Path quadratic planning method and system in extreme endurance mode and electric vehicle

Abstract

The invention provides a path quadratic planning method and system in an extreme endurance mode and an electric vehicle, and the method specifically comprises the following steps: after the vehicle enters the extreme endurance mode, turning off the comfort function of the vehicle, finding a minimum energy consumption driving path from a current position to a target position, and starting the driving path from the current position to the target position; and taking the path with the minimum energy consumption as a driving path from the current position to the target position. When the endurance mileage of the vehicle is low, the extreme endurance mode is selected to be started according to the condition that the endurance mileage is insufficient, and in the extreme endurance mode, the driving path with the minimum energy consumption between the current position and the final position or between the current position and the charging station is selected, so that the trouble of a user to the endurance mileage of the vehicle is relieved as much as possible.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of trajectory prediction, and provides a path quadratic programming method and system of an extreme endurance mode and an electric vehicle. BACKGROUND

[0002] With the increasing scarcity of natural resources such as oil and the continuous growth of the number of automobiles, environmental pollution caused by automobile exhaust is becoming increasingly serious, and therefore new energy vehicles have become the focus of research by automobile manufacturers.

[0003] Based on the development of the power storage battery industry, electric vehicles have become an important development direction and are welcomed by the majority of users due to the advantages of low operating cost, zero emissions, low noise and full use of valley electricity. However, the influence of the energy density technical bottleneck of the power storage battery has caused the range anxiety of the electric vehicle to become the biggest worry of users of pure electric vehicles.

[0004] The range anxiety of pure electric vehicles has caused many troubles for users. Therefore, an energy-saving mode has emerged. The existing energy-saving mode in the market only increases the endurance mileage by saving the energy consumption of other ECUs of the vehicle, and the range anxiety problem still exists. SUMMARY

[0005] In view of this, the application provides a path quadratic programming method of an extreme endurance mode, which aims to improve the above problems.

[0006] Specifically, the technical scheme comprises the following:

[0007] On the one hand, the application embodiment provides a path quadratic programming method of an extreme endurance mode, and the method is specifically as follows:

[0008] After the vehicle enters the extreme endurance mode, the comfort function of the vehicle is turned off, the minimum energy consumption driving path from the current position to the target position is found, and the minimum energy consumption path is taken as the driving path from the current position to the target position.

[0009] In some embodiments of the application, the energy consumption of the driving path is composed of the basic energy consumption required by the corresponding driving path, the turning energy consumption and the slope energy consumption.

[0010] In some embodiments of the application, the basic energy consumption required by the driving path is specifically as follows:

[0011] The distance Li of the driving path is determined, and the energy consumption required by the straight distance Li is taken as the basic energy consumption required by the corresponding driving path.

[0012] In some embodiments of the application, the basic turning energy consumption required by the driving path is specifically as follows:

[0013] Detect the turning sections on the driving path, and the corresponding turning angles of the turning sections;

[0014] The turning energy consumption of different turning angle ranges corresponding to turning road sections is calibrated.

[0015] Determine the number of turning segments within each turning angle range on the driving path. Multiply the number of turning segments within the corresponding turning angle range by the turning energy consumption of the corresponding turning segment within that turning angle range as the turning energy consumption required for the driving path within the required turning angle range. Sum the turning energy consumption within all turning angle ranges as the turning energy consumption required for the driving path.

[0016] In some embodiments of the present invention, the method for detecting the turning angle corresponding to the turning segment on the driving path is as follows:

[0017] Based on the set sampling interval, the trajectory points of the driving path from the current position to the target position are sampled and put into the sampling point set in sequence. At the same time, the starting position and the target position are put into the starting position and the ending position of the sampling point set, respectively.

[0018] Iterate through all sampling points in the sampling point set and calculate the turning angle from the (i-1)th sampling point, through the ith sampling point, to the (i+1)th sampling point.

[0019] In some embodiments of the present invention, the turning angle The specific calculation formula is as follows:

[0020]

[0021] Where D(i-1,i) represents the Euclidean distance between the (i-1)th sampling point and the ith sampling point, D(i-1,i+1) represents the Euclidean distance between the (i-1)th sampling point and the (i+1)th sampling point, and D(i+1,i) represents the Euclidean distance between the (i+1)th sampling point and the ith sampling point, and the value of i ranges from 2 to m-1, where m is the total number of sampling points in the sampling point set.

[0022] In some embodiments of the present invention, the sloping road segments and their gradients on the driving path are detected, and the vehicle's direction of travel is used to determine whether the vehicle is going uphill or downhill. If the vehicle is going uphill, the specific formula for calculating the gradient energy consumption W required for the corresponding sloping road segment is as follows:

[0023] W=lM g (cosε.μ+sinε);

[0024] If the vehicle is in a state of sloping, the required gradient energy consumption W for the sloping road section. i The specific calculation formula is as follows:

[0025] W = lM g (cosε.μ-|sinε|);

[0026] Wherein, M g is the weight of the vehicle, μ is the friction coefficient of the slope road section, ε is the slope of the slope road section, and l is the length of the slope road section.

[0027] In some embodiments of the application, after triggering the extreme endurance mode, it is detected whether the current vehicle meets the entering condition of the extreme endurance mode, and if the result is yes, the extreme endurance mode is entered, wherein the entering condition of the extreme endurance mode is as follows:

[0028] Condition 1: The current vehicle is not in the ADAS intelligent driving function state;

[0029] Condition 2: The current state of charge SOC of the power battery is lower than the set threshold;

[0030] Condition 3: The remaining endurance mileage of the vehicle is less than the remaining mileage from the current position of the vehicle to the end position.

[0031] On the other hand, the application provides a path re-planning system for the extreme endurance mode, which comprises:

[0032] A navigation device, a vehicle control unit VCU connected with the navigation device, and the vehicle control unit VCU connected with an input unit;

[0033] The input unit is used for receiving the end position input by the user and sending it to the vehicle control unit VCU;

[0034] The navigation device is used for positioning the current position of the vehicle and sending it to the vehicle control unit VCU;

[0035] The vehicle control unit VCU closes the comfort function of the vehicle after detecting that the vehicle is in the extreme endurance mode, and plans the driving path with the minimum energy consumption from the current position to the target position based on the path re-planning method in the extreme endurance mode.

[0036] On the other hand, the application provides an electric vehicle, and the electric vehicle is integrated with the path re-planning system for the extreme endurance mode.

[0037] The application selects to start the extreme endurance mode according to the insufficient endurance mileage when the endurance mileage of the vehicle is low, and selects the driving path with the minimum energy consumption between the current position and the end position or the charging station in the extreme endurance mode, so as to relieve the user's trouble of the endurance mileage of the vehicle as much as possible. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced. 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.

[0039] Figure 1 The flow chart of the path quadratic programming method in the extreme endurance mode provided by the embodiment of the present application is shown in the figure.

[0040] Figure 2 The structure schematic diagram of the path quadratic programming system in the extreme endurance mode provided by the embodiment of the present application is shown in the figure.

[0041] The specific embodiments of the present application have been shown in the above drawings, and will be described in more detail hereinafter. These drawings and the description are not intended to limit the scope of the concept of the present application by any means, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the 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 are within the scope of protection of the present application.

[0043] Unless otherwise defined, all the technical terms used in the embodiments of the present application have the same meanings as commonly understood by those skilled in the art.

[0044] When the endurance mileage of the vehicle is low, the extreme endurance mode is selected according to the insufficient endurance mileage, and in the extreme endurance mode, the driving path with the minimum energy consumption between the current position and the terminal position or the charging station is selected to relieve the user's concern about the endurance mileage of the vehicle as much as possible, Figure 1 The flow chart of the path quadratic programming method in the extreme endurance mode provided by the embodiment of the present application is shown in the figure, and the method is as follows:

[0045] After the vehicle enters the extreme endurance mode, the comfort function of the vehicle is closed, and the minimum energy consumption path from the current position to the target position is found, and the minimum energy consumption path is taken as the driving path from the current position to the target position.

[0046] In the embodiment of the present application, after the extreme endurance mode is triggered, it is detected whether the vehicle currently meets the entering condition of the extreme endurance mode, and if the result is yes, the extreme endurance mode is entered, wherein the entering condition of the extreme endurance mode is as follows:

[0047] Condition 1: the current vehicle is not in the ADAS intelligent driving function state;

[0048] Condition 2: the current state of charge SOC of the power battery is lower than a set threshold (20%);

[0049] Condition 3: the remaining range of the vehicle is less than the remaining distance from the current position of the vehicle to the end position.

[0050] After the vehicle enters the extreme range mode, the active closing air conditioner, seat heating, closing atmosphere lamp, DMS fatigue detection, closing multimedia music and other comfort functions are closed, and the energy consumption of each path from the current position to the target position is calculated, and the path with the minimum energy consumption is output.

[0051] In the embodiment of the application, when the distance from the current position to the nearest charging station is greater than or equal to the distance from the current position to the end position, the target position is the input end position, and when the distance from the current position to the nearest charging station is less than the distance from the current position to the end position, the target position is the nearest charging station from the current position of the vehicle.

[0052] In the embodiment of the application, there can be multiple driving paths R from the current position to the target position, and the energy consumption required for each driving path is estimated, and the energy consumption of the driving path is composed of the basic energy consumption, the turning energy consumption and the slope energy consumption of the section between the current position and the target position. The following describes the above three energy consumptions for the driving path Ri from the current position to the target position:

[0053] (1) the basic energy consumption required for the driving path;

[0054] The distance Li of the driving path Ri is determined, and the energy consumption required for the straight distance Li is calculated, that is, the product of the unit distance straight section energy consumption and the distance Li is the basic energy consumption from the current position to the target position.

[0055] Since the battery utilization rate of the vehicle is the highest in the speed interval [80km / h, 100km / h], after the vehicle enters the extreme range mode, the vehicle speed is constrained between 80km / h and 100km / h, and the energy consumption of the vehicle in the unit distance straight section in the speed interval is calibrated by the real vehicle.

[0056] (2) the turning energy consumption required for the driving path Ri;

[0057] The turning road section on the driving path Ri and the turning angle corresponding to the turning road section are determined, the turning energy consumption corresponding to different turning angle intervals is calibrated, the greater the turning angle of the turning road section, the more the required turning energy consumption; the number of the turning road sections located in each turning angle interval is determined, the product of the number of the turning road sections in the corresponding turning angle interval and the turning energy consumption of the turning road sections corresponding to the corresponding turning angle interval is taken as the required turning energy consumption of the driving path Ri in the corresponding turning angle interval, and the sum of the turning energy consumption in all the turning angle intervals is taken as the required turning energy consumption of the driving path Ri.

[0058] In the embodiment of the application, when the turning angle of the turning road section is When the turning angle is located in the interval [140°, 180°), the turning energy consumption corresponding to the turning road section is 5E, when the turning angle of the turning road section is When the turning angle is located in the interval [90°, 140°), the turning energy consumption corresponding to the turning road section is E, when the turning angle of the turning road section is When the turning angle is located in the interval [0°, 90°), the turning energy consumption corresponding to the turning road section is zero, when the turning angle of the turning road section is , it indicates that the vehicle travels in a U-turn on the corresponding road section, and when the turning angle of the turning road section is , it indicates that the vehicle travels in a straight line on the corresponding road section.

[0059] In the embodiment of the application, the detection method of the turning road section on the driving path Ri and the turning angle corresponding to the turning road section is as follows:

[0060] The trajectory points of the driving path Ri from the current position to the target position are sampled based on the set sampling interval, and are sequentially put into the sampling point set, and the starting position and the target position are put into the starting position and the end position of the sampling point set; all the sampling points in the sampling point set are traversed, and the turning angle of the vehicle when the vehicle travels from the i-1th sampling point to the i+1th sampling point through the ith sampling point is calculated. The calculation formula of the turning angle is as follows:

[0061]

[0062] Wherein, D(i-1, i) represents the Euclidean distance between the i-1th sampling point and the ith sampling point, D(i-1, i+1) represents the Euclidean distance between the i-1th sampling point and the i+1th sampling point, D(i+1, i) represents the Euclidean distance between the i+1th sampling point and the ith sampling point, the value of i is 2 to m-1, and m is the total number of sampling points in the sampling point set.

[0063] If the driving path Ri is only three turning road sections, two 120-degree turning road sections and one 180-degree turning road section, the turning energy consumption required by the driving path Ri is 2*E+5E=9E.

[0064] (3) the slope energy consumption required by the driving path Ri;

[0065] In the embodiment of the application, the slope road sections on the driving path Ri and the slopes of the slope road sections are detected, it is determined whether the vehicle is in an uphill state or in a downhill state based on the driving direction of the vehicle, if the vehicle is in the uphill state, the slope energy consumption W required by the corresponding slope road section is calculated based on the slope ε and the length l of the slope road section, and the calculation formula is specifically as follows:

[0066] W=l·M g (cosε.μ+sinε) (2)

[0067] wherein M g is the weight of the vehicle, μ is the friction coefficient of the slope, and is a constant set.

[0068] In the embodiment of the application, the slope energy consumption W required by the corresponding slope road section is calculated based on the slope ε and the length l of the slope road section, and the calculation formula is specifically as follows:

[0069] W=l·M g (cosε.μ+sinε) (2)

[0070] The sum of the slope energy consumption required by all the slope road sections on the driving path Ri is the slope energy consumption required by the driving path, the sum of the basic energy consumption required by the driving path Ri, the turning energy consumption required by the driving path Ri and the slope energy consumption required by the driving path Ri constitutes the energy consumption required by the driving path Ri, the energy consumption required by each driving path is estimated, and finally the driving path with the minimum energy consumption is selected as the optimal driving path from the current position to the target position, which is recommended to the user.

[0071] In order to improve the endurance mileage of the vehicle as much as possible, after the vehicle enters the extreme endurance mode, the energy recovery level of the vehicle is modulated to the highest level, the endurance mileage of the vehicle is increased by recovering as much energy as possible, and the vehicle is ensured to travel to the target position as much as possible.

[0072] Figure 2 The structure schematic diagram of the path quadratic programming system in the extreme endurance mode provided by the embodiment of the application, only the part related to the embodiment of the application is shown for convenience of description, and the system comprises:

[0073] The navigation device, the vehicle control unit VCU connected with the navigation device, and the input unit connected with the vehicle control unit VCU;

[0074] The input unit is used for receiving the terminal position input by the user and sending to the vehicle controller VCU, the navigation device is used for positioning the current position of the vehicle and sending to the vehicle controller VCU, the vehicle controller VCU is used for closing the comfort function of the vehicle after detecting that the vehicle is in the extreme endurance mode, and planning the driving path with the minimum energy consumption from the current position to the target position based on the path second planning method in the extreme endurance mode, and in the extreme endurance mode, the driving path with the minimum energy consumption between the current position and the terminal position or the charging station is selected, so as to relieve the user's concern for the endurance mileage of the vehicle as far as possible.

[0075] When the distance between the current position and the nearest charging station is greater than or equal to the distance between the current position and the terminal position, the target position is the input terminal position, and when the distance between the current position and the nearest charging station is less than the distance between the current position and the terminal position, the target position is the nearest charging station from the current position of the vehicle.

[0076] In order to improve the endurance mileage of the vehicle as far as possible, after the vehicle enters the extreme endurance mode, the vehicle controller VCU modulates the energy recovery level of the vehicle to the highest level, so as to increase the endurance mileage of the vehicle by recovering as much energy as possible, and ensure that the vehicle travels to the target position as far as possible.

[0077] The application also provides an electric vehicle, which is integrated with the above-mentioned path second planning system in the extreme endurance mode, so that when the vehicle enters the condition of low power of the power battery and insufficient endurance mileage, the extreme endurance mode can be selected to start, and in the extreme endurance mode, the driving path with the minimum energy consumption between the current position and the terminal position or the charging station is selected, so as to relieve the user's concern for the endurance mileage of the vehicle as far as possible.

[0078] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope of the application being indicated by the following claims.

[0079] It should be understood that the application is not limited to the precise construction that has been described above and illustrated in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the appended claims.

Claims

1. A path quadratic programming method for ultra- endurance mode, characterized by, The method is specifically as follows: After the vehicle enters the extreme endurance mode, the comfort function of the vehicle is turned off, the minimum energy consumption driving path from the current position to the target position is found, and the minimum energy consumption path is taken as the driving path from the current position to the target position.

2. The path second order programming method of the ultra-long endurance mode according to claim 1, wherein, The energy consumption of the driving path is composed of the basic energy consumption required by the corresponding driving path, the turning energy consumption and the slope energy consumption.

3. The path quadratic programming method of the ultra-long endurance mode as claimed in claim 2, wherein, The basic energy consumption required by the driving path is specifically as follows: The distance Li of the driving path is determined, and the energy consumption required by the straight distance Li is taken as the basic energy consumption required by the corresponding driving path.

4. The path second order programming method of the ultra-long endurance mode according to claim 2, wherein, The basic energy consumption required by the driving path is specifically as follows: Detect the turning road section on the driving path and the turning angle corresponding to the turning road section; Calibrate the turning energy consumption of the turning road section corresponding to different turning angle intervals; Determine the number of turning road sections on the driving path within each turning angle interval, and take the product of the number of turning road sections within the corresponding turning angle interval and the turning energy consumption of the turning road section corresponding to the turning angle interval as the turning energy consumption required by the driving path within the corresponding turning angle interval, and take the sum of the turning energy consumption within all turning angle intervals as the turning energy consumption required by the driving path.

5. The path second order programming method of the ultra-long endurance mode according to claim 4, characterized in that, The detection method of the turning angle corresponding to the turning road section on the driving path is specifically as follows: Based on the set sampling interval, the trajectory points of the driving path from the current position to the target position are sampled and sequentially put into the sampling point set, and the starting position and the end position are put into the starting position and the end position of the sampling point set; traversing all the sampling points in the sampling point set, calculating a turning angle from the i-1th sampling point, through the ith sampling point to the i+1th sampling point 6. The path quadratic programming method of the ultra endurance mode as claimed in claim 4, wherein, Turning angle The calculation formula is as follows: Wherein, D(i-1,i) represents the Euclidean distance between the i-1th sampling point and the i th sampling point, D(i-1,i+1) represents the Euclidean distance between the i-1th sampling point and the i+1th sampling point, D(i+1,i) represents the Euclidean distance between the i+1th sampling point and the i th sampling point, i is 2 to m-1, and m is the total number of sampling points in the sampling point set.

7. The path second order optimization method for ultra endurance mode as claimed in claim 2, wherein, Detect the slope road section on the driving path and the slope of the slope road section, determine whether the vehicle is in an uphill state or a downhill state based on the driving direction of the vehicle, and if the vehicle is in an uphill state, the calculation formula of the slope energy consumption W required by the corresponding slope road section is as follows: W = 1M g (cosε.μ + sinε); If the vehicle is in the upper skin state, the slope energy consumption W required by the slope road section i The calculation formula is as follows: W = 1 M g (cosε.μ - sinε); where M g is the weight of the vehicle, μ is the friction coefficient of the sloped road section, ε is the slope of the sloped road section, and l is the length of the sloped road section.

8. The path second order optimization method for ultra endurance mode as claimed in claim 2, wherein, After triggering the extreme endurance mode, it is detected whether the vehicle currently meets the entering condition of the extreme endurance mode, and if the result is yes, the extreme endurance mode is entered, wherein the entering condition of the extreme endurance mode is as follows: Condition 1: the current vehicle is not in the ADAS intelligent driving function state; Condition 2: the current state of charge SOC of the power battery is lower than the set threshold; Condition 3: the remaining endurance mileage of the vehicle is less than the remaining mileage from the current position of the vehicle to the terminal position.

9. An ultra-rugged mode path quadratic programming system characterized by, The system comprises: A navigation device, a vehicle control unit VCU connected with the navigation device, and the vehicle control unit VCU connected with an input unit; The input unit is used for receiving the terminal position input by the user and sending it to the vehicle control unit VCU; The navigation device is used for positioning the current position of the vehicle and sending it to the vehicle control unit VCU; The vehicle control unit VCU, after detecting that the vehicle is in the extreme endurance mode, turns off the comfort functions of the vehicle, and plans a driving path from the current position to the target position with the minimum energy consumption based on the path quadratic programming method in the endurance mode according to any one of claims 1 to 8.

10. An electric vehicle, characterized by The electric vehicle is integrated with the path quadratic programming system in the extreme endurance mode according to claim 9.

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