CN110371130A - Unpiloted control method, device, system and storage medium - Google Patents
Unpiloted control method, device, system and storage medium Download PDFInfo
- Publication number
- CN110371130A CN110371130A CN201910651191.0A CN201910651191A CN110371130A CN 110371130 A CN110371130 A CN 110371130A CN 201910651191 A CN201910651191 A CN 201910651191A CN 110371130 A CN110371130 A CN 110371130A
- Authority
- CN
- China
- Prior art keywords
- route
- energy
- vehicle
- saving mode
- current state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000003860 storage Methods 0.000 title claims abstract description 25
- 230000015654 memory Effects 0.000 claims description 25
- 230000001133 acceleration Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 13
- 238000005265 energy consumption Methods 0.000 abstract description 19
- 238000013461 design Methods 0.000 description 20
- 230000005611 electricity Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 239000000446 fuel Substances 0.000 description 6
- 230000005923 long-lasting effect Effects 0.000 description 5
- 238000004378 air conditioning Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Human Resources & Organizations (AREA)
- Economics (AREA)
- Automation & Control Theory (AREA)
- Strategic Management (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Game Theory and Decision Science (AREA)
- Development Economics (AREA)
- Mathematical Physics (AREA)
- Entrepreneurship & Innovation (AREA)
- Marketing (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Tourism & Hospitality (AREA)
- General Business, Economics & Management (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Navigation (AREA)
Abstract
The present invention provides a kind of unpiloted control method, device, system and storage medium, this method comprises: switching to energy-saving mode if current state meets preset trigger condition；The object of planning route again under the energy-saving mode；According to preset Energy Saving Strategy, travelled according to the target route.The present invention can switch to energy-saving mode when automatic driving vehicle meets trigger condition, so as to reduce the energy consumption of vehicle, improve the cruising ability of vehicle, user experience is good.
Description
Technical field
The present invention relates to automatic Pilot technical field more particularly to a kind of unpiloted control method, device, system and
Storage medium.
Background technique
With the development of intelligent driving technology, the function of Unmanned Systems is also more and more diversified.
Currently, Unmanned Systems can be realized route planning, car speed adjusting, electricity, oil mass monitoring etc. function.
When automatic driving vehicle residue continuation of the journey (oil mass, electricity) is lower, Unmanned Systems still can carry out according to original mode
Automatic Pilot control.
But this mode does not consider the cruising ability of vehicle so that the energy consumption of vehicle maintain always it is higher
Level, vehicle energy consumption is big, and user experience is bad.
Summary of the invention
The present invention provides a kind of unpiloted control method, device, system and storage medium, can be in automatic driving car
When meeting trigger condition, energy-saving mode is switched to, so as to reduce the energy consumption of vehicle, improves the continuation of the journey energy of vehicle
Power, user experience are good.
In a first aspect, the embodiment of the present invention provides a kind of unpiloted control method, comprising:
If current state meets preset trigger condition, energy-saving mode is switched to；
The object of planning route again under the energy-saving mode；
According to preset Energy Saving Strategy, travelled according to the target route.
In a kind of possible design, further includes:
Determine whether current state meets preset trigger condition.
In a kind of possible design, whether the determining current state meets preset trigger condition, comprising:
Obtain the current continuation of the journey parameter of vehicle；The continuation of the journey parameter includes: course continuation mileage；The course continuation mileage is according to vehicle
Current oil mass and/or remaining capacity obtain；
If the course continuation mileage is less than preset threshold, it is determined that current state meets preset trigger condition.
In a kind of possible design, whether the determining current state meets preset trigger condition, comprising:
If receiving the control signal for being used to trigger energy-saving mode of user's input, it is determined that current state meets preset
Trigger condition.
In a kind of possible design, the object of planning route again under the energy-saving mode, comprising:
According to current location information and destination information, all alternative routes are obtained；
According to the route parameter of the alternative route, the energy saving index of the alternative route is determined；
According to the energy saving index, target route is selected from the alternative route.
In a kind of possible design, according to the route parameter of the alternative route, the energy conservation of the alternative route is determined
Index, comprising:
Calculate the alternative route each route parameter be multiplied with respective weights after and, obtain the alternative route
Energy saving index；Wherein, the route parameter includes: route distance, route traffic lights quantity, the average traffic density of route.
In a kind of possible design, according to the energy saving index, target route is selected from the alternative route, is wrapped
It includes:
From the alternative route, select the smallest alternative route of energy saving index as target route.
In a kind of possible design, the preset Energy Saving Strategy includes following any or appoints more:
It is driven at a constant speed according to pre-set velocity interval；
Vehicle acceleration is controlled according to crossroads traffic light state；
Limit the power output of vehicle.
Second aspect, the embodiment of the present invention provide a kind of unpiloted control device, comprising:
Switching module when meeting preset trigger condition for current state, switches to energy-saving mode；
Planning module is used under the energy-saving mode object of planning route again；
Control module, for being travelled according to the target route according to preset Energy Saving Strategy.
In a kind of possible design, further includes: determining module is used for:
Determine whether current state meets preset trigger condition.
In a kind of possible design, the determining module is specifically used for:
Obtain the current continuation of the journey parameter of vehicle；The continuation of the journey parameter includes: course continuation mileage；The course continuation mileage is according to vehicle
Current oil mass and/or remaining capacity obtain；
If the course continuation mileage is less than preset threshold, it is determined that current state meets preset trigger condition.
In a kind of possible design, the determining module is also used to:
If receiving the control signal for being used to trigger energy-saving mode of user's input, it is determined that current state meets preset
Trigger condition.
In a kind of possible design, the planning module is specifically used for:
According to current location information and destination information, all alternative routes are obtained；
According to the route parameter of the alternative route, the energy saving index of the alternative route is determined；
According to the energy saving index, target route is selected from the alternative route.
In a kind of possible design, according to the route parameter of the alternative route, the energy conservation of the alternative route is determined
Index, comprising:
Calculate the alternative route each route parameter be multiplied with respective weights after and, obtain the section of the candidate
It can index；Wherein, the route parameter includes: route distance, route traffic lights quantity, the average traffic density of route.
In a kind of possible design, according to the energy saving index, target route is selected from the alternative route, is wrapped
It includes:
From the alternative route, select the smallest alternative route of energy saving index as target route.
In a kind of possible design, the preset Energy Saving Strategy includes following any or appoints more:
It is driven at a constant speed according to pre-set velocity interval；
Vehicle acceleration is controlled according to crossroads traffic light state；
Limit the power output of vehicle.
The third aspect, the present invention provide a kind of unpiloted control system, comprising: processor and memory；Memory
In be stored with the executable instruction of the processor；Wherein, the processor is configured to next via the executable instruction is executed
Execute the unpiloted control method as described in any one of first aspect.
Fourth aspect, the present invention provide a kind of computer readable storage medium, are stored thereon with computer program, the program
Unpiloted control method described in any one of first aspect is realized when being executed by processor.
5th aspect, the embodiment of the present invention provide a kind of program product, and described program product includes: computer program, institute
It states computer program to be stored in readable storage medium storing program for executing, at least one processor of server can be from the readable storage medium storing program for executing
The computer program is read, at least one described processor executes the computer program and server is made to execute first aspect
In any unpiloted control method.
A kind of unpiloted control method, device, system and storage medium provided by the invention, by current state
When meeting preset trigger condition, vehicle is switched into energy-saving mode；The object of planning route again under the energy-saving mode；Root
According to preset Energy Saving Strategy, travelled according to the target route.The present invention can when automatic driving vehicle meets trigger condition,
Energy-saving mode is switched to, so as to reduce the energy consumption of vehicle, improves the cruising ability of vehicle, user experience is good.
Detailed description of the invention
Fig. 1 is the schematic illustration of an application scenarios of the invention；
Fig. 2 is the flow chart for the unpiloted control method that the embodiment of the present invention one provides；
Fig. 3 is the flow chart of unpiloted control method provided by Embodiment 2 of the present invention；
Fig. 4 is the structural schematic diagram for the unpiloted control device that the embodiment of the present invention three provides；
Fig. 5 is the structural schematic diagram for the unpiloted control device that the embodiment of the present invention four provides；
Fig. 6 is the structural schematic diagram for the unpiloted control system that the embodiment of the present invention five provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
Technical solution of the present invention is described in detail with specifically embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
With the development of intelligent driving technology, the function of Unmanned Systems is also more and more diversified.Currently, unmanned
System can be realized route planning, car speed adjusting, electricity, oil mass monitoring etc. function.When automatic driving vehicle residue is continuous
When boat (oil mass, electricity) is lower, Unmanned Systems still can carry out automatic Pilot control according to original mode.But this
Kind mode does not consider the cruising ability of vehicle, so that the energy consumption of vehicle maintains always higher level, vehicle energy disappears
Consumption is big, and user experience is bad.
In view of the above technical problems, the present invention provides a kind of unpiloted control method, device, system and storage and is situated between
Matter can switch to energy-saving mode when automatic driving vehicle meets trigger condition, disappear so as to reduce the energy of vehicle
Consumption, improves the cruising ability of vehicle, user experience is good.For example, lower in automatic driving vehicle residue continuation of the journey (oil mass, electricity)
When or under user is arranged in advance, switch to energy-saving mode.Unmanned Systems understand pass course planning under this energy-saving mode
(calculating distance, traffic lights quantity, congestion etc.), driving status adjust (control car speed, acceleration, power etc.), will
Continuation of the journey maintains optimum level.Fig. 1 is the schematic illustration of an application scenarios of the invention, as shown in Figure 1, on automatic driving vehicle
Various sensors are installed, to realize the detection to ambient parameters and vehicle status parameters.Therefore, can be worked as according to vehicle
Preceding state, judges whether automatic driving vehicle meets preset trigger condition.If current state meets preset trigger condition,
Switch to energy-saving mode.Optionally it is determined that whether current state meets preset trigger condition, comprising: obtain the current of vehicle
Continuation of the journey parameter；Parameter of continuing a journey includes: course continuation mileage；Course continuation mileage is obtained according to the current oil mass and/or remaining capacity of vehicle；
If course continuation mileage is less than preset threshold, it is determined that current state meets preset trigger condition.For example, can working as according to vehicle
Preceding oil mass and/or remaining capacity obtain the course continuation mileage of vehicle.When continuation of the journey is less than under system detection to vehicle normal operating conditions
Single max mileage 30% when, determine that current state meets preset trigger condition.Such mode, is mainly used in and works as vehicle
When oil mass or not enough power supply, unmanned vehicle control loop actively switches energy-saving mode.The size of preset threshold, can be according to user's row
The setting such as vehicle habit, average fuel consumption, 30% only as illustrating.Optionally it is determined that whether current state meets preset touching
Clockwork spring part, comprising: if receiving the control signal for being used to trigger energy-saving mode of user's input, it is determined that current state meets pre-
If trigger condition.For example, user can issue the control of triggering energy-saving mode by the various modes such as touch-control, key, acoustic control
Instruction, when vehicle system receives the control instruction, it is determined that current state meets preset trigger condition.Such mode,
It is mainly used in when user wishes the operation that vehicle can be more longlasting, unmanned vehicle control loop is set by user and is additionally related to multi-functional passive entry
Energy-saving mode.If current state meets preset trigger condition, energy-saving mode is switched to, to keep vehicle more longlasting
Operation.In the energy-saving mode, when automatic driving vehicle switches to energy-saving mode, then according to current vehicle position information and destination
Information is based on map datum, judges to travel to all feasible routes of destination.Then, it is based on map datum, is obtained each feasible
The characteristic parameter of route, comprising: distance, traffic lights quantity, average traffic density (jam situation) of the route etc..Then, will
The characteristic parameter of route is calculated and is compared, and selects the smallest route of route energy saving index as target route.To pass through
Select the mode of optimal path, it is possible to reduce the energy consumption of vehicle improves the cruising ability of vehicle, and user experience is good.Nobody
Control loop can also be travelled according to preset Energy Saving Strategy according to target route.Wherein, preset Energy Saving Strategy includes following
It is any or appoint it is more: driven at a constant speed according to pre-set velocity interval；Vehicle acceleration is controlled according to crossroads traffic light state；Limit vehicle
Power output.In the energy-saving mode, automatic driving vehicle can be by adjusting driving parameters (such as more stable speed, more
Stable power output), it is possible to reduce the energy consumption of vehicle improves the cruising ability of vehicle, and user experience is good.Energy-saving mode
Driving status adjust, the speed of adjustable automatic driving vehicle.Usual vehicle is with 50~90 speed per hour with stable speed
When driving, oil consumption, electricity are minimum.Therefore, the average speed of the route can be calculated based on map datum, as far as possible with average
Speed traveling, and speed is maintained within the scope of 50~90 speed per hours as far as possible.The driving status of energy-saving mode is adjusted, and can also be adjusted
Save the acceleration of automatic driving vehicle.Acceleration is smaller, as the degree of acceleration or deceleration is milder, number is fewer, oil consumption, electricity
It is fewer.It is thereby possible to select the lane that traffic density is more stable, and the traffic light status is judged in advance, such as judgement front will be through
Red light is crossed, then is slowly slowed down in advance.The driving status of energy-saving mode is adjusted, and can also adjust the power of automatic driving vehicle.When
Power is got over hour, and electricity or fuel consumption are fewer.Therefore, by adjusting the parameters such as air-conditioning, automotive power, power is tieed up
Hold it is minimum can operation level.For example, closing air-conditioning to reduce power etc..
Using the above method can when automatic driving vehicle continues a journey remaining lower or user's sets itself, allow vehicle into
Enter energy-saving mode, by reasonable route selection, and driving status is cooperated to adjust, it is possible to reduce the energy consumption of vehicle improves
The cruising ability of vehicle, user experience are good.This can also embody unpiloted intelligent, hommization.
How to be solved with technical solution of the specifically embodiment to technical solution of the present invention and the application below above-mentioned
Technical problem is described in detail.These specific embodiments can be combined with each other below, for the same or similar concept
Or process may repeat no more in certain embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Fig. 2 is the flow chart for the unpiloted control method that the embodiment of the present invention one provides, as shown in Fig. 2, this implementation
Example in method may include:
If S101, current state meet preset trigger condition, energy-saving mode is switched to.
In the present embodiment, as general-utility car, pilotless automobile is also required to using oil or electricity operation.But with common vapour
Unlike vehicle, the control that pilotless automobile can refine travel route, driving status.Therefore, when nobody drives
It sails automobile and meets preset trigger condition, energy-saving mode can be switched to, to make the operation that vehicle can be more longlasting.For example,
When vehicle fuel quantity or not enough power supply, actively switch energy-saving mode；Or when user wishes the operation that vehicle can be more longlasting, lead to
It crosses user's setting and is additionally related to multi-functional passive entry energy-saving mode.Energy-saving run can be in stable environment and state downward driving, unmanned vapour
Vehicle will maintain optimal continuation of the journey horizontal, will become a unpiloted vital ability.How current state is determined
Whether meet preset trigger condition, will describe in detail in subsequent embodiment.
S102, in the energy-saving mode object of planning route again.
In the present embodiment, Unmanned Systems can obtain all candidates according to current location information and destination information
Route；According to the route parameter of alternative route, the energy saving index of alternative route is determined；According to energy saving index, from alternative route
Select target route.
Optionally, according to the route parameter of alternative route, the energy saving index of alternative route is determined, comprising: calculate candidate road
Each route parameter of line be multiplied with respective weights after and, obtain candidate energy saving index；Wherein, route parameter includes:
Route distance, route traffic lights quantity, the average traffic density of route.
Optionally, according to energy saving index, target route is selected from alternative route, comprising: from alternative route, selection
The smallest alternative route of energy saving index is as target route.
Specifically, map datum is the basic data that automatic driving vehicle carries out route planning.When automatic driving vehicle is cut
Energy-saving mode is shifted to, then according to current vehicle position information and destination information, is based on map datum, judges traveling to destination
All feasible routes.Then, it is based on map datum, obtains the characteristic parameter of each feasible route, comprising: the distance of the route,
Traffic lights quantity, average traffic density (jam situation) etc..Then, the characteristic parameter of route is calculated and is compared, selected
The smallest route of route energy saving index is as optimal route.The calculation formula of route energy saving index is as follows:
Route energy saving index=route distance * 30%+ traffic lights quantity * 30%+ average traffic density/2*40%.
Wherein, route distance is as unit of kilometer；Traffic lights quantity is as unit of a；And average traffic density is average every
Kilometer, every lane vehicle number, if having 500 vehicles in road in 10 kilometers, averagely have 2.5 lanes (half is 2 lanes,
Half is 3 lanes), then average traffic density=500/10/2.5=20.For example, the distance of route A be 15 kilometers, have 10 it is red
Green light, average traffic density are 20, then route energy saving index A=15*30%+10*30%+20/2*40%=11.5；Route B
Distance be 10 kilometers, have 13 traffic lights, average traffic density is 30, then route energy saving index B=10*30%+13*30%
+ 30/2*40%=12.9.Therefore, the energy saving index of route A is less than the energy saving index of route B, it will be appreciated that is better than road for route A
Line B.Automatic driving vehicle is by way of selecting optimal path, it is possible to reduce the energy consumption of vehicle improves the continuation of the journey of vehicle
Ability, user experience are good.
S103, according to preset Energy Saving Strategy, travelled according to target route.
In the present embodiment, Unmanned Systems can be travelled according to preset Energy Saving Strategy according to target route.Wherein,
Preset Energy Saving Strategy includes following any or appoints more: being driven at a constant speed according to pre-set velocity interval；According to crossroads traffic light shape
State controls vehicle acceleration；Limit the power output of vehicle.
Specifically, in the energy-saving mode, automatic driving vehicle can by adjust driving parameters (such as more stable speed,
More stable power output), it is possible to reduce the energy consumption of vehicle improves the cruising ability of vehicle, and user experience is good.Energy saving mould
The driving status of formula is adjusted, the speed of adjustable automatic driving vehicle.Usual vehicle is with 50~90 speed per hour with stable speed
When driving, oil consumption, electricity are minimum for degree.Therefore, the average speed of the route can be calculated based on map datum, as far as possible with flat
Equal speed traveling, and speed is maintained within the scope of 50~90 speed per hours as far as possible.The driving status of energy-saving mode is adjusted, can be with
Adjust the acceleration of automatic driving vehicle.Acceleration is smaller, as the degree of acceleration or deceleration is milder, number is fewer, oil consumption, electricity
It measures fewer.It is thereby possible to select the lane that traffic density is more stable, and the traffic light status is judged in advance, such as judgement front will
By red light, then slowly slow down in advance.The driving status of energy-saving mode is adjusted, and can also adjust the power of automatic driving vehicle.
When power is smaller, electricity or fuel consumption are fewer.Therefore, by adjusting the parameters such as air-conditioning, automotive power, by power
Maintain it is minimum can operation level.For example, closing air-conditioning to reduce power etc..
The present embodiment, by the way that when current state meets preset trigger condition, vehicle is switched to energy-saving mode；It is saving
It can object of planning route again under mode；According to preset Energy Saving Strategy, travelled according to target route.The present invention can be at nobody
When driving vehicle meets trigger condition, energy-saving mode is switched to, so as to reduce the energy consumption of vehicle, improves the continuous of vehicle
Boat ability, user experience are good.
Fig. 3 is the flow chart of unpiloted control method provided by Embodiment 2 of the present invention, as shown in figure 3, this implementation
Example in method may include:
S201, determine whether current state meets preset trigger condition.
Various sensors are installed, to realize to ambient parameters and vehicle in the present embodiment, on automatic driving vehicle
The detection of state parameter.Therefore, it can judge whether automatic driving vehicle meets preset triggering item according to vehicle's current condition
Part.If current state meets preset trigger condition, energy-saving mode is switched to.
Optionally it is determined that whether current state meets preset trigger condition, comprising: obtain the current continuation of the journey ginseng of vehicle
Number；Parameter of continuing a journey includes: course continuation mileage；Course continuation mileage is obtained according to the current oil mass and/or remaining capacity of vehicle；If continuation of the journey
Mileage is less than preset threshold, it is determined that current state meets preset trigger condition.
Specifically, the course continuation mileage of vehicle can be obtained according to the current oil mass and/or remaining capacity of vehicle.When system is examined
When measuring 30% to be continued a journey under vehicle normal operating conditions less than single max mileage, determine that current state meets preset triggering
Condition.Such mode is mainly used in when vehicle fuel quantity or not enough power supply, and unmanned vehicle control loop actively switches energy saving mould
Formula.The size of preset threshold can be arranged according to user's driving habits, average fuel consumption etc., and 30% only as illustrating.
Optionally it is determined that whether current state meets preset trigger condition, comprising: if receiving being used for for user's input
Trigger the control signal of energy-saving mode, it is determined that current state meets preset trigger condition.
Specifically, the control that user can issue triggering energy-saving mode by the various modes such as touch-control, key, acoustic control refers to
It enables, when vehicle system receives the control instruction, it is determined that current state meets preset trigger condition.For example, user presses
Lower energy-saving mode button, automatic driving vehicle switch to energy-saving mode.Such mode is mainly used in when user wishes vehicle energy
When reaching more longlasting operation, unmanned vehicle control loop is set by user and is additionally related to multi-functional passive entry energy-saving mode.
If S202, current state meet preset trigger condition, energy-saving mode is switched to.
S203, in the energy-saving mode object of planning route again.
S204, according to preset Energy Saving Strategy, travelled according to target route.
In the present embodiment, step S202~step S204 specific implementation process and technical principle are shown in Figure 2
Associated description in method in step S101~step S103, details are not described herein again.
The present embodiment, by the way that when current state meets preset trigger condition, vehicle is switched to energy-saving mode；It is saving
It can object of planning route again under mode；According to preset Energy Saving Strategy, travelled according to target route.The present invention can be at nobody
When driving vehicle meets trigger condition, energy-saving mode is switched to, so as to reduce the energy consumption of vehicle, improves the continuous of vehicle
Boat ability, user experience are good.
In addition, the present embodiment can also determine whether current state meets preset trigger condition.Optionally it is determined that current
Whether state meets preset trigger condition, comprising: if receiving the control signal for being used to trigger energy-saving mode of user's input,
Then determine that current state meets preset trigger condition.Optionally it is determined that whether current state meets preset trigger condition, packet
It includes: if receiving the control signal for being used to trigger energy-saving mode of user's input, it is determined that current state meets preset triggering
Condition.The present invention can switch to energy-saving mode when automatic driving vehicle meets trigger condition, so as to reduce vehicle
Energy consumption, improves the cruising ability of vehicle, and user experience is good.
Fig. 4 is the structural schematic diagram for the unpiloted control device that the embodiment of the present invention three provides, as shown in figure 4, this
Unpiloted control device in embodiment may include:
Switching module 31 when meeting preset trigger condition for current state, switches to energy-saving mode；
Planning module 32 is used in the energy-saving mode object of planning route again；
Control module 33, for being travelled according to target route according to preset Energy Saving Strategy.
In a kind of possible design, planning module 32 is specifically used for:
According to current location information and destination information, all alternative routes are obtained；
According to the route parameter of alternative route, the energy saving index of alternative route is determined；
According to energy saving index, target route is selected from alternative route.
In a kind of possible design, according to the route parameter of alternative route, the energy saving index of alternative route is determined, wrap
It includes:
Calculate alternative route each route parameter be multiplied with respective weights after and, obtain candidate energy saving index；
Wherein, route parameter includes: route distance, route traffic lights quantity, the average traffic density of route.
In a kind of possible design, according to energy saving index, target route is selected from alternative route, comprising:
From alternative route, select the smallest alternative route of energy saving index as target route.
In a kind of possible design, preset Energy Saving Strategy includes following any or appoints more:
It is driven at a constant speed according to pre-set velocity interval；
Vehicle acceleration is controlled according to crossroads traffic light state；
Limit the power output of vehicle.
The unpiloted control device of the present embodiment, can execute the technical solution in method shown in Fig. 2, specific real
Associated description in existing process and technical principle method shown in Figure 2, details are not described herein again.
The present embodiment, by the way that when current state meets preset trigger condition, vehicle is switched to energy-saving mode；It is saving
It can object of planning route again under mode；According to preset Energy Saving Strategy, travelled according to target route.The present invention can be at nobody
When driving vehicle meets trigger condition, energy-saving mode is switched to, so as to reduce the energy consumption of vehicle, improves the continuous of vehicle
Boat ability, user experience are good.
Fig. 5 is the structural schematic diagram for the unpiloted control device that the embodiment of the present invention four provides, as shown in figure 5, this
On the basis of the unpiloted control device device shown in Fig. 4 of embodiment, can also include:
Determining module 34, for determining whether current state meets preset trigger condition.
In a kind of possible design, determining module 34 is specifically used for:
Obtain the current continuation of the journey parameter of vehicle；Parameter of continuing a journey includes: course continuation mileage；Course continuation mileage is according to the current of vehicle
Oil mass and/or remaining capacity obtain；
If course continuation mileage is less than preset threshold, it is determined that current state meets preset trigger condition.
In a kind of possible design, determining module 34 is also used to:
If receiving the control signal for being used to trigger energy-saving mode of user's input, it is determined that current state meets preset
Trigger condition.
The unpiloted control device of the present embodiment can execute the technical solution in method shown in Fig. 2, Fig. 3, tool
Body realizes the associated description of process and technical principle referring to fig. 2, in method shown in Fig. 3, and details are not described herein again.
The present embodiment, by the way that when current state meets preset trigger condition, vehicle is switched to energy-saving mode；It is saving
It can object of planning route again under mode；According to preset Energy Saving Strategy, travelled according to target route.The present invention can be at nobody
When driving vehicle meets trigger condition, energy-saving mode is switched to, so as to reduce the energy consumption of vehicle, improves the continuous of vehicle
Boat ability, user experience are good.
In addition, the present embodiment can also determine whether current state meets preset trigger condition.Optionally it is determined that current
Whether state meets preset trigger condition, comprising: if receiving the control signal for being used to trigger energy-saving mode of user's input,
Then determine that current state meets preset trigger condition.Optionally it is determined that whether current state meets preset trigger condition, packet
It includes: if receiving the control signal for being used to trigger energy-saving mode of user's input, it is determined that current state meets preset triggering
Condition.The present invention can switch to energy-saving mode when automatic driving vehicle meets trigger condition, so as to reduce vehicle
Energy consumption, improves the cruising ability of vehicle, and user experience is good.
Fig. 6 is the structural schematic diagram for the unpiloted control system that the embodiment of the present invention five provides, as shown in fig. 6, this
The unpiloted control system 40 of embodiment may include: processor 41 and memory 42.
Memory 42, for storing program；Memory 42 may include volatile memory (English: volatile
Memory), for example, random access memory (English: random-access memory, abbreviation: RAM), such as static random-access
Memory (English: static random-access memory, abbreviation: SRAM), double data rate synchronous dynamic random-access
Memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviation:
DDR SDRAM) etc.；Memory also may include nonvolatile memory (English: non-volatile memory), such as fastly
Flash memory (English: flash memory).Memory 42 is used to store computer program (the application journey as realized the above method
Sequence, functional module etc.), computer instruction etc., above-mentioned computer program, computer instruction etc. can with partitioned storage at one or
In multiple memories 42.And above-mentioned computer program, computer instruction, data etc. can be called with device 41 processed.
Above-mentioned computer program, computer instruction etc. can be with partitioned storages in one or more memories 42.And
Above-mentioned computer program, computer refer to according to etc. can be called with device 41 processed.
Processor 41, for executing the computer program of the storage of memory 42, to realize method that above-described embodiment is related to
In each step.
It specifically may refer to the associated description in previous methods embodiment.
Processor 41 and memory 42 can be absolute construction, be also possible to the integrated morphology integrated.Work as processing
When device 41 and memory 42 are absolute construction, memory 42, processor 41 can be of coupled connections by bus 43.
The present embodiment, by the way that when current state meets preset trigger condition, vehicle is switched to energy-saving mode；It is saving
It can object of planning route again under mode；According to preset Energy Saving Strategy, travelled according to target route.The present invention can be at nobody
When driving vehicle meets trigger condition, energy-saving mode is switched to, so as to reduce the energy consumption of vehicle, improves the continuous of vehicle
Boat ability, user experience are good.
The unpiloted control system of the present embodiment can execute the technical solution in method shown in Fig. 2, Fig. 3, tool
Body realizes the associated description of process and technical principle referring to fig. 2, in method shown in Fig. 3, and details are not described herein again.
In addition, the embodiment of the present application also provides a kind of computer readable storage medium, deposited in computer readable storage medium
Computer executed instructions are contained, when at least one processor of user equipment executes the computer executed instructions, user equipment
Execute above-mentioned various possible methods.
The present embodiment, by the way that when current state meets preset trigger condition, vehicle is switched to energy-saving mode；It is saving
It can object of planning route again under mode；According to preset Energy Saving Strategy, travelled according to target route.The present invention can be at nobody
When driving vehicle meets trigger condition, energy-saving mode is switched to, so as to reduce the energy consumption of vehicle, improves the continuous of vehicle
Boat ability, user experience are good.
Wherein, computer-readable medium includes computer storage media and communication media, and wherein communication media includes being convenient for
From a place to any medium of another place transmission computer program.Storage medium can be general or specialized computer
Any usable medium that can be accessed.A kind of illustrative storage medium is coupled to processor, to enable a processor to from this
Read information, and information can be written to the storage medium.Certainly, storage medium is also possible to the composition portion of processor
Point.Pocessor and storage media can be located in ASIC.In addition, the ASIC can be located in user equipment.Certainly, processor and
Storage medium can also be used as discrete assembly and be present in communication equipment.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or part of or all technical features are carried out etc.
With replacement；And these modifications or substitutions, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Range.
Claims (11)
1. a kind of unpiloted control method characterized by comprising
If current state meets preset trigger condition, energy-saving mode is switched to；
The object of planning route again under the energy-saving mode；
According to preset Energy Saving Strategy, travelled according to the target route.
2. the method according to claim 1, wherein further include:
Determine whether current state meets preset trigger condition.
3. according to the method described in claim 2, it is characterized in that, whether the determining current state meets preset triggering item
Part, comprising:
Obtain the current continuation of the journey parameter of vehicle；The continuation of the journey parameter includes: course continuation mileage；The course continuation mileage is according to vehicle
Current oil mass and/or remaining capacity obtain；
If the course continuation mileage is less than preset threshold, it is determined that current state meets preset trigger condition.
4. according to the method described in claim 2, it is characterized in that, whether the determining current state meets preset triggering item
Part, comprising:
If receiving the control signal for being used to trigger energy-saving mode of user's input, it is determined that current state meets preset triggering
Condition.
5. the method according to claim 1, wherein the object of planning route again under the energy-saving mode, packet
It includes:
According to current location information and destination information, all alternative routes are obtained；
According to the route parameter of the alternative route, the energy saving index of the alternative route is determined；
According to the energy saving index, target route is selected from the alternative route.
6. according to the method described in claim 5, it is characterized in that, according to the route parameter of the alternative route, described in determination
The energy saving index of alternative route, comprising:
Calculate the alternative route each route parameter be multiplied with respective weights after and, obtain the section of the alternative route
It can index；Wherein, the route parameter includes: route distance, route traffic lights quantity, the average traffic density of route.
7. according to the method described in claim 5, it is characterized in that, being selected from the alternative route according to the energy saving index
Select out target route, comprising:
From the alternative route, select the smallest alternative route of energy saving index as target route.
8. method according to any one of claims 1-7, which is characterized in that the preset Energy Saving Strategy includes following
It is any or appoint it is more:
It is driven at a constant speed according to pre-set velocity interval；
Vehicle acceleration is controlled according to crossroads traffic light state；
Limit the power output of vehicle.
9. a kind of unpiloted control device characterized by comprising
Switching module when meeting preset trigger condition for current state, switches to energy-saving mode；
Planning module is used under the energy-saving mode object of planning route again；
Control module, for being travelled according to the target route according to preset Energy Saving Strategy.
10. a kind of unpiloted control system characterized by comprising processor and memory；It is stored in memory
State the executable instruction of processor；Wherein, the processor is configured to want via executing the executable instruction and carry out perform claim
Seek the described in any item unpiloted control methods of 1-8.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Claim 1-8 described in any item unpiloted control methods are realized when execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910651191.0A CN110371130A (en) | 2019-07-18 | 2019-07-18 | Unpiloted control method, device, system and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910651191.0A CN110371130A (en) | 2019-07-18 | 2019-07-18 | Unpiloted control method, device, system and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110371130A true CN110371130A (en) | 2019-10-25 |
Family
ID=68253852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910651191.0A Pending CN110371130A (en) | 2019-07-18 | 2019-07-18 | Unpiloted control method, device, system and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110371130A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896172A (en) * | 2021-01-30 | 2021-06-04 | 刘孝恩 | Electric energy optimal utilization method and system for new energy automobile |
| CN113264060A (en) * | 2021-05-28 | 2021-08-17 | 东风汽车集团股份有限公司 | Automatic driving energy-saving system and method based on cloud training model |
| CN113741490A (en) * | 2020-05-29 | 2021-12-03 | 广州极飞科技股份有限公司 | Inspection method, inspection device, aircraft and storage medium |
| CN114202942A (en) * | 2022-01-12 | 2022-03-18 | 北京京东乾石科技有限公司 | Traffic light related module control method and device |
| CN114228720A (en) * | 2021-12-22 | 2022-03-25 | 阿波罗智联(北京)科技有限公司 | Energy saving method, device, equipment and storage medium for running vehicle |
| CN114313296A (en) * | 2022-02-08 | 2022-04-12 | 上海斯化露航空科技发展有限公司 | Hydraulic control system of aircraft containerized cargo loader |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9008858B1 (en) * | 2014-03-31 | 2015-04-14 | Toyota Motor Engineering & Manufacturing North America, Inc. | System and method for providing adaptive vehicle settings based on a known route |
| CN106408986A (en) * | 2016-11-02 | 2017-02-15 | 宁波吉利汽车研究开发有限公司 | Driving traffic jam avoiding system and method |
| CN107364444A (en) * | 2016-05-12 | 2017-11-21 | Lg电子株式会社 | Vehicle console device |
| CN107539317A (en) * | 2016-06-28 | 2018-01-05 | 长城汽车股份有限公司 | Control method, system and the vehicle of vehicle |
| US9919708B2 (en) * | 2014-07-14 | 2018-03-20 | Ford Global Technologies, Llc | Selectable autonomous driving modes |
| CN109649176A (en) * | 2019-01-18 | 2019-04-19 | 广州小鹏汽车科技有限公司 | A kind of energy-saving control method, device and new-energy automobile |
-
2019
- 2019-07-18 CN CN201910651191.0A patent/CN110371130A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9008858B1 (en) * | 2014-03-31 | 2015-04-14 | Toyota Motor Engineering & Manufacturing North America, Inc. | System and method for providing adaptive vehicle settings based on a known route |
| US9919708B2 (en) * | 2014-07-14 | 2018-03-20 | Ford Global Technologies, Llc | Selectable autonomous driving modes |
| CN107364444A (en) * | 2016-05-12 | 2017-11-21 | Lg电子株式会社 | Vehicle console device |
| CN107539317A (en) * | 2016-06-28 | 2018-01-05 | 长城汽车股份有限公司 | Control method, system and the vehicle of vehicle |
| CN106408986A (en) * | 2016-11-02 | 2017-02-15 | 宁波吉利汽车研究开发有限公司 | Driving traffic jam avoiding system and method |
| CN109649176A (en) * | 2019-01-18 | 2019-04-19 | 广州小鹏汽车科技有限公司 | A kind of energy-saving control method, device and new-energy automobile |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113741490A (en) * | 2020-05-29 | 2021-12-03 | 广州极飞科技股份有限公司 | Inspection method, inspection device, aircraft and storage medium |
| CN112896172A (en) * | 2021-01-30 | 2021-06-04 | 刘孝恩 | Electric energy optimal utilization method and system for new energy automobile |
| CN113264060A (en) * | 2021-05-28 | 2021-08-17 | 东风汽车集团股份有限公司 | Automatic driving energy-saving system and method based on cloud training model |
| CN114228720A (en) * | 2021-12-22 | 2022-03-25 | 阿波罗智联(北京)科技有限公司 | Energy saving method, device, equipment and storage medium for running vehicle |
| CN114202942A (en) * | 2022-01-12 | 2022-03-18 | 北京京东乾石科技有限公司 | Traffic light related module control method and device |
| CN114202942B (en) * | 2022-01-12 | 2023-09-01 | 北京京东乾石科技有限公司 | Traffic light related module control method and device |
| CN114313296A (en) * | 2022-02-08 | 2022-04-12 | 上海斯化露航空科技发展有限公司 | Hydraulic control system of aircraft containerized cargo loader |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110371130A (en) | Unpiloted control method, device, system and storage medium | |
| US10885722B2 (en) | Power management in an electric vehicle | |
| CN106163862B (en) | Method and computer readable storage medium for stroke planning | |
| CN104648284B (en) | Autonomous vehicle mode | |
| US8712650B2 (en) | Power management systems and designs | |
| EP3023313B1 (en) | Vehicular information processing device | |
| KR101601889B1 (en) | Method and module for controlling a vehicle's speed based on rules and/or costs | |
| CN109733378B (en) | Offline optimized online predicted torque distribution method | |
| CN108873905A (en) | Automatic driving vehicle control method, automatic driving vehicle and readable storage medium storing program for executing | |
| EP2410294A1 (en) | Method and device for providing cost information associated with junctions and method of determining a route | |
| CN111788097B (en) | Driver assistance method for a vehicle, driver assistance system and vehicle having such a driver assistance system | |
| CN108694841B (en) | Intelligent vehicle crossing traffic light method based on V2X technology | |
| JP5989622B2 (en) | Section acquisition system, section acquisition method and section acquisition program | |
| CN104010863A (en) | Method and module for controlling vehicle speed based on rules and/or costs | |
| CN102947159A (en) | Method and module for controlling a vehicle's speed | |
| CN103158704A (en) | Drive mode guide system for vehicle and method thereof | |
| JP2008247318A (en) | Hybrid car | |
| CN105897107A (en) | Method for controlling operating speed and torque of electric motor | |
| SE1151248A1 (en) | Method and module for determining at least one reference value for a control system in a vehicle | |
| US20210382492A1 (en) | Platoon driving control system and method of vehicle | |
| CN105035084B (en) | Rule-based cruise control system and method | |
| KR20180124562A (en) | An apparatus for controlling drive mode of plug-in hybrid electric vehicle and method thereof | |
| CN103017781A (en) | Method for determining at least one travelling route of a vehicle and navigation system for a vehicle | |
| CN114802189A (en) | Energy consumption control method and device for vehicle, vehicle and storage medium | |
| CN116070783A (en) | Learning type energy management method of hybrid transmission system under commute section |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191025 |
|
| RJ01 | Rejection of invention patent application after publication |