Offset distance determination method, storage medium, and electronic device

Abstract

An offset distance determination method, a storage medium, and an electronic device. The method comprises: acquiring a first operation parameter value set of a first vehicle and a second operation parameter value set of a second vehicle on operation parameters in real time, wherein the operation parameters comprise: an operation speed, an acceleration, an operation altitude and a steering wheel rotation angle; and determining a target distance on the basis of the first operation parameter value set and the second operation parameter value set, wherein the target distance is a linear offset distance between charging ports of the first vehicle and the second vehicle when the first vehicle and the second vehicle travel.

Description

Method for determining offset distance, storage medium, and electronic device

[0001] This disclosure claims priority to the Chinese patent application filed with the China Patent Office on March 20, 2024, with application number 202410323011.7 and invention name “Method for determining offset distance, storage medium and electronic device”, the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0002] The present disclosure relates to the field of vehicle-mounted charging technology, and in particular to a method for determining an offset distance, a storage medium, and an electronic device. Background Art

[0003] With the development of the new energy vehicle industry, car-to-car charging can be achieved by using a bidirectional on-board charger, which converts the high-voltage direct current of the vehicle's power battery into alternating current. After having an AC power supply, the AC charging gun can be used to complete car-to-car charging.

[0004] Since the two vehicles are charged via a charging cable, and the length of the charging cable itself is limited, this will result in the straight-line distance between the charging ports of the two vehicles exceeding the length of the charging cable itself due to the difference in speed and driving angle between the two vehicles during driving, thereby damaging the charging cable and affecting mutual charging. Summary of the Invention

[0005] The embodiments of the present disclosure provide a method for determining an offset distance, a storage medium, and an electronic device to at least solve the problem of being unable to accurately determine the straight-line offset distance between the charging ports of two vehicles while the two vehicles are driving.

[0006] According to one embodiment of the present disclosure, a method for determining an offset distance is provided, comprising: acquiring in real time a first operating parameter value set and a second operating parameter value set of operating parameters of a first vehicle and a second vehicle, respectively, wherein the operating parameters include: operating speed, acceleration, operating altitude, and steering wheel rotation angle; determining a target distance based on the first operating parameter value set and the second operating parameter value set, wherein the target distance is a straight-line offset distance between charging ports of the first vehicle and the second vehicle while the first vehicle and the second vehicle are traveling.

[0007] According to one embodiment of the present disclosure, a device for determining an offset distance is provided, including: an acquisition module, configured to acquire in real time a first operating parameter value set and a second operating parameter value set of operating parameters of a first vehicle and a second vehicle, respectively, wherein the operating parameters include: operating speed, acceleration, operating altitude and steering wheel rotation angle; a determination module, configured to determine a target distance based on the first operating parameter value set and the second operating parameter value set, wherein the target distance is a straight-line offset distance between charging ports of the first vehicle and the second vehicle while the first vehicle and the second vehicle are driving.

[0008] According to another embodiment of the present disclosure, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is configured to execute the steps of any one of the above method embodiments when running.

[0009] According to another embodiment of the present disclosure, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any one of the above method embodiments.

[0010] According to yet another embodiment of the present disclosure, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps of the method described in each embodiment of the present disclosure are implemented.

[0011] In the present disclosure, a first operating parameter value set and a second operating parameter value set of operating parameters of a first vehicle and a second vehicle are respectively obtained in real time, wherein the operating parameters include: operating speed, acceleration, operating altitude and steering wheel rotation angle; and a straight-line offset distance between the charging ports of the first vehicle and the second vehicle during driving of the second vehicle is determined based on the first operating parameter value set and the second operating parameter value set, thereby solving the problem of being unable to accurately determine the straight-line offset distance between the charging ports of the two vehicles during driving of the two vehicles, so that the distance between the charging ports of the two vehicles can be determined based on the straight-line offset distance between the charging ports of the two vehicles during driving, avoiding affecting the mutual charging safety of the two vehicles during driving due to not knowing the distance between the charging ports of the two vehicles during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0013] FIG1 is a hardware structure block diagram of a computer device for a method for determining an offset distance according to an embodiment of the present disclosure;

[0014] FIG2 is a flow chart of a method for determining an offset distance according to an embodiment of the present disclosure;

[0015] FIG3 is a schematic diagram of two vehicles charging each other while driving according to an embodiment of the present disclosure;

[0016] FIG4 is a schematic diagram of another embodiment of the present disclosure in which two vehicles are mutually charged while driving;

[0017] FIG5 is a schematic diagram of another embodiment of the present disclosure of two vehicles charging each other while driving;

[0018] FIG6 is a schematic diagram of a yaw angle and a tire slip angle according to an embodiment of the present disclosure;

[0019] FIG7 is a schematic diagram of a centroid deviation angle according to an embodiment of the present disclosure;

[0020] FIG8 is a structural block diagram of a device for determining an offset distance according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] The method embodiments provided in the embodiments of the present disclosure can be executed in a computer device or a similar computing device. Taking running on a computer device as an example, FIG1 is a hardware structure block diagram of a computer device for determining an offset distance in an embodiment of the present disclosure. As shown in FIG1 , the computer device may include one or more (only one is shown in FIG1 ) processors 102 (the processor 102 may include but is not limited to a microprocessor (Microprocessor Unit, referred to as MPU) or a programmable logic device (Programmable logic device, referred to as PLD)) and a memory 104 configured to store data. In an exemplary embodiment, the above-mentioned computer device may also include a transmission device 106 configured to have a communication function and an input / output device 108. It will be understood by those skilled in the art that the structure shown in FIG1 is only for illustration and does not limit the structure of the above-mentioned computer device. For example, the computer device may also include more or fewer components than those shown in FIG1 , or have a different configuration with the same functions as those shown in FIG1 or more functions than those shown in FIG1 .

[0024] Memory 104 can be configured to store computer programs, such as application software programs and modules, such as the computer program corresponding to the offset distance determination method described in the embodiments of the present disclosure. Processor 102 executes the computer program stored in memory 104 to perform various functional applications and data processing, thereby implementing the aforementioned method. Memory 104 can include high-speed random access memory (RAM) and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 can further include memory remotely located from processor 102, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0025] The transmission device 106 is configured to receive or transmit data via a network. A specific example of the network may include a wireless network provided by a telecommunications provider of the computer device. In one embodiment, the transmission device 106 may include a network interface controller (NIC), which may be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module configured to communicate with the Internet wirelessly.

[0026] In this embodiment, a method for determining an offset distance is provided. FIG2 is a flow chart of a method for determining an offset distance according to an embodiment of the present disclosure. The flow chart includes the following steps:

[0027] Step S202: acquiring in real time a first operating parameter value set and a second operating parameter value set of operating parameters of the first vehicle and the second vehicle, respectively, wherein the operating parameters include: operating speed, acceleration, operating altitude, and steering wheel rotation angle;

[0028] It should be noted that Figures 3 and 4 illustrate schematic diagrams of two vehicles charging each other while driving. During the process of mutual charging between two vehicles in a horizontal or vertical direction, due to the rotation of the steering wheel and the difference in speed, the vehicles will not be in a straight line at a certain moment during the driving process, but will travel in the direction of the deflection angle. This will cause the charging cables connected to the charging ports of the two vehicles to be stretched. If the length exceeds a reasonable range, the charging cables will be damaged, thereby affecting the normal operation of the mutual charging. Therefore, when calculating the straight-line offset distance between the charging ports of the two vehicles, the present disclosure needs to consider the running speed, acceleration and steering wheel rotation angle of the two vehicles in real time.

[0029] It should be noted that Figure 5 illustrates the height difference between the two vehicles during driving. As shown in Figure 5, when the vehicles are driving on different road conditions, the vertical heights of the front and rear vehicles are not constant, but are in a state of changing with the road conditions. Therefore, when calculating the straight-line offset distance between the charging ports of the two vehicles, the vertical height difference between the vehicles being charged should be taken into account.

[0030] It should be noted that the angle sensor installed on the steering wheel will record the steering wheel rotation angle in real time, and the steering wheel rotation angle can be obtained in real time through the angle sensor installed on the steering wheel.

[0031] Step S204: determining a target distance based on the first operating parameter value set and the second operating parameter value set, wherein the target distance is a straight-line offset distance between the charging ports of the first vehicle and the second vehicle while the first vehicle and the second vehicle are traveling;

[0032] Through the above steps, the problem of being unable to accurately determine the straight-line offset distance between the charging ports of the two vehicles while the two vehicles are driving is solved, so that the distance between the charging ports of the two vehicles can be determined based on the straight-line offset distance between the charging ports of the two vehicles while the two vehicles are driving, thereby avoiding affecting the mutual charging safety of the two vehicles while driving due to not knowing the distance between the charging ports of the two vehicles while driving.

[0033] Optionally, the execution subject of the present disclosure may be a processor, including but not limited to a processor located in the first vehicle and / or the second vehicle.

[0034] In an exemplary embodiment, after the above step S204, it also includes: when the target distance is greater than a preset threshold, displaying a prompt message, wherein the prompt message is used to prompt to reduce the straight-line distance between the charging ports of the first vehicle and the second vehicle.

[0035] It should be noted that the above method can remind the drivers of the first vehicle and the second vehicle to reduce the straight-line distance between the charging ports of the two vehicles, avoiding the straight-line distance between the charging ports of the two vehicles being greater than the length of the charging cable, thereby ensuring the safety of mutual charging of the vehicles.

[0036] In an exemplary embodiment, the above step S204 can be implemented by the following steps S11-S14:

[0037] Step S11: determining a current altitude difference between the first vehicle and the second vehicle according to the respective operating altitude parameter values ​​in the first operating parameter value set and the second operating parameter value set;

[0038] It should be noted that the current altitude difference between the first vehicle and the second vehicle at time t is equal to the absolute value of the difference between the operating altitude of the first vehicle at time t and the operating altitude of the second vehicle at time t.

[0039] Step S12: determining a first projection distance and a second projection distance according to parameter values ​​of target parameters in the first operating parameter value set, wherein the target parameters include: the operating speed, the acceleration, and the steering wheel rotation angle;

[0040] It should be noted that the first projected distance is the projection distance of the first driving displacement of the first vehicle in the X-axis direction of the geodetic coordinate system during time T, and the second projected distance is the projection distance of the first driving displacement in the Y-axis direction of the geodetic coordinate system. T is the duration of mutual charging between the first and second vehicles.

[0041] It should be noted that the geodetic coordinate system is a three-dimensional coordinate system used for geographic positioning and navigation. It is based on the Earth's ellipsoid. The geodetic coordinate system is commonly used to describe geographic locations and navigation information on the Earth's surface. The coordinate origin of the geodetic coordinate system is located at the center of the reference ellipsoid. The Z axis is aligned with the ellipsoid's rotation axis and points to the North Pole of the reference ellipsoid. The X axis points to the intersection of the starting meridian plane and the equator. The Y axis lies on the equatorial plane and, in a right-handed system, is orthogonal to the X axis at a 90-degree angle.

[0042] It should be noted that if T is equal to 1 minute, it means that the first vehicle and the second vehicle are connected using the charging cable for one minute and perform a mutual charging operation using the charging cable for one minute.

[0043] It should be noted that the specific implementation of the above step S12 will be described in detail below and will not be repeated here.

[0044] Step S13: determining a third projection distance and a fourth projection distance according to the parameter value of the target parameter in the second operating parameter value set;

[0045] It should be noted that the third projection distance is the projection distance of the second driving displacement of the second vehicle in the time T in the X-axis direction of the geodetic coordinate system, and the fourth projection distance is the projection distance of the second driving displacement in the Y-axis direction of the geodetic coordinate system;

[0046] It should be noted that the specific implementation of the above step S13 is the same as the specific implementation of step S12, which will be briefly described below.

[0047] It should be noted that the above steps S11-S13 are executed asynchronously, and there is no order of execution. Step S11 may be executed first, or step S13 may be executed first.

[0048] Step S14: determining a target distance according to the current altitude difference, the first projection distance, the second projection distance, the third projection distance, and the fourth projection distance.

[0049] In an exemplary embodiment, the above step S14 can be implemented by the following steps S21-S23:

[0050] Step S21: determining a first difference between the first projection distance and the third projection distance;

[0051] Step S22: determining a second difference between the second projection distance and the fourth projection distance;

[0052] It should be noted that the above steps S21-S22 are executed asynchronously and there is no order in which they are executed.

[0053] Step S23: Calculate the square sum of the first difference, the second difference, and the current altitude difference, and determine the square root of the square sum as the target distance.

[0054] For a better understanding, the following is explained in conjunction with Formula 1:

[0055] Where Δd is the target distance, L1 x is the first projection distance, L2 x is the second projection distance, L1 y is the third projection distance, L2 yis the fourth projection distance, and (h1(t)-h2(t)) is the current altitude difference, where h1(t) is the operating altitude of the first vehicle and h2(t) is the operating altitude of the second vehicle.

[0056] For better understanding, the implementation of the above step S12 is described in detail below. In an exemplary embodiment, the above step S12 includes the following steps S31-S33:

[0057] Step S31: determining a first travel displacement of the first vehicle within the time T according to the parameter values ​​of the running speed and acceleration of the first vehicle within the time T in the first operating parameter value set;

[0058] Optionally, the first driving displacement can be calculated using the following formula 2:

[0059] Wherein, D1 is the first driving distance, v1 is the speed of the first vehicle at different times, and a1 is the acceleration of the first vehicle at different times.

[0060] Step S32: determining a first function according to the parameter value of the steering wheel rotation angle of the first vehicle within the time T in the first operating parameter value set, wherein the first function is used to represent the corresponding relationship between the yaw angle of the first vehicle within the time T and time;

[0061] It should be noted that the yaw angle refers to the rotation angle of the vehicle's center of mass around the Z axis in the geodetic coordinate system. Figure 6 is a schematic diagram illustrating the vehicle's yaw angle.

[0062] It should be noted that the specific implementation of the above step S32 will be described in detail below and will not be repeated here.

[0063] Step S33: determining the first projection distance and the second projection distance according to the first driving displacement and the first function.

[0064] In an exemplary embodiment, the step S33 includes: determining the first projection distance by the following formula 3, and determining the second projection distance by the following formula 4:

[0065] Among them, L1 x is the first projection distance, D1 is the first driving displacement, ψ (t) is the first function;

[0066] Among them, L1 y is the second projection distance.

[0067] It should be noted that when the yaw angle (i.e., the value of ψ(t)) is less than 90°, the calculated L1 x is a positive number; when the yaw angle is greater than 90°, the calculated L1 y is a negative number.

[0068] In an exemplary embodiment, the above step S32 includes the following steps S41-S42:

[0069] Step S41: determining a second function based on the parameter value of the steering wheel rotation angle of the first vehicle within the time T in the first operating parameter value set, wherein the second function is used to represent the corresponding relationship between the tire deflection angle of the first vehicle within the time T and time;

[0070] It should be noted that the vehicles to which the technical solution of the present disclosure is applicable include but are not limited to: front-wheel driven vehicles, rear-wheel driven vehicles, and vehicles driven by both the front and rear wheels.

[0071] In an exemplary embodiment, the above-mentioned step S41 includes: dividing the parameter value of the steering wheel rotation angle of the first vehicle at each moment within the T time in the first operating parameter value set by a preset value to obtain the tire deflection angle of the first vehicle at each moment within the T time, so as to obtain the second function.

[0072] Optionally, the preset value is determined according to the steering ratio of the first vehicle. When the vehicle is an ordinary small car, the preset value is 8; when the vehicle is a large bus, the preset value is 12 or 16.

[0073] It should be noted that FIG6 schematically illustrates the front wheel deflection angle of the vehicle.

[0074] Step S42: Determine the first function using the second function according to the vehicle kinematic model.

[0075] It should be noted that the vehicle kinematic model can be seen in the following formulas 5 and 6:

[0076] Among them, β(t) represents the functional relationship between the center of mass deflection angle and time, is the time derivative of the center of mass deflection angle, represents the first-order derivative of the yaw angle with time, is the second derivative of the yaw angle with respect to time, δ(t) represents the second function, l V represents the moment from the front wheel to the center of mass, l H represents the moment from the rear wheel to the center of mass, v x Indicates the vehicle's forward speed, C αV Indicates the tire's cornering stiffness, C αHrepresents the longitudinal stiffness of the tire, m represents the weight of the vehicle body, J Z Indicates the moment of inertia of the vehicle body moving around the Z axis in the geodetic coordinate system.

[0077] It should be noted that the center of mass deviation angle is the angle between the velocity direction of the vehicle's center of mass and the direction in which the vehicle's front is pointing. FIG7 illustrates the center of mass deviation angle.

[0078] Combining the above formulas 5 and 6 into a matrix equation, we get formula 7:

[0079] in,

[0080] Substitute the obtained δ(t) (i.e., the second function) into Formula 7 to solve the matrix equation, and obtain the functional relationship between the yaw angle and time ψ(t) (i.e., the first function).

[0081] It should be noted that, based on the same implementation concept as step S12 above, step S13 includes: determining a second driving displacement of the second vehicle during time T based on the parameter values ​​of the second vehicle's operating speed and acceleration during time T in the second operating parameter value set; determining a third function based on the parameter value of the second vehicle's steering wheel rotation angle during time T in the second operating parameter value set, wherein the third function is used to represent the correspondence between the yaw angle of the second vehicle during time T and time; and determining the third and fourth projected distances based on the second driving displacement and the third function. The specific calculation method is also the same as step S12 above and is not further described here.

[0082] It should be noted that the present disclosure realizes real-time monitoring and calculation of the offset distance of the mutual charging vehicles at any time through the real-time mutual charging vehicle offset warning algorithm, thereby avoiding the occurrence of faults caused by the mutual charging vehicles traveling far apart.

[0083] Furthermore, this technical solution directly monitors the offset distance in real time based on the steering wheel rotation angle, reducing response time. The result is calculated before the vehicle responds to the command, providing high sensitivity and predictability. By establishing a three-dimensional coordinate system, the vertical height difference between the two vehicles due to the different terrain conditions is taken into account in addition to the two-dimensional one, resulting in more accurate calculation results.

[0084] It should be noted that when the steering wheel angle is converted into the tire deflection angle, the entire vehicle body has not yet rotated. Using only the tire deflection angle as the vehicle's turning angle gives this calculation step a high degree of predictability. If the calculated offset distance is too large at this time, the driver can react and recover as soon as possible.

[0085] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of the present disclosure.

[0086] This embodiment also provides a device for determining an offset distance, which is configured to implement the above-described embodiments and preferred implementations. Details already described are omitted for clarity. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. While the devices described in the following embodiments are preferably implemented using software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0087] FIG8 is a structural block diagram of a device for determining an offset distance according to an embodiment of the present disclosure, the device comprising:

[0088] an acquisition module 82 configured to acquire, in real time, a first set of operating parameter values ​​and a second set of operating parameter values ​​of operating parameters of the first vehicle and the second vehicle, respectively, wherein the operating parameters include: operating speed, acceleration, operating altitude, and steering wheel rotation angle;

[0089] The determination module 84 is configured to determine a target distance based on the first operating parameter value set and the second operating parameter value set, wherein the target distance is a straight-line offset distance between the charging ports of the first vehicle and the second vehicle during the driving of the first vehicle and the second vehicle.

[0090] The above device solves the problem of being unable to accurately determine the straight-line offset distance between the charging ports of the two vehicles while they are driving, so that the distance between the charging ports of the two vehicles can be determined based on the straight-line offset distance between the charging ports of the two vehicles while they are driving, thereby avoiding affecting the mutual charging safety of the two vehicles while driving due to not knowing the distance between the charging ports of the two vehicles while they are driving.

[0091] In an exemplary embodiment, the determination module 84 is further configured to determine a current altitude difference between the first vehicle and the second vehicle based on the respective operating altitude parameter values ​​in the first operating parameter value set and the second operating parameter value set; and determine a first projected distance and a second projected distance based on parameter values ​​of target parameters in the first operating parameter value set, wherein the target parameters include: the operating speed, the acceleration, and the steering wheel rotation angle; the first projected distance is a projection distance of a first driving displacement of the first vehicle in a time T on the X-axis direction of the geodetic coordinate system, and the second projected distance is a projection distance of the first driving displacement in a Y-axis direction of the geodetic coordinate system, and T is a duration of mutual charging between the first and second vehicles; and determine a third projected distance and a fourth projected distance based on the parameter values ​​of the target parameters in the second operating parameter value set, wherein the third projected distance is a projection distance of a second driving displacement of the second vehicle in a time T on the X-axis direction of the geodetic coordinate system, and the fourth projected distance is a projection distance of the second driving displacement in a Y-axis direction of the geodetic coordinate system; and determine a target distance based on the current altitude difference, the first projected distance, the second projected distance, the third projected distance, and the fourth projected distance.

[0092] In an exemplary embodiment, the determination module 84 is further configured to determine the first driving displacement of the first vehicle within the T time based on the parameter values ​​of the running speed and acceleration of the first vehicle within the T time in the first operating parameter value set; determine a first function based on the parameter value of the steering wheel rotation angle of the first vehicle within the T time in the first operating parameter value set, wherein the first function is used to represent the correspondence between the yaw angle of the first vehicle within the T time and time; and determine the first projection distance and the second projection distance based on the first driving displacement and the first function.

[0093] In an exemplary embodiment, the determination module 84 is further configured to determine a second function based on the parameter value of the steering wheel rotation angle of the first vehicle within the time T in the first operating parameter value set, wherein the second function is used to represent the correspondence between the tire deflection angle of the first vehicle within the time T and time; and the first function is determined using the second function according to the vehicle kinematic model.

[0094] In an exemplary embodiment, the determination module 84 is further configured to divide the parameter value of the steering wheel rotation angle of the first vehicle at each moment within the T time in the first operating parameter value set by a preset value to obtain the tire deflection angle of the first vehicle at each moment within the T time, so as to obtain the second function.

[0095] In an exemplary embodiment, the determination module 84 is further configured to determine the first projection distance using the following formula: Among them, L1 x is the first projection distance, D1 is the first driving displacement, ψ (t) is the first function; and the second projection distance is determined by the following formula: Among them, L1 y is the second projection distance.

[0096] In an exemplary embodiment, the determination module 84 is further configured to determine a first difference between the first projection distance and the third projection distance; and determine a second difference between the second projection distance and the fourth projection distance; calculate the sum of the squares of the first difference, the second difference, and the current altitude difference, and determine the square root of the sum of the squares as the target distance.

[0097] In an exemplary embodiment, the device further includes: a display module configured to display a prompt message when the target distance is greater than a preset threshold, wherein the prompt message is used to prompt the user to reduce the straight-line distance between the charging ports of the first vehicle and the second vehicle.

[0098] An embodiment of the present disclosure further provides a computer-readable storage medium, in which a computer program is stored. The computer program is configured to execute the steps of any one of the above method embodiments when run.

[0099] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0100] An embodiment of the present disclosure further provides a computer program product, including a computer program, which implements the steps of the method described in each embodiment of the present disclosure when the computer program is executed by a processor.

[0101] An embodiment of the present disclosure further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0102] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0103] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail here.

[0104] Obviously, those skilled in the art should understand that the modules or steps of the present disclosure described above can be implemented using a general-purpose computing device, they can be concentrated on a single computing device, or distributed across a network composed of multiple computing devices, they can be implemented using program code executable by the computing device, and thus, they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be performed in a different order than herein, or they can be fabricated into separate integrated circuit modules, or multiple modules or steps can be fabricated into a single integrated circuit module for implementation. Thus, the present disclosure is not limited to any particular combination of hardware and software.

[0105] The foregoing description is merely a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art will readily appreciate that various modifications and variations of the present disclosure are possible. Any modifications, equivalent substitutions, or improvements made within the principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A method for determining an offset distance, comprising: Acquire, in real time, a first operating parameter value set and a second operating parameter value set of operating parameters of the first vehicle and the second vehicle, respectively, wherein the operating parameters include: operating speed, acceleration, operating altitude, and steering wheel rotation angle; A target distance is determined based on the first operating parameter value set and the second operating parameter value set, wherein the target distance is a straight-line offset distance between charging ports of the first vehicle and the second vehicle while the first vehicle and the second vehicle are traveling.

2. The method according to claim 1, wherein Determining a target distance according to the first operating parameter value set and the second operating parameter value set includes: determining a current altitude difference between the first vehicle and the second vehicle based on the respective operating altitude parameter values ​​in the first operating parameter value set and the second operating parameter value set; and Determining a first projected distance and a second projected distance based on parameter values ​​of target parameters in the first operating parameter value set, wherein the target parameters include: the operating speed, the acceleration, and the steering wheel rotation angle; the first projected distance is a projection distance of a first driving displacement of the first vehicle in a time T along the X-axis of a geodetic coordinate system; the second projected distance is a projection distance of the first driving displacement along the Y-axis of the geodetic coordinate system; and T is a duration of mutual charging between the first and second vehicles; and Determining a third projected distance and a fourth projected distance based on the parameter value of the target parameter in the second operating parameter value set, wherein the third projected distance is a projection distance of the second driving displacement of the second vehicle within time T in the X-axis direction of the geodetic coordinate system, and the fourth projected distance is a projection distance of the second driving displacement in the Y-axis direction of the geodetic coordinate system; A target distance is determined according to the current altitude difference, the first projection distance, the second projection distance, the third projection distance, and the fourth projection distance.

3. The method according to claim 2, wherein: Determining a first projection distance and a second projection distance according to a parameter value of a target parameter in the first operating parameter value set includes: Determining a first driving displacement of the first vehicle within the time T according to the parameter values ​​of the running speed and acceleration of the first vehicle within the time T in the first running parameter value set; determining a first function based on a parameter value of a steering wheel rotation angle of the first vehicle within the time T in the first operating parameter value set, wherein the first function is used to represent a correspondence between a yaw angle of the first vehicle within the time T and time; The first projection distance and the second projection distance are determined according to the first driving displacement and the first function.

4. The method according to claim 3, wherein: Determining a first function according to a parameter value of a steering wheel rotation angle of the first vehicle within the time T in the first operating parameter value set includes: determining a second function based on a parameter value of the steering wheel rotation angle of the first vehicle within the time T in the first operating parameter value set, wherein the second function is used to represent a corresponding relationship between the tire deflection angle of the first vehicle within the time T and time; The first function is determined using the second function according to a vehicle kinematic model.

5. The method according to claim 4, wherein Determining a second function according to a parameter value of a steering wheel rotation angle of the first vehicle within the time T in the first operating parameter value set includes: The parameter value of the steering wheel rotation angle of the first vehicle at each moment in the T time in the first operating parameter value set is divided by a preset value to obtain the tire deflection angle of the first vehicle at each moment in the T time, so as to obtain the second function.

6. The method according to claim 3, wherein: Determining the first projected distance and the second projected distance according to the first driving displacement and the first function includes: The first projection distance is determined by the following formula: Among them, L1 x is the first projection distance, D1 is the first driving displacement, ψ (t) is the first function; and The second projection distance is determined by the following formula: Among them, L1 y is the second projection distance.

7. The method according to claim 2, wherein: Determining a target distance according to the current altitude difference, the first projection distance, the second projection distance, the third projection distance, and the fourth projection distance includes: determining a first difference between the first projection distance and the third projection distance; and determining a second difference between the second projection distance and the fourth projection distance; The sum of squares of the first difference, the second difference, and the current altitude difference is calculated, and a square root of the sum of squares is determined as the target distance.

8. The method according to claim 1, wherein After determining the target distance according to the first operating parameter value set and the second operating parameter value set, the method further includes: When the target distance is greater than a preset threshold, a prompt message is displayed, wherein the prompt message is used to prompt the user to reduce the straight-line distance between the charging ports of the first vehicle and the second vehicle.

9. A computer-readable storage medium comprising a stored program, wherein: When the program is executed, the steps of the method according to any one of claims 1 to 8 are executed.

10. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the steps of the method according to any one of claims 1 to 8 through the computer program.

Images