Range extender control method and device and vehicle

Abstract

The invention provides a range extender control method and device and a vehicle. The method comprises the steps that surrounding environment information, current generated power and vehicle state information of the vehicle are obtained; determining the scene sealing degree of the position of the vehicle according to the surrounding environment information; the scene sealing degree is used for representing the sealing degree of the space where the vehicle is located; determining a power correction strategy corresponding to a numerical value interval according to the numerical value interval of the scene closeness to correct the current power generation power, and obtaining corrected power generation power; and compensating the corrected generated power according to the vehicle state information to obtain target generated power, and controlling the range extender to operate based on the target generated power. The scene closing degree of the space where the vehicle is located is determined, and the current generated power is adjusted based on the scene closing degree, so that control over the range extender can be adaptively adjusted based on environment changes, the riding requirements of a user in different scenes are met, the corrected generated power is compensated, and the operation working condition of the range extender is optimized.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a range extender control method, device, and vehicle. Background Technology

[0002] As the demand for intelligence and comfort in new energy vehicles continues to increase, vehicles have evolved from simple means of transportation into temporary places for short rests, waiting, or work. Range-extended electric vehicles (REEVs) achieve longer driving ranges and lower energy consumption through the synergistic operation of electric and fuel energy.

[0003] Since the range extender control strategy of electric vehicles is usually based on preset operating conditions or preset driving modes, if the range extender continues to operate after the electric vehicle enters some enclosed environments, it will increase noise pollution and thus reduce the experience of surrounding users. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide a range extender control method, apparatus and vehicle that overcomes or at least partially solves the above problems.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, embodiments of this application disclose a range extender control method, the method comprising: Obtain information about the vehicle's surrounding environment, current power generation capacity, and vehicle status. The scene enclosure degree of the vehicle's location is determined based on the surrounding environment information; the scene enclosure degree is used to characterize the degree of enclosure of the space where the vehicle is located. Based on the numerical range of the scene closure degree, a power correction strategy corresponding to the numerical range is determined to correct the current power generation, thereby obtaining the corrected power generation. The target power generation is obtained by compensating the corrected power generation based on the vehicle status information, and the range extender is controlled to operate based on the target power generation.

[0006] Secondly, embodiments of this application disclose a range extender control device, the device comprising: The acquisition module is used to acquire information about the vehicle's surrounding environment, current power generation, and vehicle status. The first determining module is used to determine the scene enclosure degree of the vehicle's location based on the surrounding environment information; the scene enclosure degree is used to characterize the degree of enclosure of the space where the vehicle is located. The second determining module is used to determine the power correction strategy corresponding to the numerical range of the scene closure degree and correct the current power generation to obtain the corrected power generation. The control module is used to obtain a target power generation capacity by compensating the corrected power generation capacity based on the vehicle status information, and to control the operation of the range extender based on the target power generation capacity.

[0007] Thirdly, embodiments of this application disclose a vehicle, including: a vehicle domain controller, a range extender, and a sensor unit; The sensor unit is used to collect information about the vehicle's surrounding environment; The vehicle domain controller is used for: Obtain information about the vehicle's surrounding environment, current power generation capacity, and vehicle status. The scene enclosure degree of the vehicle's location is determined based on the surrounding environment information; the scene enclosure degree is used to characterize the degree of enclosure of the space where the vehicle is located. Based on the numerical range of the scene closure degree, a power correction strategy corresponding to the numerical range is determined to correct the current power generation, thereby obtaining the corrected power generation. The target power generation is obtained by compensating the corrected power generation based on the vehicle status information, and the range extender is controlled to operate based on the target power generation.

[0008] Fourthly, embodiments of this application disclose an electronic device, including: a processor connected to a memory; the memory being used to store a computer program; and the processor being used to execute the computer program stored in the memory to implement the steps in the method described in the first aspect.

[0009] Fifthly, embodiments of this application disclose a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0010] This application discloses a range extender control method, which includes: acquiring information about the vehicle's surrounding environment, current power generation, and vehicle status; determining the scene enclosure degree of the vehicle's location based on the surrounding environment information; the scene enclosure degree characterizing the degree of enclosure of the space where the vehicle is located; determining a power correction strategy corresponding to the numerical range of the scene enclosure degree to correct the current power generation, thereby obtaining a corrected power generation; compensating the corrected power generation based on the vehicle status information to obtain a target power generation, and controlling the range extender to operate based on the target power generation. This method, by acquiring information about the vehicle's surrounding environment, determines the scene enclosure degree of the vehicle's space and adjusts the current power generation based on the scene enclosure degree, enabling the range extender control to adapt to changes in the environment, meeting user travel needs in different scenarios. Simultaneously, it compensates for the corrected power generation based on the vehicle status information, ensuring that the determined power generation of the range extender matches the current vehicle condition, improving the user experience and optimizing the range extender's operating conditions. Attached Figure Description

[0011] Figure 1 This is an implementation architecture diagram provided in an embodiment of this application; Figure 2 This is a flowchart illustrating the steps of a range extender control method provided in an embodiment of this application; Figure 3 This is a flowchart illustrating the steps of a scene closure calculation method provided in an embodiment of this application; Figure 4 This is a block diagram of a range extender control device provided in an embodiment of this application; Figure 5 This is a block diagram of an electronic device provided in an embodiment of this application; Figure 6 This is a schematic diagram of another electronic device provided in the embodiments of this application. Detailed Implementation

[0012] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0013] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and are not limited in number; for example, a first object can be one or more. Furthermore, the term "and / or" in the specification and claims is used to describe the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0014] refer to Figure 1 , Figure 1 This is an implementation architecture diagram provided in this application. The domain controller receives vehicle status information, including but not limited to vehicle speed, gear position, and parking status. A fisheye camera is installed at the front, rear, left, and right of the vehicle to identify the surrounding environment, and an ultrasonic radar is installed to identify the distance between the vehicle and surrounding obstacles. The domain controller calculates the scene enclosure degree of the current surrounding environment based on the identified information and sends it to the range extender via the CAN network. The range extender receives the current scene enclosure degree and then controls the range extender based on information such as the current power generation. The scene enclosure degree can also be sent to the central control screen to prompt the user, improving user awareness. The specific method is as follows.

[0015] refer to Figure 2 , Figure 2 This application discloses a flowchart of the steps of a range extender control method according to an embodiment, including: Step 101: Obtain information about the vehicle's surrounding environment, current power generation capacity, and vehicle status.

[0016] In this embodiment, the vehicle's surrounding environment information may include environmental images and obstacle information. Fisheye cameras or surround-view cameras can be installed around the vehicle to collect environmental images, and obstacle information can also be collected using ultrasonic radar, lidar, etc. The current power generation is the actual output power of the range extender. Vehicle status information may include parameters reflecting the vehicle's real-time operating status, such as remaining battery power, vehicle gear, vehicle speed, driving mode, and battery temperature. By acquiring the above information, the vehicle's surrounding environment can be assessed, and the control of the range extender can be optimized based on this environment.

[0017] Step 102: Determine the scene enclosure degree of the vehicle's location based on the surrounding environment information; the scene enclosure degree is used to characterize the degree of enclosure of the space where the vehicle is located.

[0018] In this embodiment, scene enclosure degree is used to characterize the degree of enclosure of the space where the vehicle is located. Scene enclosure degree can be calculated using information about the vehicle's surrounding environment. For example, environmental images captured by a camera can identify factors affecting scene enclosure degree, such as the presence of walls, pillars, or vehicles in front or behind. Simultaneously, the relative positional relationship between obstacles and the vehicle obtained by radar is used to determine the distance between the obstacle and the vehicle. Combined with the determination that the obstacle is specifically a wall or pillar, the scene enclosure degree is comprehensively calculated. A higher scene enclosure degree indicates a stronger sense of enclosure in the vehicle's space, and a greater sensitivity of the vehicle to external noise.

[0019] Step 103: Based on the numerical range of the scene closure degree, determine the power correction strategy corresponding to the numerical range to correct the current power generation, and obtain the corrected power generation.

[0020] In this embodiment, different power correction strategies can be set for different levels of scene enclosure. For example, the scene enclosure can be divided into a first numerical range and a second numerical range, where the first numerical range is larger than the second numerical range. If the scene enclosure falls within the first numerical range, it indicates that the current vehicle's space is highly enclosed. In this case, the corresponding power correction strategy will adjust the current power generation by a larger margin to quickly reduce noise or exhaust emissions in a highly enclosed space. If the scene enclosure falls within the second numerical range, it indicates that the current vehicle's space is less enclosed, and there is no need to significantly suppress the range extender's power. In this case, the corresponding power correction strategy will adjust the current power generation by a relatively smaller margin. By using different power correction strategies, the power correction can be matched to the actual environment in which the vehicle is located.

[0021] Step 104: Based on the vehicle status information, the corrected power generation is compensated to obtain the target power generation, and the range extender is controlled to operate based on the target power generation.

[0022] In this embodiment of the application, the vehicle's status information may include: battery charge, temperature, etc. The battery charge and temperature are related to the actual working efficiency of the range extender. Therefore, after obtaining the corrected power generation, the corrected power generation is further compensated based on the vehicle's status information so that the operating power of the range extender matches the actual vehicle condition.

[0023] In summary, this application discloses a range extender control method, which includes: acquiring information about the vehicle's surrounding environment, current power generation, and vehicle status; determining the scene enclosure degree of the vehicle's location based on the surrounding environment information; the scene enclosure degree characterizing the degree of enclosure of the space where the vehicle is located; determining a power correction strategy corresponding to the numerical range of the scene enclosure degree to correct the current power generation, thereby obtaining a corrected power generation; compensating the corrected power generation based on the vehicle status information to obtain a target power generation, and controlling the range extender to operate based on the target power generation. This method, by acquiring information about the vehicle's surrounding environment, determines the scene enclosure degree of the vehicle's space and adjusts the current power generation based on the scene enclosure degree, enabling the range extender control to adapt to changes in the environment, meeting user travel needs in different scenarios. Furthermore, it compensates for the corrected power generation based on the vehicle status information, ensuring that the determined power generation of the range extender matches the current vehicle condition, improving the user experience and optimizing the range extender's operating conditions.

[0024] Optionally, step 103 includes: Sub-step 1031 is used to multiply the current power generation by a first correction coefficient to obtain the corrected power generation if the scene enclosure degree is less than or equal to the enclosure degree threshold; wherein the first correction coefficient is determined based on the scene enclosure degree and a preset first base coefficient; Sub-step 1032 is used to multiply the current power generation by a second correction coefficient to obtain the corrected power generation if the scene closure degree is greater than the closure degree threshold; wherein the second correction coefficient is determined based on the scene closure degree, a preset second basic coefficient and a preset curvature factor.

[0025] In this embodiment, for sub-steps 1021 and 1022, the current power generation is determined without changing the range extender control logic. The scene closure degree is introduced to coordinate the control of the range extender's power generation. After introducing the scene closure degree, the corrected power generation P is calculated. Let the scene closure degree percentage be Scd. Power correction formula:

[0026] in, To correct for power generation, Scd represents the scene closure degree. The closure threshold, As the first basic coefficient, As the second basic coefficient, This is the preset curvature factor.

[0027] Will The calculation result is used as the first correction coefficient. The first base coefficient can be determined through calibration, for example, with a value of 0.8-1.2. The first correction coefficient decreases linearly with the increase of the scene enclosure degree Scd, so that the corrected power generation P also decreases linearly. It is suitable for scenarios where the vehicle is in a low degree of enclosure.

[0028] Will The calculation result is used as the second correction coefficient and the second base coefficient. The value can range from 0.9 to 1.1, and it is used for overall power adjustment. It is a safety factor to prevent a sharp drop in power. The value can range from 1.2 to 1.5, and is used to control the steepness of the attenuation curve in areas with high scene closure. >1. When the scene enclosure degree Scd approaches 1, (1-Scd)^γ will approach 0 relatively quickly, causing the corrected power generation to decrease rapidly with changes in scene enclosure degree. This is suitable for vehicles in highly enclosed scenes, such as underground garages and enclosed tunnels, to minimize noise.

[0029] First base coefficient With the second basic coefficient The value of can be determined comprehensively through factors such as actual vehicle NVH calibration, policy smoothness constraints, and specific vehicle configurations. For example, in actual vehicle or bench testing, the noise level of the range extender at different power levels is measured to set a desired scenario noise threshold. The value should be such that the scene closure reaches the threshold. At that time, the power reduction is sufficient to keep the range extender noise within the scene noise threshold.

[0030] Optionally, the vehicle status information includes: current battery level, target battery level, current battery temperature, and ideal battery temperature; step 104 includes: Sub-step 1041: Based on the vehicle status information, determine at least one compensation coefficient; the compensation coefficient is used to reflect the vehicle's current capability or demand; Sub-step 1042: Compensate the modified power generation according to at least one of the compensation coefficients to obtain the target power generation.

[0031] In this embodiment, for sub-steps 1041 and 1042, compensation coefficients can be determined based on real-time monitored vehicle status information. Each compensation coefficient can determine the direction and intensity of the impact of a specific vehicle state on the power generation demand. For example, vehicle status information includes battery charge, battery temperature, etc. When the battery charge or temperature is different, the vehicle's current capability or power demand is different. The determined compensation coefficients can be used to reflect the vehicle's current capability or demand and adjust the power. Optionally, sub-step 1042 includes: Sub-step 10421: Determine the first compensation coefficient based on the current power level, the target power level, and the preset power compensation factor; Sub-step 10422: Determine the second compensation coefficient based on the current battery temperature, the ideal battery temperature, and the preset temperature compensation factor; Sub-step 10423: Determine the target power generation by compensating the corrected power generation based on the first compensation coefficient and / or the second compensation coefficient.

[0032] In this embodiment, for sub-steps 10421 to 10423, the vehicle status information includes: current battery level, target battery level, current battery temperature, and ideal battery temperature. A first compensation coefficient is determined based on the current battery level, target battery level, and a preset battery compensation factor to compensate for the battery level. The target battery level can be determined based on the current operating conditions. The formula for calculating the first compensation coefficient is as follows:

[0033] in, The first compensation coefficient, This is the current battery level. For the target power, The preset power compensation factor is used to determine the power compensation intensity and serves as a power boost coefficient when the battery power is insufficient. For example, it can be set to a value of 0.15 to 0.35.

[0034] When the current battery level is lower than the target battery level, the first compensation coefficient is greater than 1. The larger the difference between the current battery level and the target battery level, the larger the first compensation coefficient becomes. This provides positive compensation to the corrected power generation, ensuring that the range extender can provide sufficient charging power to avoid over-discharge of the battery. Conversely, if the current battery level is greater than the target battery level, the compensation coefficient is 1, meaning no additional compensation is performed, and the current power state is maintained.

[0035] A second compensation coefficient is determined based on the current battery temperature, the ideal battery temperature, and a preset temperature compensation factor. This second compensation coefficient is used to compensate for temperature fluctuations. The ideal battery temperature is a reference temperature point representing the optimal state of battery performance and can be a preset default value, such as 25 degrees Celsius. The formula for calculating the second compensation coefficient is as follows:

[0036] in, This is the second compensation coefficient. The current battery temperature. For the ideal battery temperature, The preset temperature compensation factor is used to determine the sensitivity of temperature compensation and control the slope of the temperature compensation curve. For example, it can be set to a value of 0.1-0.3.

[0037] When the temperature deviates from the optimal operating range, the system's effective output capability will decrease. The greater the deviation of the current battery temperature from the ideal battery temperature, the lower the system's effective output capability will be. The smaller the value, the better to protect the battery. When compensating for the corrected power generation, compensation can be based on a first compensation coefficient, or on a second compensation coefficient, or a comprehensive calculation can be performed using both the first and second compensation coefficients to compensate for the corrected power generation. This application does not limit the specific calculations.

[0038] Optionally, sub-step 10423 includes: Sub-step A1: Determine the compensated power generation based on the first compensation coefficient and / or the second compensation coefficient; Sub-step A2 involves performing boundary constraint processing on the compensated power generation to obtain the target power generation.

[0039] In this embodiment of the application, for sub-steps A1 and A2, the compensated power generation is determined by adjusting the corrected power generation based on the first compensation coefficient and the second compensation coefficient. The calculation formula for the compensated power generation is as follows:

[0040] in, The compensated power generation capacity, The first compensation coefficient, This is the second compensation coefficient.

[0041] Furthermore, to ensure the safety and stability of the range extender control, boundary constraint processing is required on the compensated power generation to obtain the target power generation. Boundary constraint processing ensures that the compensated power generation remains within the boundaries of the range extender's safe and stable operation.

[0042] Optionally, boundary constraint processing includes: Step 105: Take the smaller value between the compensated power generation and the maximum allowable power to obtain the first constraint power; Step 106: Take the larger value between the first constrained power and the minimum required power to obtain the target power generation; The maximum allowable power and the minimum required power are determined based on the current operating conditions of the vehicle.

[0043] In this embodiment of the application, the boundary constraint processing for steps 105 and 106 is expressed by the following formula:

[0044] in, For the target power generation, Minimum power required To compensate for the power generation, The maximum permissible power and the minimum required power are determined based on the vehicle's current operating conditions. For example, they can be determined by the range extender's maximum continuous output capacity, the battery's maximum acceptable charging power, etc. The minimum required power ensures that the range extender operates above the minimum required power after startup to meet basic needs and avoid operational instability.

[0045] The compensated power generation is compared with the maximum allowable power, and the smaller value is taken to obtain the first constraint power. The first constraint power is then compared with the minimum required power, and the larger value is taken to ensure that the current power can meet the vehicle's minimum power requirement. This boundary constraint processing ensures the reliability of the range extender control.

[0046] Optionally, step 104 includes: Sub-step 1043: Based on the power command of the previous control cycle and the preset maximum power change rate, determine the allowable range of power change in the current control cycle; Sub-step 1044: Limit the target power generation of the current control cycle to the allowable range of power change, and determine the target power command; Sub-step 1045: Control the range extender to operate based on the target power command.

[0047] In this embodiment of the application, for steps 1043 to 1045, after obtaining the target power generation after boundary constraint processing, in order to ensure the stability of the range extender's power output and avoid the smoothness being affected by command changes, the rate of change of the target power generation is limited.

[0048] Specifically, the dynamic variation of the target power generation in the current control cycle is constrained based on the actual power command output of the previous control cycle. The specific process is expressed by the following formula:

[0049] Based on the previous control cycle The actual power command issued to the range extender Based on the preset maximum power change rate and control cycle duration t, dynamically calculates the allowable range of power change for the current cycle command, and the maximum power change rate. This represents the maximum permissible change in power per unit time. The upper limit of allowed changes, This is the lower bound for allowed variation. If This indicates that the expected power increase request is too rapid, exceeding the allowable upper limit for power changes. To ensure smoothness, the upper limit is taken as the constrained target power generation. If The error message "t" indicates that the expected power reduction request is too rapid, exceeding the lower limit of the allowable power change range. To ensure smoothness, the final command is limited to the lower limit of the allowable range. This indicates that the expected power change is within the allowable range and will not cause smoothness issues. Therefore, the calculated target power generation is directly used as the final command.

[0050] After constraining the dynamic variation range of the target power generation, the determined target power command is the final command for controlling the operation of the range extender. The operation of the range extender is controlled based on the final command to ensure the smooth operation of the range extender.

[0051] Optionally, the surrounding environment information of the vehicle includes: environmental images corresponding to the surroundings of the vehicle; step 102 includes: Sub-step 1021: Input the environmental image into the trained network model to determine the semantic segmentation category in the environmental image; Sub-step 1022: Scan the predefined scanning area around the vehicle. For each scanning area, determine whether it intersects with the surface of an object belonging to a preset obstacle category within a preset maximum scanning distance. If so, record the position information of the intersection point. The preset obstacle category is determined according to the semantic segmentation category. Sub-step 1023: Determine the scene closure degree of the vehicle's location based on the semantic segmentation category and the location information.

[0052] In this embodiment, for sub-steps 1021 to 1023, the acquired environmental image or other visual data is input into a pre-trained network model to classify the input image and output the semantic category of each pixel. In this application, the semantic segmentation categories include at least background, walls, pillars, and vehicles. Walls, pillars, and vehicles are defined as obstacle categories that affect the scene's closure. The network model can be the deeplabv3 semantic segmentation model, which expands the receptive field and fuses contextual information at different scales without reducing the feature map resolution through atrous convolution and atrous spatial pyramid pooling (ASPP). This avoids the spatial information loss caused by traditional pooling or stride convolution, directly outputting high-resolution segmentation results and reducing reliance on post-processing.

[0053] Specifically, the perception range around the vehicle is divided into several sectors, such as corresponding to the front, rear, left, and right directions of the vehicle, forming several independent scanning areas. Within each scanning area, virtual rays are emitted in all directions from the perception center of that area, such as the optical center of the camera, according to a preset angular resolution. For each scanning ray, it is determined whether it encounters an object surface belonging to a preset obstacle category within a preset maximum effective scanning distance, i.e., whether there are walls, pillars, or vehicles. If the ray intersects with an obstacle of the preset obstacle category, the position information of the intersection point is recorded. Combining the environmental image and radar results, the shortest distance from that point to the vehicle is calculated. Different preset obstacle categories correspond to different category influence weights, and then the scene closure degree of the vehicle's location is determined based on semantic segmentation category and location information.

[0054] Optionally, sub-step 1023 includes: Sub-step 10231: Determine the category influence weight based on the preset obstacle category corresponding to the intersection point; Sub-step 10232: Determine the distance between the vehicle and the intersection point based on the location information; Sub-step 10233: For each scanned region, determine the region closure degree based on the category influence weight and the distance; Sub-step 10234: Determine the scene closure of the vehicle based on the area closure of each scanned area.

[0055] In this embodiment of the application, the formula for calculating the region closure degree for sub-steps 10231 to 10234 is as follows:

[0056] Let the region closure of the j-th scan region be denoted as . `n` is a preset constant used to control the degree to which distance affects the scene's closure. `n` is the number of scans. The category influence weight corresponding to the intersection of the i-th scan is assigned based on the semantic segmentation category, such as wall, pillar, and vehicle, and is pre-assigned, for example, wall > pillar > vehicle. Given the distance from the vehicle to the i-th detection point, the region closure is obtained by weighted summation of all valid intersections within the scanning area.

[0057] Finally, the area closure scores of all scanned areas are fused to obtain the scene closure score, which characterizes the overall openness of the vehicle's environment. The formula for calculating the scene closure score is as follows:

[0058] in, The degree of enclosure of the vehicle environment. Let be the weight of the j-th scan region. The region closure of each scan region is weighted and summed to obtain the scene closure. The weight of the scan region located behind the vehicle can be greater than the weight of the scan region located in front of the vehicle.

[0059] Further, refer to Figure 3 , Figure 3 A flowchart for calculating scene closure is shown. The network model can be a model for semantic segmentation. The input of the semantic network model can be an environmental image captured by a camera. The environmental image can be an image in AVM format. The network model outputs the segmentation result based on the input environmental image. Among them, classes 1, 2, and 3 are the categories that affect scene closure, and the other categories are all used as background classes. The semantic segmentation categories are shown in Table 1.

[0060] Table 1

[0061] For each scanning area j: draw a ray centered on the camera's optical center, and scan counterclockwise from one end of the scanning area, scanning once every α / n, for a total of n scans, where α is the required scanning angle range; for any given scan (the i-th scan), if the ray reaches the surface of the closed obstacle within the set scanning distance, record the intersection point of the ray and the surface. By combining environmental images and ultrasonic results, the shortest distance from that point to the vehicle is calculated. (i.e., the length of the perpendicular segment to the vehicle); the type of obstacle is obtained through the semantic segmentation results of the semantic segmentation model. Assuming the weight of this type of obstacle is A, then the type weight of this point is... One weighting strategy is shown in Table 2.

[0062] Table 2

[0063] The specific values ​​of the weights can be calibrated and modified according to the actual situation. If the ray does not reach the surface of the closed obstacle within the set scanning distance, it is recorded as... The scene closure is calculated based on weights and distance. The scene closure is updated every preset time interval, for example, 30 seconds. The final scene closure output to the range extender can be a percentage value, ranging from 0 to 100%.

[0064] In summary, this application discloses a range extender control method, which includes: acquiring information about the vehicle's surrounding environment, current power generation, and vehicle status; determining the scene enclosure degree of the vehicle's location based on the surrounding environment information; the scene enclosure degree characterizing the degree of enclosure of the space where the vehicle is located; determining a power correction strategy corresponding to the numerical range of the scene enclosure degree to correct the current power generation, thereby obtaining a corrected power generation; compensating the corrected power generation based on the vehicle status information to obtain a target power generation, and controlling the range extender to operate based on the target power generation. This method, by acquiring information about the vehicle's surrounding environment, determines the scene enclosure degree of the vehicle's space and adjusts the current power generation based on the scene enclosure degree, enabling the range extender control to adapt to changes in the environment, meeting user travel needs in different scenarios. Furthermore, it compensates for the corrected power generation based on the vehicle status information, ensuring that the determined power generation of the range extender matches the current vehicle condition, improving the user experience and optimizing the range extender's operating conditions.

[0065] refer to Figure 4 It illustrates a range extender control device 20 provided in an embodiment of this application, the device comprising: The acquisition module 201 is used to acquire information about the vehicle's surrounding environment, current power generation, and vehicle status. The first determining module 202 is used to determine the scene enclosure degree of the vehicle's location based on the surrounding environment information; the scene enclosure degree is used to characterize the degree of enclosure of the space where the vehicle is located. The second determining module 203 is used to determine the power correction strategy corresponding to the numerical range of the scene closure degree and correct the current power generation to obtain the corrected power generation. The control module 204 is used to obtain a target power generation by compensating the corrected power generation based on the vehicle status information, and to control the operation of the range extender based on the target power generation.

[0066] Optionally, the second determining module includes: The first correction submodule is used to multiply the current power generation by a first correction coefficient to obtain the corrected power generation if the scene closure degree is less than or equal to the closure degree threshold; wherein the first correction coefficient is determined based on the scene closure degree and a preset first base coefficient. The second correction submodule is used to multiply the current power generation by a second correction coefficient to obtain the corrected power generation if the scene closure degree is greater than the closure degree threshold; wherein the second correction coefficient is determined based on the scene closure degree, a preset second basic coefficient and a preset curvature factor.

[0067] Optionally, the control module includes: The first determining submodule is used to determine at least one compensation coefficient based on the vehicle status information; the compensation coefficient is used to reflect the vehicle's current capability or demand. The compensation submodule is used to compensate the modified power generation based on at least one of the compensation coefficients to obtain the target power generation.

[0068] Optionally, the vehicle status information includes: current battery level, target battery level, current battery temperature, and ideal battery temperature; the first determining submodule includes: The first determining unit is used to determine a first compensation coefficient based on the current power level, the target power level, and a preset power compensation factor. The second determining unit is used to determine a second compensation coefficient based on the current battery temperature, the ideal battery temperature, and a preset temperature compensation factor. Optionally, the compensation submodule includes The third determining unit is used to determine the target power generation based on the first compensation coefficient and / or the second compensation coefficient for the corrected power generation compensation. Optionally, the third determining unit includes: The compensation subunit is used to determine the compensated power generation based on the first compensation coefficient and / or the second compensation coefficient. The constraint subunit is used to perform boundary constraint processing on the compensated power generation to obtain the target power generation.

[0069] Optionally, the boundary constraint processing is used for: The smaller value between the compensated power generation and the maximum allowable power is used to obtain the first constraint power. The target power generation capacity is obtained by taking the larger value between the first constrained power and the minimum required power. The maximum allowable power and the minimum required power are determined based on the current operating conditions of the vehicle.

[0070] Optionally, the control module includes: The second determining submodule is used to determine the allowable range of power change in the current control cycle based on the power command of the previous control cycle and the preset maximum power change rate. The limiting submodule is used to limit the target power generation of the current control cycle to the allowable range of power changes and to determine the target power command. The control submodule is used to control the operation of the range extender based on the target power command.

[0071] Optionally, the surrounding environment information of the vehicle includes: environmental images corresponding to the four sides of the vehicle; the first determining module includes: The semantic segmentation submodule is used to input the environmental image into the trained network model and determine the semantic segmentation category in the environmental image. The scanning submodule is used to scan a predefined scanning area around the vehicle. For each scanning area, it determines whether it intersects with the surface of an object belonging to a preset obstacle category within a preset maximum scanning distance. If so, it records the position information of the intersection point. The preset obstacle category is determined according to the semantic segmentation category. The calculation submodule is used to determine the scene closure degree of the vehicle's location based on the semantic segmentation category and the location information.

[0072] Optionally, depending on the calculation submodule, it includes: The weight determination unit is used to determine the category influence weight based on the preset obstacle category corresponding to the intersection point; A distance determination unit is used to determine the distance between the vehicle and the intersection point based on the location information; The first calculation unit is used to determine the region closure degree for each scanned region based on the category influence weight and the distance; The second calculation unit is used to determine the scene closure degree of the vehicle based on the area closure degree of each scanned area.

[0073] In summary, this application discloses a range extender control method, which includes: acquiring information about the vehicle's surrounding environment, current power generation, and vehicle status; determining the scene enclosure degree of the vehicle's location based on the surrounding environment information; the scene enclosure degree characterizing the degree of enclosure of the space where the vehicle is located; determining a power correction strategy corresponding to the numerical range of the scene enclosure degree to correct the current power generation, thereby obtaining a corrected power generation; compensating the corrected power generation based on the vehicle status information to obtain a target power generation, and controlling the range extender to operate based on the target power generation. This method, by acquiring information about the vehicle's surrounding environment, determines the scene enclosure degree of the vehicle's space and adjusts the current power generation based on the scene enclosure degree, enabling the range extender control to adapt to changes in the environment, meeting user travel needs in different scenarios. Furthermore, it compensates for the corrected power generation based on the vehicle status information, ensuring that the determined power generation of the range extender matches the current vehicle condition, improving the user experience and optimizing the range extender's operating conditions.

[0074] Reference Figure 5The electronic device 600 may include one or more of the following components: a processing component 602, a memory 604, a power supply component 606, a multimedia component 608, an audio component 610, an input / output (I / O) interface 612, a sensor component 614, and a communication component 616.

[0075] Processing component 602 typically controls the overall operation of electronic device 600, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 602 may include one or more processors 620 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 602 may include one or more modules to facilitate interaction between processing component 602 and other components. For example, processing component 602 may include a multimedia module to facilitate interaction between multimedia component 608 and processing component 602.

[0076] Memory 604 is used to store various types of data to support the operation of electronic device 600. Examples of this data include instructions for any application or method operating on electronic device 600, contact data, phonebook data, messages, pictures, multimedia, etc. Memory 604 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0077] Power supply component 606 provides power to various components of electronic device 600. Power supply component 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 600.

[0078] Multimedia component 608 includes a screen that provides an output interface between the electronic device 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may not only sense the boundaries of touch or swipe actions but also detect the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 608 includes a front-facing camera and / or a rear-facing camera. When the electronic device 600 is in an operating mode, such as a shooting mode or a multimedia mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0079] Audio component 610 is used to output and / or input audio signals. For example, audio component 610 includes a microphone (MIC) used to receive external audio signals when electronic device 600 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 604 or transmitted via communication component 616. In some embodiments, audio component 610 also includes a speaker for outputting audio signals.

[0080] I / O interface 612 provides an interface between processing component 602 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0081] Sensor assembly 614 includes one or more sensors for providing state assessments of various aspects of electronic device 600. For example, sensor assembly 614 can detect the on / off state of electronic device 600, the relative positioning of components such as the display and keypad of electronic device 600, changes in position of electronic device 600 or a component of electronic device 600, the presence or absence of user contact with electronic device 600, orientation or acceleration / deceleration of electronic device 600, and temperature changes of electronic device 600. Sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 614 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 614 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0082] Communication component 616 facilitates wired or wireless communication between electronic device 600 and other devices. Electronic device 600 can access wireless networks based on communication standards, such as WiFi, carrier networks (such as 2G, 3G, 4G, or 5G), or combinations thereof. In one exemplary embodiment, communication component 616 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 616 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0083] In an exemplary embodiment, the electronic device 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to implement a method provided in the embodiments of this application.

[0084] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 604 including instructions, which can be executed by a processor 620 of an electronic device 600 to perform the above-described method. For example, the non-transitory storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0085] Figure 6 A block diagram of an electronic device 700 is shown according to an exemplary embodiment. For example, the electronic device 700 may be provided as a server. (Refer to...) Figure 6 Electronic device 700 includes a processing component 722, which further includes one or more processors, and memory resources represented by memory 732 for storing instructions, such as application programs, that can be executed by the processing component 722. The application programs stored in memory 732 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 722 is configured to execute instructions to perform a method provided in embodiments of this application.

[0086] Electronic device 700 may also include a power supply component 726 configured to perform power management of electronic device 700, a wired or wireless network interface 750 configured to connect electronic device 700 to a network, and an input / output (I / O) interface 758. Electronic device 700 may operate on an operating system stored in memory 732, such as Windows Server™, MacOSX™, Unix™, Linux™, FreeBSD™, or similar.

[0087] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the method described above.

[0088] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0089] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A range extender control method, characterized in that, The method comprises: acquiring surrounding environment information, current power generation and vehicle state information of a vehicle; determining a scene enclosure of a location where the vehicle is located according to the surrounding environment information; the scene enclosure is used to represent the degree of enclosure of a space where the vehicle is located; determining a power correction strategy corresponding to a numerical interval where the scene enclosure is located according to the numerical interval, and correcting the current power generation according to the power correction strategy to obtain a corrected power generation; compensating the corrected power generation according to the vehicle state information to obtain a target power generation, and controlling the range extender to operate based on the target power generation.

2. The method of claim 1, wherein, The method comprises: if the scene enclosure is less than or equal to an enclosure threshold, multiplying the current power generation by a first correction coefficient to obtain the corrected power generation; wherein the first correction coefficient is determined according to the scene enclosure and a preset first base coefficient; if the scene enclosure is greater than the enclosure threshold, multiplying the current power generation by a second correction coefficient to obtain the corrected power generation; wherein the second correction coefficient is determined according to the scene enclosure, a preset second base coefficient and a preset curvature factor.

3. The method of claim 1, wherein, The method comprises: determining at least one compensation coefficient based on the vehicle state information; the compensation coefficient is used to reflect the current ability or demand of the vehicle; compensating the corrected power generation according to at least one compensation coefficient to obtain the target power generation.

4. The method of claim 3, wherein, The vehicle state information comprises: current power, target power, current battery temperature and ideal battery temperature; the method comprises: determining a first compensation coefficient according to the current power, the target power and a preset power compensation factor; determining a second compensation coefficient according to the current battery temperature, the ideal battery temperature and a preset temperature compensation factor; The method comprises: compensating the corrected power generation according to the first compensation coefficient and / or the second compensation coefficient to determine the target power generation.

5. The method of claim 4, wherein, The method comprises: compensating the corrected power generation according to the first compensation coefficient and / or the second compensation coefficient to determine the compensated power generation; performing boundary constraint processing on the compensated power generation to obtain the target power generation.

6. The method of claim 5, wherein, The boundary constraint processing comprises: taking a smaller value between the compensated power generation and a maximum allowable power to obtain a first constrained power; taking a larger value between the first constrained power and a minimum demand power to obtain the target power generation; wherein the maximum allowable power and the minimum demand power are determined according to the current working condition of the vehicle.

7. The method of claim 1, wherein, The method comprises: Determine a power variation allowable range of a current control period based on a power instruction of a previous control period and a preset maximum power variation rate; Determine a target power instruction by limiting a target power generation of the current control period within the power variation allowable range; Control the range extender to operate based on the target power instruction.

8. The method of claim 1, wherein, The surrounding environment information of the vehicle includes: environment images corresponding to the surroundings of the vehicle; and a scene enclosure of a location of the vehicle is determined according to the surrounding environment information, including: Input the environment images into a trained network model to determine semantic segmentation categories in the environment images; Scan predefined scanning regions around the vehicle, and for each scanning region, determine whether the scanning region intersects with a surface of an object belonging to a preset obstacle category within a preset maximum scanning distance, and if so, record position information of the intersection point; the preset obstacle category is determined according to the semantic segmentation categories; Determine the scene enclosure of the location of the vehicle according to the semantic segmentation categories and the position information.

9. The method of claim 8, wherein, Determine the scene enclosure of the location of the vehicle according to the semantic segmentation categories and the position information, including: Determine a category influence weight according to the preset obstacle category corresponding to the intersection point; Determine a distance between the vehicle and the intersection point according to the position information; For each scanning region, determine a regional enclosure according to the category influence weight and the distance; Determine the scene enclosure of the vehicle based on the regional enclosure of each scanning region.

10. A range extender control device characterized by, The device includes: An acquisition module configured to acquire surrounding environment information of a vehicle, a current power generation, and vehicle state information; A first determination module configured to determine a scene enclosure of a location of the vehicle according to the surrounding environment information; the scene enclosure is used to represent a degree of enclosure of a space where the vehicle is located; A second determination module configured to determine a power correction strategy corresponding to a numerical interval in which the scene enclosure is located, and correct the current power generation by using the power correction strategy to obtain a corrected power generation; A control module configured to compensate the corrected power generation by using vehicle state information to obtain a target power generation, and control the range extender to operate based on the target power generation.

11. A vehicle, characterized by The device includes: A vehicle domain controller, a range extender, and a sensor unit; The sensor unit is configured to collect surrounding environment information of a vehicle; The vehicle domain controller is configured to: Acquire surrounding environment information of a vehicle, a current power generation, and vehicle state information; Determine a scene enclosure of a location of the vehicle according to the surrounding environment information; the scene enclosure is used to represent a degree of enclosure of a space where the vehicle is located; Determine a power correction strategy corresponding to a numerical interval in which the scene enclosure is located, and correct the current power generation by using the power correction strategy to obtain a corrected power generation; Compensate the corrected power generation by using vehicle state information to obtain a target power generation, and control the range extender to operate based on the target power generation.

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