device, which includes: a memory, a processor, and a battery swap station scene mapping program stored on the memory and runnable on the processor, and the battery swap station scene mapping program is configured to implement the steps of the battery swap station scene mapping method described above.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a battery swap station scene mapping program is stored on the storage medium. When the battery swap station scene mapping program is executed by the processor, the steps of the battery swap station scene mapping method described above are implemented.

[0033] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer program product, which includes a battery swap station scene mapping program, and when the battery swap station scene mapping program is executed by a processor, it implements the steps of the battery swap station scene mapping method described above.

[0034] In the present application, when a vehicle has a demand for battery replacement, a target battery replacement station compatible with the vehicle is determined; the vehicle is controlled to drive to the gate of the target battery replacement station and then start mapping the target battery replacement station, and establish a communication interaction connection with the target battery replacement station; if it is determined through the communication interaction connection that the gate is open, the vehicle is controlled to drive into the target battery replacement station for battery replacement; when it is detected that the battery replacement of the vehicle is completed, the vehicle is controlled to drive out of the target battery replacement station and then end the mapping to obtain a mapping result. Compared with traditional battery swap station scene mapping methods that require human participation when facing battery swap station scenes with gates, the above-mentioned method of the present application starts mapping the target battery swap station after controlling the vehicle to drive to the gate of the target battery swap station, and at the same time accurately identifies whether the gate of the target battery swap station is open through the communication interaction connection with the target battery swap station. After identifying that the gate is open, the vehicle enters the target battery swap station for battery swapping, and ends the mapping after the battery swapping is completed to obtain the mapping result, so that the vehicle can automatically enter and exit the battery swap station with a gate for battery swapping and mapping, thereby reducing the labor cost of the mapping process and improving the battery swapping efficiency of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of the structure of a power station scene mapping device for the hardware operating environment involved in the embodiment of the present application;

[0036] Figure 2 This is a flow chart of the first embodiment of the method for mapping a battery swap station scenario in this application;

[0037] Figure 3 This is a flow chart of the second embodiment of the method for mapping a battery swap station scenario in this application;

[0038] Figure 4 This is a schematic diagram of the structure of the intelligent driving module in the method for mapping the battery swap station scenario in this application;

[0039] Figure 5 This is a flow chart of the third embodiment of the method for mapping a battery swap station scenario in this application;

[0040] Figure 6 This is a structural block diagram of the first embodiment of the battery swap station scene mapping device of the present application.

[0041] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0042] 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.

[0043] Reference Figure 1 , Figure 1A schematic diagram of the structure of a power station scene mapping device for the hardware operating environment involved in the embodiment of the present application.

[0044] like Figure 1 As shown, the battery swap station scene mapping device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0045] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the scene mapping device of the battery swap station, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0046] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a battery swap station scene mapping program.

[0047] exist Figure 1 In the battery swap station scene mapping device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the battery swap station scene mapping device of the present application can be set in the battery swap station scene mapping device, and the battery swap station scene mapping device calls the battery swap station scene mapping program stored in the memory 1005 through the processor 1001, and executes the battery swap station scene mapping method provided in the embodiment of the present application.

[0048] The battery swap station scene mapping method provided in the present application can be deployed on a computer device for execution. The computer device can be a vehicle-mounted device (such as a vehicle-mounted controller, a vehicle-mounted processor or other vehicle-mounted units, etc.), and the computer device can also be a terminal outside the vehicle, an independent server, a cloud, a server cluster, a distributed system, an Internet of Things device or a vehicle network device, etc. This embodiment is not limited to this. Those skilled in the art can set up a computer device to implement the battery swap station scene mapping method according to actual needs.

[0049] The present application embodiment provides a method for mapping a battery swap station scene. Figure 2 , Figure 2 This is a flow chart of the first embodiment of the method for mapping a battery swap station scenario in the present application.

[0050] In this embodiment, the method for mapping a battery swap station scene includes the following steps:

[0051] Step S10: When the vehicle has a battery replacement demand, determine a target battery replacement station that is compatible with the vehicle.

[0052] It should be noted that the above-mentioned vehicles may include unmanned vehicles, which may be driverless vehicles or autonomous vehicles, and are vehicles that can sense their surroundings and navigate without human intervention. A battery swap station is a centralized charging station that has the ability to centrally store, centrally charge, and uniformly distribute a large number of batteries. In a battery swap station, the battery swap equipment will remove the vehicle's power battery and replace it with a fully charged battery to meet the vehicle's range requirements.

[0053] It is understandable that the above-mentioned target battery swap station adapted to the vehicle may refer to a battery swap station that can meet the vehicle's battery swap requirements at the current moment. Among them, the vehicle battery swap conditions may include battery requirements (such as vehicle battery type, vehicle battery quantity, etc.), time requirements (such as the time it takes for the vehicle to travel to the battery swap station, the time required for the vehicle to queue, the time required for the vehicle to swap batteries, etc.), cost requirements (such as vehicle battery swap costs, parking fees, etc.) or other requirements, which are not limited in this embodiment.

[0054] In specific implementation, judging whether a vehicle needs to replace batteries can be evaluated from two aspects. On the one hand, it is to predict whether the vehicle needs to replace batteries actively, such as whether the battery power of the vehicle is lower than the preset value, whether the battery of the vehicle is abnormal, etc. On the other hand, it is to detect whether the vehicle needs to replace batteries passively, such as passengers need to travel long distances, so it is necessary to replace the fully charged battery in the vehicle in advance to maximize the avoidance of insufficient battery life during long-distance driving.

[0055] Step S20: After controlling the vehicle to drive to the gate of the target battery swap station, start mapping the target battery swap station and establish a communication interaction connection with the target battery swap station.

[0056] It should be noted that the above-mentioned communication interaction connection can be built based on handshake communication, and handshake communication can be implemented by relying on specific communication protocols and signal exchange mechanisms. These protocols and mechanisms may vary depending on different vehicle brands and battery swap station types. For example, some vehicles and battery swap stations may use the CAN (Controller Area Network) bus protocol for communication, while others may use wireless communication technology (such as Bluetooth, Wi-Fi, etc.) to achieve handshake communication. Through handshake communication, vehicles and battery swap stations can identify each other, confirm their status and establish a stable communication link, thereby ensuring the smooth progress of the battery swap process.

[0057] It should be understood that after controlling the vehicle to drive to the gate of the target battery swap station, the scene outside the target battery swap station can be mapped first to identify obstacles outside the target battery swap station (such as signs, stone piers, trees, etc.), thereby improving the vehicle's recognition efficiency of the scene outside the station when it returns to the target battery swap station later.

[0058] Step S30: If it is determined through the communication interaction that the gate is in an open state, the vehicle is controlled to enter the target battery swap station for battery swapping.

[0059] In the specific implementation, due to the limited location of battery swap stations, in order to reasonably control the order of vehicles in the battery swap station, and also to improve the safety and standardization of the battery swap station, some battery swap stations will choose to add gates at the entrance. However, the traditional battery swap station scene mapping method cannot interact with the gate when facing a battery swap station with a gate, and thus cannot enter the battery swap station through the gate. Based on this, the present embodiment can interact with the gate through the above-mentioned communication interaction connection established with the target battery swap station, so as to determine the opening and closing state of the gate: if the gate is in an open state, it means that there is a battery swap position in the target battery swap station at this time, and the vehicle can be controlled to enter the target battery swap station for battery swap; if the gate is in a closed state, it means that there is no battery swap position in the target battery swap station at this time, and the vehicle can be controlled to queue at the gate.

[0060] Step S40: When it is detected that the battery swapping of the vehicle is completed, the vehicle is controlled to drive out of the target battery swapping station and the mapping is terminated to obtain a mapping result.

[0061] It should be understood that in this embodiment, the off-station scene and on-station scene of the target battery swap station will be continuously mapped from the time the vehicle drives to the gate of the target battery swap station to the time the vehicle drives out of the target battery swap station, that is, the above-mentioned mapping results finally obtained include the off-station scene map and on-station scene map of the target battery swap station.

[0062] In this embodiment, when a vehicle has a demand for battery replacement, a target battery replacement station compatible with the vehicle is determined; the vehicle is controlled to drive to the gate of the target battery replacement station, and then a map of the target battery replacement station is started, and a communication interaction connection with the target battery replacement station is established; if it is determined through the communication interaction connection that the gate is open, the vehicle is controlled to drive into the target battery replacement station for battery replacement; when it is detected that the battery replacement of the vehicle is completed, the vehicle is controlled to drive out of the target battery replacement station and then the mapping is ended to obtain a mapping result. Compared with the traditional battery swap station scene mapping method, which needs to rely on manual participation when facing the battery swap station scene with a gate, the above method of this embodiment starts to map the target battery swap station after controlling the vehicle to drive to the gate of the target battery swap station, and accurately identifies whether the gate of the target battery swap station is open through the communication interaction connection with the target battery swap station. After identifying that the gate is open, it drives into the target battery swap station for battery swap, and ends the mapping after the battery swap is completed to obtain the mapping result, so that the vehicle can automatically enter and exit the battery swap station with a gate for battery swap and mapping, thereby reducing the labor cost of the mapping process and improving the battery swap efficiency of the vehicle.

[0063] refer to Figure 3 , Figure 3 This is a flow chart of the second embodiment of the method for mapping a battery swap station scenario in the present application.

[0064] In a feasible implementation manner, the step S10 may include:

[0065] Step S101: When a battery replacement instruction is received from a user or when it is detected that the current battery level of the vehicle is lower than a preset value, it is determined that the vehicle needs to have a battery replacement.

[0066] It should be noted that the above-mentioned preset values ​​can be flexibly limited according to the actual usage scenarios. For example, the preset value can be set to 70% in long-distance driving scenarios, and the preset value can be set to 10% in short-distance driving scenarios, etc. This embodiment does not limit the actual usage scenarios and specific preset values.

[0067] Step S102: Filter the battery swap stations compatible with the vehicle within a preset range according to the basic information of the vehicle to obtain a battery swap station set.

[0068] It should be noted that the basic information of the vehicle may include but is not limited to the battery information (such as battery brand, battery size, current power, etc.), size information (such as body length, body width, body height, etc.) or other information of the vehicle. The preset range may be defined by the user, such as a straight-line distance of 500 meters from the vehicle, a driving distance of 1 kilometer from the vehicle, etc., and this embodiment does not limit this.

[0069] It should be understood that the above-mentioned battery swap station set may be a set consisting of all battery swap stations compatible with the vehicle within a preset range.

[0070] Step S103: Determine the battery replacement cost of the vehicle corresponding to each battery replacement station in the battery replacement station set, and select a target battery replacement station from the battery replacement station set according to the battery replacement cost.

[0071] In a specific implementation, several battery swap cost evaluation schemes may be provided for the user to choose from, and then the battery swap cost of the vehicle corresponding to each battery swap station in the battery swap station set is determined based on the battery swap cost evaluation scheme selected by the user, so as to select the target battery swap station from the battery swap station set according to the battery swap cost. Exemplarily, it is assumed that this embodiment provides three battery swap cost evaluation schemes: the first scheme is an evaluation scheme based on the battery swap time cost, in which battery swap stations with relatively low time costs for battery swap are preferentially recommended; the second scheme is an evaluation scheme based on the battery swap battery cost (taking into account that the battery prices of different battery swap stations may vary), in which battery swap stations with relatively low battery costs for battery swap are preferentially recommended; the third scheme is a comprehensive evaluation scheme, in which battery swap stations with relatively low comprehensive costs for battery swap (i.e., the sum of time costs and battery costs) are preferentially recommended.

[0072] In a feasible implementation manner, the step S20 may include:

[0073] Step S201: Generate a driving route with the current position of the vehicle as the starting point and the gate of the target battery swap station as the end point.

[0074] Step S202: After the vehicle is controlled to travel to the gate based on the driving route, a map of the target battery swap station is started according to the real-time data collected by the vehicle.

[0075] It should be noted that the above-mentioned real-time data may include data collected by the vehicle's radar, camera, LiDAR and other sensors.

[0076] Step S203: Send a wireless radio frequency signal to the target battery swap station, so that the target battery swap station matches the vehicle according to the wireless radio frequency signal.

[0077] In the specific implementation, the intelligent driving module that controls the vehicle can send a wireless radio frequency signal to the target battery swap station through RFID (Radio Frequency Identification) technology. RFID technology is a contactless automatic identification technology that uses radio frequency signals and their spatial coupling and transmission characteristics to realize automatic identification of stationary or moving objects. Specifically, an RFID tag is usually installed on the vehicle, which contains the unique identification information of the vehicle, such as vehicle ID, battery status, etc. This tag is usually composed of a coupling element and a chip, and can receive and send radio frequency signals. At the same time, the battery swap station will be equipped with an RFID reader, which is responsible for emitting radio waves in a specific frequency band and receiving response signals from RFID tags. The reader can read the information in the tag, decode it and process it. When the vehicle enters the radio frequency identification area of ​​the battery swap station, the RFID reader will emit radio waves to activate the RFID tag on the vehicle. After receiving the signal, the tag will send the information back to the reader through the antenna. After receiving the signal, the reader will decode and verify it to obtain relevant information about the vehicle. Once the reader decodes the information of the RFID tag, this information can be used in the management system of the battery swap station. For example, the system can automatically match the appropriate battery according to the vehicle information, record the battery replacement process, update the vehicle status, etc.

[0078] Furthermore, if Figure 4 As shown, Figure 4 This is a schematic diagram of the structure of the intelligent driving module in the method of mapping the battery swap station scenario in this application. Among them, HMI represents the human-machine interaction module, ESC represents the braking module, BCM represents the body controller, RCRR represents the right rear corner radar, RCRL represents the left rear corner radar, VCU represents the vehicle controller (gear power), ADCU represents the automatic driving controller, FRR represents the front millimeter wave radar, FCS represents the front-view integrated machine / camera, LIDAR represents the laser radar, RFR represents the wireless radio frequency module, and the battery swap station RFR represents the wireless radio frequency module of the target battery swap station. The vehicle can transmit and receive radio frequency signals with the target battery swap station through RFR.

[0079] Step S204: after the matching is completed, a handshake request signal is sent to the target battery swap station, and a response signal fed back by the target battery swap station is received.

[0080] Step S205: establishing a communication interaction connection with the target battery swap station according to the handshake request signal and the response signal.

[0081] In the specific implementation, when the battery swap station receives the handshake request signal, it will confirm and reply with a response signal. The two parties can confirm that the communication link has been established and is reliable through multiple signal exchanges, thereby ensuring that the intelligent driving module that controls the vehicle can safely and reliably exchange information and transmit data.

[0082] In this embodiment, when a battery replacement instruction issued by a user is received or the current battery level of the vehicle is detected to be lower than a preset value, it is determined that the vehicle has a battery replacement demand; the battery replacement stations that are compatible with the vehicle within a preset range are screened according to the basic information of the vehicle to obtain a battery replacement station set; the battery replacement cost of the vehicle corresponding to each battery replacement station in the battery replacement station set is determined, and a target battery replacement station is selected from the battery replacement station set according to the battery replacement cost; a driving route is generated with the current position of the vehicle as the starting point and the gate of the target battery replacement station as the end point; after the vehicle is controlled to travel to the gate based on the driving route, a map of the target battery replacement station is started according to the real-time data collected by the vehicle; a wireless radio frequency signal is sent to the target battery replacement station so that the target battery replacement station matches the vehicle according to the wireless radio frequency signal; after the matching is completed, a handshake request signal is sent to the target battery replacement station, and a response signal fed back by the target battery replacement station is received; and a communication interaction connection with the target battery replacement station is established according to the handshake request signal and the response signal. Compared with the traditional method of mapping the battery swap station scene, the above method in this embodiment can accurately identify whether the vehicle has a (active or passive) battery swap demand, and at the same time determine the target battery swap station after screening, saving the vehicle's battery swap cost; by starting to build the map outside the target battery swap station, the external environment of the target battery swap station and the location of the gate can be accurately recorded; at the same time, a communication interaction connection is established between the intelligent driving module and the target battery swap station through handshake communication to ensure that the intelligent driving module and the target battery swap station can exchange information normally.

[0083] refer to Figure 5 , Figure 5 This is a flow chart of the third embodiment of the method for mapping a battery swap station scenario in the present application.

[0084] In a feasible implementation manner, before step S30, the following may also be included:

[0085] Step S21: sending interaction information to the target battery swap station through the communication interaction connection, and receiving a status message returned by the target battery swap station.

[0086] It should be noted that the above-mentioned interaction information may include instruction information for detecting the gate status of the target battery swap station.

[0087] Step S22: If it is detected that the status message contains a preset character, it is determined that the gate is in an open state.

[0088] In a specific implementation, key information related to the gate status can be extracted from each data segment of the status message. This key information may exist in the form of a specific data field or bit mask, and then the extracted key information is matched with the preset characters. Among them, the preset characters are usually defined in the communication protocol between the battery swap station and the vehicle to indicate various states of the gate (such as the preset character ZJK00 for opening, the preset character ZJK01 for closing, the preset character ZJK11 for failure, etc.).

[0089] In a feasible implementation manner, the step S30 may include:

[0090] Step S301: Control the vehicle to drive into the target battery swap station, and determine the battery type corresponding to the vehicle based on the vehicle identification code.

[0091] It should be noted that the identification code of the above-mentioned vehicle may be a VIN code (Vehicle Identification Number). The VIN code contains information such as the vehicle's manufacturer, year, model, body type and code, engine code and assembly location, and is the unique identifier of the vehicle.

[0092] Step S302: Determine the target position of the vehicle according to the battery type, control the vehicle to travel to the target position, and perform battery replacement after adjusting the vehicle to a battery replacement preparation state.

[0093] It should be understood that since the battery types corresponding to different vehicle models may be different, battery exchange areas corresponding to different battery types are usually divided in the target battery exchange station. Therefore, the target position of the vehicle in the target battery exchange station can be determined according to the battery type, thereby ensuring that the vehicle is replaced with the correct battery model.

[0094] This embodiment sends interactive information to the target battery swap station through the communication interactive connection, and receives a status message returned by the target battery swap station; if it is detected that the status message contains preset characters, the gate is determined to be in an open state; the vehicle is controlled to enter the target battery swap station, and the battery type corresponding to the vehicle is determined based on the vehicle's identification code; the target position of the vehicle is determined according to the battery type, the vehicle is controlled to travel to the target position, and the vehicle is adjusted to a battery swap preparation state before battery swapping. Compared with the traditional battery swap station scene mapping method, the above method of this embodiment avoids the problem of unmanned vehicles rushing through the card by exchanging information with the target battery swap station to accurately identify the opening and closing of the gate; at the same time, the vehicle is controlled to travel to the target position (i.e., the position of the battery swap equipment corresponding to the vehicle's battery type) and adjusted to a battery swap preparation state before battery swapping, thereby ensuring that the vehicle can correctly implement the battery swap operation.

[0095] In addition, an embodiment of the present application also proposes a storage medium, on which a battery swap station scene mapping program is stored. When the battery swap station scene mapping program is executed by a processor, the steps of the battery swap station scene mapping method described above are implemented.

[0096] Reference Figure 6 , Figure 6 This is a structural block diagram of the first embodiment of the battery swap station scene mapping device of the present application.

[0097] like Figure 6 As shown, the battery swap station scene mapping device proposed in the embodiment of the present application includes:

[0098] The target determination module 601 is used to determine a target battery swap station suitable for the vehicle when the vehicle has a battery swap demand;

[0099] The first mapping module 602 is used to control the vehicle to start mapping the target battery swap station after driving to the gate of the target battery swap station, and establish a communication interaction connection with the target battery swap station;

[0100] The battery swap control module 603 is used to control the vehicle to enter the target battery swap station for battery swap if it is determined through the communication interaction that the gate is open;

[0101] The second mapping module 604 is used to control the vehicle to drive out of the target battery swap station and end the mapping to obtain a mapping result when it is detected that the battery swap of the vehicle is completed.

[0102] In this embodiment, when a vehicle has a demand for battery replacement, a target battery replacement station compatible with the vehicle is determined; the vehicle is controlled to drive to the gate of the target battery replacement station, and then a map of the target battery replacement station is started, and a communication interaction connection with the target battery replacement station is established; if it is determined through the communication interaction connection that the gate is open, the vehicle is controlled to drive into the target battery replacement station for battery replacement; when it is detected that the battery replacement of the vehicle is completed, the vehicle is controlled to drive out of the target battery replacement station and then the mapping is ended to obtain a mapping result. Compared with the traditional battery swap station scene mapping method, which needs to rely on manual participation when facing the battery swap station scene with a gate, the above method of this embodiment starts to map the target battery swap station after controlling the vehicle to drive to the gate of the target battery swap station, and accurately identifies whether the gate of the target battery swap station is open through the communication interaction connection with the target battery swap station. After identifying that the gate is open, it drives into the target battery swap station for battery swap, and ends the mapping after the battery swap is completed to obtain the mapping result, so that the vehicle can automatically enter and exit the battery swap station with a gate for battery swap and mapping, thereby reducing the labor cost of the mapping process and improving the battery swap efficiency of the vehicle.

[0103] Based on the first embodiment of the battery swap station scene mapping device of the present application, a second embodiment of the battery swap station scene mapping device of the present application is proposed.

[0104] In this embodiment, the target determination module 601 is also used to determine whether the vehicle needs to replace batteries when a battery replacement instruction issued by the user is received or the current battery level of the vehicle is detected to be lower than a preset value; to screen the battery replacement stations that are compatible with the vehicle within a preset range according to the basic information of the vehicle to obtain a battery replacement station set; to determine the battery replacement cost of the vehicle corresponding to each battery replacement station in the battery replacement station set, and to select a target battery replacement station from the battery replacement station set according to the battery replacement cost.

[0105] Furthermore, the first mapping module 602 is also used to generate a driving route with the current position of the vehicle as the starting point and the gate of the target battery swap station as the end point; after controlling the vehicle to drive to the gate based on the driving route, the target battery swap station is mapped according to the real-time data collected by the vehicle.

[0106] Furthermore, the first mapping module 602 is also used to send a wireless radio frequency signal to the target battery swap station so that the target battery swap station is matched with the vehicle based on the wireless radio frequency signal; after the matching is completed, a handshake request signal is sent to the target battery swap station, and a response signal fed back by the target battery swap station is received; and a communication interaction connection is established with the target battery swap station based on the handshake request signal and the response signal.

[0107] Furthermore, the battery swap control module 603 is also used to send interactive information to the target battery swap station through the communication interactive connection, and receive a status message returned by the target battery swap station; if it is detected that the status message contains preset characters, it is determined that the gate is in an open state.

[0108] Furthermore, the battery exchange control module 603 is also used to control the vehicle to enter the target battery exchange station, and determine the battery type corresponding to the vehicle based on the vehicle's identification code; determine the target position of the vehicle according to the battery type, control the vehicle to drive to the target position, and adjust the vehicle to a battery exchange preparation state before performing battery exchange.

[0109] Other embodiments or specific implementation methods of the battery swap station scene mapping device of the present application can refer to the above-mentioned method embodiments and will not be repeated here.

[0110] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0111] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0112] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0113] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for mapping a battery swap station scene, characterized in that: The method comprises the following steps: When the vehicle needs to replace batteries, determine a target battery replacement station that is compatible with the vehicle; After the vehicle is controlled to drive to the gate of the target battery swap station, a map of the target battery swap station is started, and a communication interaction connection with the target battery swap station is established; If it is determined through the communication interaction that the gate is in an open state, controlling the vehicle to drive into the target battery swap station for battery swap; When it is detected that the battery swapping of the vehicle is completed, the vehicle is controlled to drive out of the target battery swapping station and the mapping is ended to obtain a mapping result.

2. The method for mapping a battery swap station scene according to claim 1, characterized in that: When the vehicle has a battery replacement demand, the step of determining a target battery replacement station compatible with the vehicle includes: When receiving a battery replacement instruction from a user or detecting that the current battery level of the vehicle is lower than a preset value, determining that the vehicle has a battery replacement requirement; According to the basic information of the vehicle, the battery swap stations compatible with the vehicle within a preset range are screened to obtain a battery swap station set; Determine the battery replacement cost of the vehicle corresponding to each battery replacement station in the battery replacement station set, and select a target battery replacement station from the battery replacement station set according to the battery replacement cost.

3. The method for mapping a battery swap station scene according to claim 1, characterized in that: The step of controlling the vehicle to drive to the gate of the target battery swap station and starting to map the target battery swap station comprises: Generate a driving route with the current position of the vehicle as the starting point and the gate of the target battery swap station as the end point; After the vehicle is controlled to travel to the gate based on the driving route, a map of the target battery swap station is constructed according to the real-time data collected by the vehicle.

4. The method for mapping a battery swap station scene according to claim 1, characterized in that: The step of establishing a communication interaction connection with the target battery swap station includes: Sending a wireless radio frequency signal to the target battery swap station so that the target battery swap station matches the vehicle according to the wireless radio frequency signal; After the matching is completed, a handshake request signal is sent to the target battery swap station, and a response signal fed back by the target battery swap station is received; A communication interaction connection is established with the target battery swap station according to the handshake request signal and the response signal.

5. The method for mapping a battery swap station scene according to claim 1, characterized in that: Before the step of controlling the vehicle to enter the target battery swap station for battery swapping if it is determined through the communication interaction that the gate is in an open state, the method further includes: Sending interaction information to the target battery swap station through the communication interaction connection, and receiving a status message returned by the target battery swap station; If it is detected that the status message contains a preset character, it is determined that the gate is in an open state.

6. The method for mapping a battery swap station scene according to claim 1, characterized in that: The step of controlling the vehicle to drive into the target battery swap station for battery swapping includes: Controlling the vehicle to drive into the target battery swap station, and determining the battery type corresponding to the vehicle based on the identification code of the vehicle; The target position of the vehicle is determined according to the battery type, the vehicle is controlled to travel to the target position, and the vehicle is adjusted to a battery replacement preparation state before performing battery replacement.

7. A scene mapping device for a battery swap station, characterized in that: The battery swap station scene mapping device comprises: A target determination module, used to determine a target battery swap station suitable for the vehicle when the vehicle has a battery swap demand; A first mapping module, used to control the vehicle to start mapping the target battery swap station after driving to the gate of the target battery swap station, and establish a communication interaction connection with the target battery swap station; A battery swap control module, configured to control the vehicle to enter the target battery swap station for battery swapping if it is determined through the communication interaction connection that the gate is open; The second mapping module is used to control the vehicle to drive out of the target battery swap station and end the mapping to obtain a mapping result when it is detected that the vehicle battery swap is completed.

8. A scene mapping device for a battery swap station, characterized in that: The device includes: a memory, a processor, and a battery swap station scene mapping program stored in the memory and executable on the processor, wherein the battery swap station scene mapping program is configured to implement the steps of the battery swap station scene mapping method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a battery swap station scene mapping program is stored on the storage medium. When the battery swap station scene mapping program is executed by a processor, the steps of the battery swap station scene mapping method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product includes a battery swap station scene mapping program, and when the battery swap station scene mapping program is executed by a processor, the steps of the battery swap station scene mapping method according to any one of claims 1 to 6 are implemented.

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