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

Abstract

The invention provides a vehicle control method, a vehicle control device, a vehicle and a storage medium. The method is applied to the field of vehicles. The vehicle control method comprises the steps that when a vehicle is in a sliding state, if the distance difference value between the distance between the vehicle and a front vehicle and a preset safety distance is larger than a first preset threshold value, the vehicle speed difference value between the vehicle and the front vehicle is determined; if the vehicle speed difference value is smaller than a second preset threshold value, the target acceleration of the vehicle is determined based on the vehicle speed difference value and the distance difference value; determining the energy recovery intensity of the vehicle based on the target acceleration; and performing energy recovery on the own vehicle based on the energy recovery intensity. According to the method, the energy recovery intensity of the vehicle can be intelligently adjusted.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle control method, a vehicle control device, a vehicle, and a storage medium. Background Art

[0002] With the improvement of living standards, the ownership of vehicles is increasing. New energy vehicles are driven by electric energy. During the vehicle braking process, the kinetic energy of the vehicle will be converted into heat through friction and consumed, resulting in a large amount of energy being wasted.

[0003] In the related art, when the accelerator pedal is released, the vehicle performs energy recovery and cannot adjust the recovery intensity according to the actual needs of the vehicle. Therefore, how to intelligently adjust the energy recovery intensity of the vehicle has become an urgent problem to be solved. Summary of the Invention

[0004] The present application provides a vehicle control method, a vehicle control device, a vehicle, and a storage medium, and this method can intelligently adjust the energy recovery intensity of the vehicle.

[0005] In a first aspect, a vehicle control method is provided, and the method includes:

[0006] When the host vehicle is in a coasting state, if the distance difference between the host vehicle and the preceding vehicle and the preset safety distance is greater than a first preset threshold, determine the vehicle speed difference between the host vehicle and the preceding vehicle;

[0007] If the vehicle speed difference is less than a second preset threshold, based on the vehicle speed difference and the distance difference, determine the target acceleration of the host vehicle;

[0008] Based on the target acceleration, determine the energy recovery intensity of the host vehicle;

[0009] Perform energy recovery on the host vehicle based on the energy recovery intensity.

[0010] In the above technical solution, when the host vehicle is in a coasting state, when the distance difference between the host vehicle and the preceding vehicle and the preset safety distance is greater than the first preset threshold and the vehicle speed difference is less than the second preset threshold, based on the vehicle speed difference and the distance difference, determine the target acceleration of the host vehicle, and based on the target acceleration, determine the energy recovery intensity of the host vehicle to perform energy recovery on the host vehicle; compared with the related art in which the vehicle performs energy recovery with a fixed energy recovery intensity, the present application dynamically determines the target acceleration of the host vehicle through the driving parameters of the host vehicle and the driving parameters of the preceding vehicle, while reducing the operation of the driver on the accelerator pedal and / or the brake pedal, intelligently adjusting the acceleration of the host vehicle. On this basis, automatically adjust the energy recovery intensity of the host vehicle through the target acceleration of the host vehicle to perform energy recovery on the host vehicle, thereby realizing the dynamic closed-loop control of the host vehicle and improving the energy recovery efficiency of the host vehicle.

[0011] In combination with the first aspect, in some possible implementation manners, determining the target acceleration of the host vehicle based on the vehicle speed difference and the distance difference includes:

[0012] Obtaining the target acceleration based on the vehicle speed difference, the distance difference, and a first corresponding relationship, where the first corresponding relationship is used to indicate the corresponding relationship between a preset difference and a maximum preset acceleration, and the preset difference includes a preset distance difference and a preset vehicle speed difference.

[0013] In the above technical solution, when the vehicle speed difference is less than a second preset threshold, the target acceleration is obtained based on the vehicle speed difference, the distance difference, and the first corresponding relationship; since the first corresponding relationship indicates the corresponding relationship between the preset difference and the maximum preset acceleration, when the vehicle speed difference is less than the second preset threshold, it indicates that the speed of the host vehicle is less than the speed of the preceding vehicle. By setting the maximum preset acceleration, the vehicle can coast for a longer distance, and the energy consumption caused by the repeated conversion of energy can be avoided as much as possible, thereby reducing the energy consumption of the vehicle.

[0014] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the method further includes:

[0015] If the distance difference is less than or equal to the first preset threshold, obtaining the target acceleration based on the vehicle speed difference, the distance difference, and a second corresponding relationship, where the second corresponding relationship is used to indicate the corresponding relationship between a preset difference and a minimum preset acceleration, and the preset difference includes a preset distance difference and a preset vehicle speed difference.

[0016] In the above technical solution, when the distance difference is less than or equal to the first preset threshold, the target acceleration is obtained based on the vehicle speed difference, the distance difference, and the second corresponding relationship; since the second corresponding relationship indicates the corresponding relationship between the preset difference and the minimum preset acceleration, when the distance difference is less than or equal to the first preset threshold, it indicates that the distance from the host vehicle to the preceding vehicle is less than the preset safety distance. By setting the minimum preset acceleration, while ensuring the safety of the vehicle during coasting, the discomfort caused by the sudden change of the vehicle speed is avoided, thereby improving the driving and riding experience of the user.

[0017] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the method further includes:

[0018] If the vehicle speed difference is greater than or equal to the second preset threshold, obtaining an average acceleration based on the vehicle speed difference and the distance difference;

[0019] Determining the target acceleration based on the average acceleration.

[0020] In the above technical solution, when the vehicle speed difference is greater than or equal to the second preset threshold, based on the vehicle speed difference and the distance difference, the average acceleration is obtained, and based on the average acceleration, the target acceleration is determined; when the vehicle speed difference is greater than or equal to the second preset threshold, it indicates that the self-vehicle speed is greater than the front-vehicle speed. By dynamically determining the average acceleration through the distance difference and the vehicle speed difference, the safety during vehicle driving can be ensured.

[0021] Combined with the first aspect and the above implementation manners, in some possible implementation manners, the method further includes:

[0022] Based on the vehicle speed difference and the distance difference, determine the minimum acceleration and the maximum acceleration;

[0023] The determining the target acceleration based on the average acceleration includes:

[0024] Based on the average acceleration, the minimum acceleration, and the maximum acceleration, determine the target acceleration.

[0025] In the above technical solution, the target acceleration is determined through the average acceleration, the minimum acceleration, and the maximum acceleration; since the self-vehicle speed is greater than the front-vehicle speed when the vehicle speed difference is greater than or equal to the second preset threshold, the target acceleration is dynamically limited through the average acceleration, the minimum acceleration, and the maximum acceleration, and the safety during vehicle driving can be ensured.

[0026] Combined with the first aspect and the above implementation manners, in some possible implementation manners, the determining the target acceleration based on the average acceleration, the minimum acceleration, and the maximum acceleration includes:

[0027] If the average acceleration is less than the minimum acceleration, determine the minimum acceleration as the target acceleration;

[0028] If the average acceleration is greater than or equal to the minimum acceleration and less than or equal to the maximum acceleration, determine the average acceleration as the target acceleration;

[0029] If the average acceleration is greater than the maximum acceleration, determine the maximum acceleration as the target acceleration.

[0030] In the above technical solution, when the average acceleration is less than the minimum acceleration, the minimum acceleration is determined as the target acceleration; when the average acceleration is greater than or equal to the minimum acceleration and less than or equal to the maximum acceleration, the average acceleration is determined as the target acceleration; when the average acceleration is greater than the maximum acceleration, the maximum acceleration is determined as the target acceleration. By limiting the average acceleration with the maximum acceleration and the minimum acceleration, the target acceleration is determined, which improves the safety during the vehicle driving process and reduces the impact of the vehicle's acceleration mutation on the user, thereby improving the user experience.

[0031] Combined with the first aspect and the above implementation, in some possible implementations, the method further includes: obtaining the road slope where the host vehicle is located;

[0032] Determining the energy recovery intensity of the host vehicle based on the target acceleration includes:

[0033] Determining the energy recovery intensity based on the road slope, the host vehicle speed, and the target acceleration.

[0034] In the above technical solution, the energy recovery intensity is determined based on the road slope where the host vehicle is located, the host vehicle speed, and the target acceleration of the host vehicle. The target acceleration of the host vehicle is dynamically determined through the driving parameters of the host vehicle and the driving parameters of the vehicle in front, reducing the driver's operations on the accelerator pedal and / or the brake pedal during the vehicle coasting process. On this basis, the energy recovery intensity of the host vehicle is determined according to the target acceleration and the road information where the host vehicle is located, and thus the energy recovery intensity of the vehicle can be intelligently adjusted during the vehicle coasting process.

[0035] In a second aspect, a vehicle control device is provided, and the device includes:

[0036] A judgment module, configured to, when the host vehicle is in a coasting state, if the distance difference between the distance from the host vehicle to the vehicle in front and the preset safety distance is greater than a first preset threshold, determine the vehicle speed difference between the host vehicle and the vehicle in front;

[0037] A calculation module, configured to, if the vehicle speed difference is less than a second preset threshold, determine the target acceleration of the host vehicle based on the vehicle speed difference and the distance difference;

[0038] A determination module, configured to determine the energy recovery intensity of the host vehicle based on the target acceleration;

[0039] A control module, configured to perform energy recovery on the host vehicle based on the energy recovery intensity.

[0040] Combined with the second aspect, in some possible implementations, the calculation module is specifically configured to:

[0041] Based on the vehicle speed difference, the distance difference, and the first correspondence relationship, the target acceleration is obtained. The first correspondence relationship is used to indicate the correspondence relationship between a preset difference and a maximum preset acceleration. The preset difference includes a preset distance difference and a preset vehicle speed difference.

[0042] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the determination module is further configured to:

[0043] If the distance difference is less than or equal to the first preset threshold, based on the vehicle speed difference, the distance difference, and the second correspondence relationship, the target acceleration is obtained. The second correspondence relationship is used to indicate the correspondence relationship between a preset difference and a minimum preset acceleration. The preset difference includes a preset distance difference and a preset vehicle speed difference.

[0044] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the calculation module is further configured to:

[0045] If the vehicle speed difference is less than or equal to the second preset threshold, based on the vehicle speed difference and the distance difference, an average acceleration is obtained;

[0046] Based on the average acceleration, the target acceleration is determined.

[0047] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the calculation module is specifically configured to:

[0048] Based on the vehicle speed difference and the distance difference, a minimum acceleration and a maximum acceleration are determined;

[0049] Based on the average acceleration, the minimum acceleration, and the maximum acceleration, the target acceleration is determined.

[0050] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the calculation module is specifically configured to:

[0051] If the average acceleration is less than the minimum acceleration, the minimum acceleration is determined as the target acceleration;

[0052] If the average acceleration is greater than or equal to the minimum acceleration and less than or equal to the maximum acceleration, the average acceleration is determined as the target acceleration;

[0053] If the average acceleration is greater than the maximum acceleration, the maximum acceleration is determined as the target acceleration.

[0054] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the vehicle control device further includes an acquisition module. The acquisition module is specifically configured to:

[0055] Obtain the road slope where the host vehicle is located;

[0056] The determining module is specifically configured to:

[0057] Determine the energy recovery intensity based on the road slope, the host vehicle speed, and the target acceleration.

[0058] In a third aspect, a vehicle is provided, including a memory and a processor, where the memory is used to store executable program code; the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method in the first aspect or any possible implementation manner of the first aspect.

[0059] In a fourth aspect, a computer-readable storage medium is provided, which stores computer program code. When the computer program code runs on a computer, the computer is caused to execute the vehicle control method in the first aspect or any possible implementation manner of the first aspect.

[0060] In a fifth aspect, a computer program product is provided, which includes: computer program code. When the computer program code runs on a computer, the computer is caused to execute the vehicle control method in the first aspect or any possible implementation manner of the first aspect. Description of the Drawings

[0061] Figure 1 is a schematic diagram of a scenario of a vehicle control method provided by an embodiment of the present application;

[0062] Figure 2 is a schematic flowchart of a vehicle control method provided by an embodiment of the present application;

[0063] Figure 3 is a schematic flowchart of another vehicle control method provided by an embodiment of the present application;

[0064] Figure 4 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application;

[0065] Figure 5 is a schematic structural diagram of a vehicle provided by an embodiment of the present application. Detailed Embodiments

[0066] The technical solutions in the present application will be clearly and elaborately described below in conjunction with the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B. The "and / or" in the text is only a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

[0067] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0068] The braking energy recovery of new energy vehicles refers to recovering the excess braking energy consumed during the braking or deceleration process of the vehicle, thereby reducing the vehicle's energy consumption and increasing the vehicle's driving range.

[0069] Figure 1 It is a schematic diagram of the scenario of a vehicle control method provided by an embodiment of the present application.

[0070] Exemplarily, as Figure 1 shown, there is a vehicle 120 in front of the own vehicle 110 (in the head direction). When the own vehicle 110 is in a coasting state (the accelerator pedal opening is 0), the own vehicle 110 recovers energy according to a fixed recovery intensity. However, in some scenarios where strong recovery is required, the own vehicle 110 performs a certain fixed weak recovery, which cannot meet the driver's needs, and the driver needs to step on the brake pedal; in some scenarios where weak recovery is required, because the current recovery intensity is strong, the vehicle speed of the own vehicle 110 drops rapidly, and the driver needs to step on the accelerator pedal to accelerate.

[0071] For example, when the vehicle 120 in front is braking and decelerating, the own vehicle 110 starts to recover energy by releasing the throttle; however, since the vehicle speed of the vehicle 120 in front drops rapidly and the distance S between the own vehicle 110 and the vehicle 120 in front is small, there may be a safety hazard, and the own vehicle 110 cannot quickly reduce the vehicle speed by relying on coasting energy recovery, and the brake pedal needs to be stepped on, thereby reducing the coasting recovery efficiency and also requiring the driver to perform a braking operation. Or, when there is no vehicle in front of the own vehicle 110 and the own vehicle 110 is slowly decelerating, and the own vehicle 110 is set with strong energy recovery, at this time the vehicle speed of the own vehicle 110 drops rapidly, and the driver needs to step on the accelerator pedal, resulting in repeated energy conversion and reducing the system efficiency.

[0072] In view of this, the present application provides a vehicle control method, a vehicle control device, a vehicle, and a storage medium. Through the embodiments of the present application, the acceleration of the vehicle can be intelligently adjusted according to different scenarios, the driving parameters of the vehicle ahead, the driving parameters of the host vehicle, and the road gradient state, thereby realizing the intelligent adjustment of the energy recovery intensity of the vehicle.

[0073] Figure 2 It is a schematic flowchart of a vehicle control method provided by an embodiment of the present application.

[0074] Exemplarily, Figure 2 The method shown can be executed by the vehicle's vehicle controller or chip.

[0075] Exemplarily, as Figure 2 shown, the vehicle control method 200 includes steps S210 - S240.

[0076] S210, when the host vehicle is in a coasting state, if the distance difference between the distance from the host vehicle to the vehicle ahead and the preset safety distance is greater than the first preset threshold, determine the speed difference between the host vehicle and the vehicle ahead.

[0077] It should be noted that in the embodiments of the present application, the host vehicle refers to the vehicle itself (or simply referred to as the vehicle), and the vehicle ahead refers to the vehicle traveling in front of the host vehicle.

[0078] Exemplarily, the host vehicle being in a coasting state means that the opening degree of the host vehicle's accelerator pedal is 0.

[0079] Exemplarily, when the host vehicle is in a coasting state, determine whether there is a vehicle ahead within a preset distance threshold in front of the host vehicle (in the direction of the vehicle head). When there is no vehicle ahead within the preset distance threshold in front of the host vehicle, determine the target acceleration of the host vehicle according to the driving parameters of the host vehicle; when there is a vehicle ahead within the preset distance threshold in front of the host vehicle, determine the target acceleration of the host vehicle according to the speed difference between the host vehicle and the vehicle ahead and the distance difference between the distance from the host vehicle to the vehicle ahead and the preset safety distance.

[0080] Optionally, the preset distance threshold can be 50 meters, 100 meters, 150 meters, etc. The preset distance threshold can be limited according to the actual situation and will not be specifically limited here.

[0081] Exemplarily, when there is no vehicle ahead in front of the host vehicle, the current acceleration of the host vehicle can be determined as the target acceleration; or, when there is no vehicle ahead in front of the host vehicle, the preset acceleration can be determined as the target acceleration. The preset acceleration can be an acceleration calibrated according to actual data.

[0082] Exemplarily, when there is a vehicle ahead in front of the host vehicle, the distance from the host vehicle to the vehicle ahead is obtained in real time by sensors such as the radar of the host vehicle, and the distance difference is determined according to the distance from the host vehicle to the vehicle ahead and the preset safety distance.

[0083] It should be noted that the preset safe distance indicates the minimum distance maintained between the following vehicle (the ego vehicle in this solution) and the preceding vehicle on the same lane. The minimum distance is to ensure that when the current vehicle suddenly brakes or decelerates, the following vehicle has enough time and space to react and avoid dangerous accidents. The preset safe distance is not a fixed value and varies according to the driving speed.

[0084] Exemplarily, different safe distances corresponding to different preceding vehicle speeds and different ego vehicle speeds are calibrated according to the preset preceding vehicle speed and the preset ego vehicle speed. Therefore, the preceding vehicle speed is obtained through sensors such as radar, and the ego vehicle speed is determined according to the speed sensor of the ego vehicle. The preset safe distance can be obtained based on the ego vehicle speed and the preceding vehicle speed.

[0085] Table 1

[0086]

[0087] Table 1 is a schematic table of the safe distance corresponding to the ego vehicle speed and the preceding vehicle speed.

[0088] Exemplarily, as shown in Table 1, X represents the ego vehicle speed with the unit of km / h; Y represents the preceding vehicle speed with the unit of km / h. The preset safe distance can be obtained by looking up the table according to the ego vehicle speed and the preceding vehicle speed. For example, when the ego vehicle speed is 60 km / h and the preceding vehicle speed is 60 km / h, the preset safe distance is 36.1 m.

[0089] It can be understood that the values shown for the above safe distance are only one possible value in actual applications and do not thereby limit the value of the safe distance adopted in actual applications. The specific value of the safe distance can be determined according to the actual situation and is not specifically limited here.

[0090] After determining the preset safe distance according to the ego vehicle speed and the preceding vehicle speed, the distance difference is determined based on the distance from the ego vehicle to the preceding vehicle and the preset safe distance. For example, the expression of the distance difference can be shown as follows:

[0091] ΔS = S act - S safe

[0092] where ΔS represents the distance difference, S act represents the distance from the ego vehicle to the preceding vehicle, and S safe represents the preset safe distance. After determining the distance from the ego vehicle to the preceding vehicle according to the radar, the difference between the distance from the ego vehicle to the preceding vehicle and the preset safe distance is determined as the distance difference.

[0093] Further, determine whether the distance difference is greater than a first preset threshold. When the distance difference is greater than the first preset threshold, determine the speed difference between the host vehicle and the preceding vehicle, and determine the determination strategy of the target acceleration of the host vehicle according to the speed difference; when the distance difference is less than or equal to the first preset threshold, directly determine the target acceleration of the host vehicle according to the distance difference and the distance difference.

[0094] Optionally, the first preset threshold can be 0m, 1m, etc., and the first preset threshold can be determined according to the actual situation, and no specific limitation is made here.

[0095] Exemplarily, the expression of the speed difference can be expressed as follows:

[0096] ΔV = V ego - V VA

[0097] where, ΔV represents the speed difference, V ego represents the speed of the host vehicle, V VA represents the speed of the preceding vehicle. Determine the difference between the speed of the host vehicle and the speed of the preceding vehicle as the speed difference.

[0098] Exemplarily, when the distance difference is less than or equal to the first preset threshold, based on the speed difference, the distance difference and the second corresponding relationship, obtain the target acceleration, and the second corresponding relationship is used to indicate the corresponding relationship between the preset difference and the minimum preset acceleration, and the preset difference includes the preset distance difference and the preset speed difference.

[0099] It should be noted that the minimum preset acceleration indicates the minimum acceleration of the vehicle when the preset distance difference and the preset speed difference are fixed.

[0100] Table 2 is a schematic table of the minimum acceleration limit (or called a schematic table of the second corresponding relationship).

[0101] Exemplarily, as shown in Table 2, X represents the speed difference (ΔV), the unit is km / h; Y represents the distance difference (ΔS), the unit is m. When the distance difference is less than or equal to the first preset threshold, look up the table according to the distance difference and the speed difference to obtain the target acceleration. For example, when the speed difference is -5 km / h and the distance difference is -15 m, determine the target acceleration of the host vehicle as -0.02M / s 2 .

[0102] It can be understood that the numerical values shown for the above minimum preset acceleration are only one kind of numerical values that may exist in actual applications, and do not limit the numerical values of the minimum preset acceleration adopted in actual applications. The specific numerical values of the minimum preset acceleration can be determined according to the actual situation, and no specific limitation is made here.

[0103] Table 2

[0104]

[0105] For the above technical solution, when the distance difference is less than or equal to the first preset threshold, based on the vehicle speed difference, the distance difference and the second corresponding relationship, the target acceleration is obtained; since the second corresponding relationship indicates the corresponding relationship between the preset difference and the minimum preset acceleration, when the distance difference is less than or equal to the first preset threshold, it indicates that the distance from the host vehicle to the leading vehicle is less than the preset safety distance. By setting the minimum preset acceleration, while ensuring the safety during the vehicle coasting process, the discomfort caused by the sudden change of the vehicle speed is avoided, thereby improving the driving and riding experience of the user.

[0106] S220. If the vehicle speed difference is less than the second preset threshold, based on the vehicle speed difference and the distance difference, determine the target acceleration of the host vehicle.

[0107] Exemplarily, when the distance difference is greater than the first preset threshold, determine the vehicle speed difference between the host vehicle and the leading vehicle, and determine whether the vehicle speed difference is less than the second preset threshold. When the vehicle speed difference is less than the second preset threshold, based on the vehicle speed difference and the distance difference, determine the target acceleration of the host vehicle.

[0108] Optionally, the second preset threshold may be 0 km / h, 1 km / h, etc., and the second preset threshold can be determined according to the actual situation and is not specifically limited here.

[0109] Specifically, based on the vehicle speed difference, the distance difference and the first corresponding relationship, the target acceleration is obtained. The first corresponding relationship is used to indicate the corresponding relationship between the preset difference and the maximum preset acceleration, and the preset difference includes the preset distance difference and the preset vehicle speed difference.

[0110] It should be noted that the maximum preset acceleration indicates the maximum acceleration of the vehicle when the preset distance difference and the preset vehicle speed difference are fixed.

[0111] Table 3

[0112]

[0113] Table 3 is a schematic table of the maximum acceleration limit (or called a schematic table of the first corresponding relationship).

[0114] Exemplarily, as shown in Table 3, X represents the vehicle speed difference (ΔV), with the unit of km / h; Y represents the distance difference (ΔS), with the unit of m. When the distance difference is greater than the first preset threshold and the vehicle speed difference is less than the second preset threshold, the target acceleration is obtained by looking up the table according to the distance difference and the vehicle speed difference. For example, when the vehicle speed difference is -5 km / h and the distance difference is -15 m, determine the target acceleration of the host vehicle to be -0.02 m / s 2 。

[0115] It should be noted that in the first correspondence and the second correspondence, when the vehicle speed difference and the distance difference are the same, the maximum preset acceleration in the first correspondence is greater than or equal to the minimum preset acceleration in the second correspondence.

[0116] It can be understood that the value shown for the above maximum preset acceleration is only one value that may exist in actual applications, and does not thereby limit the value of the maximum preset acceleration adopted in actual applications. The specific value of the maximum preset acceleration can be determined according to the actual situation and is not specifically limited here.

[0117] In the above technical solution, when the vehicle speed difference is less than the second preset threshold, based on the vehicle speed difference, the distance difference, and the first correspondence, the target acceleration is obtained; since the first correspondence indicates the correspondence between the preset difference and the maximum preset acceleration, when the vehicle speed difference is less than the second preset threshold, it indicates that the speed of the host vehicle is less than the speed of the preceding vehicle. By setting the maximum preset acceleration, the vehicle can coast for a longer distance, and as much as possible avoid the energy consumption caused by the repeated conversion of energy, thereby reducing the energy consumption of the vehicle.

[0118] Exemplarily, when the distance difference is greater than the first preset threshold, the vehicle speed difference between the host vehicle and the preceding vehicle is determined, and it is determined whether the vehicle speed difference is less than the second preset threshold. When the vehicle speed difference is greater than or equal to the second preset threshold, based on the vehicle speed difference and the distance difference, the average acceleration is obtained, and based on the average acceleration, the target acceleration is determined.

[0119] Specifically, when the vehicle speed difference is greater than or equal to the second preset threshold, that is, the speed of the host vehicle is greater than or equal to the speed of the preceding vehicle, according to the vehicle speed difference and the distance difference, the average acceleration is calculated and the average acceleration is determined as the target acceleration. For example, the expression of the average acceleration is as follows:

[0120]

[0121] Among them, a represents the average acceleration, ΔV represents the vehicle speed difference, ΔS represents the distance difference. The average acceleration calculated according to the vehicle speed difference and the distance difference is negatively correlated with the vehicle speed difference and positively correlated with the distance difference. After obtaining the average acceleration, the average acceleration is determined as the target acceleration.

[0122] It should be noted that when the distance difference is greater than the first preset threshold and the vehicle speed difference is greater than or equal to the second preset threshold, to ensure the driving safety of the host vehicle, it is necessary to dynamically adjust the acceleration of the vehicle in real time, and the average acceleration indicates the optimal acceleration corresponding to the distance difference and the vehicle speed difference. The optimal acceleration is the acceleration that makes the speed change of the vehicle the smoothest within the allowable distance range (distance difference). When the host vehicle travels at the optimal acceleration, it ensures driving safety and maximizes the energy recovery efficiency.

[0123] In the above technical solution, when the vehicle speed difference is greater than or equal to the second preset threshold, an average acceleration is obtained based on the vehicle speed difference and the distance difference, and a target acceleration is determined based on the average acceleration; when the vehicle speed difference is greater than or equal to the second preset threshold, it indicates that the self-vehicle speed is greater than the front-vehicle speed. By dynamically determining the average acceleration through the distance difference and the vehicle speed difference, the safety during vehicle driving can be ensured.

[0124] Specifically, when the vehicle speed difference is greater than or equal to the second preset threshold, a minimum acceleration and a maximum acceleration are determined based on the vehicle speed difference and the distance difference, and a target acceleration is determined based on the average acceleration, the minimum acceleration, and the maximum acceleration.

[0125] Exemplarily, the minimum acceleration and the maximum acceleration can be preset accelerations; alternatively, a maximum acceleration is determined based on the vehicle speed difference, the distance difference, and a first corresponding relationship, and a minimum acceleration is determined based on the vehicle speed difference, the distance difference, and a second corresponding relationship, and the maximum acceleration is greater than or equal to the minimum acceleration.

[0126] Optionally, the manner of determining the maximum acceleration based on the vehicle speed difference, the distance difference, and the first corresponding relationship can refer to the determination manner in the foregoing disclosed embodiments, and will not be elaborated herein.

[0127] Optionally, the manner of determining the minimum acceleration based on the vehicle speed difference, the distance difference, and the second corresponding relationship can refer to the determination manner in the foregoing disclosed embodiments, and will not be elaborated herein.

[0128] For example, when the vehicle speed difference is greater than or equal to the second preset threshold, a minimum acceleration and a maximum acceleration are determined based on the vehicle speed difference and the distance difference. When the average acceleration is less than the minimum acceleration, or the average acceleration is greater than the maximum acceleration, the minimum acceleration is determined as the target acceleration; when the average acceleration is greater than or equal to the minimum acceleration and less than or equal to the maximum acceleration, the average acceleration is determined as the target acceleration.

[0129] In the above technical solution, a target acceleration is determined through the average acceleration, the minimum acceleration, and the maximum acceleration; since the self-vehicle speed is greater than the front-vehicle speed when the vehicle speed difference is greater than or equal to the second preset threshold, the target acceleration is dynamically limited through the average acceleration, the minimum acceleration, and the maximum acceleration, and the safety during vehicle driving can be ensured.

[0130] In order to improve the driving experience of users during vehicle driving and reduce the situation of sudden vehicle deceleration caused by sudden changes in vehicle acceleration, the target acceleration is limited to ensure the driving experience of users.

[0131] Exemplarily, when the vehicle speed difference is greater than or equal to the second preset threshold, based on the vehicle speed difference and the distance difference, an average acceleration is calculated, and based on the average acceleration, the minimum acceleration, and the maximum acceleration, a target acceleration is determined.

[0132] Specifically, when the average acceleration is less than the minimum acceleration, the minimum acceleration is determined as the target acceleration; when the average acceleration is greater than or equal to the minimum acceleration and less than or equal to the maximum acceleration, the average acceleration is determined as the target acceleration; when the average acceleration is greater than the maximum acceleration, the maximum acceleration is determined as the target acceleration.

[0133] For example, according to the vehicle speed difference and the distance difference, the maximum acceleration obtained by looking up the table is -0.02 m / s 2 and the minimum acceleration is -0.03 m / s 2 , and the average acceleration calculated according to the vehicle speed difference and the distance difference is -0.025 m / s 2 , then the target acceleration is determined to be -0.025 m / s 2 ; when the average acceleration is -0.01 m / s 2 , then the target acceleration is determined to be -0.02 m / s 2 ; when the average acceleration is -0.04 m / s 2 , then the target acceleration is determined to be -0.03 m / s 2 .

[0134] In the above technical solution, when the average acceleration is less than the minimum acceleration, the minimum acceleration is determined as the target acceleration; when the average acceleration is greater than or equal to the minimum acceleration and less than or equal to the maximum acceleration, the average acceleration is determined as the target acceleration; when the average acceleration is greater than the maximum acceleration, the maximum acceleration is determined as the target acceleration; the average acceleration is limited by the maximum acceleration and the minimum acceleration to determine the target acceleration, which improves the safety during vehicle driving and reduces the impact of sudden acceleration changes of the vehicle on the user, thereby improving the user experience.

[0135] S230. Based on the target acceleration, determine the energy recovery intensity of the host vehicle.

[0136] Exemplarily, in the case of dynamically determining the target acceleration of the host vehicle according to the driving parameters of the host vehicle and the driving parameters of the preceding vehicle, according to the target acceleration of the host vehicle, determine the energy recovery intensity of the host vehicle, so as to dynamically adjust the energy recovery intensity of the vehicle by automatically adjusting the acceleration of the vehicle according to the actual scenario where the vehicle is located.

[0137] Exemplarily, when the host vehicle is in a coasting state, determine the target acceleration of the host vehicle according to the driving parameters of the host vehicle and the preceding vehicle, and determine the road slope where the host vehicle is located through the sensors of the host vehicle. Based on the road slope, the host vehicle speed, and the target acceleration, determine the energy recovery intensity.

[0138] Specifically, determine the rolling resistance of the host vehicle according to the rolling resistance coefficient of the host vehicle. The expression of the rolling resistance can be represented as follows:

[0139] F 滚动 =m×g×C 滚动

[0140] where, F 滚动 represents the rolling resistance of the host vehicle, m represents the mass of the host vehicle, g represents the acceleration due to gravity, and C 滚动 represents the rolling resistance of the host vehicle.

[0141] Determine the air resistance of the host vehicle according to the host vehicle speed. The expression of the air resistance can be represented as follows:

[0142]

[0143] where, F 空气 represents the air resistance, ρ 空气 represents the air density, C D represents the drag coefficient, A represents the frontal area of the host vehicle, and V ego represents the host vehicle speed.

[0144] Determine the gradient resistance according to the road slope where the host vehicle is located. The expression of the gradient resistance can be represented as follows:

[0145] F 坡度 =m×g×sin(θ)

[0146] where, F 坡度 represents the gradient resistance, m represents the mass of the host vehicle, g represents the acceleration due to gravity, and θ represents the road slope where the host vehicle is located.

[0147] Furthermore, calculate the energy recovery intensity of the host vehicle based on the rolling resistance, air resistance, gradient resistance, and the target acceleration of the host vehicle. The expression of the energy recovery intensity can be represented as follows:

[0148] F=F 坡度 +F 滚动 +F 空气 +m×a t

[0149] where, F represents the energy recovery intensity of the host vehicle, F 坡度 represents the gradient resistance, F 滚动 represents the rolling resistance of the host vehicle, F 空气Denote the air resistance as \(a\). t Denote the target acceleration of the host vehicle as \(a\), and \(m\) represents the mass of the host vehicle. Therefore, through the vehicle dynamics algorithm, considering the influence of factors such as slope, vehicle speed, and air resistance, the energy recovery intensity of the host vehicle is accurately calculated.

[0150] It can be understood that when the vehicle is in a coasting state, the driving force of the host vehicle is the energy recovery intensity of the host vehicle, and at this time, the target acceleration of the vehicle is negative, and the calculated driving force is a negative driving force, that is, the energy intensity that needs to be recovered by the vehicle.

[0151] The above technical solution determines the energy recovery intensity based on the road slope where the host vehicle is located, the vehicle speed of the host vehicle, and the target acceleration of the host vehicle; dynamically determines the target acceleration of the host vehicle through the driving parameters of the host vehicle and the driving parameters of the preceding vehicle, reduces the operation of the driver on the accelerator pedal and / or the brake pedal during the vehicle coasting process. On this basis, according to the target acceleration and the road information where the host vehicle is located, the energy recovery intensity of the host vehicle is determined, and thus the energy recovery intensity of the vehicle can be intelligently adjusted during the vehicle coasting process.

[0152] S240, perform energy recovery on the host vehicle based on the energy recovery intensity.

[0153] Exemplarily, in the case of determining the energy recovery intensity of the host vehicle through the target acceleration of the host vehicle, perform energy recovery on the host vehicle based on the energy recovery intensity, that is, determine the output torque of the motor of the host vehicle through the energy recovery intensity.

[0154] For example, the expression of the output torque of the motor of the host vehicle can be expressed as follows:

[0155]

[0156] where \(T\) 电机 represents the output torque of the motor of the host vehicle, \(F\) represents the energy recovery intensity of the host vehicle (the driving force of the host vehicle), \(r\) 轮胎 represents the tire radius of the host vehicle, \(i\) 变速 represents the transmission ratio of the transmission, \(i\) 主减速 represents the reduction ratio of the final drive, \(\eta\) 传动 represents the transmission efficiency of the transmission system. Determine the output torque of the motor of the host vehicle through the energy recovery intensity of the host vehicle (the driving force of the host vehicle), and thus realize the energy recovery of the host vehicle by controlling the output torque of the motor of the host vehicle.

[0157] In the above technical solution, when the host vehicle is in a coasting state, when the distance difference between the host vehicle and the preceding vehicle and the preset safety distance is greater than the first preset threshold and the vehicle speed difference is less than the second preset threshold, based on the vehicle speed difference and the distance difference, the target acceleration of the host vehicle is determined, and based on the target acceleration, the energy recovery intensity of the host vehicle is determined to perform energy recovery on the host vehicle; compared with the prior art in which the vehicle is subjected to energy recovery with a fixed energy recovery intensity, in this application, the target acceleration of the host vehicle is dynamically determined through the driving parameters of the host vehicle and the preceding vehicle, while reducing the driver's operation of the accelerator pedal and / or the brake pedal, the acceleration of the host vehicle is intelligently adjusted. On this basis, the energy recovery intensity of the host vehicle is automatically adjusted through the target acceleration of the host vehicle to perform energy recovery on the host vehicle, thereby realizing the dynamic closed-loop control of the host vehicle and improving the energy recovery efficiency of the host vehicle.

[0158] Figure 3 It is a schematic flowchart of another vehicle control method provided by an embodiment of the present application.

[0159] Exemplarily, Figure 2 The method shown can be executed by a vehicle's vehicle controller or chip.

[0160] Exemplarily, as Figure 2 shown, the vehicle control method 300 includes steps S403 - S403.

[0161] S301, when the host vehicle is in a coasting state, activate the energy recovery function.

[0162] Exemplarily, the host vehicle being in a coasting state means that the accelerator pedal opening of the host vehicle is 0.

[0163] Optionally, when the host vehicle is in a coasting state, the vehicle automatically activates the energy recovery function; or, when the host vehicle is in a coasting state, the driver manually turns on the energy recovery function. The way to activate the energy recovery function can be determined according to the actual situation and is not specifically limited here.

[0164] S302, determine whether there is a preceding vehicle; if not, execute S303; if so, execute S304.

[0165] Exemplarily, when the host vehicle is in a coasting state, determine whether there is a preceding vehicle within a preset distance threshold in front of the host vehicle (the head direction). When there is no preceding vehicle within the preset distance threshold in front of the host vehicle, determine the target acceleration of the host vehicle according to the driving parameters of the host vehicle; when there is a preceding vehicle within the preset distance threshold in front of the host vehicle, determine the target acceleration of the host vehicle according to the vehicle speed difference between the host vehicle and the preceding vehicle and the distance difference between the distance from the host vehicle to the preceding vehicle and the preset safety distance.

[0166] Optionally, the preset distance threshold may be 50 meters, 100 meters, 150 meters, etc. The preset distance threshold can be defined according to the actual situation and will not be specifically defined here.

[0167] S303. Determine the current deceleration of the host vehicle as the target deceleration.

[0168] Exemplarily, when there is no preceding vehicle in front of the host vehicle, determine the current acceleration of the host vehicle as the target acceleration. Specifically, the current deceleration of the host vehicle can be the actual deceleration of the host vehicle; or, the current deceleration of the host vehicle can be the preset minimum deceleration.

[0169] S304. Determine the distance difference between the distance from the host vehicle to the preceding vehicle and the preset safety distance.

[0170] Exemplarily, when there is a preceding vehicle in front of the host vehicle, obtain the distance from the host vehicle to the preceding vehicle in real time, and determine the distance difference according to the distance from the host vehicle to the preceding vehicle and the preset safety distance. Specifically, determine the difference between the distance from the host vehicle to the preceding vehicle and the preset safety distance as the distance difference.

[0171] S305. Determine whether the distance difference is greater than 0; if not, execute S306; if so, execute S307.

[0172] Exemplarily, when the host vehicle is in a coasting state and there is a preceding vehicle, determine whether the distance difference is greater than 0 (the first preset threshold). When the distance difference is greater than the first preset threshold, determine the speed difference between the host vehicle and the preceding vehicle, and determine the determination strategy of the target acceleration of the host vehicle according to the speed difference; when the distance difference is less than or equal to 0, directly determine the target acceleration of the host vehicle according to the distance difference and the distance difference.

[0173] S306. Look up the minimum acceleration limit table based on the distance difference and the speed difference to obtain the target acceleration.

[0174] Exemplarily, when the distance difference is less than or equal to 0, look up the minimum acceleration limit table (or called the second correspondence) according to the distance difference and the speed difference to obtain the target acceleration. At this time, the target acceleration is the minimum acceleration corresponding to the distance difference and the speed difference.

[0175] Optionally, the minimum acceleration limit table indicates the correspondence between the preset difference and the minimum preset acceleration. The preset difference includes the preset distance and the preset speed difference. The minimum preset acceleration indicates the minimum acceleration of the vehicle when the preset distance difference and the preset speed difference are fixed.

[0176] It can be understood that the minimum acceleration limit table indicates the correspondence between the preset difference and the minimum preset acceleration. When the distance difference is less than or equal to 0, it means that the distance from the vehicle to the vehicle in front is less than the preset safety distance. By setting the minimum preset acceleration, the safety of the vehicle during the sliding process is ensured while avoiding the discomfort caused by the sudden change of vehicle speed, thereby improving the user's driving experience.

[0177] S307, determining the speed difference between the own vehicle and the preceding vehicle.

[0178] Exemplarily, when the distance difference is greater than 0, the difference between the speed of the own vehicle and the speed of the preceding vehicle is determined as the speed difference between the own vehicle and the preceding vehicle.

[0179] S308, determine whether the vehicle speed difference is less than 0; if so, execute S309; if not, execute S310.

[0180] Exemplarily, determine whether the vehicle speed difference is less than 0 (a second preset threshold value). When the vehicle speed difference is less than 0, the target acceleration of the vehicle is obtained by looking up the table based on the vehicle speed difference and the distance difference; when the vehicle speed difference is greater than or equal to 0, the target acceleration of the vehicle is calculated based on the vehicle speed difference and the distance difference.

[0181] S309, looking up a maximum acceleration limit table based on the distance difference and the vehicle speed difference to obtain a target acceleration.

[0182] Exemplarily, when the vehicle speed difference is less than 0, the maximum acceleration limit table (or the first corresponding relationship) is looked up based on the vehicle speed difference and the distance difference to obtain the target acceleration of the vehicle. At this time, the target acceleration is the maximum acceleration corresponding to the distance difference and the vehicle speed difference.

[0183] Optionally, the maximum acceleration limit table is used to indicate the correspondence between a preset difference and a maximum preset acceleration, the preset difference includes a preset distance difference and a preset vehicle speed difference, and the maximum preset acceleration indicates the maximum acceleration of the vehicle when the preset distance difference and the preset vehicle speed difference are fixed.

[0184] It can be understood that the maximum acceleration limit table indicates the corresponding relationship between the preset difference and the maximum preset acceleration. When the vehicle speed difference is less than 0, it means that the vehicle speed is less than the vehicle speed in front. By setting the maximum preset acceleration, the vehicle can glide for a longer distance and avoid energy consumption caused by repeated energy conversion as much as possible, thereby reducing the vehicle's energy consumption.

[0185] S310: Calculate the average acceleration based on the distance difference and the vehicle speed difference.

[0186] Exemplarily, when the vehicle speed difference is greater than or equal to 0, an average acceleration is obtained based on the vehicle speed difference and the distance difference, and a target acceleration is determined based on the average acceleration. Specifically, an average acceleration is calculated according to the distance difference and the vehicle speed difference. The calculated average acceleration is negatively correlated with the vehicle speed difference and positively correlated with the distance difference.

[0187] S311. Optimally limit the average acceleration based on the acceleration limit table to obtain the target acceleration.

[0188] Exemplarily, when the vehicle speed difference is greater than or equal to 0, an average acceleration is calculated based on the distance difference and the vehicle speed difference, and the average acceleration is optimally limited based on the acceleration limit table (the maximum acceleration limit table and the minimum acceleration limit table) to obtain the target acceleration.

[0189] It should be noted that by optimally limiting the acceleration, it is possible to ensure that the target acceleration does not mutate and ensure the safety of the vehicle during the coasting process.

[0190] Specifically, the optimization and limitation method is as follows: when the average acceleration is less than the minimum acceleration, the minimum acceleration is determined as the target acceleration; when the average acceleration is greater than or equal to the minimum acceleration and less than or equal to the maximum acceleration, the average acceleration is determined as the target acceleration; when the average acceleration is greater than the maximum acceleration, the maximum acceleration is determined as the target acceleration. By limiting the average acceleration with the maximum acceleration and the minimum acceleration, the target acceleration is determined, which improves the safety of the vehicle during driving and reduces the impact of the vehicle's acceleration mutation on the user, thereby improving the user's experience.

[0191] S312. Determine the energy recovery intensity based on the road gradient, the vehicle speed of the host vehicle, and the target acceleration.

[0192] Exemplarily, in the case of dynamically determining the target acceleration of the host vehicle according to the driving parameters of the host vehicle and the driving parameters of the leading vehicle, the energy recovery intensity of the host vehicle is determined according to the target acceleration of the host vehicle, so as to dynamically adjust the energy recovery intensity of the vehicle by automatically adjusting the acceleration of the vehicle according to the actual scenario where the vehicle is located.

[0193] Exemplarily, when the host vehicle is in a coasting state, the target acceleration of the host vehicle is determined according to the driving parameters of the host vehicle and the leading vehicle, and the road gradient where the host vehicle is located is determined through the sensors of the host vehicle. The energy recovery intensity is determined based on the road gradient, the vehicle speed of the host vehicle, and the target acceleration.

[0194] Specifically, according to the rolling resistance coefficient of the host vehicle, the rolling resistance of the host vehicle is determined; according to the vehicle speed of the host vehicle, the aerodynamic drag of the host vehicle is determined; and according to the road slope where the host vehicle is located, the gradient resistance is determined. Combining with the vehicle dynamics algorithm, considering the influence of factors such as slope, vehicle speed, and aerodynamic drag, the energy recovery intensity of the host vehicle is calculated based on the rolling resistance, aerodynamic drag, gradient resistance, and the target acceleration of the host vehicle.

[0195] It can be understood that when the vehicle is in a coasting state, the driving force of the host vehicle is the energy recovery intensity of the host vehicle. At this time, the target acceleration of the vehicle is negative, and the calculated driving force is a negative driving force, that is, the energy intensity that needs to be recovered by the vehicle.

[0196] Further, in the case of determining the energy recovery intensity of the host vehicle based on the target acceleration of the host vehicle, energy recovery is performed on the host vehicle based on the energy recovery intensity, that is, the output torque of the motor of the host vehicle is determined through the energy recovery intensity, so as to realize the energy recovery of the host vehicle by controlling the output torque of the host vehicle motor.

[0197] In the above technical solution, the target acceleration of the host vehicle is dynamically determined based on the driving parameters of the host vehicle and the driving parameters of the preceding vehicle. While reducing the operation of the driver on the accelerator pedal and / or the brake pedal, the acceleration of the vehicle is intelligently adjusted, and the energy recovery intensity of the vehicle is automatically adjusted through the target acceleration of the vehicle to perform energy recovery on the vehicle, thereby realizing the dynamic closed-loop control of the vehicle and improving the energy recovery efficiency of the vehicle.

[0198] It should be understood that the above examples are for helping those skilled in the art to understand the embodiments of the present application, rather than limiting the embodiments of the present application to the specific numerical values or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes according to the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0199] As described above in conjunction with Figures 1 to 3 The vehicle control method provided by the embodiments of the present application is described in detail; hereinafter, in conjunction with Figure 4 and Figure 5 The device embodiments of the present application will be described in detail. It should be understood that the devices in the embodiments of the present application can execute various methods of the foregoing embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the foregoing method embodiments.

[0200] Figure 4 It is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application.

[0201] Exemplarily, as Figure 4 shown, the vehicle control device 400 includes:

[0202] Judgment module 410: When the host vehicle is in a coasting state, if the distance difference between the host vehicle and the vehicle ahead is greater than a first preset threshold, determine the vehicle speed difference between the host vehicle and the vehicle ahead;

[0203] Calculation module 420: If the vehicle speed difference is less than a second preset threshold, based on the vehicle speed difference and the distance difference, determine the target acceleration of the host vehicle;

[0204] Determination module 430: Based on the target acceleration, determine the energy recovery intensity of the host vehicle;

[0205] Control module 440: Recover energy for the host vehicle based on the energy recovery intensity.

[0206] Optionally, as an embodiment, the calculation module 420 is specifically configured to:

[0207] Based on the vehicle speed difference, the distance difference, and a first corresponding relationship, obtain the target acceleration, where the first corresponding relationship is used to indicate the corresponding relationship between a preset difference and a maximum preset acceleration, and the preset difference includes a preset distance difference and a preset vehicle speed difference.

[0208] Optionally, as an embodiment, the judgment module 410 is further configured to:

[0209] If the distance difference is less than or equal to the first preset threshold, based on the vehicle speed difference, the distance difference, and a second corresponding relationship, obtain the target acceleration, where the second corresponding relationship is used to indicate the corresponding relationship between a preset difference and a minimum preset acceleration, and the preset difference includes a preset distance difference and a preset vehicle speed difference.

[0210] Optionally, as an embodiment, the calculation module 420 is further configured to:

[0211] If the vehicle speed difference is greater than or equal to the second preset threshold, based on the vehicle speed difference and the distance difference, obtain the average acceleration;

[0212] Based on the average acceleration, determine the target acceleration.

[0213] Optionally, as an embodiment, the calculation module 420 is specifically configured to:

[0214] Based on the vehicle speed difference and the distance difference, determine the minimum acceleration and the maximum acceleration;

[0215] Based on the average acceleration, the minimum acceleration, and the maximum acceleration, determine the target acceleration.

[0216] Optionally, as an embodiment, the calculation module 420 is specifically configured to:

[0217] If the average acceleration is less than the minimum acceleration, determine the minimum acceleration as the target acceleration;

[0218] If the average acceleration is greater than or equal to the minimum acceleration and less than or equal to the maximum acceleration, the average acceleration is determined as the target acceleration;

[0219] If the average acceleration is greater than the maximum acceleration, the maximum acceleration is determined as the target acceleration.

[0220] Optionally, as an embodiment, the vehicle control device 400 further includes an acquisition module, and the acquisition module is specifically configured to: acquire the road slope where the host vehicle is located;

[0221] The determination module 430 is specifically configured to:

[0222] Determine the energy recovery intensity based on the road slope, the host vehicle speed, and the target acceleration.

[0223] It should be noted that the above vehicle control device 400 is embodied in the form of functional units. The term "module" here can be implemented in the form of software and / or hardware, and no specific limitation is made thereto.

[0224] For example, the "module" can be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group of processors, etc.) for executing one or more software or firmware programs, a memory, a merged logic circuit, and / or other suitable components that support the described functions.

[0225] Therefore, the units of the examples described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0226] Figure 5 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

[0227] Exemplarily, the vehicle 500 and Figure 1 the host vehicle 110 therein represent the same vehicle.

[0228] Exemplarily, as Figure 5 shown, the vehicle 500 includes: a memory 510 and a processor 520, wherein an executable program code 530 is stored in the memory 510, and the processor 520 is configured to call and execute the executable program code 530 to execute a vehicle control method.

[0229] Exemplarily, the memory 510 can be used to store the relevant programs of the vehicle control method provided in the embodiments of the present application; the processor 520 can call the relevant programs of the vehicle control method stored in the memory 510 to execute the vehicle control method of the embodiments of the present application; for example, when the host vehicle is in a coasting state, if the distance difference between the host vehicle and the preceding vehicle and the preset safety distance is greater than the first preset threshold, determine the vehicle speed difference between the host vehicle and the preceding vehicle; if the vehicle speed difference is less than the second preset threshold, based on the vehicle speed difference and the distance difference, determine the target acceleration of the host vehicle; based on the target acceleration, determine the energy recovery intensity of the host vehicle; perform energy recovery on the host vehicle based on the energy recovery intensity.

[0230] In this embodiment, the device can be divided into functional modules according to the above method examples. For example, each functional module can be corresponding, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0231] In the case of dividing each functional module according to each function, the device can further include a judgment module, a calculation module, a determination module, a control module, etc. It should be noted that all the relevant contents of each step involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be repeated here.

[0232] It should be understood that the device provided in this embodiment is used to execute the above vehicle control method, so the same effects as the above implementation method can be achieved.

[0233] In the case of adopting an integrated unit, the device can include a processing module and a storage module. Among them, when the device is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute relevant program codes, etc.

[0234] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules and circuits shown in combination with the disclosure of the present application. The processor can also be a combination that realizes computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0235] In addition, the device provided by the embodiments of the present application may specifically be a chip, a component or a module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a vehicle control method provided by the above embodiments.

[0236] The present application also provides a computer-readable storage medium. Computer program code is stored in the computer-readable storage medium. When the computer program code runs on a computer, the computer is caused to execute the above-related method steps to implement a vehicle control method provided by the above embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, digital versatile disks (DVDs), compact disc read-only memories (CD-ROMs), micro drives, and magneto-optical disks, read-only memories (ROMs), random access memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), dynamic random access memories (DRAMs), video random access memories (VRAMs), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0237] The present application also provides a computer program product. When the computer program product runs on a computer, the computer is caused to execute the above-related steps to implement a vehicle control method provided by the above embodiments.

[0238] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided by the present application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be elaborated here.

[0239] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0240] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical functional division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0241] The above content is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that, The method includes: When the host vehicle is in a coasting state, if the distance difference between the host vehicle and the vehicle ahead and the preset safety distance is greater than a first preset threshold, determining the vehicle speed difference between the host vehicle and the vehicle ahead; If the vehicle speed difference is less than a second preset threshold, determining the target acceleration of the host vehicle based on the vehicle speed difference and the distance difference; Determining the energy recovery intensity of the host vehicle based on the target acceleration; Performing energy recovery on the host vehicle based on the energy recovery intensity.

2. The method according to claim 1, characterized in that, The determining the target acceleration of the host vehicle based on the vehicle speed difference and the distance difference includes: Obtaining the target acceleration based on the vehicle speed difference, the distance difference and a first corresponding relationship, where the first corresponding relationship is used to indicate the corresponding relationship between a preset difference and a maximum preset acceleration, and the preset difference includes a preset distance difference and a preset vehicle speed difference.

3. The method according to claim 1, wherein The method further includes: If the distance difference is less than or equal to the first preset threshold, obtaining the target acceleration based on the vehicle speed difference, the distance difference and a second corresponding relationship, where the second corresponding relationship is used to indicate the corresponding relationship between a preset difference and a minimum preset acceleration, and the preset difference includes a preset distance difference and a preset vehicle speed difference.

4. The method according to claim 1, wherein The method further includes: If the vehicle speed difference is greater than or equal to the second preset threshold, obtaining an average acceleration based on the vehicle speed difference and the distance difference; Determining the target acceleration based on the average acceleration.

5. The method according to claim 4, wherein The method further includes: Determining a minimum acceleration and a maximum acceleration based on the vehicle speed difference and the distance difference; The determining the target acceleration based on the average acceleration includes: Determining the target acceleration based on the average acceleration, the minimum acceleration and the maximum acceleration.

6. The method according to claim 5, wherein The determining the target acceleration based on the average acceleration, the minimum acceleration and the maximum acceleration includes: If the average acceleration is less than the minimum acceleration, determining the minimum acceleration as the target acceleration; If the average acceleration is greater than or equal to the minimum acceleration and less than or equal to the maximum acceleration, determining the average acceleration as the target acceleration; If the average acceleration is greater than the maximum acceleration, determining the maximum acceleration as the target acceleration.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Obtaining the road gradient where the host vehicle is located; The determining the energy recovery intensity of the host vehicle based on the target acceleration includes: Determining the energy recovery intensity based on the road gradient, the host vehicle speed and the target acceleration.

8. A vehicle control device, characterized in that, The device includes: A judgment module, configured to, when the host vehicle is in a coasting state, if the distance difference between the host vehicle and the vehicle ahead and the preset safety distance is greater than a first preset threshold, determine the vehicle speed difference between the host vehicle and the vehicle ahead; A calculation module, configured to, if the vehicle speed difference is less than a second preset threshold, determine the target acceleration of the host vehicle based on the vehicle speed difference and the distance difference; A determination module, configured to determine the energy recovery intensity of the host vehicle based on the target acceleration; A control module for performing energy recovery on the host vehicle based on the energy recovery intensity.

9. A vehicle, characterized in that, The vehicle includes: A memory for storing executable program code; A processor for calling and running the executable program code from the memory, such that the vehicle executes the vehicle control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which when executed, implements the vehicle control method according to any one of claims 1 to 7.

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