Vehicle control method and device, new energy vehicle and storage medium

Abstract

The invention discloses a vehicle control method and device, a new energy vehicle and a storage medium, and relates to the technical field of new energy vehicles. The method comprises the steps that the distance between a vehicle and a target vehicle and driving state data of the target vehicle are acquired; the target vehicle comprises at least one vehicle running in a plurality of lanes in front of the own vehicle; determining a road congestion judgment result of the road ahead based on the distance and the driving state data of each target vehicle; and when the road congestion judgment result is that the front is congested, turning off a range extender of the vehicle and / or controlling the vehicle to recover energy. By adopting the method, the driving experience of the user and the energy utilization rate in the vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device, new energy vehicle and storage medium. Background Art

[0002] In the case of traffic congestion, drivers need to frequently operate new energy vehicles (vehicles), such as starting the vehicle, accelerating, braking, etc. This may cause a large amount of energy in the vehicle to be consumed due to the operation of the range extender, thereby reducing the energy utilization rate in the vehicle.

[0003] Therefore, how to improve the energy utilization rate in vehicles has become an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present application provide a vehicle control method, device, new energy vehicle and storage medium, which can improve the user's driving experience and energy utilization in the vehicle.

[0005] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising:

[0006] Acquire the distance between the vehicle and the target vehicle, and the driving state data of the target vehicle; the target vehicle includes at least one vehicle traveling in a plurality of lanes in front of the vehicle;

[0007] Determine the road congestion determination result of the road ahead based on the distance and the driving status data of each target vehicle;

[0008] When the result of the road congestion determination is that there is congestion ahead, the range extender of the own vehicle is controlled to be turned off and / or the own vehicle is controlled to perform energy recovery.

[0009] In one of the embodiments, a road congestion determination result of the road ahead is determined based on the distance and the driving status data of each target vehicle, including: for each of a plurality of lanes, based on the distance between the own vehicle and the target vehicle traveling in the lane, and the driving status data of the target vehicle, determining the lane congestion determination result corresponding to the lane; based on the lane congestion determination result corresponding to each lane and the weight corresponding to each lane, determining the road congestion determination result of the road ahead; wherein, the weight corresponding to the lane in which the own vehicle is located is greater than the weights corresponding to other lanes.

[0010] In one embodiment, the driving status data of the target vehicle includes the speed and acceleration of the target vehicle; for each of the multiple lanes, based on the distance between the own vehicle and the target vehicle traveling in the lane, and the driving status data of the target vehicle, a lane congestion determination result corresponding to the lane is determined, including: for each lane, when it is determined that at least two of the following conditions are met, the lane congestion determination result corresponding to the lane is determined to be lane congestion ahead: the distance between the own vehicle and at least one target vehicle traveling in the lane is less than or equal to the distance between the target vehicles corresponding to the own vehicle obtained last time; the speed of at least one target vehicle traveling in the lane is less than a preset speed threshold; the acceleration of at least one target vehicle traveling in the lane is less than a preset acceleration threshold, or the accelerations of the N target vehicles are all negative values.

[0011] In one of the embodiments, the method also includes: obtaining road lane information; based on the road lane information, obtaining lane information on both sides of the current lane where the vehicle is located; when there are same-direction lanes on both sides of the current lane, determining the current lane and at least one same-direction lane on both sides of the current lane as multiple lanes; when there is a same-direction lane on one side of the current lane but no same-direction lane on the other side, determining the current lane and at least one same-direction lane on one side as multiple lanes.

[0012] In one of the embodiments, the method further includes: when the result of the road congestion determination is congestion ahead, controlling the vehicle to output a prompt message, the prompt message being used to prompt the user to release the brake pedal.

[0013] In one of the embodiments, when the result of the road congestion determination is congestion ahead, the vehicle is controlled to perform energy recovery, including: when the result of the road congestion determination is congestion ahead, obtaining the vehicle kinetic energy and the work done by the sliding resistance of the vehicle; determining the energy to be recovered based on the vehicle kinetic energy and the work done by the sliding resistance; and controlling the vehicle to perform energy recovery based on the energy to be recovered.

[0014] In one of the embodiments, when the result of the road congestion determination is congestion ahead, the vehicle is controlled to perform energy recovery, including: when the result of the road congestion determination is congestion ahead, congestion warning information is sent to a target controller in the vehicle to trigger the target controller to perform energy recovery.

[0015] In one of the embodiments, the method further includes: when the road congestion determination result is congestion ahead, obtaining a preset expected vehicle speed; based on a preset closed-loop control method, using the expected vehicle speed as the vehicle speed target, controlling the vehicle to travel toward the congested location.

[0016] In one of the embodiments, based on a preset closed-loop control method, the expected vehicle speed is used as the vehicle speed target to control the vehicle to travel toward a congested location, including: based on a preset closed-loop control method, the expected vehicle speed is used as the vehicle speed target to determine the target driving speed of the vehicle; sending the target driving speed to a first controller in the vehicle to adjust the real-time speed of the vehicle through the first controller.

[0017] In one of the embodiments, when the result of the road congestion determination is congestion ahead, the range extender of the vehicle is turned off, including: when the result of the road congestion determination is congestion ahead, congestion warning information is sent to a second controller in the vehicle to trigger the second controller to turn off the range extender of the vehicle.

[0018] In a second aspect, an embodiment of the present application provides a vehicle control device, the device comprising:

[0019] An acquisition module, used to acquire the distance between the vehicle and the target vehicle, and the driving state data of the target vehicle; the target vehicle includes at least one vehicle traveling in a plurality of lanes in front of the vehicle;

[0020] A determination module, used to determine a road congestion determination result of a road ahead based on the distance and the driving status data of each target vehicle;

[0021] The control module is used to shut down the range extender of the vehicle and / or control the vehicle to perform energy recovery when the road congestion determination result is congestion ahead.

[0022] In a third aspect, an embodiment of the present application provides a new energy vehicle, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method of the first aspect when executing the computer program.

[0023] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method of the first aspect when the computer program is executed by a processor.

[0024] In a fifth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of the method of the first aspect when executed by a processor.

[0025] The above-mentioned vehicle control method, device, new energy vehicle and storage medium, the new energy vehicle (hereinafter referred to as the vehicle) can obtain the distance between the vehicle and the target vehicle, as well as the driving status data of the target vehicle; the target vehicle includes at least one vehicle traveling in multiple lanes in front of the vehicle; based on the distance and the driving status data of each target vehicle, the road congestion determination result of the road ahead is determined; if the road congestion determination result is congestion ahead, the range extender of the vehicle is controlled to be turned off and / or the vehicle is controlled to perform energy recovery. Using this method, the vehicle can determine the road congestion determination result of the road ahead based on the distance between the vehicle and the target vehicles traveling in multiple lanes in front of the vehicle, as well as the driving status data of each target vehicle, and if the road congestion determination result is congestion ahead, the range extender of the vehicle is promptly turned off and / or the vehicle is controlled to perform energy recovery. In this way, when the road ahead of the vehicle is congested, by turning off the range extender, not only can the noise and exhaust emissions caused by the operation of the range extender under congested road conditions be avoided, but also unnecessary energy consumption can be reduced, thereby not only improving the user's driving experience, but also improving the energy utilization rate in the vehicle; or, when the road ahead of the vehicle is congested, energy recovery can be performed to avoid unnecessary energy waste, and the recovered energy can be used later, thereby improving the energy utilization rate in the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a schematic diagram of an application scenario of a vehicle control method provided in an embodiment of the present application;

[0028] Figure 2 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0029] Figure 3 is a flow chart of another vehicle control method provided in an embodiment of the present application;

[0030] Figure 4 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0031] Figure 5 It is a structural schematic diagram of a new energy vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] 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.

[0033] Combine the following Figure 1 , introduces the application scenarios of the vehicle control method provided in the embodiment of the present application. Figure 1 , Figure 1 Schematic diagram of an application scenario of a vehicle control method provided in an embodiment of the present application. Figure 1 As shown, the new energy vehicle 100 includes a control device 101 , a monitoring device 102 , a data acquisition device 103 and a range extender 104 .

[0034] The monitoring device 102 may monitor the road lane information in front of the vehicle.

[0035] The data collection device 103 can collect the driving state data of the target vehicles traveling in multiple lanes in front of the vehicle, and collect the distance between the vehicle and the target vehicles.

[0036] The range extender 104 is an auxiliary power source, which is mainly used to increase the driving distance of the new energy vehicle.

[0037] The control device 101 may be one or more controllers. The control device 101 may communicate with the monitoring device 102, the data acquisition device 103, and the range extender 104, and may also determine the road congestion determination result of the road ahead based on the distance between the vehicle and the target vehicles traveling in the multiple lanes ahead of the vehicle, and the driving status data of each target vehicle, and when the road congestion determination result is congestion ahead, timely control to close the range extender 104 of the vehicle and / or control the vehicle to perform energy recovery. In this way, when the road ahead of the vehicle is congested, by shutting down the range extender, not only can the noise and exhaust emissions caused by the operation of the range extender under congested road conditions be avoided, but also unnecessary energy consumption can be reduced, thereby not only improving the user driving experience, but also improving the energy utilization rate in the vehicle; or, when the road ahead of the vehicle is congested, energy recovery can be performed to avoid unnecessary energy waste, and the recovered energy can be used for subsequent use, thereby improving the energy utilization rate in the vehicle.

[0038] The vehicle control method provided in the embodiment of the present application is explained below.

[0039] See also Figure 2 , Figure 2 is a flow chart of a vehicle control method provided by an embodiment of the present application. The method may be performed by a control device (e.g. Figure 1The control device 101 in the new energy vehicle 100 shown in FIG. Figure 2 As shown, the vehicle control method may include but is not limited to the following steps:

[0040] S201, obtaining the distance between the own vehicle and a target vehicle, and the driving status data of the target vehicle; the target vehicle includes at least one vehicle traveling in a plurality of lanes in front of the own vehicle.

[0041] The driving status data of the target vehicle may include but is not limited to the acceleration of the target vehicle, the speed of the target vehicle, etc.

[0042] In an optional implementation, the distance between the vehicle and the target vehicle, and the driving status data of the target vehicle may be acquired by the control device through a millimeter wave radar.

[0043] In an optional implementation, each of the multiple lanes in front of the vehicle can be determined by the control device after capturing the road in front of the vehicle through a multifunctional camera in the vehicle and identifying the lane lines in the road in front. In other words, the control device can identify the left lane, the vehicle lane, and the right lane in the road in front of the vehicle through the multifunctional camera.

[0044] Optionally, the target vehicle may be at least one vehicle driving in the left lane, the own lane and the right lane in front of the own vehicle; the target vehicle may also be at least one vehicle driving in the left lane and the own lane in front of the own vehicle; the target vehicle may also be at least one vehicle driving in the own lane and the right lane in front of the own vehicle, etc., which is not limited here.

[0045] For example, assuming that there are three lanes on the road, which are recorded as lane 1, lane 2, and lane 3, and assuming that the vehicle is traveling in lane 1, the target vehicle may be at least one vehicle traveling in lane 1 and lane 2 in front of the vehicle, for example, two vehicles traveling in lane 1 in front of the vehicle that are closest to the vehicle, and one vehicle traveling in lane 2 in front of the vehicle that is closest to the vehicle. Assuming that the vehicle is traveling in lane 2, the target vehicle may be at least one vehicle traveling in lane 1, lane 2, and lane 3 in front of the vehicle, for example, one vehicle traveling in lane 1, lane 2, and lane 3 in front of the vehicle that is closest to the vehicle. Assuming that the vehicle is traveling in lane 3, the target vehicle may be at least one vehicle traveling in lane 2 and lane 3 in front of the vehicle, for example, one vehicle traveling in lane 2 in front of the vehicle that is closest to the vehicle, and two vehicles traveling in lane 3 in front of the vehicle that are closest to the vehicle.

[0046] S202: Determine a result of a road congestion determination of the road ahead based on the distance and the driving status data of each target vehicle.

[0047] Here, the distance refers to the distance between the vehicle and at least one vehicle traveling in multiple lanes in front of the vehicle.

[0048] In an optional implementation, the control device determines the road congestion determination result of the road ahead based on the distance and the driving state data of each target vehicle, and can determine the road congestion determination result of the road ahead based on the distance and the driving state data of each target vehicle using a preset road congestion determination strategy. The preset road congestion determination strategy can be determined based on an experiment or can be customized, which is not limited here.

[0049] Optionally, when the preset road congestion determination strategy is customized, the preset road congestion determination strategy may be related to the distance between the vehicle and the target vehicle, and the speed and acceleration of the target vehicle. In this case, in step S201, the control device obtains the driving state data of the target vehicle, which may include obtaining the speed and acceleration of the target vehicle.

[0050] It should be noted that since the range extender makes a loud noise when starting, it is not easy to detect when driving at high speed, but it is more obvious when the speed is low. Therefore, the control device may execute step S202 when it is determined that the vehicle speed is greater than a preset maximum speed threshold (for example, 60 km / h).

[0051] S203: When the result of the road congestion determination is that there is congestion ahead, control the range extender of the own vehicle to be turned off and / or control the own vehicle to perform energy recovery.

[0052] Optionally, when the result of the road congestion determination is that there is no congestion ahead, the control device may control the vehicle to continue moving forward at the current speed.

[0053] In the embodiment of the present application, the control device can obtain the distance between the vehicle and the target vehicle, as well as the driving status data of the target vehicle; the target vehicle includes at least one vehicle traveling in multiple lanes in front of the vehicle; based on the distance and the driving status data of each target vehicle, the road congestion determination result of the road ahead is determined; if the road congestion determination result is congestion ahead, the range extender of the vehicle is turned off and / or the vehicle is controlled to perform energy recovery. Using this method, the vehicle can determine the road congestion determination result of the road ahead based on the distance between the vehicle and the target vehicles traveling in multiple lanes in front of the vehicle, as well as the driving status data of each target vehicle, and if the road congestion determination result is congestion ahead, the range extender of the vehicle is turned off and / or the vehicle is controlled to perform energy recovery in a timely manner. In this way, when the road ahead of the vehicle is congested, by turning off the range extender, not only can the noise and exhaust emissions caused by the operation of the range extender under congested road conditions be avoided, but also unnecessary energy consumption can be reduced, thereby not only improving the user's driving experience, but also improving the energy utilization rate in the vehicle; or, when the road ahead of the vehicle is congested, energy recovery can be performed to avoid unnecessary energy waste, and the recovered energy can be used later, thereby improving the energy utilization rate in the vehicle.

[0054] In an optional embodiment, Figure 2 In the vehicle control method shown, the control device determines the road congestion determination result of the road ahead based on the distance and the driving status data of each target vehicle, which may include: for each of the multiple lanes, based on the distance between the own vehicle and the target vehicle traveling in the lane, and the driving status data of the target vehicle, determining the lane congestion determination result corresponding to the lane; based on the lane congestion determination result corresponding to each lane and the weight corresponding to each lane, determining the road congestion determination result of the road ahead; wherein, the weight corresponding to the lane in which the own vehicle is located is greater than the weights corresponding to other lanes.

[0055] This implementation may be executed when the control device determines that the vehicle speed is greater than a preset maximum speed threshold (eg, 60 km / h).

[0056] In this embodiment, the driving state data of the target vehicle includes the speed and acceleration of the target vehicle; the control device determines, for each of the multiple lanes, based on the distance between the vehicle and the target vehicle traveling in the lane and the driving state data of the target vehicle, a lane congestion determination result corresponding to the lane, which may include: for each of the multiple lanes, when it is determined that at least two of the following conditions are met, determining that the lane congestion determination result corresponding to the lane is congestion ahead of the lane:

[0057] (1) The distance between the ego vehicle and at least one target vehicle traveling in the lane is less than or equal to the distance between the ego vehicle and the target vehicle obtained last time;

[0058] (2) The speed of at least one target vehicle traveling in the lane is less than a preset speed threshold;

[0059] (3) The acceleration of at least one target vehicle traveling in the lane is less than a preset acceleration threshold, or the acceleration of at least one target vehicle is a negative value.

[0060] That is to say, the control device can determine the lane congestion determination result corresponding to the lane based on the distance between the own vehicle and a target vehicle traveling in the lane, the speed and acceleration of the target vehicle; it can also determine the lane congestion determination result corresponding to the lane based on the distance between the own vehicle and multiple target vehicles traveling in the lane, the speed and acceleration of the multiple target vehicles.

[0061] The following is an example of a process in which the control device determines a lane congestion determination result corresponding to a lane based on the distance between the vehicle and multiple target vehicles traveling in the lane, and the speeds and accelerations of the multiple target vehicles.

[0062] For example, assume that the lane where the vehicle is located is lane 2. Assume that in lane 2, there are three target vehicles in front of the vehicle, which are recorded as target vehicle A, target vehicle B, and target vehicle C. Assume that the distance between the vehicle and target vehicle A obtained last time is 10m, the distance between the vehicle and target vehicle B is 20m, and the distance between the vehicle and target vehicle C is 30m. Assume that the preset speed threshold is 30km / h, and the preset acceleration threshold is 1m. 2 / s.

[0063] For example, assuming that the distances between the self-vehicle and target vehicles A, B, and C are 5m, 10m, and 15m, respectively, and the speeds of target vehicles A, B, and C are 30km / h, 23km / h, and 20km / h, respectively. In this case, the control device can determine that the distances between the self-vehicle and each target vehicle traveling in lane 2 (i.e., the distance between the self-vehicle and target vehicle A is 5m, the distance between the self-vehicle and target vehicle B is 10m, and the distance between the self-vehicle and target vehicle C is 15m) are all smaller than the distances between the self-vehicle and each target vehicle traveling in lane 2 obtained last time. The distances between the target vehicles (i.e., the distances between the self-vehicle and target vehicle A, 10 m, between the self-vehicle and target vehicle B, and 30 m, obtained last time), and the speeds of at least two of the three target vehicles traveling in lane 2 (target vehicle B's speed of 23 km / h and target vehicle C's speed of 20 km / h) are less than the preset speed threshold of 30 km / h. That is, the control device can determine that the above conditions (1) and (2) are satisfied. At this time, the control device can determine that the lane congestion determination result corresponding to lane 2 in front of the self-vehicle is lane 2 congestion ahead.

[0064] For another example, suppose the distances between the vehicle and target vehicles A, B, and C are 5m, 10m, and 15m, respectively, and the accelerations of target vehicles A, B, and C are 0.9m, respectively. 2 / s、0.8m 2 / s、0.7m 2 / s, in this case, the control device can determine that the distance between the self-vehicle and each target vehicle traveling in lane 2 (i.e., the distance between the self-vehicle and target vehicle A is 5m, the distance between the self-vehicle and target vehicle B is 10m, and the distance between the self-vehicle and target vehicle C is 15m), which are all smaller than the distance between the self-vehicle and each target vehicle corresponding to the target vehicle traveling in lane 2 obtained last time (i.e., the distance between the self-vehicle and target vehicle A is 10m, the distance between the self-vehicle and target vehicle B is 20m, and the distance between the self-vehicle and target vehicle C is 30m obtained last time), and the acceleration of the three target vehicles traveling in lane 2 is 0.9m 2 / s、0.8m 2 / s、0.7m 2 / s, all less than the preset acceleration threshold of 1m 2 / s, that is, the control device can determine that the above conditions (1) and (3) are met. At this time, the control device can determine that the lane congestion determination result corresponding to lane 2 in front of the vehicle is congestion ahead of lane 2.

[0065] For another example, assume that the speeds of target vehicles A, B, and C are 30 km / h, 23 km / h, and 20 km / h, respectively, and the accelerations of target vehicles A, B, and C are 0.9 m / h, respectively. 2 / s、0.8m 2 / s、0.7m 2 / s, in this case, the control device can determine that the speed of at least two of the three target vehicles traveling in lane 2 (the speed of target vehicle B is 23km / h and the speed of target vehicle C is 20km / h) is less than the preset speed threshold of 30km / h, and the acceleration of the three target vehicles traveling in lane 2 is 0.9m 2 / s、0.8m 2 / s、0.7m 2 / s, all less than the preset acceleration threshold of 1m 2 / s, that is, the control device can determine that the above conditions (2) and (3) are met. At this time, the control device can determine that the lane congestion determination result corresponding to lane 2 in front of the vehicle is congestion ahead of lane 2.

[0066] In this embodiment, the control device determines the road congestion determination result of the road ahead based on the lane congestion determination result corresponding to each lane and the weight corresponding to each lane. The lane congestion determination result corresponding to each lane and the weight corresponding to the lane are multiplied to obtain the weighted congestion determination result corresponding to each lane, and the weighted congestion determination results corresponding to each lane are summed to obtain the road congestion determination result of the road ahead.

[0067] Among them, the weight corresponding to the lane where the vehicle is located is greater than the weights corresponding to other lanes. Optionally, when other lanes are evenly distributed on both sides of the lane where the vehicle is located, the weight corresponding to the lane where the vehicle is located is the largest, and the weights corresponding to other lanes are the same; when other lanes are all located on one side of the lane where the vehicle is located, the weight corresponding to the lane where the vehicle is located is the largest, and the weights corresponding to other lanes decrease as the distance from the lane where the vehicle is located increases. Exemplarily, assuming that there are 3 lanes on the road, recorded as lane 1, lane 2 and lane 3, lane 1, lane 2 and lane 3 are lanes in the same direction, assuming that the lane where the vehicle is located is lane 2, then the weight corresponding to lane 2 can be 0.8, and the weights corresponding to lane 1 and lane 3 are 0.1 respectively. Assuming that the lane where the vehicle is located is lane 1, then the weight corresponding to lane 1 can be 0.9, the weight corresponding to lane 2 is 0.07, and the weight corresponding to lane 3 is 0.03.

[0068] With this implementation, the control device can determine the road congestion determination result of the road ahead based on the lane congestion determination result corresponding to each lane and the weight corresponding to each lane, thereby improving the accuracy of the road congestion determination result of the road ahead.

[0069] In an optional embodiment, Figure 2 In the vehicle control method shown, the control device can also obtain road lane information; based on the road lane information, obtain lane information on both sides of the current lane where the vehicle is located; when there are same-direction lanes on both sides of the current lane, determine the current lane and at least one same-direction lane on both sides of the current lane as multiple lanes; when there is a same-direction lane on one side of the current lane but no same-direction lane on the other side, determine the current lane and at least one same-direction lane on one side as multiple lanes.

[0070] Optionally, the road lane information may include the number of road lanes, driving directions corresponding to the lanes, and the order of the lanes. Exemplarily, the road lane information includes that the number of lanes on the current road is 3, the driving directions corresponding to the lanes are all in the same direction, and the order of the lanes is, from left to right, the first lane (left lane), the second lane (middle lane), and the third lane (right lane).

[0071] Optionally, the control device obtains lane information on both sides of the current lane where the vehicle is located based on the road lane information, and may identify the road lane information to obtain an identification result; based on the identification result and the current lane where the vehicle is located, determine the lane information on both sides of the current lane where the vehicle is located.

[0072] For example, the control device can identify the road lane information and determine that the road lane information includes that the number of lanes on the current road is 3, the driving directions corresponding to the lanes are all in the same direction, and the order of the lanes from left to right is the first lane, the second lane, and the third lane. Assuming that the control device determines that the current lane where the vehicle is located is the second lane, the control device can determine that the lane information on both sides of the current lane where the vehicle is located is that the first lane and the second lane are lanes in the same direction, and the third lane and the second lane are lanes in the same direction.

[0073] In an optional embodiment, Figure 2 In the vehicle control method shown, the control device controls the vehicle to perform energy recovery when the road congestion determination result is congestion ahead, including: when the road congestion determination result is congestion ahead, obtaining the vehicle kinetic energy and the work done by the sliding resistance of the vehicle; determining the energy to be recovered based on the vehicle kinetic energy and the work done by the sliding resistance; and controlling the vehicle to perform energy recovery based on the energy to be recovered.

[0074] In this embodiment, when the result of the road congestion determination is congestion ahead, the control device obtains the vehicle kinetic energy and the work done by the sliding resistance of the own vehicle, which may include: when the result of the road congestion determination is congestion ahead, determining the vehicle kinetic energy based on the speed and mass of the own vehicle; determining the work done by the sliding resistance based on the sliding resistance and the sliding distance; wherein the sliding distance refers to the distance between the position of the own vehicle and the congestion position at the moment when the brake pedal opening of the own vehicle is 0.

[0075] Optionally, the on-board controller may use the following formula (1) to determine the vehicle kinetic energy based on the vehicle speed and mass.

[0076] (1)

[0077] In formula (1), E k It represents the kinetic energy of the vehicle; m represents the mass of the vehicle; v represents the speed of the vehicle.

[0078] Optionally, the vehicle controller may use the following formula (2) when determining the work done by the sliding resistance based on the sliding resistance and the sliding distance.

[0079] (2)

[0080] In formula (2), W f It represents the work done by sliding resistance; F f It represents the sliding resistance; s represents the sliding distance.

[0081] Optionally, when the result of the road congestion determination is congestion ahead, the control device controls the vehicle to perform energy recovery, which may include: when the result of the road congestion determination is congestion ahead, sending congestion warning information to the target controller in the vehicle to trigger the target controller to perform energy recovery.

[0082] Optionally, the control device can also adjust the intensity of adaptive energy recovery based on factors such as the current vehicle speed and road slope when the road congestion determination result is congestion ahead. In this way, through a sophisticated energy management strategy, the energy recovered during braking can be maximized and the recovered energy can be stored for subsequent use, thereby improving energy utilization.

[0083] With this implementation, the control device can obtain the vehicle kinetic energy and the work done by the sliding resistance of the vehicle when the result of the road congestion determination is congestion ahead; determine the energy to be recovered based on the vehicle kinetic energy and the work done by the sliding resistance; and control the vehicle to recover energy based on the energy to be recovered. In this way, by recovering the large amount of recovered energy, not only can unnecessary energy waste be reduced, but the recovered energy can also be used later, thereby improving the utilization rate of energy.

[0084] In an optional embodiment, Figure 2 In the vehicle control method shown, when the road congestion determination result is congestion ahead, the control device obtains a preset expected vehicle speed; based on a preset closed-loop control method, the expected vehicle speed is used as the vehicle speed target, and the vehicle is controlled to travel toward the congested location.

[0085] In this embodiment, the control device controls the vehicle to travel to the congested location based on a preset closed-loop control method with the expected vehicle speed as the vehicle speed target, which may include: determining the target driving speed of the vehicle based on the preset closed-loop control method with the expected vehicle speed as the vehicle speed target; sending the target driving speed to the first controller in the vehicle to adjust the real-time speed of the vehicle through the first controller.

[0086] Optionally, the control device determines the target driving speed of the vehicle based on a preset closed-loop control method with the expected vehicle speed as the vehicle speed target, which may include: determining the current vehicle speed error between the expected vehicle speed and the actual vehicle speed of the vehicle; inputting the current vehicle speed error into the smoothness control model to obtain the target driving speed.

[0087] Optionally, when the control device determines the current vehicle speed error between the expected vehicle speed and the actual vehicle speed of the vehicle, the following formula (3) may be used.

[0088] (3)

[0089] In formula (3), e(t) represents the current vehicle speed error; v desired (t) represents the expected vehicle speed; v actual (t) represents the actual speed of the vehicle.

[0090] Optionally, the smoothness control model is, for example, a proportional-integral-differential (PID) control model; the control device inputs the current vehicle speed error into the smoothness control model to obtain the target driving speed, which may be inputting the current vehicle speed error into the PID control model shown in the following formula (4) to obtain the target driving speed.

[0091] (4)

[0092] In formula (4), u(t) represents the control output, that is, the target driving speed; e(t) represents the current speed error; k p It represents the proportional gain; k i It represents the integral gain; k d It represents the differential gain.

[0093] Among them, k pDetermines the proportional relationship between the control output and the current speed error e(t). When the current speed error increases, the proportional term will immediately generate a larger control output to quickly reduce the current speed error. p The size of k affects the response speed and overshoot of the system. p This can speed up response, but may also cause overshoot and instability.

[0094] k i The control output is generated by integrating the current speed error (i.e., accumulating the current speed error). The main function of the integral term is to eliminate the steady-state current speed error. That is, when the system has a continuous small current speed error, the integral term will gradually increase the control output until the current speed error is zero. i The size of k affects the steady-state current speed error and stability of the system. i This can reduce the steady-state current vehicle speed error, but may also cause the system to respond more slowly and oscillate.

[0095] k d The control output is generated according to the rate of change of the current vehicle speed error (i.e., the differential of the current vehicle speed error). The main function of the differential term is to predict the future changes of the current vehicle speed error and make adjustments in advance to reduce the overshoot and oscillation of the system. d The size of k affects the dynamic performance and stability of the system. d It can enhance the system's anti-interference ability, but it may also make the system sensitive to noise.

[0096] With this implementation, when the road congestion determination result is that there is congestion ahead, the control device controls the vehicle to drive toward the congestion location based on a preset closed-loop control method, taking the expected vehicle speed as the vehicle speed target. In this way, the control device can automatically control the vehicle to slowly stop at the nearest target location, thereby ensuring that the vehicle can safely and smoothly deal with the congestion situation, providing the driver with a more convenient and worry-free driving experience.

[0097] In an optional embodiment, Figure 2 In the vehicle control method shown, when the result of the road congestion determination is congestion ahead, the range extender of the vehicle is turned off, including: when the result of the road congestion determination is congestion ahead, congestion warning information is sent to the second controller in the vehicle to trigger the second controller to turn off the range extender of the vehicle.

[0098] By adopting this implementation, when the road ahead of the vehicle is congested, the range extender can be turned off, which can not only avoid the additional noise and exhaust emissions caused by the operation of the range extender under congested road conditions, but also reduce unnecessary energy consumption, thereby not only improving energy utilization efficiency but also enhancing environmental friendliness.

[0099] In an optional embodiment, Figure 2 In the vehicle control method shown, the control device can also control the vehicle to output prompt information when the road congestion determination result is congestion ahead, and the prompt information is used to prompt the release of the brake pedal.

[0100] Optionally, the prompt information may include but is not limited to icon prompt information, voice prompt information, etc.; the control device outputs the prompt information through the vehicle's cockpit system by outputting icon prompt information in a user interface in the vehicle through the vehicle's cockpit system, or by outputting voice prompt information in the vehicle's cockpit through the vehicle's cockpit system.

[0101] Among them, the icon prompt information can intuitively show the user to release the brake pedal, thereby reducing unnecessary energy loss and mechanical wear caused by braking.

[0102] The voice prompt information may be, for example, "There is a traffic jam ahead, it is recommended to release the brake pedal." This can not only improve the accuracy of information transmission, but also improve the safety and comfort of the user during driving.

[0103] By adopting this implementation mode, the user can be prompted to release the brake pedal by outputting a prompt message, thereby not only reducing unnecessary energy loss and mechanical wear caused by braking, but also improving the safety and comfort of the user during driving.

[0104] In an optional implementation, the vehicle may include a millimeter wave radar, a multi-function camera, a target controller, a first controller, a second controller, a range extender, and a combination instrument / cockpit. Optionally, the target controller, the first controller, and the second controller may be the same or different, which is not limited here.

[0105] In the following, the target controller, the first controller, and the second controller are different controllers, for example, the target controller is the vehicle controller, the first controller is the scene recognition controller, and the second controller is the range extender controller. Figure 3 , the overall process of the vehicle control method provided by the embodiment of the present application is described. Figure 3 , Figure 3 FIG. 1 is a flow chart of another vehicle control method provided in an embodiment of the present application. Figure 2 The vehicle control method shown differs in that Figure 3 The vehicle control method shown describes the interaction between the internal components of the vehicle. Figure 3 As shown, the vehicle control method may include but is not limited to the following steps.

[0106] S301. The multifunctional camera sends lane line information in front of the vehicle to the scene recognition controller, so that the scene recognition controller determines multiple lanes in front of the vehicle. Correspondingly, the scene recognition controller receives the lane line information in front of the vehicle.

[0107] Before step S301, the multi-function camera can recognize lane line information.

[0108] S302, the millimeter wave radar sends the distance between the vehicle and the target vehicle in front of the vehicle, the speed and acceleration of the target vehicle to the scene recognition controller, and correspondingly, the scene recognition controller receives the distance between the vehicle and the target vehicle in front of the vehicle, the speed and acceleration of the target vehicle; wherein the target vehicle includes at least one vehicle traveling in multiple lanes in front of the vehicle.

[0109] Optionally, before step S302, the millimeter wave radar may also measure the distance between the vehicle and a target vehicle in front of the vehicle, and the speed and acceleration of the target vehicle.

[0110] S303: The scene recognition controller determines a road congestion determination result of the road ahead based on the distance between the vehicle and the target vehicle, and the speed and acceleration of the target vehicle.

[0111] In an optional embodiment, the scene recognition controller determines the result of the road congestion determination of the road ahead based on the distance between the vehicle and the target vehicle, as well as the speed and acceleration of the target vehicle. The relevant description can be referred to the description of the aforementioned control device determining the result of the road congestion determination of the road ahead based on the distance and the driving status data of each target vehicle, which will not be repeated here.

[0112] S304. When it is determined that the road congestion determination result is congestion ahead, the scene recognition controller sends congestion warning information and distance information to the instrument cluster / cockpit, and correspondingly, the instrument cluster / cockpit receives the congestion warning information and distance information; wherein the distance information is used to indicate the distance between the target vehicle closest to the own vehicle and the own vehicle.

[0113] S305: The instrument cluster / cockpit outputs a prompt message, where the prompt message is used to prompt the user to release the brake pedal.

[0114] In an optional implementation, the prompt information may include but is not limited to icon prompt information and voice prompt information.

[0115] Among them, the icon prompt information can intuitively show the user to release the brake pedal, thereby reducing unnecessary energy loss and mechanical wear caused by braking.

[0116] The voice prompt information is, for example, "There is a traffic jam ahead, it is recommended to release the brake pedal." This can not only improve the accuracy of information transmission, but also improve the safety and comfort of users during driving.

[0117] S306: When it is determined that the road congestion determination result is congestion ahead, the scene recognition controller sends congestion warning information to the vehicle controller, and correspondingly, the vehicle controller receives the congestion warning information.

[0118] S307: The vehicle controller controls the vehicle to perform energy recovery in response to the congestion warning information.

[0119] In an optional embodiment, the vehicle controller controls the vehicle to perform energy recovery in response to congestion warning information, which may include: obtaining the vehicle kinetic energy and the work done by the sliding resistance of the vehicle; determining the energy to be recovered based on the vehicle kinetic energy and the work done by the sliding resistance; and controlling the vehicle to perform energy recovery based on the energy to be recovered.

[0120] Optionally, the vehicle controller may use the above formula (1) to obtain the vehicle kinetic energy of the vehicle.

[0121] Optionally, the vehicle controller may use the above formula (2) to obtain the work done by the sliding resistance of the vehicle.

[0122] S308: When it is determined that the road congestion determination result is congestion ahead, the scene recognition controller sends congestion warning information to the range extender controller, and correspondingly, the range extender controller receives the congestion warning information.

[0123] S309: The range extender controller turns off the range extender of the vehicle in response to the congestion warning information.

[0124] Understandably, Figure 3 The steps in the method shown are not necessarily executed in the order indicated by the arrows. For example, after step S303, steps S304 and S305 may be executed first, then steps S306 and S307, and finally steps S308 and S309; ​​steps S306 and S307 may be executed first, then steps S304 and S305, and finally steps S308 and S309; ​​steps S308 and S309 may be executed first, then steps S304 and S305, and finally steps S306 and S307, etc., and are not limited here.

[0125] In an optional embodiment, the scene recognition controller can also obtain a preset expected vehicle speed when the road congestion is determined to be congestion ahead; based on a preset closed-loop control method, the expected vehicle speed is used as the vehicle speed target to control the vehicle to travel towards the congested location.

[0126] The relevant explanation of this implementation mode can refer to the aforementioned description of the control device obtaining a preset expected vehicle speed when the road congestion determination result is congestion ahead; based on a preset closed-loop control method, taking the expected vehicle speed as the vehicle speed target, controlling the vehicle to travel towards the congestion location, which will not be repeated here.

[0127] In the embodiment of the present application, the scene recognition controller can determine the congestion of the road ahead in advance by real-time monitoring the distance, speed and acceleration of the target ahead, and send congestion warning information to the instrument cluster / cockpit, the vehicle controller and the range extender controller when the road congestion determination result of the road ahead is congestion ahead, so that the instrument cluster / cockpit outputs a prompt message to prompt the user to release the brake pedal, thereby not only reducing unnecessary energy loss and mechanical wear caused by braking, but also improving the safety and comfort of the user during driving; enabling the vehicle controller to recover energy to reduce unnecessary energy waste, and the recovered energy can be used later, thereby improving energy utilization; and enabling the range extender controller to shut down the range extender, which not only avoids the additional noise and exhaust emissions caused by the operation of the range extender in the case of road congestion, but also reduces unnecessary energy consumption, thereby not only improving energy utilization efficiency, but also improving environmental friendliness.

[0128] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0129] Based on the same inventive concept, the embodiment of the present application also provides a vehicle control device for implementing the vehicle control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle control device embodiments provided below can refer to the limitations on the vehicle control method above, and will not be repeated here.

[0130] See also Figure 4 , Figure 4 Schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application. Figure 4As shown, the vehicle control device may include but is not limited to:

[0131] The acquisition module 401 is used to acquire the distance between the vehicle and the target vehicle, and the driving state data of the target vehicle; the target vehicle includes at least one vehicle traveling in multiple lanes in front of the vehicle;

[0132] A determination module 402, for determining a road congestion determination result of the road ahead based on the distance and the driving status data of each target vehicle;

[0133] The control module 403 is used to control the vehicle to shut down the range extender and / or control the vehicle to perform energy recovery when the road congestion determination result is congestion ahead.

[0134] In one embodiment, when the determination module 402 is used to determine the road congestion determination result of the road ahead based on the distance and the driving status data of each target vehicle, it is specifically used to: for each lane among multiple lanes, based on the distance between the own vehicle and the target vehicle traveling in the lane, and the driving status data of the target vehicle, determine the lane congestion determination result corresponding to the lane; based on the lane congestion determination result corresponding to each lane and the weight corresponding to each lane, determine the road congestion determination result of the road ahead; wherein, the weight corresponding to the lane where the own vehicle is located is greater than the weights corresponding to other lanes.

[0135] In one embodiment, the driving status data of the target vehicle includes the speed and acceleration of the target vehicle; when the determination module 402 is used to determine the lane congestion determination result corresponding to the lane for each of the multiple lanes based on the distance between the own vehicle and the target vehicle traveling in the lane, and the driving status data of the target vehicle, it is specifically used to: for each of the multiple lanes, determine that the lane congestion determination result corresponding to the lane is lane congestion ahead when it is determined that at least two of the following conditions are met: the distance between the own vehicle and at least one target vehicle traveling in the lane is less than or equal to the distance between the target vehicles corresponding to the own vehicle obtained last time; the speed of at least one target vehicle traveling in the lane is less than a preset speed threshold; the acceleration of at least one target vehicle traveling in the lane is less than a preset acceleration threshold, or the acceleration of at least one target vehicle is a negative value.

[0136] In one embodiment, the acquisition module 401 is also used to obtain road lane information; based on the road lane information, the lane information on both sides of the current lane where the vehicle is located is obtained; the determination module 402 is also used to determine the current lane and at least one lane of the same direction on both sides of the current lane as multiple lanes when there are lanes of the same direction on both sides of the current lane; when there is a lane of the same direction on one side of the current lane but no lane of the same direction on the other side, the current lane and at least one lane of the same direction on one side are determined as multiple lanes.

[0137] In one embodiment, the device may further include an output module, wherein the output module is used to control the vehicle to output prompt information when the road congestion determination result is congestion ahead, and the prompt information is used to prompt the vehicle to release the brake pedal.

[0138] In one embodiment, the control module 403 is used to control the vehicle to perform energy recovery when the result of the road congestion determination is congestion ahead. Specifically, it is used to: when the result of the road congestion determination is congestion ahead, obtain the vehicle kinetic energy and the work done by the sliding resistance of the vehicle; determine the energy to be recovered based on the vehicle kinetic energy and the work done by the sliding resistance; and control the vehicle to perform energy recovery based on the energy to be recovered.

[0139] In one embodiment, the control module 403 is used to control the vehicle to perform energy recovery when the road congestion determination result is congestion ahead. Specifically, it is used to: when the road congestion determination result is congestion ahead, send congestion warning information to the target controller in the vehicle to trigger the target controller to perform energy recovery.

[0140] In one embodiment, the acquisition module 401 is also used to obtain a preset expected vehicle speed when the road congestion determination result is congestion ahead; the control module 403 is also used to control the vehicle to travel towards the congested location based on a preset closed-loop control method with the expected vehicle speed as the vehicle speed target.

[0141] Each module in the above vehicle control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in the vehicle control device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0142] In an exemplary embodiment, a new energy vehicle is provided, and its internal structure diagram can be as follows: Figure 5As shown. The new energy vehicle includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. Among them, the processor of the new energy vehicle is used to provide computing and control capabilities. The memory of the new energy vehicle includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the new energy vehicle is used to exchange information between the processor and the external device. The communication interface of the new energy vehicle is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a vehicle control method is realized. The display unit of the new energy vehicle is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the new energy vehicle can be a touch layer covered on the display screen, or it can be a button, trackball or touchpad set in the new energy vehicle.

[0143] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present application, and does not constitute a limitation on the new energy vehicle to which the scheme of the present application is applied. A specific new energy vehicle may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0144] In an exemplary embodiment, the present application provides a new energy vehicle, including a memory and a processor, wherein the memory stores a computer program; when the processor executes the computer program, the steps in the above-mentioned vehicle control methods are implemented.

[0145] In an exemplary embodiment, the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps in the above-mentioned vehicle control methods are implemented.

[0146] In an exemplary embodiment, the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the steps in the above-mentioned vehicle control methods are implemented.

[0147] It should be noted that the data involved in this application (including but not limited to the distance between the vehicle and the target vehicle, the driving status data of the target vehicle, the results of road congestion determination, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0148] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method 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 the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0149] 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 application.

[0150] The above-described 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 present application. 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 present application shall be subject to the attached claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Acquire the distance between the vehicle and a target vehicle, and the driving state data of the target vehicle; the target vehicle includes at least one vehicle traveling in a plurality of lanes in front of the vehicle; Determining a road congestion determination result of a road ahead based on the distance and the driving status data of each of the target vehicles; When the road congestion determination result is congestion ahead, the range extender of the own vehicle is controlled to be turned off and / or the own vehicle is controlled to perform energy recovery.

2. The method according to claim 1, characterized in that The determining of a road congestion determination result of a road ahead based on the distance and the driving state data of each of the target vehicles includes: For each of the plurality of lanes, based on the distance between the self-vehicle and the target vehicle traveling in the lane, and the driving state data of the target vehicle, determining a lane congestion determination result corresponding to the lane; Based on the lane congestion determination result corresponding to each lane and the weight corresponding to each lane, the road congestion determination result of the road ahead is determined; wherein the weight corresponding to the lane where the vehicle is located is greater than the weights corresponding to the other lanes.

3. The method according to claim 2, characterized in that The driving state data of the target vehicle includes the speed and acceleration of the target vehicle; for each of the multiple lanes, based on the distance between the self-vehicle and the target vehicle traveling in the lane and the driving state data of the target vehicle, determining the lane congestion determination result corresponding to the lane includes: For each lane, when it is determined that at least two of the following conditions are met, the lane congestion determination result corresponding to the lane is determined to be lane front congestion: The distance between the self-vehicle and at least one of the target vehicles traveling in the lane is less than or equal to the distance between the self-vehicle and the corresponding target vehicle obtained last time; The speed of at least one of the target vehicles traveling in the lane is less than a preset speed threshold; The acceleration of at least one of the target vehicles traveling in the lane is less than a preset acceleration threshold, or the acceleration of at least one of the target vehicles is a negative value.

4. The method according to claim 1, characterized in that: The method further comprises: Obtain road lane information; Based on the road lane information, acquiring lane information on both sides of the current lane where the vehicle is located; In the case that there are lanes in the same direction on both sides of the current lane, determining the current lane and at least one lane in the same direction on both sides of the current lane as the multiple lanes; In a case where there is a lane in the same direction on one side of the current lane and no lane in the same direction on the other side, the current lane and at least one lane in the same direction on the one side are determined as the multiple lanes.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: When the road congestion determination result is that there is congestion ahead, the vehicle is controlled to output prompt information, wherein the prompt information is used to prompt the user to release the brake pedal.

6. The method according to any one of claims 1 to 4, characterized in that: When the road congestion determination result is that there is congestion ahead, controlling the vehicle to perform energy recovery includes: When the road congestion determination result is congestion ahead, obtaining the vehicle kinetic energy and sliding resistance work of the vehicle; determining energy to be recovered based on the vehicle kinetic energy and the work done by the sliding resistance; The vehicle is controlled to perform energy recovery based on the energy to be recovered.

7. The method according to any one of claims 1 to 4, characterized in that: When the road congestion determination result is that there is congestion ahead, controlling the vehicle to perform energy recovery includes: When the road congestion determination result is congestion ahead, congestion warning information is sent to the target controller in the vehicle to trigger the target controller to perform energy recovery.

8. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: When the road congestion determination result is congestion ahead, obtaining a preset expected vehicle speed; Based on a preset closed-loop control method, the vehicle is controlled to travel toward a congested location with the expected vehicle speed as the vehicle speed target.

9. A vehicle control device, characterized in that: The device comprises: An acquisition module, used to acquire the distance between the self-vehicle and a target vehicle, and driving status data of the target vehicle; the target vehicle includes at least one vehicle traveling in a plurality of lanes in front of the self-vehicle; A determination module, configured to determine a road congestion determination result of a road ahead based on the distance and the driving status data of each of the target vehicles; The control module is used for controlling the closing of the range extender of the vehicle and / or controlling the vehicle to perform energy recovery when the result of the road congestion determination is congestion ahead.

10. A new energy vehicle, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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