Vehicle control method, device, equipment, medium and product

Abstract

The invention discloses a vehicle control method, device and equipment, a medium and a product, and relates to the field of new energy automobiles. A discrete scheme matrix corresponding to the target vehicle is obtained, and the total equivalent fuel consumption corresponding to the discrete scheme matrix is calculated based on the state information of the target vehicle; determining a target total equivalent fuel consumption from the at least one total equivalent fuel consumption based on Hamiltonian calculation; and controlling the target vehicle based on the state information corresponding to the target total equivalent fuel consumption. According to the technical scheme, at least one total equivalent fuel consumption is determined through the constructed discrete scheme matrix, the optimal value is determined to control the target vehicle, the optimal fuel consumption value can be rapidly calculated in real time based on the state information of the vehicle, and effective management control over vehicle energy is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of new energy vehicles, in particular to a vehicle control method, device, equipment, medium and product. BACKGROUND

[0002] At present, the energy management strategy of hybrid commercial vehicles can be divided into rule-based methods and optimization-based methods, and the optimization-based methods include equivalent fuel consumption minimum method, dynamic programming algorithm, neural network method, etc. The rule-based method is often complex in rule setting and cannot guarantee optimal energy consumption. The dynamic programming method can achieve global optimization, but the calculation amount is huge and real-time calculation is impossible. The neural network method simulates the human brain control method, but the data arrangement and model training are complex. The equivalent fuel consumption minimum method cannot guarantee the global minimum fuel consumption, but it can be calculated in real time and the calculation amount is moderate.

[0003] However, the commonly used equivalent fuel consumption minimum method often only considers the optimization of engine torque or only considers the correction of SOC (State of Charge, the proportion of available battery capacity to nominal capacity), and does not consider the optimization of gear position, battery SOC and engine start-stop state, resulting in inaccurate control of new energy commercial vehicle energy management. SUMMARY

[0004] The present application provides a vehicle control method, device, equipment, medium and product to solve the problem of single energy management of hybrid commercial vehicles. The at least one total equivalent fuel consumption is determined by constructing a discrete scheme matrix, and the influencing factors of vehicle energy management are considered comprehensively to further realize effective management and control of the vehicle.

[0005] According to one aspect of the present application, a vehicle control method is provided, comprising:

[0006] obtaining a discrete scheme matrix corresponding to a target vehicle;

[0007] calculating the total equivalent fuel consumption corresponding to the discrete scheme matrix based on the state information of the target vehicle;

[0008] determining a target total equivalent fuel consumption from the at least one total equivalent fuel consumption based on Hamilton calculation;

[0009] controlling the target vehicle based on the state information corresponding to the target total equivalent fuel consumption.

[0010] According to another aspect of the present application, a vehicle control device is provided, comprising:

[0011] a discrete scheme matrix acquisition module for obtaining a discrete scheme matrix corresponding to a target vehicle;

[0012] a total equivalent fuel consumption determination module configured to calculate total equivalent fuel consumptions corresponding to the discrete scheme matrix based on state information of the target vehicle;

[0013] a target total equivalent fuel consumption determination module configured to determine a target total equivalent fuel consumption from the at least one total equivalent fuel consumption based on Hamilton calculation;

[0014] a control module configured to control the target vehicle based on state information corresponding to the target total equivalent fuel consumption.

[0015] According to another aspect of the present application, there is provided an electronic device, comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein

[0018] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of the embodiments of the present application.

[0019] According to another aspect of the present application, there is provided a computer readable storage medium storing computer instructions for enabling a processor to perform the vehicle control method according to any one of the embodiments of the present application when executed by the processor.

[0020] According to another aspect of the present application, there is provided a computer program product comprising a computer program for enabling a processor to perform the vehicle control method according to any one of the embodiments of the present application when executed by the processor.

[0021] The technical solution of the embodiments of the present application calculates total equivalent fuel consumptions corresponding to the discrete scheme matrix based on state information of the target vehicle, determines a target total equivalent fuel consumption from the at least one total equivalent fuel consumption based on Hamilton calculation, and controls the target vehicle based on state information corresponding to the target total equivalent fuel consumption. The above technical solution solves the problem of single energy management of a hybrid commercial vehicle, determines at least one total equivalent fuel consumption through the constructed discrete scheme matrix, and determines an optimal value to control the target vehicle, which can quickly calculate an optimal value of fuel consumption based on state information of the vehicle in real time, and effectively manage and control energy of the vehicle.

[0022] It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to make the technical solutions in the embodiments of the present application clearer, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0024] Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present application;

[0025] Figure 2 is a flow chart of a discrete scheme matrix acquisition method according to an embodiment of the present application;

[0026] Figure 3 is a flow chart of a vehicle control method according to an embodiment of the present application;

[0027] Figure 4 is a flow chart of a motor equivalent fuel consumption correction method according to an embodiment of the present application;

[0028] Figure 5 is a design chart of a penalty coefficient curve according to an embodiment of the present application;

[0029] Figure 6 is a flow chart of a penalty fuel consumption determination method according to an embodiment of the present application;

[0030] Figure 7 is a structural schematic diagram of a vehicle control device according to an embodiment of the present application;

[0031] Figure 8 is a structural schematic diagram of an electronic device for implementing a vehicle control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to make those skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort should belong to the protection scope of the present application.

[0033] In addition, it should be further explained that the collection, storage, use, processing, transmission, provision and disclosure of the data to be processed and the like in the technical solutions of the present application all comply with the relevant legal regulations and do not violate public order and good customs.

[0034] Figure 1 A flowchart of a vehicle control method is provided for an embodiment of the present application, which can be applicable to the energy management control of a new energy vehicle. The method can be executed by a vehicle control device provided by an embodiment of the present application, which can be realized in the form of hardware and / or software, and can be configured in a new energy vehicle. As shown in the figure, the method comprises: Figure 1

[0035] S110, obtaining a discrete scheme matrix corresponding to a target vehicle.

[0036] The target vehicle can be a hybrid new energy commercial vehicle, and can be in a running state or a stopped state. The discrete scheme matrix is a two-dimensional discrete scheme matrix of torque-gear corresponding to the engine of the target vehicle, wherein each torque corresponds to a gear as a scheme.

[0037] Specifically, the discrete scheme matrix corresponding to the engine of the target vehicle is obtained.

[0038] Optionally, as shown in the figure, a discrete scheme matrix acquisition method for obtaining a discrete scheme matrix corresponding to a target vehicle comprises: Figure 2

[0039] S111, obtaining at least one target working condition point by discretely sampling the engine torque of the target vehicle based on a preset interval.

[0040] The target working condition point is a sampling point corresponding to the engine torque.

[0041] Specifically, the engine torque of the target vehicle is discretely sampled based on a preset interval to obtain at least one target working condition point.

[0042] It should be noted that the preset interval can be set according to the engine external characteristic curve, and a small interval (such as 10-20 Nm) can be used in the peak torque interval (such as 1500-4000 rpm), and a large interval (such as 30-50 Nm) can be used in other intervals. Related technical personnel can set the preset interval according to actual needs, and the embodiments of the present application do not make specific limitations thereto.

[0043] S112, determining at least one target torque based on at least one target working condition point.

[0044] The target torque is a torque value corresponding to the working condition point.

[0045] Specifically, the corresponding torque discrete value is determined based on each sampled working condition point, which can be represented as (T1, T2,..., Tn). n

[0046] ​​​S113, determine at least one target gear based on the at least one target working condition point.

[0047] The target gear is a gear corresponding to the target working condition point.

[0048] Specifically, the corresponding gear discrete values determined based on the target working condition points obtained by sampling can be represented as (Gear1, Gear2,..., Gear m ).

[0049] S114, construct a discrete scheme matrix based on the at least one target working condition point, the at least one target torque, and the at least one target gear.

[0050] Specifically, the discrete values corresponding to the target working condition points and the target torque are fused with the target working condition points and the target gear to form a two-dimensional discrete scheme matrix; for example, the torque and the gear in the discrete scheme matrix are in a one-to-one correspondence, the rows in the discrete scheme matrix are torque discrete points, the columns are gear discrete points, and each cell stores a speed value corresponding to a working condition point.

[0051] It can be understood that by pre-discretely sampling the corresponding relationship between the torque and the gear, the optimization of the torque and the gear is comprehensively considered when calculating the fuel consumption of the target vehicle subsequently, and the influence of single consideration of the engine torque or the SOC value is avoided, so that the equivalent fuel consumption calculation is not comprehensive and the energy management cannot be accurately performed.

[0052] S120, calculate the total equivalent fuel consumption corresponding to the discrete scheme matrix based on the state information of the target vehicle.

[0053] The state information of the target vehicle includes the current SOC, the torque of the engine, the current gear, and the engine state of the engine; and the total equivalent fuel consumption is the total fuel consumption required for the torque change of the target vehicle in the current state.

[0054] Specifically, based on the state information of the target vehicle including the current SOC, the torque of the engine, the current gear, and the engine state of the engine, the total fuel consumption required for the transition from the current state to the scheme of the remaining engine torque and the corresponding gear in the discrete scheme matrix is calculated.

[0055] S130, determine a target total equivalent fuel consumption from the at least one total equivalent fuel consumption based on Hamilton calculation.

[0056] The target total equivalent fuel consumption is the total equivalent fuel consumption with the smallest fuel consumption.

[0057] Specifically, a Hamilton function is constructed corresponding to each variable in the discrete scheme matrix, and the Hamilton function is optimized and solved to find the equivalent fuel consumption with the smallest equivalent fuel consumption from the at least one total equivalent fuel consumption as the target total equivalent fuel consumption.

[0058] S140, control the target vehicle based on the state information corresponding to the target total equivalent fuel consumption.

[0059] Specifically, the target total equivalent fuel consumption is used to determine the corresponding vehicle operating state combination, for example, the engine torque of the target vehicle, the motor torque of the target vehicle, the target gear of the target vehicle, and the engine state of the target vehicle, etc. Based on the values of the target engine torque, the target motor torque, the target gear, and the target engine start-stop state, the target vehicle system is controlled to operate.

[0060] The technical scheme of the embodiment of the application obtains a discrete scheme matrix corresponding to a target vehicle, calculates a total equivalent fuel consumption corresponding to the discrete scheme matrix based on the state information of the target vehicle, determines a target total equivalent fuel consumption from at least one total equivalent fuel consumption based on Hamilton calculation, and controls the target vehicle based on the state information corresponding to the target total equivalent fuel consumption. The above technical scheme solves the problem of single energy management of a hybrid commercial vehicle, comprehensively considers the influencing factors of vehicle energy management, can quickly calculate the optimal value of fuel consumption based on the state information of the vehicle in real time, and realizes effective management and control of vehicle energy.

[0061] Figure 3 is a flowchart of a vehicle control method according to an embodiment of the application. Based on the above embodiment, the specific way of calculating the total equivalent fuel consumption corresponding to the discrete scheme matrix based on the state information of the target vehicle is supplemented. It should be noted that the parts not described in detail in the embodiment of the application can be referred to the relevant descriptions of other embodiments. As shown in the figure, the method comprises: Figure 3

[0062] S210, obtain a discrete scheme matrix corresponding to a target vehicle.

[0063] S220, calculate the motor equivalent fuel consumption and the engine fuel consumption based on the state information of the target vehicle.

[0064] The motor equivalent fuel consumption is the electric consumption, which is related to factors such as SOC, battery power, engine and generator efficiency, and the engine fuel consumption is calculated according to the power of the generator and the fuel consumption rate.

[0065] Specifically, the calculation is based on the state information of the target vehicle. The electric energy can be calculated based on the motor power and the motor efficiency curve, and the electric energy is converted into equivalent fuel consumption. The ratio of equivalent fuel consumption to time is the motor equivalent fuel consumption. The engine fuel consumption is calculated based on the current gear and speed, combined with the engine torque and the working point of the engine.

[0066] ​S230. Based on the target vehicle's status information and a preset correction threshold, the equivalent fuel consumption of the motor is corrected to obtain the corrected equivalent fuel consumption of the motor.

[0067] The target vehicle's status information can be SOC information, the correction threshold is a pre-set target SOC value, and the corrected motor equivalent fuel consumption is the motor's energy consumption when the target vehicle's current status information is adjusted.

[0068] Specifically, based on the current status information of the target vehicle, it is compared with a preset correction threshold, and the equivalent fuel consumption of the motor is corrected based on the comparison result to determine the corrected equivalent fuel consumption of the motor.

[0069] Optional, such as Figure 4 The method shown is for correcting the equivalent fuel consumption of an electric motor; based on the state information of the target vehicle and a preset correction threshold, the equivalent fuel consumption of the electric motor is corrected to obtain the corrected equivalent fuel consumption of the electric motor, including:

[0070] S231. Determine the SOC information based on the target vehicle's state information.

[0071] Specifically, the current battery SOC information of the target vehicle is determined based on the target vehicle's status information.

[0072] S232. Compare the SOC information with the preset correction threshold to obtain the comparison result.

[0073] The preset correction threshold is the target SOC; it can be preset by relevant technicians based on the actual needs of the vehicle, and the embodiments of the present invention do not specifically limit it.

[0074] Specifically, the SOC information is compared with the target SOC (SOCtarget), and the comparison result can be that the SOC information is greater than the target SOC, the SOC information is equal to the target SOC, or the SOC information is less than the target SOC.

[0075] S233. Determine the penalty coefficient based on the comparison results, and correct the equivalent fuel consumption of the motor using the penalty coefficient to obtain the corrected equivalent fuel consumption of the motor.

[0076] The penalty coefficient is a correction factor for the equivalent fuel consumption of the motor.

[0077] Specifically, if the SOC information is greater than the target SOC, the SOC penalty coefficient is less than 1 and greater than 0; if the SOC information is equal to the target SOC, the SOC penalty coefficient is 1; if the SOC information is less than the target SOC, the SOC penalty coefficient P is greater than 1; the corrected motor equivalent fuel consumption is obtained by multiplying the penalty coefficient by the motor equivalent fuel consumption.

[0078] It should be noted that the penalty coefficient P can be a fixed value set by a skilled person, and the error is small and can be ignored; the embodiment of the application does not specifically limit this.

[0079] In an optional mode of the application, a skilled person can also construct a SOC coefficient curve graph: such as the penalty coefficient curve graph shown in Figure 5 The SOC coefficient can have different shapes, which can be a straight line such as SOC coefficient 1, or a curve such as SOC coefficient 2, or a broken line such as SOC coefficient 3, the abscissa is the SOC information, the ordinate is the penalty coefficient corresponding to the SOC, and the penalty coefficient changes from high to low as the SOC value changes from low to high; then the penalty coefficient corresponding to the SOC information can be found from the SOC coefficient curve graph based on the SOC information. It should be noted that a skilled person can select the corresponding SOC coefficient curve based on the actual demand and the basic information of the target vehicle to determine the penalty coefficient in order to correct the equivalent fuel consumption of the motor.

[0080] S240, determining the penalty fuel consumption based on the state information and the discrete scheme matrix.

[0081] The penalty fuel consumption is the amount of fuel consumed by the target vehicle when changing from the current state to the state in the discrete scheme matrix.

[0082] Specifically, based on the current gear information and the engine state information in the state information, the corresponding state in the discrete scheme matrix is compared to determine the penalty fuel consumption.

[0083] Optionally, as shown in Figure 6 A penalty fuel consumption determination method based on the state information and the discrete scheme matrix, comprising:

[0084] S241, comparing the current gear information in the state information with the target gear information in the discrete scheme matrix to obtain a gear shifting penalty coefficient.

[0085] The current gear information is the current gear value of the target vehicle; the gear shifting penalty coefficient is used to control the frequency of gear shifting.

[0086] Specifically, the current gear value in the state information is compared with the target gear in the discrete scheme matrix; if the current gear value and the target gear value are the same, the gear shifting penalty coefficient is 0; if the current gear value and the target gear value are different, the gear shifting penalty coefficient is a value greater than 0.

[0087] It should be noted that when the current gear value and the target gear value are different, the gear shifting penalty coefficient is a value greater than 0, which can be set in advance by a skilled person, and the embodiment of the application does not specifically limit this.

[0088] S242, obtaining a start-stop penalty coefficient based on comparison between the engine state information in the state information and the engine state information in the discrete scheme matrix.

[0089] The engine state information can be a start state or a stop state, and the start-stop penalty coefficient is used to control the frequency of engine start-stop.

[0090] Specifically, the current engine state is compared with the engine state in the discrete scheme matrix; if the current engine state is the same as the engine state in the discrete scheme matrix, the start-stop penalty coefficient is 0; if the current engine state is different from the engine state in the discrete scheme matrix, the start-stop penalty coefficient is a number greater than 0.

[0091] It should be noted that when the current engine state is different from the engine state in the discrete scheme matrix, the start-stop penalty coefficient is a number greater than 0, which can be set in advance by a person skilled in the art, and the embodiment of the present application does not make specific limitations.

[0092] S243, calculating the penalty fuel consumption by multiplying the shift penalty coefficient and the start-stop penalty coefficient by the preset penalty fuel consumption, respectively.

[0093] The preset penalty fuel consumption is a fixed value, which can be set in advance by a person skilled in the art; and the penalty fuel consumption is the sum of the shift penalty fuel consumption and the start-stop penalty fuel consumption.

[0094] Specifically, the shift penalty coefficient is multiplied by the penalty fuel consumption to obtain the shift penalty fuel consumption, and the start-stop penalty coefficient is multiplied by the penalty fuel consumption to obtain the start-stop penalty fuel consumption, and the sum of the shift penalty fuel consumption and the start-stop penalty fuel consumption is the penalty fuel consumption.

[0095] S250, obtaining the total equivalent fuel consumption based on the engine fuel consumption, the corrected motor equivalent fuel consumption, and the penalty fuel consumption.

[0096] Specifically, the engine fuel consumption, the corrected motor equivalent fuel consumption, the shift penalty fuel consumption, and the start-stop penalty fuel consumption are added to obtain the total equivalent fuel consumption.

[0097] S260, determining a target total equivalent fuel consumption from at least one total equivalent fuel consumption based on Hamilton calculation.

[0098] S270, controlling the target vehicle based on the state information corresponding to the target total equivalent fuel consumption.

[0099] The embodiment of the present application calculates the corrected motor oil consumption based on the preset correction threshold, and further calculates the penalty oil consumption based on the current gear and the engine state, considers the correction problem of the SOC on the equivalent factor in the strategy of controlling the target vehicle, and further considers the minimum equivalent oil consumption optimization method of the gear optimization and the engine start-stop function according to the whole vehicle hybrid architecture, so as to control the target vehicle, and the calculation amount is small and can be calculated in real time, which ensures the effective control of the energy management of the new energy commercial vehicle.

[0100] Figure 7 A structural schematic diagram of a vehicle control device provided by the embodiment of the present application, the embodiment of the present application can be applied to the energy management control of a new energy vehicle; the vehicle control device can be realized in the form of hardware and / or software, and the vehicle control device can be configured in a new energy vehicle. The vehicle control device 300 comprises a discrete scheme matrix acquisition module 310, a total equivalent oil consumption determination module 320, a target total equivalent oil consumption determination module 330 and a control module 340.

[0101] The discrete scheme matrix acquisition module 310 is used to acquire the discrete scheme matrix corresponding to the target vehicle.

[0102] The total equivalent oil consumption determination module 320 is used to calculate the total equivalent oil consumption corresponding to the discrete scheme matrix based on the state information of the target vehicle.

[0103] The target total equivalent oil consumption determination module 330 is used to determine the target total equivalent oil consumption from at least one total equivalent oil consumption based on Hamilton calculation.

[0104] The control module 340 is used to control the target vehicle based on the state information corresponding to the target total equivalent oil consumption.

[0105] The technical scheme of the embodiment of the present application acquires the discrete scheme matrix corresponding to the target vehicle, calculates the total equivalent oil consumption corresponding to the discrete scheme matrix based on the state information of the target vehicle, determines the target total equivalent oil consumption from at least one total equivalent oil consumption based on Hamilton calculation, and controls the target vehicle based on the state information corresponding to the target total equivalent oil consumption. The above technical scheme solves the problem of the single energy management of the hybrid commercial vehicle, comprehensively considers the influencing factors of the vehicle energy management, can quickly calculate the optimal value of the oil consumption based on the state information of the vehicle in real time, and realizes the effective management and control of the vehicle energy.

[0106] Optionally, the discrete scheme matrix acquisition module 310 comprises a working condition point determination unit, a target torque determination unit, a target gear determination unit and a discrete scheme matrix construction unit.

[0107] The working condition point determination unit is used to sample the engine torque of the target vehicle based on a preset interval to obtain at least one target working condition point.

[0108] a target torque determination unit configured to determine at least one target torque based on the at least one target operating point;

[0109] a target gear determination unit configured to determine at least one target gear based on the at least one target operating point;

[0110] a discrete scheme matrix construction unit configured to construct a discrete scheme matrix based on the at least one target operating point, the at least one target torque and the at least one target gear.

[0111] Optionally, the total equivalent fuel consumption determination module 320 comprises a fuel consumption calculation unit, a motor equivalent fuel consumption determination unit, a penalty fuel consumption determination unit and a total equivalent fuel consumption determination unit.

[0112] The fuel consumption calculation unit is configured to calculate the motor equivalent fuel consumption and the engine fuel consumption based on the state information.

[0113] The motor equivalent fuel consumption determination unit is configured to correct the motor equivalent fuel consumption based on the discrete scheme matrix and a preset correction threshold to obtain a corrected motor equivalent fuel consumption.

[0114] The penalty fuel consumption determination unit is configured to determine a penalty fuel consumption based on the state information and the discrete scheme matrix.

[0115] The total equivalent fuel consumption determination unit is configured to obtain a total equivalent fuel consumption based on the engine fuel consumption, the corrected motor equivalent fuel consumption and the penalty fuel consumption.

[0116] The motor equivalent fuel consumption determination unit is specifically configured to determine SOC information based on the state information of the target vehicle; compare the SOC information with a preset correction threshold to obtain a comparison result; determine a penalty coefficient based on the comparison result, and correct the motor equivalent fuel consumption by the penalty coefficient to obtain the corrected motor equivalent fuel consumption.

[0117] The penalty fuel consumption determination unit is specifically configured to compare the current gear information in the state information with the target gear in the discrete scheme matrix to obtain a gear penalty coefficient; compare the engine state information in the state information with the engine state information in the discrete scheme matrix to obtain a start-stop penalty coefficient; and calculate the penalty fuel consumption by the gear penalty coefficient and the start-stop penalty coefficient respectively with a preset penalty fuel consumption.

[0118] The vehicle control device provided by the embodiments of the present application can execute the vehicle control method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0119] According to the embodiments of the present application, the present application further provides an electronic device, a readable storage medium and a computer program product.

[0120] Figure 8 A structural diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0121] As shown, the electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., communicatively connected to the at least one processor 11, where the memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14. Figure 8

[0122] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0123] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the vehicle control method.

[0124] ​In some embodiments, the vehicle control method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11 as described above, one or more steps of the vehicle control method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the vehicle control method by other means, e.g., with the aid of firmware.

[0125] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0126] Computer programs implementing methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0127] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0128] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0129] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0130] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0131] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which are not limited herein.

[0132] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that, include: Obtain the discrete scheme matrix corresponding to the target vehicle; Calculate the total equivalent fuel consumption corresponding to the discrete scheme matrix based on the state information of the target vehicle; The target total equivalent fuel consumption is determined from the at least one total equivalent fuel consumption based on Hamiltonian calculation; The target vehicle is controlled based on the state information corresponding to the target total equivalent fuel consumption.

2. The method according to claim 1, characterized in that, Obtain the discrete scheme matrix corresponding to the target vehicle, including: The engine torque of the target vehicle is sampled at preset intervals to obtain at least one target operating point; Determine at least one target torque based on the at least one target operating point; Determine at least one target gear based on the at least one target operating point; Based on the at least one target operating point, the at least one target torque, and the at least one target gear, a discrete scheme matrix is ​​constructed.

3. The method according to claim 1, characterized in that, The calculation of the total equivalent fuel consumption corresponding to the discrete scheme matrix based on the target vehicle's state information includes: Calculate the equivalent fuel consumption of the motor and the fuel consumption of the engine based on the state information of the target vehicle; The equivalent fuel consumption of the motor is corrected based on the state information of the target vehicle and a preset correction threshold to obtain the corrected equivalent fuel consumption of the motor. The penalty fuel consumption is determined based on the state information and the discrete scheme matrix; Based on the engine fuel consumption, the equivalent fuel consumption of the electric motor and the penalty fuel consumption are corrected to obtain the total equivalent fuel consumption.

4. The method according to claim 3, characterized in that, The step of correcting the equivalent fuel consumption of the motor based on a preset correction threshold to obtain the corrected equivalent fuel consumption of the motor includes: Determine SOC information based on the target vehicle's status information; The comparison result is obtained by comparing the SOC information with the preset correction threshold; The penalty coefficient is determined based on the comparison results, and the penalty coefficient is used to correct the equivalent fuel consumption of the motor to obtain the corrected equivalent fuel consumption of the motor.

5. The method according to claim 3, characterized in that, The determination of penalty fuel consumption based on the state information and the discrete scheme matrix includes: The shift penalty coefficient is obtained by comparing the current gear information in the state information with the target gear in the discrete scheme matrix. The start-stop penalty coefficient is obtained by comparing the engine state information in the state information with the engine state information in the discrete scheme matrix. The shift penalty coefficient and the start-stop penalty coefficient are respectively calculated with the preset penalty fuel consumption to obtain the penalty fuel consumption.

6. A vehicle control device, characterized in that, include: The discrete scheme matrix acquisition module is used to acquire the discrete scheme matrix corresponding to the target vehicle. The total equivalent fuel consumption determination module is used to calculate the total equivalent fuel consumption corresponding to the discrete scheme matrix based on the state information of the target vehicle; A target total equivalent fuel consumption determination module is used to determine a target total equivalent fuel consumption from the at least one total equivalent fuel consumption based on Hamiltonian calculation; The control module is used to control the target vehicle based on the status information corresponding to the target total equivalent fuel consumption.

7. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle control method as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the vehicle control method as described in any one of claims 1-5.

9. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the vehicle control method according to any one of claims 1-5.

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