Vehicle control method and device, medium, equipment, and program

Abstract

The present disclosure relates to both a control method, a device, a medium, equipment, and a program. The method, which is applied to a vehicle, includes the steps of: obtaining a target deceleration when the vehicle travels on a road section, where the target deceleration for each vehicle of a plurality of vehicles is determined based on multiple historical decelerations when each vehicle travels on the road section and triggers braking energy recovery; and controlling braking energy recovery based on the target deceleration when the vehicle triggers braking energy recovery upon receiving a braking command. In this way, braking energy recovery intensity appropriate for the road section on which the vehicle is located can be applied, allowing braking energy recovery to be performed economically, thereby reducing the number of times the brake pedal is depressed and improving the driving experience.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This disclosure claims priority to a Chinese patent application filed with the China Patent Office on September 3, 2020, bearing application number 202010917831.0 and entitled "Vehicle control method and device, medium, and equipment," the entire contents of which are incorporated herein by reference. The present disclosure relates to the field of vehicle automatic control, and more particularly to a vehicle control method, device, medium, equipment, and program. [Background technology]

[0002] In order to increase the driving range of electric vehicles and hybrid vehicles, the vehicle is equipped with an energy recovery function to effectively improve the energy utilization efficiency during the deceleration process, and the kinetic energy during the deceleration process when the driver releases the accelerator pedal is converted into electrical energy, stored, and used for driving. The skid energy recovery is usually provided with three levels of recovery intensity, which can be manually adjusted. Different recovery intensities result in different decelerations of the vehicle during the energy recovery process.

[0003] More and more vehicles are equipped with Internet of Vehicles functions to improve safety monitoring and user experience, and are connected to cloud platforms and mobile phone clients through Internet of Vehicles modules located in the vehicles. Users can interact with the vehicles through mobile phone applications, such as checking vehicle information and remotely controlling the vehicles. The cloud platform can also analyze the vehicle status online based on the data uploaded by the vehicles, and promptly warn when the vehicle breaks down. Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure aims to provide a vehicle control method, device, medium, equipment, and program that automatically adapts to real-time road condition requirements and performs braking energy recovery. [Means for solving the problem]

[0005] In order to achieve the above object, the present disclosure provides a vehicle control method applied to a vehicle, the vehicle control method comprising: obtaining a target deceleration when the vehicle travels along a road section, the target deceleration for each vehicle of the plurality of vehicles being determined based on a plurality of historical decelerations when each vehicle travels along the road section and triggers braking energy recovery; and when the vehicle receives a braking command and braking energy recovery is triggered, performing control to perform braking energy recovery based on the target deceleration.

[0006] The step of acquiring the target deceleration includes: The step of receiving the target deceleration transmitted by a server may include a step in which the server acquires, for each vehicle in the plurality of vehicles, a plurality of historical decelerations when the vehicle traveled along the road section and triggered braking energy recovery, and determines the target deceleration based on the plurality of historical decelerations.

[0007] The step of acquiring the target deceleration includes: receiving, for each vehicle in the plurality of vehicles, a plurality of historical decelerations transmitted by a server when each vehicle traveled along the road section and triggered braking energy recovery; and determining a target deceleration based on the plurality of historical decelerations.

[0008] The step of determining a target deceleration based on the plurality of historical decelerations includes: for each of the vehicles, performing a weighted sum of the plurality of historical decelerations to obtain a first deceleration for each of the vehicles; determining the target deceleration based on a first deceleration of each of the vehicles.

[0009] The step of determining the target deceleration based on a first deceleration of each vehicle includes: The method may further include a step of weighting and adding the first decelerations of the respective vehicles to obtain the target deceleration.

[0010] The step of determining the target deceleration based on a first deceleration of each vehicle includes: weighting and adding the first decelerations of the respective vehicles to obtain a second deceleration; When the second deceleration is equal to or greater than a predetermined maximum deceleration, the maximum deceleration is determined as the target deceleration; When the second deceleration is equal to or less than a predetermined minimum deceleration, the minimum deceleration is determined as the target deceleration; The method may further include determining, when the second deceleration is greater than the minimum deceleration and less than the maximum deceleration, the second deceleration as the target deceleration, wherein the maximum deceleration is greater than the minimum deceleration.

[0011] When the multiple historical decelerations are weighted and added, the closer the time at which a historical deceleration occurs to the current time, the greater the weight of that historical deceleration. When the first decelerations of each vehicle are weighted and added, the closer the time at which a vehicle travels along a road section to the current time, the greater the weight of the first deceleration of that vehicle.

[0012] The present disclosure further provides a vehicle control method applied to a server, the vehicle control method comprising: obtaining, for each vehicle in the plurality of vehicles, a plurality of historical decelerations when the vehicle travels along a road section and triggers braking energy recovery; determining a target deceleration based on the plurality of historical decelerations; The method includes a step of transmitting the target deceleration to vehicles traveling on the road section so that when a vehicle that has received the target deceleration receives a braking command and triggers braking energy recovery, the target deceleration is transmitted to the vehicles traveling on the road section so that braking energy recovery is controlled based on the target deceleration.

[0013] The step of determining a target deceleration based on the plurality of historical decelerations includes: for each of the vehicles, performing a weighted sum of the plurality of historical decelerations to obtain a first deceleration for each of the vehicles; and determining the target deceleration based on a first deceleration of each of the vehicles.

[0014] The step of determining the target deceleration based on a first deceleration of each vehicle includes: The method may further include a step of weighting and adding the first decelerations of the respective vehicles to obtain the target deceleration.

[0015] The step of determining the target deceleration based on a first deceleration of each vehicle includes: weighting and adding the first decelerations of the respective vehicles to obtain a second deceleration; When the second deceleration is equal to or greater than a predetermined maximum deceleration, the maximum deceleration is determined as the target deceleration; When the second deceleration is equal to or less than a predetermined minimum deceleration, the minimum deceleration is determined as the target deceleration; The method may further include determining, when the second deceleration is greater than the minimum deceleration and less than the maximum deceleration, the second deceleration as the target deceleration, wherein the maximum deceleration is greater than the minimum deceleration.

[0016] When the multiple historical decelerations are weighted and added, the closer the time at which a historical deceleration occurs to the current time, the greater the weight of that historical deceleration. When the first decelerations of each vehicle are weighted and added, the closer the time at which a vehicle travels along a road section to the current time, the greater the weight of the first deceleration of that vehicle.

[0017] The present disclosure provides a vehicle control device to be applied to a vehicle, the vehicle control device comprising: a first acquisition module for acquiring a target deceleration when the vehicle travels along a road section, the target deceleration for each vehicle of the plurality of vehicles being determined based on a plurality of historical decelerations when each vehicle travels along the road section and triggers braking energy recovery; and a control module for controlling braking energy recovery based on the target deceleration when braking energy recovery is triggered in response to a braking command received by the vehicle.

[0018] The present disclosure further provides a vehicle control device applied to a server, the vehicle control device comprising: a second acquisition module for acquiring, for each vehicle in the plurality of vehicles, a plurality of historical decelerations when the each vehicle travels along a road section and triggers braking energy recovery; a determination module for determining a target deceleration based on the plurality of historical decelerations; The vehicle that receives the target deceleration includes a transmitting module that transmits the target deceleration to vehicles traveling on the road section so that when a braking command is received and braking energy recovery is triggered, braking energy recovery is controlled based on the target deceleration.

[0019] The present disclosure further provides a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of the vehicle control method provided by the present disclosure.

[0020] The present disclosure provides an electronic device, the electronic device comprising: A memory in which a computer program is stored; and a processor that executes the computer program in the memory to implement the steps of the vehicle control method provided by the present disclosure.

[0021] The present disclosure further provides a computer program comprising computer readable code that, when executed by a processor, causes the processor to execute the vehicle control method. Effect of the Invention

[0022] According to the above technical solution, a target deceleration is determined according to the historical deceleration when multiple vehicles travel along a road section and trigger braking energy recovery, and braking energy recovery is controlled according to the target deceleration when the vehicle travels along the road section, so that the braking recovery intensity suitable for the road section where the vehicle is located can be applied, and braking energy recovery can be economically performed, thereby reducing the number of times the brake pedal is pressed and improving the driving experience.

[0023] Other features and advantages of the present disclosure are described in detail in the detailed description below. [Brief description of the drawings]

[0024] The drawings are used to provide a further understanding of the present disclosure, constitute a part of the specification, and are used to explain the present disclosure together with the specific embodiments described below, but are not intended to limit the present disclosure.

[0025] [Figure 1] FIG. 2 is a curve diagram of three levels of recovery strength in a conventional braking energy recovery policy. [Diagram 2] 1 is a scene schematic diagram of a vehicle control method according to an exemplary embodiment; [Diagram 3] 2 is a process chart of a vehicle control method applied to a vehicle according to an exemplary embodiment. [Figure 4] FIG. 4 is a curve diagram of maximum and minimum recovery intensity in a braking energy recovery policy according to an exemplary embodiment. [Diagram 5] 4 is a process chart of a vehicle control method applied to a server according to an exemplary embodiment. [Figure 6] FIG. 2 is a block diagram of a vehicle control device applied to a vehicle according to an exemplary embodiment. [Figure 7] FIG. 2 is a block diagram of a vehicle control device applied to a server according to an exemplary embodiment. [Figure 8] FIG. 2 is a block diagram of an electronic device according to an exemplary embodiment. [Figure 9] FIG. 2 is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Specific embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the specific embodiments described herein are merely for explanation and interpretation of the present disclosure, and are not intended to limit the present disclosure.

[0027] Fig. 1 is a curve diagram of three levels of recovery intensity in a conventional braking energy recovery policy. As shown in Fig. 1, the braking energy recovery function has three levels of recovery intensity, which are determined by curves A, B, and C in the order of strong to weak. When one of the levels is selected, the vehicle deceleration is controlled with the constant recovery deceleration curve, which cannot relate to the surrounding road conditions and has low intelligence.

[0028] For example, if the user is currently moving at 1.2 m / s 2 0.9m / s2 deceleration, but when the vehicle is at B level recovery strength, the electric brake is applied at 0.9m / s2 2 When the vehicle reaches a road section, the inventor associates the vehicle with the historical deceleration of the vehicle that has traveled on the road section, processes the data online through the Internet of Vehicles module and the cloud platform, and performs self-adaptive adjustment of the skid energy recovery intensity (deceleration), thus breaking away from the conventional manual three-level adjustment in which the energy recovery intensity is fixed, and reduces the frequency of brake pedal use when the driver requests deceleration (releasing the accelerator pedal).

[0029] 2 is a scene diagram of a vehicle control method according to an exemplary embodiment. As shown in FIG. 2, a vehicle 10 and a server 20 can communicate with each other through a wireless network. The server 20 and a plurality of vehicles can communicate with each other through a wireless network. The server 20 may be a car network server, and the vehicle 10 can communicate with the server 20 through an in-vehicle telematics box T-box disposed therein.

[0030] The server 20 includes, for example, the following five modules:

[0031] 1) Data analysis module The data communicated between each controller in the vehicle in the form of CAN messages and uploaded by the vehicle to the server needs to be converted into a data format that can be calculated; this process is called data analysis.

[0032] 2) Data Cleaning Module When a vehicle is activated, it continuously uploads data to the server. However, during normal use, the vehicle is also activated by non-driving operations such as opening and closing the vehicle door and remotely querying the vehicle status, resulting in a large amount of invalid data being uploaded. Therefore, the data is cleaned to remove the invalid data and retain the valid data.

[0033] 3) Database The organized data is stored in a database, and in the database, the time and the location are used as sorting conditions so that a data calculation module can call up segments at each time and each location.

[0034] 4) Data Calculation Module A predefined algorithm determines the most economical and safest energy recovery intensity (deceleration) for the given road conditions.

[0035] 5) Data conversion module It has the opposite function to the data analysis module, and converts the calculation results of the data calculation module into CAN messages and transmits them to the vehicle.

[0036] The vehicle Internet module (T-box) is installed in the vehicle and is connected to the server via a network protocol. The vehicle Internet module mainly has the following two functions:

[0037] The data router acts as an intermediate part for information exchange between the in-vehicle ECU and the server, converting between in-vehicle communication and remote communication protocols.

[0038] Data storage involves adding a storage module to the car's Internet module. When communication with the server is not possible, the vehicle's operating data is temporarily stored, and then packaged and uploaded together after reconnection.

[0039] 3 is a process chart of a vehicle control method applied to a vehicle according to an exemplary embodiment. As shown in FIG. 3, the method may include the following steps.

[0040] Step S301 obtains a target deceleration when the vehicle travels along a road section, and the target deceleration for each vehicle in the plurality of vehicles is determined based on multiple historical decelerations when each vehicle travels along the road section and triggers braking energy recovery.

[0041] Step S302 performs control to recover braking energy based on a target deceleration when braking energy recovery is triggered in response to a braking command received by the vehicle.

[0042] The server may communicate with the multiple vehicles to obtain decelerations transmitted by the multiple vehicles when the vehicles travel along a road section and trigger braking energy recovery, and the server may store the decelerations in association with the road section on which the vehicles are located, as historical decelerations corresponding to the road section and the vehicles.

[0043] The plurality of vehicles may be vehicles that have traveled the road section before the present vehicle. The plurality of vehicles may or may not include the present vehicle.

[0044] A braking command is a command triggered by the vehicle driver, for example, the vehicle receives a braking command when the vehicle driver depresses the brake pedal.

[0045] According to the above technical solution, when multiple vehicles travel along a road section and a target deceleration is determined based on the historical deceleration when the vehicle triggers the braking energy recovery, the vehicle performs the braking energy recovery according to the target deceleration when the vehicle travels along the road section. In this way, the braking recovery intensity suitable for the road section where the vehicle is located can be applied, so that the braking recovery is more economical, the number of times the brake pedal is depressed is reduced, and the driving experience is improved.

[0046] In one embodiment, the step of obtaining the target deceleration in step S301 may include receiving the target deceleration transmitted by a server.

[0047] Here, the server acquires, for each of the multiple vehicles, multiple historical decelerations when each vehicle travels along a road section and triggers braking energy recovery, and determines a target deceleration based on the multiple historical decelerations.

[0048] In this embodiment, the server can determine the target deceleration based on multiple historical decelerations and then transmit the determined target deceleration to the vehicle; in this way, the vehicle does not need to receive a large amount of historical deceleration data, and the amount of data communication between the vehicle and the server is small.

[0049] In another embodiment, the step of obtaining the target deceleration in step S301 includes the steps of receiving, for each vehicle in the plurality of vehicles, a plurality of historical decelerations transmitted by a server when each vehicle traveled along the road section and triggered braking energy recovery, and determining a target deceleration based on the plurality of historical decelerations.

[0050] In this embodiment, the server transmits the historical decelerations of multiple vehicles traveling along a road section and triggers braking energy recovery to the vehicle, and the vehicle determines the target deceleration based on the historical decelerations. In this way, the server does not need to calculate the target deceleration and the amount of data processing is small.

[0051] In another embodiment, determining a target deceleration based on the plurality of historical decelerations may include, for each vehicle, weighting and adding the plurality of historical decelerations to obtain a first deceleration for each vehicle, and determining a target deceleration based on the first deceleration for each vehicle.

[0052] Here, the vehicle deceleration can be calculated by (V2-V1) / t, where V2 and V1 are the terminal and initial speeds of the vehicle deceleration, respectively, and t is the duration of the vehicle deceleration.

[0053] The vehicle may transmit real-time vehicle speed to the server so that the server calculates the vehicle's deceleration, or may transmit the calculated deceleration directly to the server.

[0054] The first deceleration of each vehicle may be calculated by the following formula.

number

[0055]

number

[0056] The first deceleration of each vehicle represents the deceleration situation when each vehicle performs braking energy recovery on the road section, and by taking into account the first deceleration of each vehicle on the road section, the overall deceleration situation when most of the vehicles on the road section perform braking energy recovery is more accurately and comprehensively determined.

[0057] In another embodiment, determining the target deceleration based on the plurality of historical decelerations may include weighting and adding the first decelerations of each vehicle to obtain the target deceleration.

[0058] Specifically, the target deceleration may be calculated using the following formula:

number

[0059] In this embodiment, the target deceleration is obtained by weighted addition of multiple first decelerations of multiple vehicles, so that the determined target deceleration of the vehicle is well adapted to the braking recovery intensity of the road section on which the vehicle is located.

[0060] When the first deceleration of each vehicle is weighted and added, the closer the time that a vehicle travels through the road section is to the current time, the greater the weight of the first deceleration of that vehicle.

number

[0061] In another embodiment, a reasonable range can be set for the final applied target deceleration. In this embodiment, the step of determining the target deceleration based on the plurality of historical decelerations includes: weighting and adding the first decelerations of each vehicle to obtain a second deceleration; The method may include a step of determining the maximum deceleration as a target deceleration when the second deceleration is equal to or greater than a predetermined maximum deceleration, determining the minimum deceleration as the target deceleration when the second deceleration is equal to or less than a predetermined minimum deceleration, and determining the second deceleration as the target deceleration when the second deceleration is greater than the minimum deceleration and less than the maximum deceleration, and the maximum deceleration is greater than the minimum deceleration.

[0062] That is, when calculating the target deceleration, it is necessary to take into consideration the deceleration adjustment range of the self-adaptive recovery intensity and control the deceleration value during deceleration to be within the range. Figure 4 is a curve diagram of the maximum recovery intensity and the minimum recovery intensity in a braking energy recovery policy according to an exemplary embodiment. As shown in Figure 4, when the vehicle speed is fixed, the deceleration corresponding to the curve Dmax is smaller than the deceleration corresponding to the curve A, and the deceleration corresponding to the curve Dmin is smaller than the deceleration corresponding to the curve C. The deceleration corresponding to the curve Dmax may be the maximum deceleration, and the deceleration corresponding to the curve Dmin may be the minimum deceleration.

[0063] The maximum deceleration and the minimum deceleration may be previously obtained and stored through testing or experience. In this embodiment, the target deceleration is limited to a certain range to prevent the determined target deceleration from being unreasonable due to deviation of historical data.

[0064] The present disclosure further provides a vehicle control method applied to a server, and Fig. 5 is a process chart of the vehicle control method applied to a server according to an exemplary embodiment. As shown in Fig. 5, the vehicle control method includes the following steps:

[0065] Step S501 obtains, for each vehicle in the plurality of vehicles, a plurality of historical decelerations when each vehicle travels along a road segment and triggers braking energy recovery.

[0066] Step S502 determines a target deceleration based on a plurality of historical decelerations.

[0067] In step S503, the target deceleration is transmitted to the vehicles traveling on the road section so that when the vehicle that has received the target deceleration receives a braking command and triggers braking energy recovery, the vehicle performs control to recover braking energy based on the target deceleration.

[0068] In the vehicle control method applied to the server and the vehicle control method applied to the vehicle of FIG. 3, an embodiment of the target deceleration determined by the server corresponds.

[0069] According to the above technical solution, when multiple vehicles travel along a road section and a target deceleration is determined based on the historical deceleration when the vehicle triggers the braking energy recovery, the vehicle performs the braking energy recovery according to the target deceleration when the vehicle travels along the road section. In this way, the braking recovery intensity suitable for the road section where the vehicle is located can be applied, so that the braking recovery is more economical, the number of times the brake pedal is depressed is reduced, and the driving experience is improved.

[0070] In one embodiment, determining a target deceleration based on the plurality of historical decelerations may include, for each vehicle, weighting and adding the plurality of historical decelerations to obtain a first deceleration for each vehicle, and determining a target deceleration based on the first deceleration for each vehicle.

[0071] In another embodiment, determining the target deceleration based on the first deceleration of each vehicle may include weighting and adding the first deceleration of each vehicle to obtain the target deceleration.

[0072] In another embodiment, the step of determining the target deceleration based on the first deceleration of each vehicle includes: weighting and adding the first decelerations of each vehicle to obtain a second deceleration; When the second deceleration is equal to or greater than a predetermined maximum deceleration, the maximum deceleration is determined as a target deceleration; When the second deceleration is equal to or less than a predetermined minimum deceleration, the minimum deceleration is determined as a target deceleration; When the second deceleration is greater than the minimum deceleration and less than the maximum deceleration, the second deceleration may be determined as the target deceleration, and the maximum deceleration may be greater than the minimum deceleration.

[0073] In another embodiment, when a plurality of historical decelerations are weighted and added, the closer the time at which a historical deceleration occurs to the current time, the greater the weight.

[0074] As for the vehicle control method according to the embodiment applied to the server, the specific manner in which each step executes an operation has been explained in detail in the embodiment relating to the vehicle control method applied to a vehicle, so details will be omitted here.

[0075] The present disclosure provides a vehicle control device applied to a vehicle. Figure 6 is a block diagram of a vehicle control device applied to a vehicle according to an exemplary embodiment. As shown in Figure 6, the vehicle control device 600 may include a first acquisition module 601 and a control module 602.

[0076] The first acquisition module 601 acquires a target deceleration when the vehicle travels along a road section, and the target deceleration for each vehicle in the plurality of vehicles is determined based on a plurality of historical decelerations when each vehicle travels along the road section and triggers braking energy recovery.

[0077] When the control module 602 triggers braking energy recovery in response to a braking command received by the vehicle, the control module 602 controls braking energy recovery based on a target deceleration.

[0078] The first acquiring module 601 may include a first receiving sub-module.

[0079] The first receiving submodule receives the target deceleration transmitted by the server, and the server obtains, for each vehicle in the plurality of vehicles, a plurality of historical decelerations when each vehicle travels along a road section and triggers braking energy recovery, and determines the target deceleration based on the plurality of historical decelerations.

[0080] The first acquisition module 601 may include a second receiving sub-module and a first determining sub-module.

[0081] A second receiving sub-module receives, for each vehicle in the plurality of vehicles, a plurality of historical decelerations transmitted by the server when each vehicle traveled along the road section and triggered braking energy recovery.

[0082] The first determination sub-module determines a target deceleration rate based on a plurality of historical deceleration rates.

[0083] The first determining sub-module may include a second determining sub-module and a third determining sub-module.

[0084] The second determination sub-module performs a weighted sum of the multiple historical decelerations for each vehicle to obtain a first deceleration for each vehicle.

[0085] The third determination sub-module determines a target deceleration based on the first deceleration of each vehicle.

[0086] The third determination sub-module may include a fourth determination sub-module.

[0087] The fourth determination sub-module weightedly adds the first decelerations of the respective vehicles to obtain the target deceleration.

[0088] The third determining sub-module may include a fifth determining sub-module, a sixth determining sub-module, a seventh determining sub-module, and an eighth determining sub-module.

[0089] The fifth determination sub-module weightedly adds the first decelerations of each vehicle to obtain a second deceleration;

[0090] The sixth determination submodule determines, when the second deceleration is equal to or greater than a predetermined maximum deceleration, the maximum deceleration as the target deceleration;

[0091] The seventh determination submodule, when the second deceleration is equal to or less than a predetermined minimum deceleration, determines the minimum deceleration as the target deceleration;

[0092] The eighth determination sub-module determines the second deceleration as the target deceleration when the second deceleration is greater than the minimum deceleration and less than the maximum deceleration, and the maximum deceleration is greater than the minimum deceleration.

[0093] When multiple historical decelerations are weighted together, the closer the time at which a historical deceleration occurs to the current time, the greater the weighting. When the first deceleration of each vehicle is weighted together, the closer the time at which a vehicle travels along a road section to the current time, the greater the weighting of the first deceleration of that vehicle.

[0094] The present disclosure further provides a vehicle control device applied to a server. Figure 7 is a block diagram of a vehicle control device applied to a server according to an exemplary embodiment. As shown in Figure 7, the vehicle control device 700 may include a second acquisition module 701, a determination module 702 and a sending module 703.

[0095] The second acquisition module 701 acquires, for each vehicle in the plurality of vehicles, a plurality of historical decelerations when each vehicle travels along a road section and triggers braking energy recovery.

[0096] The determination module 702 determines a target deceleration rate based on a plurality of historical deceleration rates.

[0097] The transmitting module 703 transmits the target deceleration to the vehicles traveling on the road section so that when the vehicle that has received the target deceleration triggers braking energy recovery upon receiving a braking command, the vehicle controls braking energy recovery based on the target deceleration.

[0098] The decision module 702 may include a ninth decision sub-module and a tenth decision sub-module.

[0099] The ninth determination sub-module weights and sums the multiple historical decelerations for each vehicle to obtain a first deceleration for each vehicle.

[0100] A tenth determination sub-module determines the target deceleration based on the first deceleration of each vehicle.

[0101] The tenth determining sub-module may include an eleventh determining sub-module.

[0102] The eleventh determination sub-module weightedly adds the first deceleration of each vehicle to obtain the target deceleration.

[0103] The tenth determining sub-module may include a twelfth determining sub-module, a thirteenth determining sub-module, a fourteenth determining sub-module, and a fifteenth determining sub-module.

[0104] The twelfth determination sub-module weights and sums the first decelerations of each vehicle to obtain a second deceleration.

[0105] The thirteenth determination submodule determines, when the second deceleration is equal to or greater than a predetermined maximum deceleration, the maximum deceleration as the target deceleration.

[0106] The fourteenth determination submodule determines, when the second deceleration is equal to or less than a predetermined minimum deceleration, the minimum deceleration as the target deceleration.

[0107] The fifteenth determination sub-module determines the second deceleration as the target deceleration when the second deceleration is greater than the minimum deceleration and less than the maximum deceleration, and the maximum deceleration is greater than the minimum deceleration.

[0108] When a plurality of historical decelerations are weighted and added, the weight of one historical deceleration may be greater the closer it occurs to the current time.

[0109] In the vehicle control device according to the above embodiment, the specific manner in which each module executes an operation has been described in detail in the embodiment relating to the vehicle control method, so the details will be omitted here.

[0110] According to the above technical solution, when multiple vehicles travel along a road section and a target deceleration is determined based on the historical deceleration when the vehicle triggers the braking energy recovery, the vehicle performs the braking energy recovery according to the target deceleration when the vehicle travels along the road section. In this way, the braking recovery intensity suitable for the road section where the vehicle is located can be applied, so that the braking recovery is more economical, the number of times the brake pedal is depressed is reduced, and the driving experience is improved.

[0111] The present disclosure further provides an electronic device including a memory and a processor.

[0112] The memory stores a computer program, and the processor executes the computer program in the memory to implement the steps of the vehicle control method provided by the present disclosure.

[0113] 8 is a block diagram of an electronic device 800 according to an exemplary embodiment. As shown in FIG. 8, the electronic device 800 includes a processor 801 and a memory 802. The electronic device 800 may further include at least one of a multimedia component 803, an input / output (I / O) interface 804, and a communication component 805.

[0114] Here, the processor 801 performs all or part of the steps of the vehicle control method by controlling the overall operation of the electronic device 800. The memory 802 stores various types of data to support the operation of the electronic device 800, which may include, for example, instructions for any application programs or methods operated on the electronic device 800, as well as relevant data for the application programs, such as contact data, messages sent and received, pictures, audio, video, etc. The memory 802 can be implemented by any type of volatile or non-volatile storage device, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic disk, or an optical disk, or a combination thereof. The multimedia component 803 can include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component can output and / or input an audio signal. For example, the audio component can include a microphone for receiving an external audio signal. The received audio signal can be further stored in the memory 802 or can be transmitted via the communication component 805. The audio component includes at least one speaker for outputting audio signals. The I / O interface 804 provides an interface between the processor 801 and other interface modules such as a keyboard, a mouse, and buttons. These buttons may be virtual buttons or physical buttons.The communication component 805 performs wired or wireless communication between the electronic device 800 and other devices. The wireless communication may be, for example, Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC or other 5G, or one or more combinations thereof, but is not limited thereto. Thus, the corresponding communication component 805 may include a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0115] In an exemplary embodiment, the electronic equipment 800 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 perform the vehicle control method.

[0116] In another exemplary embodiment, a computer-readable storage medium is further provided, the computer-readable storage medium including program instructions for implementing the steps of the vehicle control method when executed by a processor. For example, the computer-readable storage medium may be a memory 802 including the program instructions, the program instructions being executed by a processor 801 of the electronic device 800 to implement the vehicle control method.

[0117] The present disclosure further provides a computer program comprising computer readable code that, when executed by a processor, causes the processor to execute the vehicle control method.

[0118] FIG 9 is a block diagram of an electronic device according to an exemplary embodiment. The electronic device 900 may be provided as a server, for example. As shown in FIG 9, the electronic device 900 includes one or more processors 922 and a memory 932 for storing computer programs executable by the processor 922. The computer programs stored in the memory 932 may include one or more modules, each module corresponding to a group of instructions. The processor 922 may be configured to execute the computer programs to perform the vehicle control method.

[0119] In addition, the electronic device 900 may include a power component 926 and a communication component 950, where the power component 926 may be configured to perform power management of the electronic device 900, and the communication component 950 may be configured to realize communication of the electronic device 900, such as wired communication or wireless communication. The electronic device 900 may also include an input / output (I / O) interface 958. The electronic device 900 may include, for example, a Windows Server 2003 (S2003) 2004 (S2004) 2005 (S2006) 2007 (S2008) 2009 (S2009) 2010 (S2010) 2011 (S2011) 2012 (S2012) 2013 (S2013) 2014 (S2014) 2015 (S2015) 2016 (S2016) 2017 (S2017) 2018 (S2018) 2019 (S2019) 2020 (S2020) 2030 (S2020) 2040 (S2020) 2050 (S2020) 2060 (S2020) 2070 (S2020) 2080 (S2020) 2090 (S2090) 2100 (S2090) 2110 (S2090) 2120 (S2090) 2130 (S2090) 2140 (S2090) 2150 (S2090) 2160 (S2090) 2170 (S2090) 2180 (S2090) 2 TM , Mac OS X TM , Unix TM , Linux TM The operating system may be operated.

[0120] In another exemplary embodiment, a computer-readable storage medium is further provided, the computer-readable storage medium including program instructions for implementing the steps of the vehicle control method when executed by a processor. For example, the computer-readable storage medium may be a memory 932 including the program instructions, which are executed by the processor 922 of the electronic device 900 to implement the vehicle control method.

[0121] In another exemplary embodiment, there is further provided a computer program product comprising a computer program executable by a programmable device, the computer program having code portions for performing the vehicle control method described above when executed by the programmable device.

[0122] The present disclosure further provides a vehicle including a braking energy recovery system and a controller that performs the steps of the above vehicle control method according to the present disclosure.

[0123] The present disclosure further provides a server including a controller that executes the steps of the vehicle control method according to the present disclosure.

[0124] The above describes the details of the preferred embodiments of the present disclosure in conjunction with the drawings, but the present disclosure is not limited to the specific details of the above embodiments, and many simple modifications of the technical solutions of the present disclosure are possible within the scope of the technical ideas of the present disclosure, and all of these simple modifications fall within the scope of protection of the present disclosure.

[0125] In addition, the specific technical features described in the above specific embodiments can be combined in any appropriate manner unless they are contradictory. In order to avoid unnecessary repetitive description, the present disclosure omits a description of each possible combination.

[0126] Furthermore, different embodiments of the present disclosure can be combined in any manner, and as long as the combination does not deviate from the technical idea of ​​the present disclosure, these combinations should also be considered as part of the content of the present disclosure.

Claims

1. A vehicle control method applied to a vehicle, comprising: obtaining a target deceleration when the vehicle travels along a road section, the target deceleration for each vehicle of the plurality of vehicles being determined based on a plurality of historical decelerations when each vehicle travels along the road section and triggers braking energy recovery; and when the vehicle receives a braking command and braking energy recovery is triggered, performing control to perform braking energy recovery based on the target deceleration, The step of acquiring the target deceleration includes: receiving, for each vehicle in the plurality of vehicles, a plurality of historical decelerations transmitted by a server when each vehicle traveled along the road section and triggered braking energy recovery; determining the target deceleration based on the plurality of historical decelerations; The step of determining the target deceleration based on the plurality of historical decelerations includes: a step of performing a weighted sum of the plurality of historical decelerations for each vehicle to obtain a first deceleration for each vehicle, the weighted sum being performed by multiplying the plurality of historical decelerations by corresponding weights and adding the results, the sum of the corresponding weights being 1; determining the target deceleration based on a first deceleration of each of the vehicles; The step of determining the target deceleration based on a first deceleration of each vehicle includes: or a step of weighting and adding the first decelerations of the respective vehicles to obtain the target deceleration, the weighting being performed by multiplying the first decelerations of the respective vehicles by corresponding weights and adding the products, the sum of the corresponding weights being 1; a step of weighting and adding the first decelerations of the respective vehicles to obtain a second deceleration, the weighting being performed by multiplying the first decelerations of the respective vehicles by corresponding weights and adding the products, the sum of the corresponding weights being 1; When the second deceleration is equal to or greater than a predetermined maximum deceleration, the maximum deceleration is determined as the target deceleration; When the second deceleration is equal to or less than a predetermined minimum deceleration, the minimum deceleration is determined as the target deceleration; determining the second deceleration as the target deceleration when the second deceleration is greater than the minimum deceleration and less than the maximum deceleration, the maximum deceleration being greater than the minimum deceleration; A vehicle control method.

2. When the plurality of historical decelerations are weighted and added, the closer the time at which one historical deceleration occurs to the current time, the greater the weight of that historical deceleration; and when the first decelerations of each vehicle are weighted and added, the closer the time at which one vehicle travels along a road section to the current time, the greater the weight of the first deceleration of that vehicle. The vehicle control method according to claim 1 .

3. A vehicle control method applied to a server, comprising: obtaining, for each vehicle in the plurality of vehicles, a plurality of historical decelerations when the vehicle travels along a road section and triggers braking energy recovery; determining a target deceleration based on the plurality of historical decelerations; a step of transmitting the target deceleration to a vehicle traveling on the road section so that the vehicle that has received the target deceleration controls to perform braking energy recovery based on the target deceleration when the vehicle triggers braking energy recovery upon receiving a braking command; The step of determining the target deceleration based on the plurality of historical decelerations includes: a step of performing a weighted sum of the plurality of historical decelerations for each vehicle to obtain a first deceleration for each vehicle, the weighted sum being performed by multiplying the plurality of historical decelerations by corresponding weights and adding the results, the sum of the corresponding weights being 1; determining the target deceleration based on a first deceleration of each of the vehicles; The step of determining the target deceleration based on a first deceleration of each vehicle includes: or a step of weighting and adding the first decelerations of the respective vehicles to obtain the target deceleration, the weighting being performed by multiplying the first decelerations of the respective vehicles by corresponding weights and adding the products, the sum of the corresponding weights being 1; a step of weighting and adding the first decelerations of the respective vehicles to obtain a second deceleration, the weighting being performed by multiplying the first decelerations of the respective vehicles by corresponding weights and adding the products, the sum of the corresponding weights being 1; When the second deceleration is equal to or greater than a predetermined maximum deceleration, the maximum deceleration is determined as the target deceleration; When the second deceleration is equal to or less than a predetermined minimum deceleration, the minimum deceleration is determined as the target deceleration; determining the second deceleration as the target deceleration when the second deceleration is greater than the minimum deceleration and less than the maximum deceleration, the maximum deceleration being greater than the minimum deceleration; A vehicle control method.

4. A vehicle control device applied to a vehicle, a first acquisition module for acquiring a target deceleration when the vehicle travels along a road section, the target deceleration for each vehicle of the plurality of vehicles being determined based on a plurality of historical decelerations when each vehicle travels along the road section and triggers braking energy recovery; a control module for controlling braking energy recovery based on the target deceleration when the vehicle receives a braking command and triggers braking energy recovery; The first acquisition module includes: a second receiving sub-module for receiving, for each vehicle in the plurality of vehicles, a plurality of historical decelerations transmitted by a server when the vehicle travels on the road section and triggers braking energy recovery; a first determination sub-module for determining a target deceleration based on the plurality of historical decelerations; The first determination submodule: a second determination sub-module for each vehicle performing a weighted sum of the plurality of historical decelerations to obtain a first deceleration for each vehicle, the weighted sum being performed by adding the plurality of historical decelerations multiplied by corresponding weights, the sum of the corresponding weights being 1; and a third determination sub-module that determines the target deceleration based on a first deceleration of each of the vehicles; The third determination submodule includes a fourth determination submodule that performs weighted addition of the first decelerations of the vehicles to obtain the target deceleration, the weighted addition being performed by multiplying the first decelerations of the vehicles by corresponding weights and adding the products, and the sum of the corresponding weights is 1; or The third determination submodule includes a fifth determination submodule that obtains a second deceleration by weighted addition of the first decelerations of the vehicles, the weighted addition being performed by adding the first decelerations of the vehicles multiplied by corresponding weights, and the sum of the corresponding weights is 1; a sixth determination submodule that determines the maximum deceleration as the target deceleration when the second deceleration is equal to or greater than a predetermined maximum deceleration; a seventh determination submodule that determines the minimum deceleration as the target deceleration when the second deceleration is equal to or less than a predetermined minimum deceleration; and an eighth determination submodule that determines the second deceleration as the target deceleration when the second deceleration is greater than the minimum deceleration and less than the maximum deceleration, and the maximum deceleration is greater than the minimum deceleration. Vehicle control device.

5. A vehicle control device applied to a server, a second acquisition module for acquiring, for each vehicle in the plurality of vehicles, a plurality of historical decelerations when each vehicle travels along a road section and triggers braking energy recovery; a determination module for determining a target deceleration based on the plurality of historical decelerations; a transmission module that transmits the target deceleration to vehicles traveling on the road section so that, when the vehicle that has received the target deceleration triggers braking energy recovery upon receiving a braking command, the vehicle performs control to recover braking energy based on the target deceleration; The decision module: a ninth determination sub-module for each vehicle, performing a weighted sum of the plurality of historical decelerations to obtain a first deceleration for each vehicle, the weighted sum being performed by adding the plurality of historical decelerations multiplied by corresponding weights, and a sum of the corresponding weights is 1; and a tenth determination sub-module that determines the target deceleration based on a first deceleration of each of the vehicles; The tenth determination submodule includes an eleventh determination submodule that obtains the target deceleration by weighting and adding the first decelerations of the respective vehicles, the weighting being performed by multiplying the first decelerations of the respective vehicles by corresponding weights and adding the products, and the sum of the corresponding weights is 1; or The tenth determination submodule includes a twelfth determination submodule that obtains a second deceleration by weighted addition of the first decelerations of the vehicles, the weighted addition being performed by adding the first decelerations of the vehicles multiplied by their corresponding weights, and the sum of the corresponding weights is 1; a thirteenth determination submodule that determines the maximum deceleration as the target deceleration when the second deceleration is equal to or greater than a predetermined maximum deceleration; a fourteenth determination submodule that determines the minimum deceleration as the target deceleration when the second deceleration is equal to or less than a predetermined minimum deceleration; and a fifteenth determination submodule that determines the second deceleration as the target deceleration when the second deceleration is greater than the minimum deceleration and less than the maximum deceleration, and the maximum deceleration is greater than the minimum deceleration. Vehicle control device.

6. 1. A computer-readable storage medium, comprising: A computer program is stored in the computer system, the computer program being adapted to implement the steps of the vehicle control method according to claim 1 or 2 when executed by a processor. A computer-readable storage medium.

7. A computer-readable storage medium, comprising: A computer program is stored, which, when executed by a processor, implements the steps of the vehicle control method according to claim 3. A computer-readable storage medium.

8. 1. An electronic device comprising: A memory in which a computer program is stored; and a processor for implementing the steps of the vehicle control method according to claim 1 or 2 by executing the computer program in the memory. electronic equipment.

9. An electronic device comprising: A memory in which a computer program is stored; a processor for executing the computer program in the memory to implement the steps of the vehicle control method according to claim 3. electronic equipment.

10. A computer program comprising: The vehicle control method according to claim 1 or 2 is further comprised of a computer readable code that, when executed by a processor, causes the processor to execute the vehicle control method according to claim 1 or 2. Computer program.

11. A computer program comprising: and a computer readable code that, when executed by a processor, causes the processor to execute the vehicle control method according to claim 3. Computer program.

Images