Opening degree control method and device for active air inlet grille in vehicle and processor

Abstract

The invention discloses an opening degree control method and device for an active air inlet grille in a vehicle and a processor. The method comprises the steps that state information of a vehicle, first temperature information of heat management equipment in the vehicle and second temperature information of a road where the vehicle is located are obtained, the state information is used for representing the running state of the vehicle, the first temperature information is used for representing the temperature of the heat management equipment, and the second temperature information is used for representing the current temperature of the road; based on the state information and the temperature information, wind resistance energy consumption and thermal management power consumption increment of the vehicle are determined, and the wind resistance energy consumption is used for representing energy consumed by the vehicle for overcoming air resistance in the running process; based on the wind resistance energy consumption, the thermal management power consumption increment and the weight factor, opening degree information of an active air inlet grille in the vehicle is determined; and the opening degree of the active air inlet grille is controlled according to the target opening degree corresponding to the opening degree information. The technical problem that the accuracy of opening control of the active air inlet grille is low is solved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and more specifically, to a method, device, and processor for controlling the opening of an active air intake grille in a vehicle. Background Technology

[0002] Currently, most vehicles, such as pure electric vehicles, employ an Active Grille Shutter (AGS) control strategy based on a fixed threshold set for ambient temperature or coolant temperature. When the detected ambient or coolant temperature exceeds the preset threshold, the AGS is forced to open to promote heat dissipation. Conversely, it closes to reduce wind resistance. However, this crude control ignores the complexity of driving conditions, leading to increased wind resistance and energy consumption due to excessive grille opening at high speeds, or insufficient heat dissipation due to delayed grille closure at low speeds and high temperatures. This creates a conflict between energy consumption and heat dissipation efficiency. Therefore, the technical problem of low accuracy in the opening control of the active grille remains.

[0003] There is currently no effective solution to the aforementioned technical problems. Summary of the Invention

[0004] This invention provides a method, apparatus, and processor for controlling the opening of an active grille shutter in a vehicle, to at least solve the technical problem of low accuracy in controlling the opening of the active grille shutter.

[0005] According to one aspect of the present invention, a method for controlling the opening of an active air intake grille in a vehicle is provided. The method may include: acquiring vehicle status information, first temperature information of a thermal management device in the vehicle, and second temperature information of the road where the vehicle is located, wherein the status information represents the vehicle's operating status, the first temperature information represents the temperature of the thermal management device, and the second temperature information represents the current temperature of the road; determining the vehicle's drag energy consumption and thermal management power consumption increment based on the status information and temperature information, wherein the drag energy consumption represents the energy consumed by the vehicle to overcome air resistance during driving, and the thermal management power consumption increment represents the additional energy required to maintain the temperature of the thermal management device within a standard range; determining the opening information of the active air intake grille in the vehicle based on the drag energy consumption, the thermal management power consumption increment, and a weighting factor, wherein the weighting factor is used to adjust the importance of the drag energy consumption and the importance of the thermal management power consumption increment; and controlling the opening of the active air intake grille according to a target opening corresponding to the opening information.

[0006] Furthermore, based on the wind resistance energy consumption, thermal management power consumption increment, and weighting factors, the opening information of the active air intake grille in the vehicle is determined, including: determining the weighting factors based on the second temperature information, the base point temperature, and the temperature threshold, wherein the base point temperature is used to represent the temperature corresponding to balancing wind resistance energy consumption and thermal management power consumption, and the temperature threshold is used to represent the upper limit of the required temperature of the thermal management equipment; and determining the opening information of the active air intake grille under different operating conditions based on the wind resistance energy consumption, thermal management power consumption increment, and weighting factors.

[0007] Further, based on the second temperature information, the base point temperature, and the temperature threshold, a weighting factor is determined, including: determining a first difference between the second temperature information and the base point temperature; determining a second difference between the temperature threshold and the base point temperature; and determining the ratio of the first difference to the second difference as the weighting factor.

[0008] Furthermore, based on wind resistance energy consumption, thermal management power consumption increment, and weighting factors, the opening information of the active air intake grille under different operating conditions is determined, including: determining the product of the weighting factor and the thermal management power consumption increment; and determining the opening information as the product of wind resistance energy consumption and thermal management power consumption increment.

[0009] Furthermore, according to the target opening degree corresponding to the opening degree information, the opening degree of the active air intake grille is controlled, including: in response to receiving a control command, controlling the vehicle's drive system to drive the active air intake grille to the target opening degree.

[0010] Furthermore, the method also includes: in response to driving the active air intake grille to a target opening, using a temperature sensor to correct the target opening.

[0011] According to another aspect of the present invention, an active air intake grille opening control device for a vehicle is also provided. The device includes: an acquisition unit, configured to acquire vehicle status information, first temperature information of a thermal management device in the vehicle, and second temperature information of the road where the vehicle is located, wherein the status information represents the vehicle's operating status, the first temperature information represents the temperature of the thermal management device, and the second temperature information represents the current temperature of the road; a first determination unit, configured to determine the vehicle's wind resistance energy consumption and thermal management power consumption increment based on the status information and temperature information, wherein the wind resistance energy consumption represents the energy consumed by the vehicle to overcome air resistance during driving, and the thermal management power consumption increment represents the additional energy required to maintain the temperature of the thermal management device within a standard range; a second determination unit, configured to determine the vehicle's wind resistance energy consumption and thermal management power consumption increment based on the status information and temperature information, wherein the wind resistance energy consumption represents the energy consumed by the vehicle to overcome air resistance during driving, and the thermal management power consumption increment represents the additional energy required to maintain the temperature of the thermal management device within a standard range; and a control unit, configured to control the opening of the active air intake grille according to a target opening corresponding to the opening information.

[0012] According to another aspect of the present invention, a processor is also provided. The processor is used to run a program, wherein the program, when run by the processor, performs the methods described in the embodiments of the present invention.

[0013] According to another aspect of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0014] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0015] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0016] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0017] According to another aspect of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0018] According to another aspect of the present invention, a vehicle is also provided that implements the methods of the various embodiments of the present invention when executed.

[0019] In this embodiment of the invention, if it is necessary to control the opening degree of the active air intake grille, the vehicle's status information, the first temperature information of the thermal management device in the vehicle, and the second temperature information of the road where the vehicle is located can be obtained. The status information represents the vehicle's operating status, the first temperature information represents the temperature of the thermal management device, and the second temperature information represents the current temperature of the road. Based on the status information and temperature information, the vehicle's wind resistance energy consumption and thermal management power consumption increment can be determined. Wind resistance energy consumption represents the energy consumed by the vehicle to overcome air resistance during driving, and thermal management power consumption increment represents the additional energy required to maintain the temperature of the thermal management device within a standard range. Based on wind resistance energy consumption, thermal management power consumption increment, and a weighting factor, the opening degree information of the active air intake grille in the vehicle can be determined. The weighting factor is used to adjust the importance of wind resistance energy consumption and the importance of thermal management power consumption increment. The opening degree of the active air intake grille can be controlled according to the target opening degree corresponding to the opening degree information.

[0020] In other words, this invention not only considers the vehicle's state information but also incorporates the first temperature information of the thermal management equipment and the second temperature information of the road where the vehicle is located, thus comprehensively reflecting the vehicle's actual operating state and changes in its environment. Based on the acquired state and temperature information, a wind resistance energy consumption model and a thermal management power consumption increment model are established to determine the vehicle's wind resistance energy consumption and thermal management power consumption increment. This is used to quantify the impact of AGS opening changes on vehicle energy consumption, providing a basis for opening adjustment. By defining dynamic weighting factors, the proportion of wind resistance energy consumption and thermal management power consumption increments in the decision-making process can be dynamically adjusted according to temperature changes. This makes the adjustment of AGS opening at different temperatures more in line with the actual needs of the vehicle, thereby solving the technical problem of low accuracy in active air intake grille opening control and achieving the technical effect of improving the accuracy of active air intake grille opening control. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a flowchart of an active grille shutter opening control method in a vehicle according to an embodiment of the present invention; Figure 2 This is a schematic diagram of an active grid control system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of an active grille shutter opening control device in a vehicle according to an embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] According to an embodiment of the present invention, an embodiment of an active grille opening control method in a vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] Figure 1 This is a flowchart of a method for controlling the opening of an active air intake grille in a vehicle according to an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes the following steps.

[0026] Step S102: Obtain the vehicle's status information, the first temperature information of the thermal management device in the vehicle, and the second temperature information of the road where the vehicle is located.

[0027] In the technical solution provided by step S102 in this embodiment of the invention, the status information can be used to represent the operating status of the vehicle, the first temperature information can be used to represent the temperature of the thermal management device, and the second temperature information can be used to represent the current temperature of the road.

[0028] In this embodiment, in order to collect and analyze multiple key indicators of the vehicle in real time to achieve precise control of the AGS opening, the vehicle's status information, the first temperature information of the thermal management equipment in the vehicle, and the second temperature information of the road where the vehicle is located can be obtained.

[0029] Optionally, the vehicle's status information can be vehicle speed, which is a key factor determining wind resistance. Additionally, vehicle status information can also include acceleration, direction, gear, etc., but these are just examples and no specific limitations are set here.

[0030] Optionally, the primary temperature information for the thermal management device can be the coolant temperature and the air conditioning pressure. The coolant temperature reflects the current temperature of heat-sensitive components in the vehicle, such as the engine and battery, while the air conditioning pressure is related to the operating status of the vehicle's air conditioning system. Both coolant temperature and air conditioning pressure are important factors affecting thermal management power consumption.

[0031] Optionally, the second temperature information can be the ambient temperature. Ambient temperature has a direct impact on the vehicle's heat dissipation requirements and wind resistance energy consumption. Especially in hot or cold weather conditions, changes in ambient temperature are crucial for the selection of AGS opening degree.

[0032] In this embodiment of the invention, by acquiring the vehicle's status information, the first temperature information of the vehicle's thermal management equipment, and the second temperature information of the road where the vehicle is located, dynamic balance optimization of vehicle wind resistance and thermal management can be achieved under different operating conditions and environmental conditions. This is more advanced than a control strategy that relies solely on a single parameter (such as vehicle speed), and can more effectively cope with various complex driving scenarios, ensuring vehicle performance while reducing energy consumption and improving driving efficiency.

[0033] Step S104: Based on the status information and temperature information, determine the vehicle's wind resistance energy consumption and thermal management power consumption increment.

[0034] In the technical solution provided by step S104 in this embodiment of the invention, wind resistance energy consumption can be used to represent the energy consumed by the vehicle to overcome air resistance during driving, and thermal management power consumption increment can be used to represent the additional energy consumed to maintain the temperature of the thermal management equipment within the standard range. The wind resistance energy consumption of the vehicle can be... This can be represented. The increase in thermal management power consumption can be expressed through... To express.

[0035] In this embodiment, after obtaining the vehicle's status information, the first temperature information of the thermal management device in the vehicle, and the second temperature information of the road where the vehicle is located, the vehicle's wind resistance energy consumption and thermal management power consumption increment can be determined based on the status information and temperature information.

[0036] Optionally, based on the acquired vehicle state information, especially vehicle speed (v), and considering the impact of different AGS opening degrees (θ) on the vehicle's drag coefficient, a drag energy consumption model can be established to calculate the actual energy consumption of the vehicle overcoming air resistance. Factors that can be considered in the drag energy consumption model include, but are not limited to, vehicle speed, grille opening degree, and vehicle shape. The ultimate goal is to find the AGS opening degree that minimizes drag energy consumption at the current vehicle speed.

[0037] Alternatively, also based on vehicle status and temperature information, a thermal management power consumption model can be established to assess the additional energy consumption required to maintain the temperature of thermal management equipment (such as cooling systems and air conditioning systems) within a standard range. The thermal management power consumption model can include the power consumption of cooling fans, air conditioning compressors, water pumps, etc., and considers factors such as the efficiency of these devices, vehicle thermal load, and ambient temperature.

[0038] In this embodiment of the invention, by accurately calculating the energy consumption distribution of the vehicle under different operating conditions, especially the wind resistance energy consumption and thermal management power consumption increment, key data support is provided for determining the target opening degree of AGS based on the energy consumption calculation results.

[0039] Step S106: Based on wind resistance energy consumption, thermal management power consumption increment, and weighting factors, determine the opening information of the active air intake grille in the vehicle.

[0040] In the technical solution provided by step S106 in this embodiment of the invention, the weighting factor can be used to adjust the importance of wind resistance energy consumption and the importance of thermal management power consumption increment.

[0041] In this embodiment, after determining the vehicle's wind resistance energy consumption and thermal management power consumption increment based on state information and temperature information, the opening information of the active air intake grille in the vehicle can be determined based on wind resistance energy consumption, thermal management power consumption increment, and weighting factors.

[0042] For example, wind resistance energy consumption ( ) and thermal management power consumption increment ( As two key parameters, the goal is to find an opening θ that minimizes drag energy consumption while meeting the vehicle's thermal management requirements. However, since there may be a conflict between drag and thermal management requirements (e.g., a smaller opening can reduce drag but may limit cooling airflow), a weighting factor λ is needed to balance these two energy consumptions.

[0043] In this embodiment of the invention, the AGS opening can be intelligently and dynamically adjusted through the above steps to cope with different driving scenarios and environmental conditions. Compared with traditional control strategies, this method significantly improves the accuracy and flexibility of control, especially by being able to adjust in a timely manner according to real-time environmental changes, ensuring that the vehicle achieves optimal energy utilization and thermal management efficiency under various operating conditions.

[0044] Step S108: Control the opening of the active air intake grille according to the target opening corresponding to the opening information.

[0045] In the technical solution provided by step S108 in the embodiment of the present invention, after determining the opening information of the active air intake grille in the vehicle based on wind resistance energy consumption, thermal management power consumption increment, and weighting factor, the opening of the active air intake grille can be controlled according to the target opening corresponding to the opening information.

[0046] In this embodiment, after determining the target opening degree, the vehicle's AGS control system can generate corresponding control commands. These commands include the specific value of the target opening degree, as well as possible adjustment rates or time requirements, ensuring that the AGS can smoothly and quickly adjust to the desired position.

[0047] Optionally, the AGS can be driven by the vehicle's electric motor, and control commands can be sent to the motor control unit (Microcontroller Unit, or MCU). The MCU can parse the control commands and adjust the motor's power and direction to drive the AGS's actuators (such as blades) to move to the target opening. This process requires precise motor control algorithms to ensure the accuracy and responsiveness of the opening adjustment.

[0048] Optionally, while adjusting the opening, parameters related to thermal management and wind resistance, such as coolant temperature, air conditioning pressure, vehicle speed, and ambient temperature, can be continuously monitored. By collecting real-time data through temperature and speed sensors, the AGS control system can compare the current state with the target state in real time. If there is a deviation, the control command is automatically adjusted until the AGS opening stabilizes near the target opening.

[0049] Optionally, the AGS is not static after being adjusted to the target opening. By continuously monitoring changes in the external environment and internal operating conditions, once a change in operating conditions is detected (e.g., vehicle acceleration, sudden temperature changes, etc.), the calculation phase will be restarted (steps S104 and S106) to determine the optimal opening again and make corresponding adjustments.

[0050] Optionally, to ensure the safety of the AGS control process, a fault detection and handling mechanism may also be included. For example, if a motor overload or sensor malfunction is detected during command execution, safety measures can be automatically taken, such as reverting to a preset safe opening or disabling the AGS, to avoid damage to the vehicle or other systems.

[0051] In steps S102 to S108 of this embodiment of the invention, if it is necessary to control the opening degree of the active air intake grille, the vehicle's status information, the first temperature information of the thermal management device in the vehicle, and the second temperature information of the road where the vehicle is located can be obtained. The status information indicates the vehicle's operating status, the first temperature information indicates the temperature of the thermal management device, and the second temperature information indicates the current temperature of the road. Based on the status information and temperature information, the vehicle's wind resistance energy consumption and thermal management power consumption increment can be determined. Wind resistance energy consumption indicates the energy consumed by the vehicle to overcome air resistance during driving, and thermal management power consumption increment indicates the additional energy required to maintain the temperature of the thermal management device within the standard range. Based on wind resistance energy consumption, thermal management power consumption increment, and a weighting factor, the opening degree information of the active air intake grille in the vehicle can be determined. The weighting factor is used to adjust the importance of wind resistance energy consumption and the importance of thermal management power consumption increment. The opening degree of the active air intake grille can be controlled according to the target opening degree corresponding to the opening degree information.

[0052] In other words, this invention not only considers the vehicle's state information but also incorporates the first temperature information of the thermal management equipment and the second temperature information of the road where the vehicle is located, thus comprehensively reflecting the vehicle's actual operating state and changes in its environment. Based on the acquired state and temperature information, a wind resistance energy consumption model and a thermal management power consumption increment model are established to determine the vehicle's wind resistance energy consumption and thermal management power consumption increment. This is used to quantify the impact of AGS opening changes on vehicle energy consumption, providing a basis for opening adjustment. By defining dynamic weighting factors, the proportion of wind resistance energy consumption and thermal management power consumption increments in the decision-making process can be dynamically adjusted according to temperature changes. This makes the adjustment of AGS opening at different temperatures more in line with the actual needs of the vehicle, thereby solving the technical problem of low accuracy in active air intake grille opening control and achieving the technical effect of improving the accuracy of active air intake grille opening control.

[0053] The method described in this embodiment will be further described below.

[0054] As an optional embodiment, step S106, based on wind resistance energy consumption, thermal management power consumption increment, and weighting factors, determines the opening information of the active air intake grille in the vehicle, including: determining the weighting factors based on second temperature information, a base point temperature, and a temperature threshold, wherein the base point temperature is used to represent the temperature corresponding to balancing wind resistance energy consumption and thermal management power consumption, and the temperature threshold is used to represent the upper limit of the required temperature of the thermal management equipment; and determining the opening information of the active air intake grille under different operating conditions based on wind resistance energy consumption, thermal management power consumption increment, and weighting factors.

[0055] In this embodiment, in the process of determining the opening information of the active air intake grille in the vehicle based on wind resistance energy consumption, thermal management power consumption increment, and weighting factor, the weighting factor can be determined based on the second temperature information, the base point temperature, and the temperature threshold. The base point temperature is used to represent the temperature corresponding to balancing wind resistance energy consumption and thermal management power consumption, and the temperature threshold is used to represent the upper limit of the required temperature of the thermal management equipment. The opening information of the active air intake grille under different operating conditions can be determined based on wind resistance energy consumption, thermal management power consumption increment, and weighting factor.

[0056] Alternatively, wind resistance energy consumption can be determined using the following formula:

[0057] in, It can be used to express air density; It can be used to represent the aerodynamic drag coefficient of a vehicle; It can be used to indicate the frontal windward area of ​​a vehicle; It can be used to indicate vehicle speed; It can be used to represent the aperture correction coefficient (experimental fit value); It can be used to represent the AGS opening (0°~90°).

[0058] Alternatively, the thermal management power consumption increment can be determined by the following formula:

[0059] in, It can be used to indicate the power consumption of a cooling fan; It can be used to represent the power consumption of an air conditioner compressor; It can be used to indicate the power consumption of a water pump (or liquid circulation pump).

[0060] Alternatively, the power consumption of the cooling fan can be determined by the following formula:

[0061] in, It can be used to represent the relationship between cooling fan power consumption and temperature difference, i.e., cooling fan power consumption coefficient; It can be used to represent the change in coolant temperature.

[0062] Alternatively, the power consumption of the air conditioner compressor can be determined by the following formula:

[0063] in, It can be used to represent the compressor power consumption coefficient or compressor efficiency coefficient; It can be used to represent the operating pressure of an air conditioning system, and can be simply referred to as air conditioning pressure; It can be used to represent the reference operating pressure of an air conditioning system under standard conditions. It can be understood as a benchmark value used to compare and calculate the changes in the power consumption of the air conditioning compressor under different operating conditions. It can be used to indicate the temperature output by an air conditioning system; It can be used to indicate the temperature input to an air conditioning system.

[0064] Optionally, the determination of the weighting factor λ takes into account not only the ambient temperature ( ), and also introduced the base point temperature ( ) and temperature threshold ( (This is used as an adjustment parameter.) Base point temperature This is a theoretical temperature value at which the balance point between wind resistance energy consumption and thermal management power consumption is preset as the optimal opening degree θ_base. Temperature threshold. This refers to the upper limit of the required temperature for thermal management equipment (such as cooling systems), when the ambient temperature approaches or exceeds... At this time, the importance of thermal management power consumption increases significantly in order to prevent the device from overheating.

[0065] As an optional embodiment, determining a weighting factor based on the second temperature information, the base point temperature, and the temperature threshold includes: determining a first difference between the second temperature information and the base point temperature; determining a second difference between the temperature threshold and the base point temperature; and determining the ratio of the first difference to the second difference as the weighting factor.

[0066] In this embodiment, during the process of determining the weighting factor based on the second temperature information, the base point temperature, and the temperature threshold, a first difference between the second temperature information and the base point temperature can be determined; a second difference between the temperature threshold and the base point temperature can be determined; and the ratio of the first difference to the second difference can be determined as the weighting factor.

[0067] Alternatively, the weighting factor λ, also known as the dynamic weighting factor, can be determined by the following formula: (0≤ λ ≤1) in, It can be used to represent a second temperature information (e.g., ambient temperature). It can be used to represent the base point temperature; It can be used to represent temperature thresholds.

[0068] Optionally, ambient temperature refers to the temperature of the surrounding air outside the vehicle, which directly affects the vehicle's cooling requirements and energy consumption. Baseline temperature can be used as a reference temperature point to help calculate the relative changes of certain parameters under specific conditions (such as changes in ambient temperature). The temperature can be set to 25°C as a dynamic weighting factor. A reference temperature for the time; It can be set to 45℃, but this is just an example and there are no specific restrictions here.

[0069] Optionally, when the ambient temperature equal to base point temperature When λ=0, the focus is more on reducing wind resistance energy consumption; while when Equal to or exceeding the temperature threshold When λ=1, controlling the power consumption of thermal management becomes the primary task.

[0070] As an optional implementation method, the opening information of the active air intake grille under different operating conditions is determined based on wind resistance energy consumption, thermal management power consumption increment, and weighting factor, including: determining the product of weighting factor and thermal management power consumption increment; and determining the opening information by wind resistance energy consumption and the product.

[0071] In this embodiment, in the process of determining the opening information of the active air intake grille under different operating conditions based on wind resistance energy consumption, thermal management power consumption increment, and weighting factor, the product of the weighting factor and thermal management power consumption increment can be determined; the wind resistance energy consumption and the product are determined as the opening information.

[0072] Alternatively, the opening information can be determined using the following formula:

[0073] Optionally, the weighting factor λ is a value that varies with ambient temperature and is used to evaluate the priority between wind resistance energy consumption and thermal management power consumption. It can be calculated based on the relationship between the current ambient temperature and a preset base point temperature and temperature threshold. Thermal management power consumption increment ( This refers to the difference between the additional power consumption of the vehicle's thermal management system (such as cooling fans, air conditioning compressors, water pumps, etc.) and the fixed reference power consumption under the current operating conditions.

[0074] Optionally, the weighting factor is the product of the thermal management power consumption increment ( This reflects the weight assigned to the amount of power consumption that is increased relative to the fixed reference power consumption in order to meet thermal management requirements under the current operating conditions, i.e., its importance in the overall energy balance.

[0075] Optionally, wind resistance energy consumption ( This refers to the change in aerodynamic drag caused by changes in the opening of the active grille while the vehicle is in motion, which affects the vehicle's energy consumption.

[0076] In this embodiment of the invention, wind resistance energy consumption Compared with the thermal management power consumption increment after weighting factor adjustment ( Together, these serve as the basis for evaluating AGS opening information. The goal is to find an AGS opening θ such that... and Minimize the difference between them, that is, while ensuring the normal operation of thermal management equipment, reduce the extra energy consumed due to increased wind resistance as much as possible.

[0077] As an optional embodiment, step S108, controlling the opening of the active air intake grille according to the target opening corresponding to the opening information, includes: in response to receiving a control command, controlling the vehicle's drive system to drive the active air intake grille to the target opening.

[0078] In this embodiment, during the process of controlling the opening of the active air intake grille according to the target opening corresponding to the opening information, the vehicle's drive system can be controlled to drive the active air intake grille to the target opening upon receiving a control command.

[0079] Optionally, the control command includes the opening degree calculated based on the current operating conditions and environmental conditions. After receiving the control command, the AGS control system can parse the received control command and drive the AGS to move to the target opening degree through the vehicle's drive system (e.g., motor and linkage mechanism). This process requires precise motor control to ensure that the AGS can smoothly and quickly adjust from the current opening degree to the target opening degree; the response time should typically be on the order of milliseconds.

[0080] Optionally, during AGS adjustment, the AGS control system can monitor the difference between the actual opening degree and the target opening degree in real time, and make necessary fine adjustments based on this feedback information to ensure high-precision opening degree control. The monitoring mechanism can include position sensors, angle encoders, etc., which can provide real-time data on the current state of the AGS.

[0081] Optionally, to further improve control accuracy and response speed, the AGS control system can adopt a closed-loop control strategy. This involves continuously collecting feedback information during the adjustment process and dynamically correcting control commands based on this information. This method can effectively cope with rapid changes in ambient temperature and vehicle status, ensuring that the AGS maintains a reasonable opening degree under various operating conditions.

[0082] In this embodiment of the invention, the above steps ensure that the AGS can quickly and accurately adjust to a suitable opening degree under different driving conditions, thereby achieving a better balance between reducing wind resistance and energy consumption and improving thermal management efficiency in pure electric vehicles. This method has significant practical value for improving the overall performance and energy efficiency of vehicles, especially their adaptability in high-speed driving and high-temperature environments.

[0083] As an alternative embodiment, the method further includes: correcting the target opening using a temperature sensor in response to driving the active air intake grille to a target opening.

[0084] In this embodiment, after controlling the AGS to the calculated target opening degree, a temperature sensor can be used for real-time monitoring, and the opening degree of the AGS can be dynamically corrected based on the monitored temperature change information.

[0085] Optionally, the AGS control system can respond to a calculated target opening degree, driving the AGS to that target opening degree to achieve an optimal balance between wind resistance energy consumption and thermal management power consumption under current operating conditions. The AGS control system can continuously monitor the vehicle's real-time temperature using temperature sensors installed in key locations on the vehicle (such as near the radiator, around the battery pack, and at the air conditioning system entrances / exits). These temperature sensors provide accurate temperature feedback reflecting the current thermal management status.

[0086] Optionally, if the actual temperature detected by the temperature sensor deviates from the preset ideal temperature range, the AGS control system will correct the current target opening degree of the AGS based on this deviation. For example, if the radiator temperature is higher than a preset threshold, the AGS opening degree can be increased to enhance heat dissipation; conversely, if the ambient temperature is low, the AGS opening degree can be decreased to reduce the entry of cold air and protect the thermal management equipment. The corrected AGS opening degree information will be recorded and fed back to the AGS control system for the next round of opening degree calculation and adjustment. This closed-loop control mechanism ensures that the AGS opening degree can be continuously optimized to cope with constantly changing environmental and vehicle conditions.

[0087] Optionally, through the above steps, the embodiments of the present invention can provide a more refined AGS control strategy, which not only adjusts the AGS opening degree according to the calculation target in the initial stage, but also dynamically monitors temperature changes and corrects them in real time during subsequent operation, thereby ensuring that the vehicle energy utilization efficiency can be optimized under various operating conditions.

[0088] In embodiments of the present invention, if it is necessary to control the opening degree of the active air intake grille, the vehicle's status information, the first temperature information of the thermal management device in the vehicle, and the second temperature information of the road where the vehicle is located can be obtained. The status information indicates the vehicle's operating status, the first temperature information indicates the temperature of the thermal management device, and the second temperature information indicates the current temperature of the road. Based on the status information and temperature information, the vehicle's wind resistance energy consumption and thermal management power consumption increment can be determined. Wind resistance energy consumption represents the energy consumed by the vehicle to overcome air resistance during driving, and thermal management power consumption increment represents the additional energy required to maintain the temperature of the thermal management device within a standard range. Based on wind resistance energy consumption, thermal management power consumption increment, and a weighting factor, the opening degree information of the active air intake grille in the vehicle can be determined. The weighting factor is used to adjust the importance of wind resistance energy consumption and the importance of thermal management power consumption increment. The opening degree of the active air intake grille can be controlled according to the target opening degree corresponding to the opening degree information.

[0089] In other words, this invention not only considers the vehicle's state information but also incorporates the first temperature information of the thermal management equipment and the second temperature information of the road where the vehicle is located, thus comprehensively reflecting the vehicle's actual operating state and changes in its environment. Based on the acquired state and temperature information, a wind resistance energy consumption model and a thermal management power consumption increment model are established to determine the vehicle's wind resistance energy consumption and thermal management power consumption increment. This is used to quantify the impact of AGS opening changes on vehicle energy consumption, providing a basis for opening adjustment. By defining dynamic weighting factors, the proportion of wind resistance energy consumption and thermal management power consumption increments in the decision-making process can be dynamically adjusted according to temperature changes. This makes the adjustment of AGS opening at different temperatures more in line with the actual needs of the vehicle, thereby solving the technical problem of low accuracy in active air intake grille opening control and achieving the technical effect of improving the accuracy of active air intake grille opening control.

[0090] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0091] Currently, active grille shutters (AGS) control strategies for pure electric vehicles are mainly divided into three categories: Threshold-triggered type: A fixed threshold is set based on ambient temperature or coolant temperature. When the temperature exceeds the threshold, the AGS is forcibly activated; otherwise, it is deactivated. Single-parameter driven type: The opening degree is adjusted only by vehicle speed or air conditioning pressure. For example, the AGS is deactivated at high speeds to reduce wind resistance, but heat dissipation requirements are ignored. Open-loop proportional-integral-derivative (PID) controller type: The opening degree is adjusted by preset PID parameters, but multi-physics coupling effects are not considered, resulting in low control accuracy.

[0092] In summary, the following problems exist in the relevant technologies: (1) Inconsistency between energy consumption and heat dissipation: Traditional strategies increase wind resistance by over-activating AGS at high temperatures and lead to insufficient heat dissipation by over-activating it at low temperatures. (2) Coarse model: No dynamic relationship model between wind resistance energy consumption and thermal management power consumption has been established, and only empirical threshold switching is used. (3) Failure under extreme conditions: During rapid temperature changes (such as rapid acceleration / slope), control lag leads to overload of the thermal management system.

[0093] Therefore, to address the aforementioned issues, this invention provides an active grille control method that, for the first time, uses the incremental difference between wind resistance energy consumption and thermal management power consumption as the optimization objective. Through a dynamic weighting factor, the control strategy can be adaptively adjusted based on ambient temperature. Millisecond-level closed-loop control is achieved: 10ms data update + 50ms execution response, superior to the industry average of 100ms, thus solving the technical problem of low accuracy in active grille opening control and achieving the technical effect of improving the accuracy of active grille opening control.

[0094] Figure 2 This is a schematic diagram of an active grid control system according to an embodiment of the present invention, as shown below. Figure 2 As shown, the active grid control system 200 includes: a data acquisition module 202, a module calculation module 204, a decision-making module 206, an execution module 208, and a closed-loop feedback module 210.

[0095] Data acquisition module 202 is used to collect various real-time data on vehicle operation and the environment, including but not limited to vehicle speed, ambient temperature, coolant temperature, and air conditioning pressure. It can acquire vehicle speed every 10ms via the Controller Area Network (CAN) bus. ), ambient temperature ( ), coolant temperature (coolant temperature), air conditioning pressure ( These parameters, such as [parameters], form the basis for subsequent calculations and decisions in the modules.

[0096] The module calculation module 204 performs core algorithm calculations based on the data provided by the data acquisition module 202, including but not limited to wind resistance energy consumption model calculation, thermal management power consumption model calculation, and dynamic weighting factor calculation. Its purpose is to quantify the impact of AGS opening degree on the vehicle's total energy consumption under different operating conditions.

[0097] Optionally, a wind resistance energy consumption model can be used to determine wind resistance energy consumption, and a thermal management power consumption model can be used to determine the thermal management power consumption increment. Wind resistance energy consumption can be determined by the following formula:

[0098] in, It can be used to represent the additional energy consumption caused by wind resistance, that is, the extra energy consumed due to the increase in air resistance during vehicle operation caused by changes in the opening of the active grille (AGS). It can be used to represent air density. This area can be used to represent the frontal windward area of ​​a vehicle, which is the projected area of ​​the frontmost part of the vehicle on a plane perpendicular to the direction of travel. This area affects the amount of air resistance the vehicle experiences while driving, and this area can be reduced during vehicle design to decrease wind resistance. It can be used to represent the aerodynamic drag coefficient of a vehicle, also known as the overall drag coefficient of a vehicle. It is a dimensionless number that reflects the influence of vehicle shape on aerodynamic drag. The smaller the value, the better the vehicle's shape design is at reducing air resistance, thereby reducing energy consumption. It can be used to indicate vehicle speed; It can be used to represent the aperture correction coefficient (experimental fit value); It can be used to represent the AGS opening (0°~90°).

[0099] Alternatively, the thermal management power consumption increment can be determined by the following formula:

[0100] in, It can be used to indicate the power consumption of a cooling fan; It can be used to represent the power consumption of an air conditioner compressor; It can be used to indicate the power consumption of a water pump (or liquid circulation pump).

[0101] Alternatively, the power consumption of the cooling fan can be determined by the following formula:

[0102] in, It can be used to represent the relationship between cooling fan power consumption and temperature difference, i.e., cooling fan power consumption coefficient; It can be used to represent the change in coolant temperature.

[0103] Alternatively, the power consumption of the air conditioner compressor can be determined by the following formula:

[0104] in, It can be used to represent the compressor power consumption coefficient or compressor efficiency coefficient; It can be used to indicate the operating pressure of an air conditioning system; It can be used to represent the reference operating pressure of an air conditioning system under standard conditions. It can be understood as a benchmark value used to compare and calculate the changes in the power consumption of the air conditioning compressor under different operating conditions. It can be used to indicate the temperature output by an air conditioning system; It can be used to indicate the temperature input to an air conditioning system.

[0105] The weighting factor λ, also known as the dynamic weighting factor, can be determined by the following formula: (0≤ λ ≤1) in, It can be used to represent a second temperature information (e.g., ambient temperature). It can be used to represent the base point temperature; It can be used to represent temperature thresholds.

[0106] Optionally, within the range of 0° to 90°, calculations can be performed at each opening degree with a step size of 5°. Then, the opening degree that maximizes the objective function can be selected, the motor drives the AGS to the target opening degree, and the temperature sensor makes real-time corrections.

[0107] The decision module 206 determines the target opening degree of the AGS based on the output of the calculation module. The target opening degree can comprehensively consider energy consumption, heat dissipation requirements, and driving conditions to select an appropriate opening degree setting to achieve the predetermined optimization goal.

[0108] The execution module 208 can convert the target opening degree determined by the decision module into actual control actions for the AGS. The execution module 208 may include a motor drive unit, which can control the AGS actuator to enable the AGS to quickly adjust to the specified opening degree.

[0109] After the AGS is adjusted to the target opening degree, the closed-loop feedback module 210 continues to monitor the difference between the actual opening degree and the target opening degree, as well as the actual impact on vehicle thermal management and energy consumption. If a deviation is found or the actual effect does not meet expectations, the closed-loop feedback module 210 will provide updated data and information to the decision-making module, which may trigger a new calculation and decision-making cycle to optimize the AGS control strategy.

[0110] In this embodiment, the entire system is designed as a closed-loop control architecture, meaning it can dynamically adjust the AGS opening degree according to real-time changes in the vehicle and environment, thereby maintaining vehicle performance and energy efficiency under various operating conditions and significantly reducing energy consumption: under normal temperature conditions (25℃), energy consumption per 100 kilometers is reduced by 4.1% compared to traditional strategies (real-vehicle globally unified light vehicle test cycle data). Improved thermal management efficiency: at high temperatures (40℃), the peak power consumption of the air conditioning compressor decreases by 18%, and the radiator temperature remains stable below 85℃. Platform-based expansion: the algorithm supports OTA upgrades and adapts to different vehicle AGS hardware parameters.

[0111] According to an embodiment of the present invention, an active grille shutter opening control device for a vehicle is also provided. It should be noted that this active grille shutter opening control device can be used to execute the active grille shutter opening control method described in the embodiments.

[0112] Embodiments of the present invention also provide an active grille shutter opening control device for a vehicle. Figure 3 This is a schematic diagram of an active grille shutter opening control device in a vehicle according to an embodiment of the present invention, as shown below. Figure 3 As shown, the active grille shutter opening control device 300 in the vehicle includes: an acquisition unit 302, a first determination unit 304, a second determination unit 306, and a control unit 308.

[0113] The acquisition unit 302 is used to acquire the vehicle's status information, the first temperature information of the thermal management device in the vehicle, and the second temperature information of the road where the vehicle is located. The status information is used to indicate the vehicle's operating status, the first temperature information is used to indicate the temperature of the thermal management device, and the second temperature information is used to indicate the current temperature of the road.

[0114] The first determining unit 304 is used to determine the wind resistance energy consumption and thermal management power consumption increment of the vehicle based on the state information and temperature information. The wind resistance energy consumption is used to represent the energy consumed by the vehicle to overcome air resistance during driving, and the thermal management power consumption increment is used to represent the additional energy consumed to maintain the temperature of the thermal management equipment within the standard range.

[0115] The second determining unit 306 is used to determine the opening information of the active air intake grille in the vehicle based on wind resistance energy consumption, thermal management power consumption increment, and weighting factors. The weighting factors are used to adjust the importance of wind resistance energy consumption and the importance of thermal management power consumption increment.

[0116] The control unit 308 is used to control the opening of the active air intake grille according to the target opening corresponding to the opening information.

[0117] Optionally, the second determining unit 306 includes: a first determining subunit, used to determine a weighting factor based on the second temperature information, a base point temperature, and a temperature threshold, wherein the base point temperature is used to represent the temperature corresponding to balancing wind resistance energy consumption and thermal management power consumption, and the temperature threshold is used to represent the upper limit of the required temperature of the thermal management equipment; and a second determining subunit, used to determine the opening information of the active air intake grille under different operating conditions based on wind resistance energy consumption, thermal management power consumption increment, and the weighting factor.

[0118] Optionally, the first determining subunit includes: a third determining subunit, used to determine a first difference between the second temperature information and the base point temperature; a fourth determining subunit, used to determine a second difference between the temperature threshold and the base point temperature; and a fifth determining subunit, used to determine the ratio of the first difference to the second difference as a weighting factor.

[0119] Optionally, the second determining subunit includes: a sixth determining subunit for determining the product of the weighting factor and the thermal management power consumption increment; and a seventh determining subunit for determining the wind resistance energy consumption and the product as opening information.

[0120] Optionally, the control unit 308 includes a control subunit for controlling the vehicle's drive system to drive the active grille to a target opening degree in response to receiving a control command.

[0121] Optionally, the active grille shutter opening control device 300 in the vehicle further includes a correction subunit for correcting the target opening using a temperature sensor in response to driving the active grille shutter to a target opening.

[0122] In this embodiment, the acquisition unit 302 acquires the vehicle's status information, the first temperature information of the thermal management device in the vehicle, and the second temperature information of the road where the vehicle is located. The status information represents the vehicle's operating status, the first temperature information represents the temperature of the thermal management device, and the second temperature information represents the current temperature of the road. The first determination unit 304 determines the vehicle's wind resistance energy consumption and thermal management power consumption increment based on the status information and temperature information. Wind resistance energy consumption represents the energy consumed by the vehicle to overcome air resistance during operation, and thermal management power consumption increment represents the energy consumed to maintain the temperature of the thermal management device at a standard level. The additional energy required within the specified range; the second determining unit 306 determines the vehicle's wind resistance energy consumption and thermal management power consumption increment based on state information and temperature information, wherein wind resistance energy consumption represents the energy consumed by the vehicle to overcome air resistance during driving, and thermal management power consumption increment represents the additional energy required to maintain the temperature of the thermal management equipment within the standard range; the control unit 308 controls the opening of the active air intake grille according to the target opening degree corresponding to the opening degree information, thereby solving the technical problem of low accuracy of active air intake grille opening control and achieving the technical effect of improving the accuracy of active air intake grille opening control.

[0123] According to another aspect of the present invention, a processor is also provided. The processor is used to run a program, wherein the program, when run by the processor, performs the methods described in the embodiments of the present invention.

[0124] According to embodiments of the present invention, an electronic device is also provided, comprising: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods of various embodiments of the present invention during runtime.

[0125] According to embodiments of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of the present invention.

[0126] According to embodiments of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of the present invention.

[0127] According to embodiments of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium storing a computer program, which, when executed by a processor, implements the methods of various embodiments of the present invention.

[0128] According to embodiments of the present invention, a computer program is also provided, which, when executed by a processor, implements the methods of the various embodiments of the present invention.

[0129] According to embodiments of the present invention, a vehicle is also provided that implements the methods of various embodiments of the present invention when executed.

[0130] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0131] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0132] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0133] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0134] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0135] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of controlling the opening degree of an active grille shutter in a vehicle, characterized by, The method comprises: obtaining state information of a vehicle, first temperature information of a thermal management device in the vehicle, and second temperature information of a road where the vehicle is located, wherein the state information is used to indicate an operating state of the vehicle, the first temperature information is used to indicate a temperature of the thermal management device, and the second temperature information is used to indicate a current temperature of the road; determining wind resistance energy consumption of the vehicle and thermal management power consumption increment based on the state information and the temperature information, wherein the wind resistance energy consumption is used to indicate energy consumed by the vehicle in overcoming air resistance during driving, and the thermal management power consumption increment is used to indicate additional energy consumed for maintaining the temperature of the thermal management device within a standard range; determining opening degree information of an active air intake grille in the vehicle based on the wind resistance energy consumption, the thermal management power consumption increment, and a weight factor, wherein the weight factor is used to adjust the importance of the wind resistance energy consumption and the importance of the thermal management power consumption increment; controlling the opening degree of the active air intake grille according to a target opening degree corresponding to the opening degree information.

2. The method of claim 1, wherein, The method further comprises: determining the weight factor based on the second temperature information, a base point temperature, and a temperature threshold, wherein the base point temperature is used to indicate a temperature corresponding to a balance between the wind resistance energy consumption and the thermal management power consumption, and the temperature threshold is used to indicate an upper limit of a required temperature of the thermal management device; determining the opening degree information of the active air intake grille under different working conditions based on the wind resistance energy consumption, the thermal management power consumption increment, and the weight factor.

3. The method of claim 2, wherein, The method further comprises: determining a first difference between the second temperature information and the base point temperature; determining a second difference between the temperature threshold and the base point temperature; determining the weight factor as a ratio of the first difference to the second difference.

4. The method of claim 3, wherein, The method further comprises: determining a product of the weight factor and the thermal management power consumption increment; determining the opening degree information as the product and the wind resistance energy consumption.

5. The method of claim 4, wherein, The method further comprises: controlling a driving system of the vehicle to drive the active air intake grille to the target opening degree in response to receiving a control instruction.

6. The method of claim 5, wherein, The method further comprises: correcting the target opening degree by using a temperature sensor in response to driving the active air intake grille to the target opening degree.

7. An active grille shutter opening control device for a vehicle, characterized in that, The method comprises: an obtaining unit configured to obtain state information of a vehicle, first temperature information of a thermal management device in the vehicle, and second temperature information of a road where the vehicle is located, wherein the state information is used to indicate an operating state of the vehicle, the first temperature information is used to indicate a temperature of the thermal management device, and the second temperature information is used to indicate a current temperature of the road; The first determining unit is configured to determine, based on the state information and the temperature information, a wind resistance energy consumption of the vehicle and an increment of thermal management power consumption, wherein the wind resistance energy consumption represents energy consumed by the vehicle in overcoming air resistance during driving, and the increment of thermal management power consumption represents additional energy consumed for maintaining the temperature of the thermal management device within a standard range. The second determining unit is configured to determine, based on the state information and the temperature information, a wind resistance energy consumption of the vehicle and an increment of thermal management power consumption, wherein the wind resistance energy consumption represents energy consumed by the vehicle in overcoming air resistance during driving, and the increment of thermal management power consumption represents additional energy consumed for maintaining the temperature of the thermal management device within a standard range. The control unit is configured to control the opening degree of the active air intake grille according to a target opening degree corresponding to the opening degree information.

8. A processor, comprising: The processor is configured to execute a program, and the program is configured to implement the method in any one of claims 1 to 6 when executed.

9. An electronic device, comprising: The processor is configured to execute a program, and the program is configured to implement the method in any one of claims 1 to 6 when executed. The processor is configured to execute a program, and the program is configured to implement the method in any one of claims 1 to 6 when executed. The processor is configured to execute a program, and the program is configured to implement the method in any one of claims 1 to 6 when executed.

10. A vehicle characterized by comprising: ​ ​ ​

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