Heating control method and device, controller, medium, product and carrier

Abstract

The invention relates to a heating control method and device, a controller, a medium, a product and a carrier, and according to the equivalent energy efficiency ratio of a heating system of the carrier, heating is carried out in a cabin of the carrier based on control over a target heat source in multiple heat sources of the heating system. On the basis, the heat source for heating is adjusted in the heating process through the equivalent energy efficiency ratio of the heat pump of the heating system, so that the energy consumption of the heating system is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of heating control, and particularly to a heating control method, device, controller, medium, product and vehicle. Background Art

[0002] The working principle of the current vehicle heating system is mainly as follows: when heating the passenger compartment, first use a Positive Temperature Coefficient (PTC) heater for heating, and then control the compressor for heating by detecting the warm air temperature.

[0003] However, the above solution will generate energy consumption during the heating process, resulting in a problem of high energy consumption in the vehicle heating system. Summary of the Invention

[0004] Embodiments of the present application provide a heating control method, device, controller, storage medium, computer program product and vehicle, which adjust the heat source for heating during the heating process by the equivalent energy efficiency ratio of the heat pump of the heating system, so as to reduce the energy consumption of the heating system.

[0005] Embodiments of the present application provide a heating control method, including:

[0006] Based on the equivalent energy efficiency ratio of the heating system of the vehicle, control a target heat source among multiple heat sources of the heating system to perform heating in the cabin of the vehicle.

[0007] Correspondingly, embodiments of the present application provide a heating control device, including:

[0008] A control module, configured to control a target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio of the heating system of the vehicle, so as to perform heating in the cabin of the vehicle.

[0009] In addition, embodiments of the present application further provide a controller, including one or more processors and a memory. The above memory stores a computer program, and the above processor is configured to run the computer program in the above memory to implement the heating control method provided by the embodiments of the present application.

[0010] In addition, embodiments of the present application further provide a storage medium, which stores a computer program. When the computer program runs on a controller, the computer program is configured to cause the controller to execute any one of the heating control methods provided by the embodiments of the present application.

[0011] In addition, embodiments of the present application further provide a computer program product, including a computer program or instruction, and when the computer program or instruction is executed by a processor, it implements any one of the heating control methods provided by the embodiments of the present application.

[0012] In addition, an embodiment of the present application further provides a vehicle, including the above-mentioned controller.

[0013] In the embodiment of the present application, by controlling a target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio of the heating system of the vehicle, heating is performed in the cabin of the vehicle. Based on this, during the heating process, the heat source for heating is adjusted according to the equivalent energy efficiency ratio of the heat pump of the heating system, so as to reduce the energy consumption of the heating system. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0015] Figure 1 It is a schematic diagram of an implementation environment scenario of the heating control method provided in the embodiment of the present application;

[0016] Figure 2 It is a schematic flowchart of the heating control method provided in the embodiment of the present application;

[0017] Figure 3 It is a schematic diagram of the vehicle structure of the heating control method provided in the embodiment of the present application;

[0018] Figure 4 It is a schematic flowchart of the specific process in the heating control method provided in the embodiment of the present application;

[0019] Figure 5 It is a control schematic diagram in the specific process of the heating control method provided in the embodiment of the present application;

[0020] Figure 6 It is a schematic flowchart of the process for controlling the PTC power in the heating control method provided in the embodiment of the present application;

[0021] Figure 7 It is a schematic flowchart of the process for controlling the compressor speed in the heating control method provided in the embodiment of the present application;

[0022] Figure 8 It is a schematic diagram of the structure of the heating control device provided in the embodiment of the present application;

[0023] Figure 9 It is a schematic diagram of the structure of the controller provided in the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0025] In addition, "a plurality of" in the embodiments of the present application means two or more. "First", "second", etc. in the embodiments of the present application are used for distinguishing descriptions and should not be construed as implying relative importance.

[0026] Through research, it is found that the heating response speed of vehicle-mounted air conditioners is slow and the energy consumption is relatively high. The existing solutions to the above problems are to determine the PTC target heating temperature in response to the operation of turning on the heating of the vehicle-mounted air conditioner; control the PTC to heat the intake air of the passenger compartment according to the PTC target heating temperature; collect the warm air temperature of the intake air in the vehicle air-conditioning pipeline in real time, and calculate the difference between the PTC target heating temperature and the warm air temperature; if the difference is less than the target difference, control the compressor to heat the intake air of the passenger compartment; if the warm air temperature reaches the PTC target heating temperature, control the PTC to exit the PTC heating. In this way, based on starting the PTC heating first, taking advantage of the characteristics of large PTC power and fast response, the intake air of the passenger compartment is quickly heated, and then the compressor heating is started, reducing the impact of cold air in the compressor heating circuit on PTC heating and reducing the heating energy consumption.

[0027] However, in the above solution, when heating the passenger compartment, the PTC is used for heating first, and then the compressor is controlled to heat by detecting the warm air temperature. The combined control method of the two is relatively simple, but the above solution generates additional energy consumption during heating.

[0028] To solve the above problems, the embodiments of the present application provide a heating control method, device, controller, storage medium, computer program product and vehicle. The heating control device can be integrated in the controller, and the controller can be a server or other devices such as a terminal.

[0029] Among them, the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), and big data and artificial intelligence platforms.

[0030] The terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server can be directly or indirectly connected through wired or wireless communication means, and this application does not make any restrictions here.

[0031] Please refer to Figure 1 , taking the heating control device integrated in the controller as an example, Figure 1 FIG. is a schematic diagram of an implementation scenario of the heating control method provided by the embodiment of the present application. Among them, the controller can be a terminal device, and by controlling a target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio of the heating system of the vehicle, heating is performed in the cabin of the vehicle. Based on this, the equivalent energy efficiency ratio of the heat pump of the heating system is used to adjust the heat source for heating during the heating process, so as to reduce the energy consumption of the heating system.

[0032] It should be noted that Figure 1 The schematic diagram of the implementation environment scenario of the heating control method shown is only an example. The implementation environment scenario of the heating control method described in the embodiment of the present application is for more clearly explaining the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided by the embodiment of the present application. Those of ordinary skill in the art know that with the evolution of data processing and the emergence of new service scenarios, the technical solution provided by the present application is equally applicable to similar technical problems.

[0033] The solution provided by the embodiment of the present application will be specifically described through the following embodiments. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments.

[0034] This embodiment will be described from the perspective of the heating control device. The heating control device can be specifically integrated in the controller, and the controller can be a terminal and / or a server, and this application does not make any restrictions here.

[0035] Please refer to Figure 2 , Figure 2 FIG. is a flowchart of a heating control method provided by an embodiment of the present application. The heating control method may include the following step S101:

[0036] S101. Control a target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio of the heating system of the vehicle, so as to perform heating in the cabin of the vehicle.

[0037] Among them, the vehicle refers to the vehicle used in the application scenario that requires in-cabin heating control.

[0038] The vehicle includes at least one of a vehicle, an aircraft, a bullet train, and a ship. For example, the vehicle used in the vehicle scenario is a vehicle such as a car or a motor vehicle. The vehicle used in the flight scenario is an airplane.

[0039] Among them, the heating system refers to the system in the vehicle that has the heating function. For example, the heating system is the vehicle air-conditioning system. When the heating function of the vehicle air-conditioning system is turned on, the vehicle air-conditioning system can be regarded as the heating system of the vehicle.

[0040] Among them, the equivalent energy efficiency ratio is an index used to evaluate the efficiency of the heating device, and its definition is the ratio of the heating capacity to the input power.

[0041] Among them, the heat source refers to the source that can provide heat energy in the heating system.

[0042] There are various types of heat sources, and the specific type can be adjusted according to the actual situation, and the embodiments of the present application do not limit it. For example, multiple heat sources include PTC, compressors, auxiliary heaters, etc.

[0043] Among them, the target heat source refers to the heat source currently used for heating in the vehicle cabin.

[0044] It can be seen from this that the heating control method provided by the embodiments of the present application controls the target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio of the heating system of the vehicle, so as to heat in the vehicle cabin. Based on this, the equivalent energy efficiency ratio of the heat pump of the heating system is used to adjust the heat source for heating during the heating process, so as to reduce the energy consumption of the heating system.

[0045] In some embodiments, the process of controlling the target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio of the heating system of the vehicle may include: determining the temperature difference information according to the target temperature in the vehicle cabin and the actual temperature in the vehicle cabin; and controlling the target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio when the temperature difference information is less than the first preset difference information.

[0046] Among them, the target temperature in the vehicle cabin refers to the target temperature to be reached for heating in the vehicle cabin. The actual temperature in the vehicle cabin refers to the current temperature in the vehicle cabin. The temperature difference information refers to the temperature difference between the target temperature in the vehicle cabin and the actual temperature in the vehicle cabin. For example, if the target temperature in the vehicle cabin is 27°C and the actual temperature in the vehicle cabin is 20°C, then the temperature difference information is 27°C - 20°C = 5°C.

[0047] Among them, the first preset difference information refers to the preset temperature difference value used to divide whether to control the target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio.

[0048] That is, when the temperature difference information is less than the first preset difference information, the target heat source among multiple heat sources of the heating system is controlled according to the equivalent energy efficiency ratio. When the temperature difference information is not less than the first preset difference information, there is no need to perform the step of controlling the target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio. For example, assume that the first preset difference information is 2°C. When the temperature difference information is 5°C, that is, the temperature difference information is not less than the first preset difference information, there is no need to perform the step of controlling the target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio. When the temperature difference information is 1°C, that is, the temperature difference information is less than the first preset difference information, the step of controlling the target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio is performed.

[0049] The first preset difference information can be set manually, or set according to empirical values, or calibrated through experiments, etc. There are various ways to determine it, and it can be specifically adjusted according to the actual situation. The embodiments of the present application do not make limitations. For example, the second preset difference information can be set to T0.

[0050] In some embodiments, the above heating control method further includes: when the temperature difference information is not less than the second preset difference information, controlling multiple heat sources of the heating system simultaneously.

[0051] Wherein, the second preset difference information refers to a preset temperature difference value used to divide whether to control multiple heat sources of the heating system simultaneously.

[0052] That is, when the temperature difference information is not less than the second preset difference information, multiple heat sources of the heating system are controlled simultaneously. When the temperature difference information is less than the second preset difference information, there is no need to perform the step of controlling multiple heat sources of the heating system simultaneously. For example, assume that the second preset difference information is 2°C. When the temperature difference information is 5°C, that is, the temperature difference information is not less than the second preset difference information, the step of controlling multiple heat sources of the heating system simultaneously is performed. When the temperature difference information is 1°C, that is, the temperature difference information is less than the second preset difference information, the step of controlling multiple heat sources of the heating system simultaneously is performed.

[0053] The second preset difference information can be set manually, or set according to empirical values, or calibrated through experiments, etc. There are various ways to determine it, and it can be specifically adjusted according to the actual situation. The embodiments of the present application do not make limitations. For example, the second preset difference information can be set to T0.

[0054] It should be noted that in the embodiments of the present application, the value indicated by the second preset difference information is not less than the value indicated by the first preset difference information.

[0055] That is, the second preset difference information may be the same preset temperature difference value as the first preset difference information. Alternatively, the preset temperature difference value corresponding to the second preset difference information is greater than the preset temperature difference value corresponding to the first preset difference information.

[0056] In some embodiments, the process of controlling the target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio may include: determining the target heat source from multiple heat sources of the heating system according to the equivalent energy efficiency ratio and the energy efficiency ratio threshold, and controlling the target heat source.

[0057] The energy efficiency ratio threshold is an index used to determine the target heat source.

[0058] It should be noted that the number of energy efficiency ratio thresholds may be one or more. When the number of heat sources is two, the number of energy efficiency ratio thresholds may be one. When the number of heat sources is three or more, the number of energy efficiency ratio thresholds may be two or more.

[0059] In some embodiments, the multiple heat sources at least include a first heat source and a second heat source, and the frequency of the first heat source is higher than that of the second heat source.

[0060] The first heat source is used to indicate the heat source with a higher frequency in the heating system. The second heat source is used to indicate the heat source with a lower frequency in the heating system.

[0061] The high or low frequency here is relative. For example, the first heat source is a high-frequency heat source PTC, and the second heat source is a low-frequency heat source compressor.

[0062] In some embodiments, the process of determining the target heat source from multiple heat sources of the heating system according to the equivalent energy efficiency ratio and the energy efficiency ratio threshold may include: when the equivalent energy efficiency ratio is less than the energy efficiency ratio threshold, determining the target heat source as the first heat source; when the equivalent energy efficiency ratio is not less than the energy efficiency ratio threshold, determining the target heat source as the second heat source.

[0063] The energy efficiency ratio threshold is used to divide the target heat source to be controlled into the first heat source or the second heat source.

[0064] In some embodiments, the first heat source includes a positive temperature coefficient heater, and the energy efficiency ratio threshold is determined based on the heating efficiency of the positive temperature coefficient heater.

[0065] There are various ways to determine the energy efficiency ratio threshold based on the heating efficiency of the positive temperature coefficient heater, and the embodiments of the present application do not limit it. For example, directly using the heating efficiency of the positive temperature coefficient heater as the energy efficiency ratio threshold. Or, based on the heating efficiency of the positive temperature coefficient heater and the heating efficiency error value, determining the energy efficiency ratio threshold.

[0066] In some embodiments, when the target heat source is the first heat source and the first heat source is a PTC, the process of controlling the target heat source may include: controlling the power of the positive temperature coefficient heater.

[0067] Specifically, when the equivalent energy efficiency ratio is less than the energy efficiency ratio threshold, the power of the positive temperature coefficient heater is controlled to heat the interior of the vehicle.

[0068] There are various ways of power control, such as keeping the power unchanged, reducing the power, increasing the power, etc., which can be adjusted according to the actual situation, and the embodiments of the present application do not limit them.

[0069] In some embodiments, the process of controlling the power of the positive temperature coefficient heater may include: when the temperature difference information is not greater than the third preset difference information, controlling to reduce the power of the positive temperature coefficient heater.

[0070] The third preset difference information refers to the preset temperature difference value used to divide whether to control the reduction of the power of the positive temperature coefficient heater.

[0071] That is, when the temperature difference information is not greater than the third preset difference information, controlling to reduce the power of the positive temperature coefficient heater. When the temperature difference information is greater than the third preset difference information, the step of controlling to reduce the power of the positive temperature coefficient heater does not need to be executed.

[0072] The third preset difference information can be set manually, or by empirical values, or by experimental calibration, etc. There are various ways to determine it, and it can be adjusted according to the actual situation, and the embodiments of the present application do not limit it. For example, the third preset difference information can be set to 0.

[0073] Among them, there are various ways to reduce the power of the positive temperature coefficient heater, which can be adjusted according to the actual situation, and the embodiments of the present application do not limit it.

[0074] For example, directly reducing the power of the positive temperature coefficient heater to the minimum power.

[0075] For another example, controlling the power of the positive temperature coefficient heater to be reduced by a preset power value. The preset power value can be set manually, or by empirical values, or by experimental calibration, etc. There are various ways to determine it, and it can be adjusted according to the actual situation, and the embodiments of the present application do not limit it.

[0076] In some embodiments, the above process of controlling the power of the positive temperature coefficient heater may further include: when the temperature difference information is greater than the third preset difference information and the duration for which the equivalent energy efficiency ratio is less than the energy efficiency ratio threshold meets the preset duration, determining the target power of the positive temperature coefficient heater; and controlling the positive temperature coefficient heater based on the target power.

[0077] Among them, the target power refers to the power that the positive temperature coefficient heater needs to reach.

[0078] It should be noted that the target power is determined based on the maximum power of the positive temperature coefficient heater and a predetermined control method.

[0079] Among them, there can be various predetermined control methods, and the specific ones can be adjusted according to the actual situation, which are not limited in the embodiments of the present application. For example, the predetermined control methods include but are not limited to the Proportion-Integral-Differential (PID) control method, fuzzy control method, model predictive control method, sliding mode control method, etc.

[0080] Among them, there can be various ways to determine the predetermined duration, and the specific ones can be adjusted according to the actual situation, which are not limited in the embodiments of the present application.

[0081] For example, the predetermined duration can be set manually, or set by empirical values, or calibrated through experiments, etc.

[0082] For another example, the predetermined duration is determined based on the response delay of the heating system. Among them, the response delay of the heating system can refer to the delay determination time given by the large time lag characteristic of the heat pump, that is, the time delay required for the heating system to output a response (such as an actual temperature change) after the input signal (such as a temperature set value or a switch signal) changes.

[0083] In some embodiments, the process of controlling the power of the positive temperature coefficient heater described above may further include: when the temperature difference information is greater than the third preset difference information and the duration for which the equivalent energy efficiency ratio is less than the energy efficiency ratio threshold does not meet the continuous predetermined duration, controlling to maintain the current power of the positive temperature coefficient heater.

[0084] In some embodiments, the second heat source described above includes a compressor.

[0085] It should be noted that the heat can be provided for the cabin of the vehicle by controlling the rotation speed of the compressor.

[0086] Based on this, when the target heat source is the second heat source, that is, the compressor, the process of controlling the target heat source described above may include: controlling the rotation speed of the compressor.

[0087] There are various ways of rotation speed control, such as keeping the rotation speed unchanged, reducing the rotation speed, increasing the rotation speed, etc., and the specific ones can be adjusted according to the actual situation, which are not limited in the embodiments of the present application.

[0088] In some embodiments, the process of controlling the rotational speed of the compressor may include: when the temperature difference information is greater than the fourth preset difference information and the duration for which the equivalent energy efficiency ratio is greater than the energy efficiency ratio threshold meets the continuous preset duration, controlling to reduce the rotational speed of the compressor; when the temperature difference information is greater than the fourth preset difference information and the duration for which the equivalent energy efficiency ratio is greater than the energy efficiency ratio threshold does not meet the continuous preset duration, determining the target rotational speed of the compressor and controlling the compressor based on the target rotational speed.

[0089] Among them, the fourth preset difference information refers to the preset temperature difference value that is one of the division conditions for rotational speed control.

[0090] The fourth preset difference information can be set manually, or set by empirical values, or calibrated through experiments, etc. There are various ways to determine it, and it can be adjusted according to the actual situation. The embodiments of the present application do not make limitations. For example, the fourth preset difference information can be set to 0.

[0091] The third preset difference information and the fourth preset difference information can be the same preset temperature difference value, or can be determined as different preset temperature difference values according to the actual situation.

[0092] Among them, there are various ways to reduce the rotational speed of the compressor, and it can be adjusted according to the actual situation. The embodiments of the present application do not make limitations.

[0093] For example, directly reduce the rotational speed to 0.

[0094] For another example, control the rotational speed of the compressor to decrease by a preset rotational speed value. Among them, the preset rotational speed value can be set manually, or set by empirical values, or calibrated through experiments, etc. There are various ways to determine it, and it can be adjusted according to the actual situation. The embodiments of the present application do not make limitations.

[0095] Among them, there are various ways to determine the preset duration, and it can be adjusted according to the actual situation. The embodiments of the present application do not make limitations.

[0096] For example, the preset duration can be set manually, or set by empirical values, or calibrated through experiments, etc.

[0097] For another example, the preset duration is determined based on the response delay of the heating system. Among them, the response delay of the heating system may refer to the delay determination time given by the large time lag characteristic of the heat pump, that is, the time delay required for the heating system to output a response (such as an actual temperature change) after the input signal (such as a temperature set value or a switch signal) changes.

[0098] Among them, the target rotational speed refers to the value that the rotational speed of the compressor needs to reach.

[0099] It should be noted that the target rotational speed is determined based on the maximum rotational speed of the compressor and a predetermined control method.

[0100] Among them, there can be multiple predetermined control methods, which can be specifically adjusted according to the actual situation, and the embodiments of the present application do not make limitations. For example, the predetermined control methods include, but are not limited to, Proportion-Integral-Differential (PID) control method, fuzzy control method, model predictive control method, sliding mode control method, etc.

[0101] In some embodiments, the process of controlling the rotational speed of the compressor may further include: when the temperature difference information is not greater than the fourth preset difference information and the current power of the positive temperature coefficient heater is less than the predetermined power threshold, determining the target rotational speed of the compressor and controlling the compressor based on the target rotational speed; when the temperature difference information is not greater than the fourth preset difference information and the current power of the positive temperature coefficient heater is not less than the predetermined power threshold, maintaining the current rotational speed of the compressor.

[0102] Among them, the predetermined power threshold refers to the power threshold that is one of the conditions for dividing the rotational speed control.

[0103] The predetermined power threshold can be set manually, or by empirical values, or by experimental calibration, etc. There are various ways to determine it, and it can be specifically adjusted according to the actual situation. The embodiments of the present application do not make limitations. For example, the predetermined power threshold in the embodiments of the present application can be set to 0 or a value close to 0. To better understand the heating control method provided by the embodiments of the present application, the heating control method of the present application will be explained below with a specific embodiment.

[0104] Assume that the vehicle is a car, and the heating system of the vehicle is the vehicle air conditioning system. The vehicle air conditioning heating system includes a PTC and a compressor. Please refer to Figure 3 , Figure 3 which is the schematic diagram of the vehicle structure provided by the embodiments of the present application. The vehicle air conditioning system includes an occupant compartment air outlet, a PTC, and a heat pump system. Among them, the heat pump system is composed of an in-vehicle condenser, a blower, and a compressor. The vehicle is also equipped with an occupant compartment air conditioning operation panel and an air conditioning controller.

[0105] Based on the vehicle as shown in Figure 3 the specific process of the heating control method can be referred to Figure 4 , and specifically includes the following steps:

[0106] First, determine whether there is a heating demand in the occupant compartment according to the air conditioning panel signal in the vehicle occupant compartment.

[0107] Secondly, when there is a heating demand in the occupant compartment, according to the outside ambient temperature, the target temperature of the occupant compartment set by the air conditioning panel, and the air outlet gear set by the air conditioning panel, calculate the target air outlet temperature T by looking up a table and interpolationaim，i , and the actual outlet air temperature T is obtained by collecting the outlet air through a sensor or other means act，i . Among them, the units of the outlet air target temperature and the actual outlet air temperature are both °C. Here, the subscript i represents the current sampling moment, and i - 1 represents the previous sampling moment.

[0108] The temperature difference (i.e., temperature difference information) can be calculated according to the outlet air target temperature and the actual outlet air temperature according to the following formula (1):

[0109] ΔT i = T aim，i - T act，i (1);

[0110] Among them, ΔT i refers to the temperature difference.

[0111] Next, it is judged whether the heating process of the passenger compartment is in the temperature rising stage according to the temperature difference ΔT i .

[0112] Specifically, if ΔT i > T1, it is judged that the heating process of the passenger compartment is in the temperature rising stage. If ΔT i < T0, it is judged that the heating process of the passenger compartment is in the temperature maintaining stage; if T0 ≤ ΔT i ≤ T1, it is judged that the heating process of the passenger compartment remains in the current stage, and the current stage can be the temperature maintaining stage or the temperature rising stage. Among them, T0 and T1 are preset temperature values and can be calibrated through experiments.

[0113] If the heating process of the passenger compartment is in the temperature rising stage, the compressor speed and the PTC power can be adjusted simultaneously through PID control. If the heating process of the passenger compartment is in the temperature maintaining stage, one of the compressor speed and the PTC power can be controlled according to the energy efficiency ratio of the heat pump, etc. and the temperature difference ΔT i .

[0114] When there is no heating demand, the compressor and the PTC are turned off.

[0115] Specifically, the high-frequency heat source (PTC) and the low-frequency heat source (compressor) of the vehicle air-conditioning system are used for heating at the same time, and the compressor speed and the PTC power are adjusted simultaneously through discrete proportional differential control, so that the actual outlet air temperature quickly reaches the outlet air target temperature, which can reduce the energy consumption of the air-conditioning system compared with using only PTC heating. The specific description is as follows:

[0116] The compressor speed can be controlled according to the following formula (2):

[0117] n comp，i = n comp,i-1 + K p_comp *ΔT i + Kd_comp *(ΔT i -ΔT i-1 )

[0118] st:0 < n comp,i < n comp,max (2);

[0119] wherein, n comp，i is the target speed of the compressor, n comp，max is the maximum speed of the compressor, both in the unit of rev / min; K p_comp is the proportional coefficient of the proportional-integral-derivative control of the compressor; K d_comp is the derivative coefficient of the proportional-integral-derivative control of the compressor; through experimental calibration, K p_comp = 0.1, K d_comp = 1.

[0120] The PTC power can be controlled according to the following formula (3):

[0121] P PTC,i = P PTC,i-1 + K p_PTC *ΔT i + K d_PTC *(ΔT i -ΔT i-1 )

[0122] st:0 < P PTC,i < P PTC,max (3);

[0123] wherein, P PTC，i is the PTC target power, P PTC，max is the maximum PTC power, both in the unit of W; K p_PTC is the proportional coefficient of the proportional-integral-derivative control of the PTC, K d_PTC is the derivative coefficient of the proportional-integral-derivative control of the PTC; through experimental calibration, K p_PTC = 0.08, K d_PTC = 3.

[0124] Specifically, according to the equivalent energy efficiency ratio of the heat pump and the temperature difference ΔT i control one of the compressor speed and the PTC power. Reference can be made to Figure 5 to control the compressor speed or the PTC power by calculating the equivalent energy efficiency ratio of the heat pump.

[0125] It should be noted that the heating efficiency of the heat pump is usually higher than that of the PTC (the threshold is determined based on the theoretical heating efficiency of the PTC), but as the compressor speed increases, affected by the isentropic efficiency, volumetric efficiency, mechanical efficiency, etc. of the compressor, the heating efficiency of the heat pump system may decrease. Therefore, it is necessary to calculate the equivalent energy efficiency ratio of the heat pump system.

[0126] The equivalent coefficient of performance can be calculated according to the following formula (4):

[0127]

[0128] Wherein, Q c is the heating capacity of the in-vehicle condenser, with the unit of kW; P comp is the compressor power, with the unit of kW, and COP δ，i refers to the equivalent coefficient of performance.

[0129] Wherein, the heating capacity of the in-vehicle condenser can be calculated according to the following formula (5):

[0130] Q c = q c * ρ c * c c * (T c_out - T c_in ) (5);

[0131] Wherein, Q c is the volume flow rate of the refrigerant, with the unit of m3 / s; p c is the refrigerant density, with the unit of kg / m3; c c is the specific heat capacity at constant pressure of the refrigerant, with the unit of kJ / (kg*°C); T c_out is the refrigerant temperature at the outlet of the in-vehicle condenser, and T c_in is the refrigerant temperature at the inlet of the in-vehicle condenser, and the units are both °C.

[0132] When the equivalent coefficient of performance of the heat pump is less than the coefficient of performance threshold, the PTC power is adjusted according to the process shown in Figure 6 . When the equivalent coefficient of performance is not less than the coefficient of performance threshold, the compressor speed is adjusted according to the process shown in Figure 7 .

[0133] Specifically, the PTC power is controlled, and the control method is as shown in Figure 6 , and its specific steps include:[[]]

[0134] Step 201: Determine whether ΔT i is greater than 0. If so, execute Step 202; if not, execute Step 203;

[0135] Step 202: Determine whether COP δ，i < E PTC has lasted for T delay seconds. Wherein, T delay is the delay determination time (i.e., the preset duration) given in consideration of the large time lag characteristic of the heat pump, and E PTC is the heating efficiency of the PTC. If so, execute Step 205; if not, execute Step 204;

[0136] Step 203: Reduce the PTC power, i.e., P PTC，i = P PTC，i-1 - δP PTC , where δP PTC is the preset power value reduced by the PTC each time;

[0137] Step 204: Keep the PTC power unchanged, i.e., P PTC，i = P PTC，i-1 ;

[0138] Step 205: Calculate the PTC target power according to the above formula (3).

[0139] Specifically, control the compressor speed, and the control method is as Figure 7 shown, and its specific steps include:

[0140] Step 301: Judge whether ΔT i is greater than 0. If so, execute Step 302; if not, execute Step 303;

[0141] Step 302: Judge whether COP δ，i > E PTC lasts for T delay seconds. If so, execute Step 305; if not, execute Step 304;

[0142] Step 303: Judge whether the PTC power is P PTC，i = 0. If so, execute Step 304; if not, execute Step 306;

[0143] Step 304: Calculate the compressor target speed according to the above formula (3).

[0144] Step 305: Reduce the compressor speed, i.e., n comp，i = n comp，i - 1 - δn comp , where δn comp is the preset speed value reduced by the compressor;

[0145] Step 306: Keep the compressor speed unchanged, i.e., n comp，i = n comp，i-1 .

[0146] Based on this, aiming at the problem of high energy consumption during heating in the vehicle air conditioning system in a low-temperature environment, a control method for the compressor and PTC considering the equivalent energy efficiency ratio of the heat pump is proposed. By calculating the temperature difference of the air outlet in the passenger compartment, different stages of the heating process in the vehicle passenger compartment are divided, and a more refined control method for the compressor and PTC is adopted in different stages. During the temperature rise stage of the vehicle passenger compartment, both the compressor and PTC are used as heat sources for heating, which can quickly meet the air outlet temperature requirement and reduce the air conditioning energy consumption compared with using only PTC. During the temperature maintenance stage of the vehicle passenger compartment, the equivalent energy efficiency ratio of the heat pump is considered, and the combined control method of the compressor and PTC is improved. In this way, the compressor can be preferentially used when the equivalent energy efficiency ratio of the heat pump is high, and the PTC can be preferentially used when the equivalent energy efficiency ratio of the heat pump is low, reducing the energy consumption of the vehicle air conditioning on the premise of meeting the air outlet temperature requirement.

[0147] To facilitate better implementation of the heating control method provided in the embodiments of the present application, the embodiments of the present application also provide a device based on the above heating control method. The meanings of the nouns are the same as those in the above heating control method, and the specific implementation details can refer to the description in the method embodiments.

[0148] For example, as Figure 8 shown, the heating control device may include a control module 401, specifically as follows:

[0149] The control module 401 is used to control a target heat source among multiple heat sources of the heating system based on the equivalent energy efficiency ratio of the heating system of the vehicle to perform heating in the vehicle cabin.

[0150] In some embodiments, the above control module 401 includes:

[0151] A temperature difference information determination sub-module, used to determine temperature difference information according to the target temperature in the vehicle cabin and the actual temperature in the cabin;

[0152] A first control sub-module, used to control a target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio when the temperature difference information is less than the first preset difference information.

[0153] In some embodiments, the above heating control device further includes:

[0154] A second control sub-module, used to control multiple heat sources of the heating system simultaneously when the temperature difference information is not less than the second preset difference information.

[0155] In some embodiments, the value indicated by the above second preset difference information is not less than the value indicated by the above first preset difference information.

[0156] In some embodiments, the above first control sub-module includes:

[0157] Determine a target heat source from multiple heat sources of a heating system according to the equivalent energy efficiency ratio and the energy efficiency ratio threshold, and control the target heat source.

[0158] In some embodiments, the multiple heat sources at least include a first heat source and a second heat source, and the frequency of the first heat source is higher than that of the second heat source.

[0159] In some embodiments, the determining of the target heat source from multiple heat sources of the heating system according to the equivalent energy efficiency ratio and the energy efficiency ratio threshold includes:

[0160] When the equivalent energy efficiency ratio is less than the energy efficiency ratio threshold, determine the target heat source as the first heat source;

[0161] When the equivalent energy efficiency ratio is not less than the energy efficiency ratio threshold, determine the target heat source as the second heat source.

[0162] In some embodiments, the first heat source includes a positive temperature coefficient heater, and the energy efficiency ratio threshold is determined based on the heating efficiency of the positive temperature coefficient heater.

[0163] In some embodiments, when the target heat source is the first heat source, the controlling of the target heat source includes:

[0164] Perform power control on the positive temperature coefficient heater.

[0165] In some embodiments, the performing of power control on the positive temperature coefficient heater includes:

[0166] When the temperature difference information is not greater than the third preset difference information, control to reduce the power of the positive temperature coefficient heater.

[0167] In some embodiments, the controlling to reduce the power of the positive temperature coefficient heater includes:

[0168] Control the power of the positive temperature coefficient heater to be reduced by a preset power value.

[0169] In some embodiments, the performing of power control on the positive temperature coefficient heater further includes:

[0170] When the temperature difference information is greater than the third preset difference information and the duration for which the equivalent energy efficiency ratio is less than the energy efficiency ratio threshold meets a preset duration, determine the target power of the positive temperature coefficient heater;

[0171] Based on the target power, control the positive temperature coefficient heater.

[0172] In some embodiments, the target power is determined based on the maximum power of the positive temperature coefficient heater and a preset control method.

[0173] In some embodiments, the above-mentioned predetermined duration is determined based on the response delay of the heating system.

[0174] In some embodiments, the power control of the positive temperature coefficient heater further includes:

[0175] When the temperature difference information is greater than the third preset difference information and the duration for which the equivalent energy efficiency ratio is less than the energy efficiency ratio threshold does not meet the continuous predetermined duration, control to maintain the current power of the positive temperature coefficient heater.

[0176] In some embodiments, the above-mentioned second heat source includes a compressor.

[0177] In some embodiments, when the target heat source is the second heat source, controlling the target heat source includes:

[0178] Controlling the rotational speed of the compressor.

[0179] In some embodiments, the above-mentioned controlling the rotational speed of the compressor includes:

[0180] When the temperature difference information is greater than the fourth preset difference information and the duration for which the equivalent energy efficiency ratio is greater than the energy efficiency ratio threshold meets the continuous predetermined duration, control to reduce the rotational speed of the compressor;

[0181] When the temperature difference information is greater than the fourth preset difference information and the duration for which the equivalent energy efficiency ratio is greater than the energy efficiency ratio threshold does not meet the continuous predetermined duration, determine the target rotational speed of the compressor and, based on the target rotational speed, control the compressor.

[0182] In some embodiments, the above-mentioned controlling to reduce the rotational speed of the compressor includes:

[0183] Control the rotational speed of the compressor to decrease by a preset rotational speed value.

[0184] In some embodiments, the above-mentioned controlling the rotational speed of the compressor further includes:

[0185] When the temperature difference information is not greater than the fourth preset difference information and the current power of the positive temperature coefficient heater is less than the predetermined power threshold, determine the target rotational speed of the compressor and, based on the target rotational speed, control the compressor;

[0186] When the temperature difference information is not greater than the fourth preset difference information and the current power of the positive temperature coefficient heater is not less than the predetermined power threshold, maintain the current rotational speed of the compressor.

[0187] In some embodiments, the above-mentioned target rotational speed is determined based on the maximum rotational speed of the compressor and a predetermined control method.

[0188] In some embodiments, the above vehicle includes at least one of a vehicle, an aerial vehicle, a bullet train, and a ship.

[0189] It can be seen from this that the heating control device provided in the embodiments of the present application controls, through the control module 401, the target heat source among multiple heat sources of the heating system based on the equivalent energy efficiency ratio of the heating system of the vehicle, so as to perform heating in the cabin of the vehicle. Based on this, the equivalent energy efficiency ratio of the heat pump of the heating system is used to adjust the heat source for heating during the heating process, so as to reduce the energy consumption of the heating system.

[0190] During specific implementation, each of the above modules can be implemented as an independent entity, or can be combined arbitrarily to be implemented as the same or several entities. For the specific implementation manners of each of the above modules and the corresponding beneficial effects, reference can be made to the foregoing method embodiments, which will not be elaborated herein.

[0191] The embodiments of the present application also provide a controller, as Figure 9 shown, which shows a schematic structural diagram of the controller involved in the embodiments of the present application. Specifically:

[0192] The controller may include components such as a processor 501 with one or more processing cores, a memory 502 with one or more storage media, a power supply 503, and an input unit 504. Those skilled in the art can understand that Figure 9 the controller structure shown in

[0193] does not constitute a limitation on the controller, and may include more or fewer components than shown in the figure, or combine certain components, or arrange different components. Among them:

[0194] The memory 502 can be used to store computer programs and modules. The processor 501 executes various functional applications and heating control by running the computer programs and modules stored in the memory 502. The memory 502 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, computer programs required for at least one function (such as the sound and light prompt function, the heating control function, etc.); the data storage area can store data created according to the use of the controller, etc. In addition, the memory 502 can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory 502 can also include a memory controller to provide the processor 501 with access to the memory 502.

[0195] The controller further includes a power supply 503 for supplying power to each component. Preferably, the power supply 503 can be logically connected to the processor 501 through a power management system, so as to implement functions such as management of charging, discharging, and power consumption management through the power management system. The power supply 503 can also include any components such as one or more DC or AC power supplies, a recharge system, a power failure detection circuit, a power converter or inverter, and a power status indicator.

[0196] The controller may further include an input unit 504, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0197] Although not shown, the controller may further include a display unit, etc., which will not be elaborated here. Specifically, in this embodiment, the processor 501 in the controller will load the executable files corresponding to the processes of one or more computer programs into the memory 502 according to the following instructions, and the processor 501 will run the computer programs stored in the memory 502 to implement various functions, such as:

[0198] According to the equivalent energy efficiency ratio of the heating system of the vehicle, based on the control of the target heat source among multiple heat sources of the heating system, heat is generated in the cabin of the vehicle.

[0199] It can be seen that the controller provided by the embodiment of the present application controls the target heat source among multiple heat sources of the heating system based on the equivalent energy efficiency ratio of the heating system of the vehicle to generate heat in the cabin of the vehicle. Based on this, the heat source for heating is adjusted during the heating process through the equivalent energy efficiency ratio of the heat pump of the heating system to reduce the energy consumption of the heating system.

[0200] For the specific implementation manners of the above operations and the corresponding beneficial effects, reference may be made to the detailed description of the heating control method above, which will not be elaborated herein.

[0201] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by a computer program or by controlling related hardware through a computer program. The computer program can be stored in a storage medium and loaded and executed by a processor.

[0202] Therefore, an embodiment of the present application provides a storage medium in which a computer program is stored. The computer program can be loaded by a processor to execute the steps in any one of the heating control methods provided by the embodiments of the present application. For example, the computer program can execute the following steps:

[0203] Based on the equivalent energy efficiency ratio of the heating system of the vehicle, control the target heat source among multiple heat sources of the heating system to perform heating in the cabin of the vehicle.

[0204] It can be seen that the storage medium provided by the embodiment of the present application controls the target heat source among multiple heat sources of the heating system based on the equivalent energy efficiency ratio of the heating system of the vehicle to perform heating in the cabin of the vehicle. Based on this, the heat source for heating is adjusted during the heating process through the equivalent energy efficiency ratio of the heat pump of the heating system to reduce the energy consumption of the heating system.

[0205] For the specific implementation manners of the above operations and the corresponding beneficial effects, reference may be made to the previous embodiments, which will not be elaborated herein.

[0206] Among them, the storage medium may include: Read Only Memory (ROM), Random Access Memory (RAM), a magnetic disk or an optical disc, etc.

[0207] Since the computer program stored in the storage medium can execute the steps in any one of the heating control methods provided by the embodiments of the present application, the beneficial effects that can be achieved by any one of the heating control methods provided by the embodiments of the present application can be realized. For details, refer to the previous embodiments, which will not be elaborated herein.

[0208] According to one aspect of the present application, a computer program product or a computer program is provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a storage medium. The processor of the computer device reads the computer instructions from the storage medium, and the processor executes the computer instructions, so that the computer device executes the above heating control method.

[0209] An embodiment of the present application further provides a vehicle, which includes the above-mentioned heating control device, or the above-mentioned controller, or the above-mentioned computer program product.

[0210] Exemplarily, the vehicle includes the above-mentioned controller, and the controller controls a target heat source among multiple heat sources of the vehicle's heating system based on the equivalent energy efficiency ratio of the heating system, so as to heat the interior of the vehicle. Based on this, during the heating process, the heat source for heating is adjusted according to the equivalent energy efficiency ratio of the heat pump of the heating system, so as to reduce the energy consumption of the heating system.

[0211] In some embodiments, the above-mentioned vehicle includes at least one of a vehicle, an aerial vehicle, a bullet train, and a ship.

[0212] Specifically, the vehicle may be a vehicle such as a motor vehicle or a fuel vehicle, an aerial vehicle such as an airplane, a bullet train, a ship, etc. Exemplarily, assuming the vehicle is a vehicle, the vehicle may include the above-mentioned vehicle control device, or the above-mentioned control device, or the above-mentioned computer program product.

[0213] The specific structure of the vehicle is not limited in the present application. The specific implementation manners of the above operations of the control device and the corresponding beneficial effects are also applicable to the vehicle. For details, reference may be made to the detailed description of the vehicle control method above, and details are not described herein again.

[0214] The above has introduced in detail a heating control method, device, controller, storage medium, computer program product, and vehicle provided by the embodiments of the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A heating control method, characterized in that, The method includes: Controlling a target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio of the heating system of the vehicle to perform heating in the cabin of the vehicle.

2. The heating control method according to claim 1, wherein The controlling the target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio of the heating system of the vehicle includes: Determining temperature difference information according to the target temperature and the actual temperature in the cabin of the vehicle; When the temperature difference information is less than a first preset difference information, controlling the target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio.

3. The heating control method according to claim 2, wherein The method further includes: When the temperature difference information is not less than a second preset difference information, controlling multiple heat sources of the heating system simultaneously.

4. The heating control method according to claim 3, wherein The value indicated by the second preset difference information is not less than the value indicated by the first preset difference information.

5. The heating control method according to claim 2, wherein The controlling the target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio includes: Determining a target heat source from multiple heat sources of the heating system according to the equivalent energy efficiency ratio and an energy efficiency ratio threshold, and controlling the target heat source.

6. The heating control method according to claim 5, wherein The multiple heat sources at least include a first heat source and a second heat source, and the frequency of the first heat source is higher than that of the second heat source.

7. The heating control method according to claim 6, characterized in that The determining a target heat source from multiple heat sources of the heating system according to the equivalent energy efficiency ratio and an energy efficiency ratio threshold includes: When the equivalent energy efficiency ratio is less than the energy efficiency ratio threshold, determining the target heat source as the first heat source; When the equivalent energy efficiency ratio is not less than the energy efficiency ratio threshold, determining the target heat source as the second heat source.

8. The heating control method according to claim 6, characterized in that, The first heat source includes a positive temperature coefficient heater, and the energy efficiency ratio threshold is determined based on the heating efficiency of the positive temperature coefficient heater.

9. The heating control method according to claim 8, wherein, When the target heat source is the first heat source, the controlling the target heat source includes: Performing power control on the positive temperature coefficient heater.

10. The heating control method according to claim 9, characterized in that, The performing power control on the positive temperature coefficient heater includes: When the temperature difference information is not greater than a third preset difference information, controlling to reduce the power of the positive temperature coefficient heater.

11. The heating control method according to claim 10, characterized in that, The controlling to reduce the power of the positive temperature coefficient heater includes: Controlling the power of the positive temperature coefficient heater to be reduced by a preset power value.

12. The heating control method according to claim 10, characterized in that, The performing power control on the positive temperature coefficient heater further includes: When the temperature difference information is greater than the third preset difference information and the continuous duration that the equivalent energy efficiency ratio is less than the energy efficiency ratio threshold meets a preset duration, determining the target power of the positive temperature coefficient heater; Controlling the positive temperature coefficient heater based on the target power.

13. The heating control method according to claim 12, characterized in that, The target power is determined based on the maximum power of the positive temperature coefficient heater and a preset control method.

14. The heating control method according to claim 12, characterized in that, The preset duration is determined based on the response delay of the heating system.

15. The heating control method according to claim 12, characterized in that, The performing power control on the positive temperature coefficient heater further includes: When the temperature difference information is greater than the third preset difference information and the duration for which the equivalent energy efficiency ratio is less than the energy efficiency ratio threshold does not meet the preset duration, control to maintain the current power of the positive temperature coefficient heater.

16. The heating control method according to claim 8, characterized in that The second heat source includes a compressor.

17. The heating control method according to claim 16, characterized in that, The target heat source is the second heat source, and the control of the target heat source includes: Performing speed control on the compressor.

18. The heating control method according to claim 17, wherein The performing of speed control on the compressor includes: When the temperature difference information is greater than the fourth preset difference information and the duration for which the equivalent energy efficiency ratio is greater than the energy efficiency ratio threshold meets the preset duration, control to reduce the speed of the compressor; When the temperature difference information is greater than the fourth preset difference information and the duration for which the equivalent energy efficiency ratio is greater than the energy efficiency ratio threshold does not meet the preset duration, determine the target speed of the compressor and, based on the target speed, control the compressor.

19. The heating control method according to claim 18, characterized in that, The control to reduce the speed of the compressor includes: Controlling the speed of the compressor to be reduced by a preset speed value.

20. The heating control method according to claim 18, characterized in that, The performing of speed control on the compressor further includes: When the temperature difference information is not greater than the fourth preset difference information and the current power of the positive temperature coefficient heater is less than the predetermined power threshold, determine the target speed of the compressor and, based on the target speed, control the compressor; When the temperature difference information is not greater than the fourth preset difference information and the current power of the positive temperature coefficient heater is not less than the predetermined power threshold, maintain the current speed of the compressor.

21. The heating control method according to claim 18, wherein The target speed is determined based on the maximum speed of the compressor and a predetermined control method.

22. The control method according to any one of claims 1 to 21, characterized in that, The vehicle includes at least one of a vehicle, an aerial vehicle, a bullet train, and a ship.

23. A heating control device, characterized in that, The device includes: A control module for controlling a target heat source among multiple heat sources of the heating system according to the equivalent energy efficiency ratio of the heating system of the vehicle to perform heating in the cabin of the vehicle.

24. A controller, characterized in that, It includes one or more processors and a memory, and the memory stores a computer program. When the computer program is executed by the processor, the processor executes the steps of the heating control method according to any one of claims 1 to 22.

25. A storage medium, characterized in that, It includes a computer program. When the computer program runs on a controller, the computer program is used to cause the controller to execute the steps of the heating control method according to any one of claims 1 to 22.

26. A computer program product, characterized in that, It includes a computer program or instruction. When the computer program or instruction is executed by a processor, the steps of the heating control method according to any one of claims 1 to 22 are implemented.

27. A vehicle, characterized in that the vehicle includes the controller according to claim 24.

28. The vehicle according to claim 27, wherein, The vehicle includes at least one of a vehicle, an aerial vehicle, a bullet train, and a ship.

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