Vehicle, control method and device thereof and medium

Abstract

The invention discloses a vehicle, a control method and device thereof and a medium. The method comprises the steps of dividing a current path into a plurality of road sections based on vehicle speed information of the current path of a vehicle; determining the vehicle remaining power of the current road section, the vehicle target starting point power of the next road section and the average vehicle speed of the current road section; and determining a target driving mode of the vehicle in the current road section according to the vehicle residual electric quantity of the current road section, the vehicle target starting point electric quantity of the next road section and the average speed of the current road section so as to control the vehicle to enter the target driving mode when the vehicle enters the current road section. According to the control method, the road sections are dynamically divided based on the vehicle speed information of the path where the vehicle is located, the vehicle driving mode of the current road section is adjusted according to the average vehicle speed of the current road section, the vehicle remaining electric quantity and the vehicle target initial electric quantity of the next road section, and a driver does not need to set the driving mode according to different road conditions and vehicle speeds; and the driving stability and safety are enhanced.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle control method, a vehicle control device, a computer-readable storage medium, and a vehicle. Background Technology

[0002] Given the severe energy and environmental challenges, passenger vehicles are striving for greater efficiency, energy conservation, and environmental friendliness, leading to the emergence of many hybrid models. In actual use of hybrid vehicles, due to the numerous settings such as battery charge and driving mode adjustments, drivers need to manually adjust the target battery level and driving mode based on different road conditions and vehicle speeds to optimize energy consumption. However, this process not only increases the complexity of driving operations but can also distract the driver, posing a potential threat to driving safety. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in related technologies. To this end, the first objective of this application is to propose a vehicle control method, which includes: dividing the current path into multiple road segments based on the vehicle's current speed information; determining the remaining battery power of the vehicle in the current road segment, the target starting battery power of the vehicle in the next road segment, and the average speed of the current road segment; determining the target driving mode of the vehicle in the current road segment based on the remaining battery power of the vehicle in the current road segment, the target starting battery power of the vehicle in the next road segment, and the average speed of the current road segment, so as to control the vehicle to enter the target driving mode when entering the current road segment. The control method of this application dynamically divides road segments based on the vehicle's speed information and adjusts the driving mode of the current road segment according to the average speed of the current road segment, the remaining battery power of the vehicle, and the target starting battery power of the next road segment. This eliminates the need for the driver to manually set the driving mode according to different road conditions and vehicle speeds, optimizes energy consumption, extends driving range, reduces the risk of driving interruption due to insufficient battery power, and enhances driving stability, safety, and comfort.

[0004] The second objective of this application is to provide a vehicle control device.

[0005] The third objective of this application is to provide a computer-readable storage medium.

[0006] The fourth objective of this application is to propose a vehicle.

[0007] To achieve the above objectives, a first aspect of this application proposes a vehicle control method, the method comprising: dividing the current path into multiple road segments based on the vehicle speed information of the current path; determining the remaining battery power of the vehicle in the current road segment, the target starting battery power of the vehicle in the next road segment, and the average speed of the current road segment; determining the target driving mode of the vehicle in the current road segment based on the remaining battery power of the vehicle in the current road segment, the target starting battery power of the vehicle in the next road segment, and the average speed of the current road segment, so as to control the vehicle to enter the target driving mode when the vehicle enters the current road segment.

[0008] According to one embodiment of this application, determining the target driving mode of a vehicle in the current road segment based on the vehicle's remaining battery power in the current road segment, the vehicle's target starting battery power in the next road segment, and the average vehicle speed in the current road segment includes: if the average vehicle speed in the current road segment is less than a first preset speed threshold, and if the vehicle's remaining battery power in the current road segment is greater than or equal to the vehicle's target starting battery power in the next road segment, then the target driving mode of the vehicle in the current road segment is determined to be a first driving mode, which represents a mode driven by a power battery; if the vehicle's remaining battery power in the current road segment is less than the vehicle's target starting battery power in the next road segment, then the target driving mode of the vehicle in the current road segment is determined to be a second driving mode, which represents a mode driven by a hybrid power battery and engine.

[0009] According to one embodiment of this application, the method further includes: if the average vehicle speed of the current road segment is greater than or equal to a first preset speed threshold, and if the remaining battery power of the vehicle in the current road segment is greater than or equal to the target starting battery power of the vehicle in the next road segment, then the target driving mode of the vehicle in the current road segment is determined to be a third driving mode, wherein the third driving mode represents a mode driven by the engine; if the remaining battery power of the vehicle in the current road segment is less than the target starting battery power of the vehicle in the next road segment, then the target driving mode of the vehicle in the current road segment is determined to be a second driving mode.

[0010] According to one embodiment of this application, determining the remaining vehicle battery power of the current road segment includes: calculating the vehicle battery power consumption of the current road segment based on at least one of vehicle mass, length of the current road segment, average vehicle speed, drag coefficient, frontal area, air density, on-board electrical load power, altitude change, drive efficiency of the drive motor, and energy recovery efficiency of the drive motor; and determining the remaining vehicle battery power of the current road segment based on the difference between the initial vehicle battery power of the current road segment and the vehicle battery power consumption of the current road segment.

[0011] According to one embodiment of this application, the above method further includes: determining an objective function based on the sum of fuel costs and electricity costs for each road segment; determining the minimum value of the objective function based on an optimization function; and determining the target starting power consumption of the vehicle for each road segment based on the minimum value.

[0012] According to one embodiment of this application, the following constraints are satisfied in the process of determining the minimum value of multiple objective functions based on the optimization function: the terminal power of each road segment is greater than or equal to a preset power threshold; the terminal fuel quantity of each road segment is greater than or equal to a preset fuel quantity threshold; the difference between the starting fuel quantity and the terminal fuel quantity of each road segment is equal to the fuel consumption of the corresponding road segment; the difference between the starting power of the vehicle and the terminal power of each road segment is equal to the difference between the vehicle power consumption and the replenished power of the corresponding road segment.

[0013] According to one embodiment of this application, the method further includes: updating the vehicle speed information of the current path of the vehicle based on a preset time interval.

[0014] To achieve the above objectives, a second aspect of this application provides a vehicle control device, comprising: a segmentation module for dividing the current path into multiple segments based on vehicle speed information; a determination module for determining the remaining battery power of the vehicle in the current segment, the target starting battery power of the vehicle in the next segment, and the average speed of the current segment; and a control module for determining the target driving mode of the vehicle in the current segment based on the remaining battery power of the vehicle in the current segment, the target starting battery power of the vehicle in the next segment, and the average speed of the current segment, so as to control the vehicle to enter the target driving mode when the vehicle enters the current segment.

[0015] To achieve the above objectives, a third aspect of this application provides a computer-readable storage medium storing a vehicle control program thereon, which, when executed by a processor, implements the aforementioned vehicle control method.

[0016] To achieve the above objectives, a fourth aspect of this application provides a vehicle, including a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the processor executes the vehicle control program, it implements the aforementioned vehicle control method.

[0017] According to the vehicle and its control method, device, and medium of the embodiments of this application, the current path is divided into multiple road segments based on the vehicle speed information of the current path; the remaining battery power of the vehicle in the current road segment, the target starting battery power of the vehicle in the next road segment, and the average speed of the current road segment are determined; the target driving mode of the vehicle in the current road segment is determined based on the remaining battery power of the vehicle in the current road segment, the target starting battery power of the vehicle in the next road segment, and the average speed of the current road segment, so as to control the vehicle to enter the target driving mode when the vehicle enters the current road segment. The control method of this application dynamically divides road segments based on the vehicle speed information of the current path, and adjusts the driving mode of the current road segment according to the average speed of the current road segment, the remaining battery power of the vehicle, and the target starting battery power of the next road segment. It eliminates the need for the driver to manually set the driving mode according to different road conditions and vehicle speeds, optimizes energy consumption, extends the driving range, and reduces the risk of driving interruption due to insufficient battery power, thereby enhancing driving stability, safety, and comfort. Attached Figure Description

[0018] Figure 1 A flowchart of a vehicle control method according to some embodiments of this application; Figure 2 This is a block diagram of a vehicle control device according to some embodiments of this application; Figure 3 This is a block diagram of a vehicle according to some embodiments of this application. Detailed Implementation

[0019] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0020] The following describes in detail, with reference to the accompanying drawings, the vehicle and its control method, apparatus and medium according to embodiments of this application.

[0021] Figure 1 This is a flowchart of a vehicle control method according to some embodiments of this application. (Refer to...) Figure 1 The vehicle control method of this application embodiment may include the following steps: S110 divides the current path into multiple segments based on the vehicle speed information of the current path.

[0022] Specifically, real-time traffic data sources (such as traffic surveillance cameras, floating car data, traffic broadcasts, etc.) can be used to obtain vehicle speed information on the current path. Alternatively, traffic prediction models can be used to predict vehicle speed information on the current path based on factors such as road type, time (e.g., weekdays, weekends, peak hours), and weather conditions. It should be noted that there are no specific restrictions on the method of obtaining vehicle speed information on the current path.

[0023] After determining the vehicle's current speed information, the current path can be divided into multiple segments based on the speed information. For example, segments with lower average speeds can be classified as low-speed segments, segments with average speeds can be classified as medium-speed segments, and segments with higher average speeds can be classified as high-speed segments.

[0024] It should be noted that the minimum road segment length is 5km. In other words, when dividing road segments, if a segment is less than 5km long, it will be merged with an adjacent segment. For example, the segment can be merged with the previous segment, and the merged segment can be redefined as a low-speed segment, medium-speed segment, or high-speed segment based on the average speed of the two segments.

[0025] S120 determines the remaining battery power of vehicles on the current road segment, the target starting battery power of vehicles on the next road segment, and the average speed of vehicles on the current road segment.

[0026] Specifically, after dividing the vehicle's current path into multiple segments, the target driving mode for the current segment needs to be determined based on the vehicle's remaining battery power in the current segment, the target starting battery power for the next segment, and the average speed of the current segment. Here, the vehicle's remaining battery power in the current segment refers to the estimated remaining battery SOC after the vehicle has passed through the current segment, and the target starting battery power for the next segment refers to the pre-set target battery SOC for the next segment.

[0027] The target starting battery level for the next road segment can be determined based on the average speed of that segment. For example, this can be achieved by querying a pre-defined mapping table between average speed and the target starting battery level. This mapping table includes multiple average speeds and their corresponding target starting battery levels. The remaining battery level for the current road segment can be determined based on the difference between the starting battery level and the battery consumption for that segment. The starting battery level refers to the battery's state of charge (SOC) at the beginning of the current segment, while the battery consumption refers to the SOC consumed after the vehicle has passed through the current segment.

[0028] S130 determines the target driving mode of the vehicle in the current road segment based on the vehicle's remaining battery power in the current road segment, the vehicle's target starting battery power in the next road segment, and the average vehicle speed in the current road segment, so as to control the vehicle to enter the target driving mode when the vehicle enters the current road segment.

[0029] Specifically, the target starting battery level for the next road segment can be determined by looking up a table. Based on road conditions and vehicle information, the battery consumption of the current road segment can be estimated. The remaining battery level of the current road segment can be estimated based on the difference between the starting battery level and the estimated battery consumption. The remaining battery level of the current road segment can be compared with the target starting battery level for the next road segment. Based on the comparison result and the average speed of the current road segment, the vehicle driving mode for the current road segment can be determined.

[0030] For example, when the vehicle's remaining battery power in the current road segment is sufficient to reach the target starting battery power for the next road segment, the driving mode for the current road segment can be determined based on the average vehicle speed. For instance, if the average vehicle speed in the current road segment is relatively low, the target driving mode for the current road segment can be determined to be a battery-driven mode; if the average vehicle speed in the current road segment is relatively high, the target driving mode for the current road segment can be determined to be an engine-driven mode. When the vehicle's remaining battery power in the current road segment is insufficient to reach the target starting battery power for the next road segment, the target driving mode for the current road segment can be determined to be a hybrid battery and engine-driven mode, or the user can be guided to charge based on the availability of charging stations in the current road segment.

[0031] The control method of this application dynamically divides road segments based on the vehicle speed information of the path the vehicle is on, and adjusts the vehicle driving mode of the current road segment according to the average speed of the current road segment, the remaining battery power of the vehicle and the target starting battery power of the vehicle in the next road segment. The driver does not need to manually set the driving mode according to different road conditions and vehicle speeds, optimizes energy consumption, extends the driving range, and reduces the risk of driving interruption due to insufficient battery power, thereby enhancing driving stability, safety and comfort.

[0032] In some embodiments, determining the target driving mode of the vehicle in the current road segment based on the remaining battery power of the vehicle in the current road segment, the target starting battery power of the vehicle in the next road segment, and the average speed of the vehicle in the current road segment includes: if the average speed of the vehicle in the current road segment is less than a first preset speed threshold, and if the remaining battery power of the vehicle in the current road segment is greater than or equal to the target starting battery power of the vehicle in the next road segment, then the target driving mode of the vehicle in the current road segment is determined to be a first driving mode, which represents a mode driven by the power battery; if the remaining battery power of the vehicle in the current road segment is less than the target starting battery power of the vehicle in the next road segment, then the target driving mode is determined to be a second driving mode, which represents a mode driven by a hybrid power battery and engine. The first preset speed threshold can be calibrated according to actual conditions; for example, the first preset speed threshold can be 60 km / h, and no specific limitation is made here.

[0033] Specifically, the average speed of the current road segment can be determined by comparing it with a first preset speed threshold. If the average speed of the current road segment is less than the first preset speed threshold, the current road segment can be identified as a low-speed or medium-speed segment. Low-speed and medium-speed segments are typically urban road segments. To save energy and reduce vehicle operating costs while minimizing pollution, low-speed and medium-speed segments prioritize the use of the first drive mode, i.e., the mode driven by the power battery.

[0034] Therefore, if the remaining battery power of the vehicle in the current road segment is greater than or equal to the target starting battery power of the vehicle in the next road segment, it means that the remaining battery power of the vehicle in the current road segment can reach the target starting battery power of the vehicle in the next road segment, and the target driving mode of the current road segment can be determined as the first driving mode; if the remaining battery power of the vehicle in the current road segment is less than the target starting battery power of the vehicle in the next road segment, it means that the remaining battery power of the vehicle in the current road segment cannot reach the target starting battery power of the vehicle in the next road segment, and the engine needs to be controlled to replenish the battery power until the remaining battery power of the vehicle in the current road segment can reach the target starting battery power of the vehicle in the next road segment, and the target driving mode of the current road segment can be determined as the second driving mode, that is, the hybrid driving mode of the power battery and the engine.

[0035] It should be noted that when a vehicle is traveling at medium speeds, if the remaining battery power is insufficient to reach the target starting point of the next road segment, the engine needs to be activated earlier to replenish the battery. In contrast, if the vehicle is traveling at low speeds and also faces a low battery situation, the engine will be activated to replenish the battery at a later time.

[0036] In some embodiments, the method further includes: if the average vehicle speed of the current road segment is greater than or equal to a first preset speed threshold, and if the remaining battery power of the vehicle in the current road segment is greater than or equal to the target starting battery power of the vehicle in the next road segment, then the target driving mode of the vehicle in the current road segment is determined to be a third driving mode, wherein the third driving mode represents a mode driven by the engine; if the remaining battery power of the vehicle in the current road segment is less than the target starting battery power of the vehicle in the next road segment, then the target driving mode of the vehicle in the current road segment is determined to be a second driving mode.

[0037] Specifically, when the average vehicle speed on the current road segment is greater than or equal to a first preset speed threshold, the current road segment can be determined as a highway segment. Highway segments are usually expressways, where vehicles require sufficient power; therefore, the third drive mode, i.e., the engine-driven mode, is preferentially used on highway segments.

[0038] Therefore, if the remaining battery power of the vehicle in the current road segment is greater than or equal to the target starting battery power of the vehicle in the next road segment, it means that the remaining battery power of the vehicle in the current road segment can reach the target starting battery power of the vehicle in the next road segment, and the target driving mode of the current road segment can be determined as the third driving mode; if the remaining battery power of the vehicle in the current road segment is less than the target starting battery power of the vehicle in the next road segment, it means that the remaining battery power of the vehicle in the current road segment cannot reach the target starting battery power of the vehicle in the next road segment, and the engine needs to be controlled to replenish the battery power until the remaining battery power of the vehicle in the current road segment can reach the target starting battery power of the vehicle in the next road segment, and the target driving mode of the current road segment can be determined as the second driving mode, that is, the hybrid driving mode of the power battery and the engine.

[0039] In some embodiments, determining the remaining vehicle battery power for the current road segment includes: calculating the energy consumption of the current road segment based on at least one of the following: vehicle mass, length of the current road segment, average vehicle speed, drag coefficient, frontal area, air density, power of onboard electrical load, altitude change, drive efficiency of the drive motor, and energy recovery efficiency of the drive motor; determining the vehicle battery power consumption for the current road segment based on the mapping relationship between energy consumption and vehicle battery power consumption; and determining the remaining vehicle battery power for the current road segment based on the difference between the initial battery power of the vehicle in the current road segment and the battery power consumption in the current road segment.

[0040] Specifically, the vehicle's energy consumption for the current road segment can be determined based on the average vehicle speed. For example, the energy consumption can be estimated by looking up a preset mapping table between the average vehicle speed and energy consumption for the current road segment. This preset mapping table includes multiple average vehicle speeds and the corresponding energy consumption for each average speed. Alternatively, the vehicle's mass, the length of the current road segment, the average vehicle speed, the drag coefficient, the frontal area, the air density, the power of the vehicle's electrical load, the altitude change, the drive efficiency of the drive motor, and the energy recovery efficiency of the drive motor can be used as inputs to a preset model to estimate the energy consumption for the current road segment. Another method is to input these parameters into a preset formula to estimate the energy consumption for the current road segment. After estimating the energy consumption for the current road segment, the energy consumption can be determined based on the functional relationship between the energy consumption and the vehicle's battery state of charge (SOC), thus estimating the vehicle's SOC. Then, the difference between the vehicle's initial battery level and its current battery consumption can be calculated to estimate the remaining battery power for the current road segment. The length and elevation change of the current road segment can be determined based on the vehicle's navigation information.

[0041] For example, the energy consumption of vehicles on the current road segment can be predicted using the following formula:

[0042] in, This indicates the current vehicle power consumption on the road segment; This indicates the average speed of vehicles on the current road segment; Indicates the length of the current road segment; This indicates the drag coefficient of the current road section; This indicates the windward area of ​​the current road segment; Indicates the air density of the current road segment; This indicates the power load of the vehicle's electrical systems based on the current road segment; The mass of the vehicle is represented by g; g represents the acceleration due to gravity. Indicates altitude gain; Indicates the altitude drop; This indicates the driving efficiency of the drive motor; This indicates the energy recovery efficiency of the drive motor; t represents the travel time of the current road segment.

[0043] It should be noted that when calculating vehicle power consumption on highways, only the load power of onboard electrical appliances on the highway section needs to be considered. Onboard electrical appliances may include onboard terminals and air conditioners, etc. The load of the onboard terminal can be determined according to actual conditions, and the air conditioner load can be determined based on the outside temperature. For example, the air conditioner load can be determined by looking up a preset mapping table between outside temperature and air conditioner load. This preset mapping table includes multiple outside temperatures and the corresponding air conditioner load for each outside temperature.

[0044] As a specific example, this explanation uses the division of the vehicle's current path into four segments: a first low-speed segment, a medium-speed segment, a high-speed segment, and a second low-speed segment. However, this is not intended to limit the scope of this application. After dividing the current path into these four segments, the target driving mode for the vehicle in the current segment needs to be determined based on the vehicle's remaining battery power in the current segment, the target starting battery power for the next segment, and the average speed of the current segment.

[0045] For example, when determining the driving mode for the first low-speed section, the vehicle's infotainment system first reads the battery system to determine the starting battery level of the vehicle in the first low-speed section. It then determines the target starting battery level for the medium-speed section by looking up a table. Based on road condition information and vehicle information, it pre-calculates the vehicle's battery consumption in the first low-speed section. The remaining battery level in the first low-speed section is determined by the difference between the starting battery level and the battery consumption. This remaining battery level is then compared with the target starting battery level for the medium-speed section. If the remaining battery level in the first low-speed section is greater than or equal to the target starting battery level for the medium-speed section, the target driving mode for the first low-speed section is determined to be the first driving mode. If the remaining battery level in the first low-speed section is less than the target starting battery level for the medium-speed section, the target driving mode for the first low-speed section is determined to be the second driving mode.

[0046] When determining the drive mode for medium-speed road sections, the initial vehicle battery level for the medium-speed road section needs to be determined first based on the target drive mode for the first low-speed road section. For example, if the target drive mode for the first low-speed road section is the first drive mode, the remaining vehicle battery level for the first low-speed road section is used as the initial vehicle battery level for the medium-speed road section. If the target drive mode for the first low-speed road section is the second drive mode, the target starting battery level for the medium-speed road section is used as the initial vehicle battery level for the medium-speed road section. Then, the target starting battery level for the high-speed road section is determined by looking up a table, and the battery level is pre-calculated based on road condition information and vehicle information. Calculate the vehicle's battery consumption on the medium-speed section. Determine the remaining battery level on the medium-speed section based on the difference between the initial battery level and the total battery consumption. Compare the remaining battery level on the medium-speed section with the target starting battery level on the high-speed section. If the remaining battery level on the medium-speed section is greater than or equal to the target starting battery level on the high-speed section, the target driving mode for the medium-speed section is determined to be the first driving mode. If the remaining battery level on the medium-speed section is less than the target starting battery level on the high-speed section, the target driving mode for the medium-speed section is determined to be the second driving mode.

[0047] When determining the drive mode for high-speed sections, the initial vehicle battery level for the medium-speed section needs to be determined based on the target drive mode for the medium-speed section. For example, if the target drive mode for the medium-speed section is the first drive mode, the remaining vehicle battery level for the medium-speed section is used as the initial battery level for the high-speed section. If the target drive mode for the medium-speed section is the second drive mode, the target starting battery level for the high-speed section is used as the initial battery level for the high-speed section. Then, the target starting battery level for the second low-speed section is determined by looking up a table, and the initial battery level for the high-speed section is pre-calculated based on road condition and vehicle information. Vehicle battery consumption is determined by the difference between the vehicle's initial battery level on the highway and the battery consumption on the highway. The remaining battery level on the highway is then compared with the target starting battery level on the second low-speed section. If the remaining battery level on the highway is greater than or equal to the target starting battery level on the second low-speed section, the target driving mode for the highway is determined to be the third driving mode. If the remaining battery level on the highway is less than the target starting battery level on the second low-speed section, the target driving mode for the highway is determined to be the second driving mode.

[0048] When determining the driving mode for the second low-speed segment, the initial vehicle charge level for the second low-speed segment needs to be determined based on the target driving mode of the high-speed segment. For example, if the target driving mode for the high-speed segment is engine direct drive, the remaining vehicle charge level for the high-speed segment is used as the initial charge level for the second low-speed segment. If the target driving mode for the high-speed segment is a second-drive mode, the target starting charge level for the second low-speed segment is used as the starting charge level for the second low-speed segment. Since the second low-speed segment is the last segment of this trip, it is only necessary to ensure that the vehicle still has a preset charge level (e.g., 20% SOC) upon reaching the destination. Based on road condition and vehicle information, the vehicle's battery consumption for the second low-speed section is pre-calculated. The remaining battery power for the second low-speed section is determined by the difference between the initial battery power and the battery consumption for the second low-speed section. The remaining battery power for the second low-speed section is compared with the preset battery power. If the remaining battery power for the second low-speed section is greater than or equal to the preset battery power, the target driving mode for the second low-speed section is determined to be the first driving mode. If the remaining battery power for the second low-speed section is less than the target initial battery power for the high-speed section, the target driving mode for the second low-speed section is determined to be the second driving mode.

[0049] It should be noted that when the vehicle's drive mode is in the second drive mode, the power of the vehicle's electrical load can be suppressed, such as by lowering or raising the air conditioning temperature or turning off the vehicle terminal, in order to increase the speed at which the engine replenishes the vehicle's battery.

[0050] In some embodiments, the method further includes: determining multiple objective functions based on the sum of fuel costs and electricity costs for each road segment; determining the minimum value of the multiple objective functions based on the optimization function; and determining the target starting power of the vehicle for each road segment based on the minimum value.

[0051] Specifically, the fuel cost and electricity cost for each road segment can be determined based on the energy consumption of vehicle charging and fuel consumption. For example, the electricity cost for each road segment can be determined by multiplying the energy consumption of vehicle charging by the electricity price, and the fuel cost can be determined by multiplying the fuel consumption by the fuel price. The objective function is then determined based on the sum of the fuel cost and electricity cost for each road segment, as shown in the following formula:

[0052] in, This represents the energy consumption for charging the i-th segment; This represents the electricity price for the i-th road segment; This represents the fuel consumption of the i-th road segment; Let represent the fuel price of the i-th road segment; n represents the number of road segments.

[0053] The objective function is minimized using an optimization function (such as gradient descent) to output the target starting battery level for each road segment. Fuel consumption includes fuel consumption when the engine is replenishing battery power and fuel consumption when the engine is driving directly.

[0054] In other words, after dividing the vehicle's path into multiple segments, the starting battery level of the vehicle in the first segment is known, the starting battery level of the vehicle in the last segment is greater than or equal to a preset battery level (e.g., 20%), and the target starting battery level of the vehicle in the remaining segments is randomly determined, thus determining multiple combinations of target starting battery levels for the vehicle. Under each combination of target starting battery levels, the following principles are followed: if the average vehicle speed of the segment is less than a first preset speed threshold, the mode driven by the power battery is prioritized; if the average vehicle speed of the segment is greater than or equal to the first preset speed threshold, the mode driven by the engine is prioritized. The charging power consumption (power consumption and electrical energy consumption can be converted according to a preset function relationship) for each segment is determined, as are the fuel consumption when the engine replenishes the battery power and the fuel consumption when the engine is driving directly. This determines the cost and value (objective function) for each segment. By using an optimization function, the combination of target starting battery levels for the vehicle that minimizes the objective function is found, thus determining the target starting battery level for the vehicle in each segment.

[0055] Among them, the fuel consumption of a road segment can be determined based on the average vehicle speed of the segment. For example, the fuel consumption of a road segment can be determined by looking up a preset relationship mapping table between the average vehicle speed and the fuel consumption. The preset relationship mapping table includes multiple average vehicle speeds and the fuel consumption corresponding to each average vehicle speed. The corresponding fuel consumption can be determined based on the engine's replenished power. For example, the engine's replenished power can be input into a preset formula to output the corresponding fuel consumption. Thus, this application determines the objective function based on the sum of fuel and electricity costs for each road segment. This objective function comprehensively considers the fuel and electricity consumption of the vehicle on different road segments, as well as the corresponding fuel and electricity costs. By minimizing this objective function, the optimal target starting electricity level for each road segment can be found, thereby minimizing the total energy cost while meeting driving needs, and further improving the energy efficiency and economy of the vehicle.

[0056] In some embodiments, the following constraints are satisfied during the process of determining the minimum value of multiple objective functions based on the optimization function: the terminal battery level of each road segment is greater than or equal to a preset battery level threshold; the terminal fuel level of each road segment is greater than or equal to a preset fuel level threshold; the difference between the starting fuel level and the terminal fuel level of each road segment is equal to the fuel consumption of the corresponding road segment; the difference between the starting battery level and the terminal battery level of each road segment is equal to the difference between the vehicle's battery consumption and the replenished battery level of the corresponding road segment. The preset battery level threshold and the preset fuel level threshold can be calibrated according to actual conditions; for example, the preset battery level threshold can be 20%, and the preset fuel level threshold can be 5L. No specific restrictions are imposed here.

[0057] For example, the constraints include: Power Constraint: SOC end (i)≥20% Oil Constraint: FOC end (i)≥5L Energy balance:

[0058] in, This indicates the final charge level for each road segment; This indicates the power consumption of each road segment; Indicates the total battery capacity; This indicates the fuel consumption for each road segment; This indicates the starting power level of each road segment; This indicates the replenished power for each road segment; This indicates the starting fuel level for each road segment; This indicates the fuel level at the end of each road segment; This indicates the overall fuel combustion efficiency of each road segment.

[0059] In some embodiments, the method further includes updating the vehicle speed information of the current path of the vehicle based on a preset time interval. The preset time interval can be determined according to actual conditions; for example, it can be 15 minutes, but no specific limitation is made here.

[0060] As a vehicle travels, road conditions change dynamically, and the vehicle speed information along the current path also changes accordingly. If road segments are always divided based on the initial vehicle speed information, and the target driving mode for each segment is determined, then as road conditions change, the originally determined target driving mode may become inaccurate. This may lead to reduced vehicle driving efficiency and even affect driving safety and energy efficiency.

[0061] Therefore, to ensure the vehicle maintains the optimal driving mode during operation, the vehicle speed information for the current route needs to be updated at preset time intervals. This allows for timely detection of changes in road conditions, enabling the reclassification of road segments and the determination of the target driving mode for each segment based on the latest speed information. This process not only improves vehicle efficiency but also optimizes energy consumption, enhances driving safety, and provides users with a more accurate and reliable navigation experience.

[0062] In summary, the control method of this application dynamically divides road segments based on the vehicle's speed information along the path it is on, and adjusts the vehicle's driving mode for the current road segment according to the average speed of the current road segment, the vehicle's remaining battery power, and the target starting battery power for the next road segment. This eliminates the need for the driver to manually set the driving mode based on different road conditions and vehicle speeds, optimizes energy consumption, extends the driving range, and reduces the risk of driving interruption due to insufficient battery power, thereby enhancing driving stability, safety, and comfort. The objective function is determined based on the sum of fuel and electricity costs for each road segment. This objective function comprehensively considers the vehicle's fuel and electricity consumption in different road segments, as well as the corresponding fuel and electricity costs. By minimizing this objective function, the optimal target starting battery power for each road segment can be found, thereby minimizing the total energy cost while meeting driving needs, further improving the vehicle's energy utilization efficiency and economy.

[0063] Corresponding to the above embodiments, this application also proposes a vehicle control device.

[0064] Reference Figure 2 The vehicle control device 200 includes: a division module 210, a determination module 220, and a control module 230.

[0065] The segmentation module 210 divides the current path into multiple segments based on the vehicle's current speed information. The determination module 220 determines the vehicle's remaining battery power in the current segment, the target starting battery power for the next segment, and the average speed of the current segment. The control module 230 determines the target driving mode for the vehicle in the current segment based on the vehicle's remaining battery power, the target starting battery power for the next segment, and the average speed of the current segment, so as to control the vehicle to enter the target driving mode when it enters the current segment.

[0066] According to one embodiment of this application, the control module 230 is specifically configured to, when the average vehicle speed of the current road segment is less than a first preset speed threshold, if the remaining battery power of the vehicle in the current road segment is greater than or equal to the target starting battery power of the vehicle in the next road segment, determine that the target driving mode of the vehicle in the current road segment is a first driving mode, the first driving mode representing a mode driven by the power battery; if the remaining battery power of the vehicle in the current road segment is less than the target starting battery power of the vehicle in the next road segment, determine that the target driving mode of the vehicle in the current road segment is a second driving mode, the second driving mode representing a mode driven by a hybrid of the power battery and the engine.

[0067] According to one embodiment of this application, the control module 230 is specifically configured to, when the average vehicle speed of the current road segment is greater than or equal to a first preset speed threshold, if the remaining battery power of the vehicle in the current road segment is greater than or equal to the target starting battery power of the vehicle in the next road segment, determine that the target driving mode of the vehicle in the current road segment is a third driving mode, wherein the third driving mode represents a mode driven by the engine; if the remaining battery power of the vehicle in the current road segment is less than the target starting battery power of the vehicle in the next road segment, determine that the target driving mode of the vehicle in the current road segment is a second driving mode.

[0068] According to one embodiment of this application, the determining module 220 is specifically used to calculate the vehicle's power consumption in the current road segment based on at least one of the following: vehicle mass, length of the current road segment, average vehicle speed, drag coefficient, frontal area, air density, power of on-board electrical load, altitude change, drive efficiency of the drive motor, and energy recovery efficiency of the drive motor; and to determine the vehicle's remaining power in the current road segment based on the difference between the vehicle's initial power consumption in the current road segment and the vehicle's power consumption in the current road segment.

[0069] According to one embodiment of this application, the determining module 220 is specifically used to: determine an objective function based on the sum of fuel costs and electricity costs for each road segment; determine the minimum value of the objective function based on the optimization function; and determine the target starting power of the vehicle for each road segment based on the minimum value.

[0070] According to one embodiment of this application, the following constraints are satisfied in the process of determining the minimum value of multiple objective functions based on the optimization function: the terminal power of each road segment is greater than or equal to a preset power threshold; the terminal fuel quantity of each road segment is greater than or equal to a preset fuel quantity threshold; the difference between the starting fuel quantity and the terminal fuel quantity of each road segment is equal to the fuel consumption of the corresponding road segment; the difference between the starting power of the vehicle and the terminal power of each road segment is equal to the difference between the vehicle power consumption and the replenished power of the corresponding road segment.

[0071] According to one embodiment of this application, the vehicle speed information of the current path of the vehicle is updated based on a preset time interval. It should be noted that the above explanation of the embodiments and beneficial effects of the vehicle control method also applies to the vehicle control device of the embodiments of this application, and will not be elaborated in detail here to avoid redundancy.

[0072] Corresponding to the above embodiments, this application also proposes a computer-readable storage medium.

[0073] The computer-readable storage medium of this application stores a vehicle control program thereon, which, when executed by a processor, implements the aforementioned vehicle control method.

[0074] It should be noted that the above explanation of the embodiments and beneficial effects of the vehicle control method also applies to the computer-readable storage medium of the embodiments of this application. To avoid redundancy, it will not be elaborated in detail here.

[0075] Corresponding to the above embodiments, this application also proposes a vehicle.

[0076] See Figure 3 As shown, the vehicle 300 of this application includes a memory 310, a processor 320, and a vehicle control program stored in the memory 310 and executable on the processor 320. When the processor executes the vehicle control program, it implements the aforementioned vehicle control method.

[0077] It should be noted that the above-described embodiments of the vehicle control method and the explanation of its beneficial effects also apply to the vehicles in the embodiments of this application. To avoid redundancy, they will not be elaborated in detail here.

[0078] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0079] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0080] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0082] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0083] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for controlling a vehicle, characterized in that, The method includes: Based on the vehicle speed information of the current path, the current path is divided into multiple road segments; Determine the remaining battery power of the vehicle in the current road segment, the target starting battery power of the vehicle in the next road segment, and the average speed of the vehicle in the current road segment; The target driving mode of the vehicle in the current road segment is determined based on the remaining battery power of the vehicle in the current road segment, the target starting battery power of the vehicle in the next road segment, and the average speed of the vehicle in the current road segment, so as to control the vehicle to enter the target driving mode when the vehicle enters the current road segment.

2. The vehicle control method according to claim 1, characterized in that, The target driving mode for the vehicle in the current road segment is determined based on the vehicle's remaining battery power in the current road segment, the vehicle's target starting battery power in the next road segment, and the average vehicle speed in the current road segment, including: If the average vehicle speed in the current road segment is less than a first preset speed threshold, and if the remaining battery power of the vehicle in the current road segment is greater than or equal to the target starting battery power of the vehicle in the next road segment, then the target driving mode of the vehicle in the current road segment is determined to be the first driving mode, and the first driving mode represents the mode driven by the power battery. If the remaining battery power of the vehicle in the current road segment is less than the target starting battery power of the vehicle in the next road segment, then the target driving mode of the vehicle in the current road segment is determined to be the second driving mode, which represents a mode of hybrid driving through the power battery and the engine.

3. The vehicle control method according to claim 2, characterized in that, The method further includes: If the average vehicle speed in the current road segment is greater than or equal to the first preset speed threshold, and if the remaining battery power of the vehicle in the current road segment is greater than or equal to the target starting battery power of the vehicle in the next road segment, then the target driving mode of the vehicle in the current road segment is determined to be the third driving mode, and the third driving mode represents the mode driven by the engine. If the remaining battery power of the vehicle in the current road segment is less than the target starting battery power of the vehicle in the next road segment, then the target driving mode of the vehicle in the current road segment is determined to be the second driving mode.

4. The vehicle control method according to claim 1, characterized in that, Determine the remaining battery power of vehicles on the current road segment, including: Calculate the vehicle's power consumption for the current road segment based on at least one of the following: vehicle mass, length of the current road segment, average vehicle speed, drag coefficient, frontal area, air density, power of onboard electrical load, altitude change, drive efficiency of the drive motor, and energy recovery efficiency of the drive motor. The remaining battery power of the vehicle in the current road segment is determined based on the difference between the vehicle's initial battery power and the vehicle's battery power consumption in the current road segment.

5. The vehicle control method according to claim 1, characterized in that, The method further includes: Multiple objective functions are determined based on the sum of fuel and electricity costs for each road segment; The minimum value of multiple objective functions is determined based on the optimization function, and the target starting battery power of vehicles for each road segment is determined based on the minimum value.

6. The vehicle control method according to claim 5, characterized in that, The following constraints must be satisfied during the process of determining the minimum value of multiple objective functions based on the optimization function: The terminal battery level of each of the aforementioned road segments is greater than or equal to a preset battery threshold. The fuel level at the end of each road segment is greater than or equal to a preset fuel level threshold, and the difference between the fuel level at the beginning and the fuel level at the end of each road segment is equal to the fuel consumption of the corresponding road segment. The difference between the starting and ending battery levels of vehicles on each road segment is equal to the difference between the battery consumption and replenishment of vehicles on the corresponding road segment.

7. The vehicle control method according to claim 1, characterized in that, The method further includes: The vehicle speed information of the current path of the vehicle is updated based on a preset time interval.

8. A vehicle control device, characterized in that, The device includes: The segmentation module is used to divide the current path into multiple road segments based on the vehicle speed information of the current path. The determination module is used to determine the remaining battery power of vehicles in the current road segment, the target starting battery power of vehicles in the next road segment, and the average speed of vehicles in the current road segment. The control module is used to determine the target driving mode of the vehicle in the current road segment based on the remaining battery power of the vehicle in the current road segment, the target starting battery power of the vehicle in the next road segment, and the average speed of the current road segment, so as to control the vehicle to enter the target driving mode when the vehicle enters the current road segment.

9. A computer-readable storage medium, characterized in that, It stores a vehicle control program, which, when executed by a processor, implements the vehicle control method according to any one of claims 1-7.

10. A vehicle, characterized in that, The system includes a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the processor executes the vehicle control program, it implements the vehicle control method according to any one of claims 1-7.

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