CN112714715A

CN112714715A - Method and apparatus for mileage estimation for vehicle

Info

Publication number: CN112714715A
Application number: CN201980062224.6A
Authority: CN
Inventors: D·沃尔默; S·盖斯
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2018-07-24
Filing date: 2019-07-08
Publication date: 2021-04-27
Also published as: KR20210035845A; DE102018212256A1; WO2020020621A1

Abstract

The invention relates to a method and a device for estimating the mileage of a vehicle, wherein the remaining mileage of the vehicle is determined (210) as a function of an assignment between at least one digital representation of the environment in which the vehicle is operating and information about at least one consumption value in the environment, wherein the assignment is updated (224) as a function of the comparison result, wherein in the comparison the assignment of the vehicle is compared (220) with a plurality of assignments of other vehicles.

Description

Method and apparatus for mileage estimation for vehicle

Technical Field

The invention relates to a method and a device for estimating the mileage of a vehicle.

Background

The mileage estimation of the vehicle is used to predict the remaining mileage. For this purpose, on the one hand, the remaining fuel level is taken into account, or in the case of electrically or hybrid-operated vehicles the state of charge of the battery is taken into account. The remaining range is determined starting from information about the vehicle position and possibly about the route which the vehicle should travel, calculated by means of the navigation system. Deviations of the prediction of the remaining range from the actually achievable range occur, for example, on the basis of unknown or assumed driving patterns with respect to specific route characteristics or on the basis of differences between actual driving patterns or on the basis of other environmental influences. Improvements in mileage estimation are therefore desirable.

Disclosure of Invention

This is achieved by a device and a method according to the independent claims.

In the case of a method for estimating the mileage of a vehicle, it is provided that the remaining mileage of the vehicle is determined as a function of an assignment between at least one digital representation of the environment in which the vehicle is operated and information about at least one consumption value in the environment, wherein the assignment is updated as a function of a comparison result, wherein in the comparison the assignment of the vehicle is compared with a plurality of assignments of other vehicles. Which for example relate to different map attributes.

For mileage estimation, the measured consumption is assigned to specific route attributes, such as uphill, speed, street level, number of lanes. Correlations caused by external temperature, secondary consumers, component data, such as state of charge (SOC) or state of health (SOH), time after the start of a trip, can likewise be assigned to a digital representation of the environment. The assignment is a table or a characteristic curve in which, for each detected environment, a specific consumption value can be used to estimate the mileage. In addition to empirical mileage estimation, methods of machine learning (e.g., artificial neural networks) may be used.

Each assignment is formed locally during operation of the respective vehicle and is compensated by comparison with other assignments of other vehicles. Thus, consumption statistics may be learned locally first. The information is compensated and optimized, for example, in distributed computing systems in different vehicles. For example, vehicles of the same structure as the comparison vehicle type. The mileage estimation is improved for all vehicles, because the mileage estimation is based on the consumption values of other vehicles in the same environment, without the vehicle itself having to perform measurements in the environment already.

Preferably, the basic assignment is determined as a function of at least one of the assignment cases, wherein the basic assignment is predetermined as an assignment case of the vehicle when the method is first carried out on the vehicle. A basic dataset is created from the information collection. The basic data set is used as an initial value in the new vehicle.

Preferably, at least one assignment is determined locally with respect to the vehicle, wherein the assignment for determining the comparison result is transmitted to a transmitter/receiver remote from the vehicle, wherein the comparison result is received, and wherein the assignment is updated locally with respect to the vehicle. This distributed solution enables a large amount of data to be processed without requiring a control device with high computing power for each vehicle.

Preferably, the digital representation of the environment includes an identification of the street segment or an attribute of the street segment. Thus, the consumption statistics for each street segment are stored. Under similar conditions, for example, external temperature, time, or in similar traffic conditions, a vehicle driving over a street segment for the first time may thus use the consumption data of vehicles driving over the same street segment in the mileage estimation. This significantly improves the accuracy of the mileage estimation.

Preferably, the digital representation of the environment comprises as attributes information characterizing the number of lanes of the street segment, the uphill slope or the downhill slope of the street segment or the type of the street segment. The type of street segment defines, for example, whether the vehicle is located in a city, on a rural road or on an expressway. The information further improves the mileage estimation, since different driving patterns are to be expected depending on the circumstances.

It is preferably provided that the digital representation of the environment comprises an identification of a street segment, wherein a deviation of consumption values of different vehicles from one another is determined from information about at least one consumption value of two or more vehicles for the same street segment, and wherein the information about the deviation is transmitted to at least one of the vehicles. The deviation of the consumption values on the same route represents a measure for different driving characteristics of the individual vehicles or drivers. Transferring information as feedback to the vehicle provides the potential for changing or adjusting driving characteristics. Likewise, an individualized vehicle and driver may be compared to a subset of all vehicles of the same type.

Preferably, a deviation of the consumption values of the vehicles of different vehicle types is determined. The different vehicle types are thus comparable. For example, at a speed of 30km/h, the consumption between vehicle types A is always 20% higher than vehicle type B.

Preferably, a deviation of the consumption values of vehicles of the same vehicle type or of the same vehicle is determined. The different drivers or driving styles are thus comparable.

Preferably, an example route is determined in a plurality of directions starting from the current position of the vehicle for estimating the mileage, and the mileage display of the vehicle visualizes possible and/or reachable travel destinations and routes thereto according to the mileage estimation.

Preferably, for estimating the mileage, at least one street segment and a consumption value associated with the street segment are determined, wherein the consumption value is estimated as a function of a speed to be expected, in particular an average speed, for the street segment, wherein the speed is determined as a function of a driver's, in particular learned, preference, a vehicle's consumption characteristic, a route characteristic, in particular a speed limit, and/or a predicted speed adjustment for unmanned driving. This is a particularly suitable application of mileage estimation.

In the case of a device comprising a processor and a memory with instructions, the remaining range of the vehicle is determined, when the instructions are executed by the processor, as a function of an assignment between at least one digital representation of the environment in which the vehicle is operating and information about at least one consumption value in the environment, wherein the assignment of the vehicle is updated as a function of the result of at least one comparison, in which the assignment is compared with a plurality of assignments of other vehicles. Such a device provides improved mileage estimation.

Preferably, a basic assignment is determined as a function of at least one of the assignment situations, wherein the basic assignment can be predetermined as an assignment situation of the vehicle when the mileage estimation is carried out on the vehicle for the first time. Thus, in new vehicles, particularly good initial values may be used for mileage estimation.

Preferably, it is provided that at least one assignment can be determined locally with respect to the vehicle, wherein the device comprises a transmitter which is designed to transmit the assignment for determining the comparison result to a transmitter/receiver remote from the vehicle, wherein the device comprises a receiver which is designed to receive the comparison result, and wherein the assignment is updated locally with respect to the vehicle. The distributed computing architecture provides the possibility to use large data volumes that further improve the mileage estimation.

Preferably, the apparatus comprises navigation means for providing a digital representation of the environment using the street segment, wherein the digital representation of the environment comprises an identification of the street segment or an attribute of the street segment. Thus, an improvement in the prediction of the mileage can also be achieved in vehicles that have not yet been driven over a street segment with a discrimination or attribute.

Preferably, the digital representation of the environment comprises as attributes information characterizing the number of lanes of the street segment, the uphill slope or the downhill slope of the street segment or the type of the street segment.

It is preferably provided that the digital representation of the environment comprises an identification of street segments, wherein deviations of consumption values of different vehicles from one another are determined from information about at least one consumption value of two or more vehicles for the same street segment, and wherein information about the deviations is transmitted to at least one of the vehicles. Thus, different consumption values on the same street segment are comparable.

Preferably, a deviation of the consumption values of the vehicles of different vehicle types is determined.

Preferably, a deviation of the consumption values of vehicles of the same vehicle type or of the same vehicle is determined. Thus, the different driving styles are comparable.

Preferably, the example route is determined in a plurality of directions starting from a current position of the vehicle for estimating the mileage, wherein the device comprises a mileage display which is designed to visualize possible and/or reachable travel destinations and/or routes thereto depending on the mileage estimation of the vehicle.

Drawings

Further advantageous embodiments result from the following description and the drawings. In the drawings:

fig. 1 schematically shows an apparatus for estimating mileage; and is

Fig. 2 schematically shows steps in a method for estimating mileage.

Detailed Description

Fig. 1 schematically shows a device 100 for estimating the mileage of a vehicle, characterized in that the device 100 comprises a processor 102 and a memory 104 with instructions which, when executed by the processor 102, determine the remaining mileage of the vehicle based on an assignment between at least one digital representation of the environment in which the vehicle is operating and information about at least one consumption value in the environment.

Updating the assignment of the vehicle as a function of the result of the at least one comparison, wherein the assignment is compared with a plurality of assignments of other vehicles.

In one aspect, a basic assignment for a device is determined based on at least one of the assignments. In this case, the basic assignment can be predetermined as the assignment of the vehicle when the mileage estimation is carried out on the vehicle for the first time.

In one aspect, at least one assignment may be determined and/or updated locally with respect to the vehicle. The device comprises, for example, a transmitter 106, which is designed to transmit an assignment for determining the comparison result to a transmitter/receiver 108 remote from the vehicle. The device 100 for example comprises a receiver 110 which is configured to receive the result of the comparison.

In one aspect, the apparatus includes a navigation device 112 that provides a digital representation of the environment with street segments. The numerical representation of the environment includes an identification of the street segment or an attribute of the street segment.

The navigation device 112 comprises, for example, a global navigation satellite system GNSS, or other device for determining the vehicle position and associated geographic information. The navigation device 112 comprises, for example, a map, in particular a topographic map, of the environment as information about the environment. The information about the environment comprises, for example, a division into a plurality of street segments. For example, each street segment is assigned an uphill slope or a downhill slope, a certain number of lanes of the street segment, or a type of street segment, such as a country road, a highway, a city, a driving direction, an average speed per segment.

The digital representation of the environment may include the information as an attribute.

Alternatively or additionally, the digital representation of the environment may include an identification of the street segment, such as a unique identification code.

In an example, the device 100 comprises an interface 114 for connecting to a vehicle communication network, via which information about the current operating state, in particular the state of charge of the vehicle battery, the state of health, the current vehicle speed and/or the consumption of the secondary consumers can be received. Data lines 116 connect these elements. The communication is for example performed by means of a controller area network protocol. A wireless connection 118 connects the transmitter 106 and receiver 110 with the remote transmitter/receiver 108. The communication is for example performed by means of a long term evolution network protocol.

The tabular numerical representation is described in two examples below for an electric vehicle. Multiple tables may be provided for different vehicle types or vehicles. It may be provided that different tables are used depending on the external temperature or other factors influencing the consumption, such as the secondary consumer, the state of health or the state of charge of the vehicle battery. One or more characteristic curves for recording the information may be used. Vehicle models or artificial neural networks may be used as alternatives to the tabular numerical representation. It can provide data with the aid of vehicle-collected measurement data using parameter estimation using methods of machine learning or model formation. In the learning phase, the measurement data may be used by the vehicle to train an artificial neural network, or to parameterize the model. In the use phase, in this case, the mileage estimation is carried out by means of an artificial neural network or a model.

Example 1:

in an electric vehicle, consumption values of street clusters are explained in a first example. A street cluster is a category that contains multiple streets having the same attribute. The number of lanes, i.e., 1 lane, 2 lanes, 3 lanes …, an uphill slope in% or a downhill slope in% and a route section, i.e., a land road, a highway, a city, are exemplarily described as attributes.

In this example, different consumption values are assigned to different vehicle speeds. A first assignment is thus obtained:

street cluster	30km/h	40 km/h	50 km/h
				1 lane, 0.5% uphill, city	18Wh	20Wh	35Wh
2 lanes, 1% uphill, highway	23Wh	24Wh	25Wh
				1 lane, 3% uphill, land road	26Wh	27Wh	28Wh

In the example, the first assignment is stored in the memory 104 and updated as described in the method that follows.

To estimate the mileage, it is first known in which street cluster the vehicle happens to be located. Subsequently, from the first assignment, the consumption value is determined, which is closest to the current vehicle speed. The consumption value is used to determine a prediction of the battery charge remaining after the route section has been traveled, i.e., the remaining state of charge. If the destination is known, or which route segments the vehicle is still going to travel, the predictions may include those route segments. To this end, the device may be configured to use the destination from the navigation system 112. It is likewise possible to use a plurality of future unavoidable route sections, for example route sections which are to be driven to the next exit on a highway. To estimate the expected speed in the preceding route section, the learned speed preference of the driver and/or the vehicle may be used.

In order to establish or update the first assignment locally, the device is designed to measure the consumption value during the movement of the vehicle in the route section. The consumption values are then assigned to route clusters, the attributes of which preferably correspond to the attributes of the route sections that have just been traveled. The consumption value is assigned, for example, to the average speed which is closest to the average speed of the road segment. In the example, this is done in addition to the updating by comparison with other assignment cases.

Example 2:

in an electric vehicle, the consumption value for a specific street segment is specified in a second example. The street segment is uniquely identified by an identification, such as an identification code. The information comes, for example, from a navigation system 112 in which street segments are assigned to geographical locations. The current vehicle position can thus be uniquely associated with the street segment. Additional attributes are therefore not required. Implicit contains knowledge about the number of lanes, the type of uphill or downhill slope or route section.

street segment	30km/h	40 km/h	50 km/h
				ID23525	18Wh	20Wh	35Wh
ID23526	23Wh	24Wh	25Wh
				ID23527	26Wh	27Wh	28Wh

In the example, the second assignment is stored in the memory 104 and updated as described in the method that follows.

For the estimation of the mileage, it is known in which street segment the vehicle is located, and the consumption value from the second assignment case is used, which value is closest to the average driving speed. If the destination is known, the consumption values of the street segments are added until the destination is reached. The consumption values are contained in the map data, for example as average consumption values, time-dependent consumption values or driver-or vehicle-specific consumption values for each street segment, which map data form the basis of the mileage estimation. It may be provided that an average speed to be expected per street segment is estimated. This may be done, for example, by the driver and/or the preference of the learning of the consumption characteristics of the vehicle. Route characteristics, such as speed limits from map data, may also be used. For example, at a speed limit of 80km/h and at an average speed of 76km/h for all vehicles, for example based on an expected vehicle speed of 78km/h, or a predicted speed adjustment for unmanned driving is preset. If the driver does not input a destination, then an example route from the current location of the vehicle in multiple directions is used for range estimation. In one aspect, it is provided that, depending on the mileage estimation, the mileage display of the vehicle visualizes possible and/or reachable travel destinations and routes thereto.

In order to establish or update the second assignment, the device is designed to recognize the currently driven street segment, to determine a consumption value, and to supplement the second assignment with the consumption value in the identification assigned to the street segment at a speed which is closest to the average driven vehicle speed of the segment.

The apparatus 100 is configured to implement the method described subsequently with respect to fig. 2. The method starts, for example, after switching on the device 100.

In step 200 it is checked whether the method is first carried out on the device 100. If the method is first implemented on the device 100, step 201 is implemented. Otherwise, step 202 is performed.

A basic arrangement of the device 100 with the remote transmitter/receiver 108 is required in step 201. For this purpose, the vehicle type or vehicle identification is preferably transmitted.

Step 203 is then performed.

In step 203, a basic assignment is determined for the other vehicles on the basis of at least one of the assignments. The basic assignment for the same vehicle type is preferably transmitted. If necessary, the vehicle type is known from vehicle authentication.

Step 205 is then performed.

In step 205, the device 100 receives a basic assignment from a remote transmitter/receiver.

Step 207 is then performed.

In step 207, the basic assignment is preset as the vehicle's assignment.

Step 202 is then performed.

In step 202, the mileage estimation is initialized locally on the device 100. For this purpose, the current position and the current vehicle speed of the vehicle are known.

Step 204 is then performed.

In step 204, the authentication of the street segment is known locally on the device 100.

Step 206 is then performed.

In step 206, the authentication of the street segment is known locally on the device 100.

Step 208 is then performed.

In step 208, consumption values for the street segments learned through the identification of street segments and the learned average vehicle speed are determined locally on the device 100. The consumption value closest to the current vehicle speed is determined from the assignment for the street segment together with a corresponding identification for the speed.

Step 210 is then performed.

In step 210, the remaining range of the vehicle is determined locally on the device 100 from the consumption value. Additionally, consumption values of the secondary consumers, the state of the diagram or other parameters that are relevant for mileage can be taken into account. The prediction of the remaining mileage may include a plurality of route sections that follow one another. For example, mileage is determined for a known destination entered by the destination, or for the most likely expected street segment.

Step 212 is then performed.

The remaining mileage is output in step 212. The output may be via a display in the vehicle or output to a display device of the vehicle via interface 114. If no destination is entered, a mileage can be built up from the current position of the vehicle at different points in all directions by means of a so-called mileage polygon. An example route is determined, for example, in multiple directions from the current position of the vehicle to estimate mileage. In this case, the mileage display is designed to visualize the possible and/or reachable travel destinations and/or routes thereto as a function of the mileage estimate of the vehicle, in particular using a mileage polygon.

Step 214 is then performed.

In step 214, an assignment between at least one digital representation of the environment in which the vehicle is operated and information about at least one consumption value in the environment is determined.

For example, the average vehicle speed is used when driving through a street segment, and the actual consumption value is determined for the driving through street segment. Authentication is a digital representation of the environment. The actual consumption value is determined, for example, by the difference in the state of charge directly before and after the passage of the road segment. The respective current charge state of the battery before and after driving through the street segment is known for this purpose locally on the device 100 or received via the interface 114.

Step 216 is then performed.

In step 216, the consumption value is stored locally on the device 100 in the component in the associated case, and the component is identified by the identification of the street segment and the average vehicle speed. The assignment is determined locally with respect to the vehicle.

Step 218 is then performed.

In step 218, the assignment of the device 100 for determining the comparison result is transmitted to the transmitter/receiver 108 remote from the vehicle.

Step 220 is then performed.

In step 220, a comparison is carried out by the remote transmitter/receiver 108, in which the assignment of the vehicle is compared with a plurality of assignments of other vehicles.

In the example, a new version of the basic assignment is determined on the basis of at least one of the assignments, which is predetermined as the assignment of the vehicle when the method is first carried out on the vehicle.

Step 222 is then performed.

In step 222, the comparison result is transmitted by the remote transmitter/receiver 108 and received locally by the device 100. For example, a new assignment is received for compensation.

Step 224 is then performed.

In step 224, the assignment is updated locally with respect to the vehicle as a function of the comparison result.

If the new assignment differs from the assignment of the vehicle, the new assignment is stored locally, for example, as an assignment of the vehicle. Step 200 is then performed.

In one aspect, it is provided that, depending on the information about at least one consumption value of two or more vehicles for the same street segment, a deviation of the consumption values of different vehicles from one another is determined and the information about the deviation is transmitted to at least one of the vehicles.

The deviation of the consumption values of the vehicles can be determined for different vehicle types, for vehicles of the same vehicle type or for the same vehicle driving over the same street segment at different points in time.

In this case, the deviation is sent to one or all participating vehicles as feedback.

Claims

1. Method for estimating the mileage of a vehicle, characterized in that the remaining mileage of the vehicle is determined (210) on the basis of an assignment between at least one digital representation of the environment in which the vehicle is operating and information about at least one consumption value in the environment, wherein the assignment is updated (224) on the basis of the result of a comparison, in which comparison the assignment of the vehicle is compared (220) with a plurality of assignments of other vehicles.

2. A method according to claim 1, characterized in that a basic assignment is determined (203, 220) on the basis of at least one of the assignments, wherein the basic assignment is predetermined (205) as an assignment of the vehicle when the method is carried out on the vehicle for the first time.

3. Method according to claim 1 or 2, characterized in that at least one assignment is determined (214) locally with respect to the vehicle, in that the assignment for determining the comparison result is transmitted (218) to a transmitter/receiver remote with respect to the vehicle, in that the comparison result is received (222), and in that the assignment is updated (224) locally with respect to the vehicle.

4. The method of any preceding claim, wherein the digital representation of the environment comprises an identification of a street segment or an attribute of a street segment.

5. The method according to claim 4, characterized in that the digital representation of the environment comprises as attributes information characterizing the number of lanes of a street segment, the uphill or downhill slope of a street segment or the type of street segment.

6. The method according to any one of claims 4 or 5, wherein the digital representation of the environment comprises an identification of a street segment, wherein a deviation of consumption values of different vehicles from each other is determined from information on at least one consumption value of two or more vehicles for the same street segment, and wherein the information on the deviation is sent to at least one of the vehicles.

7. Method according to claim 6, characterized in that a deviation of the consumption values of vehicles of different vehicle types is determined.

8. Method according to claim 6, characterized in that a deviation of consumption values of vehicles of the same vehicle type or of the same vehicle is determined.

9. Method according to any of the preceding claims, characterized in that an example route is determined in a plurality of directions starting from the current position of the vehicle for estimating the mileage, and that the mileage display of the vehicle enables the visualization of the achievable and/or reachable travel destination and the route thereto on the basis of the mileage estimation.

10. Method according to one of the preceding claims, characterized in that for estimating the mileage at least one street segment and a consumption value assigned to a street segment are determined, wherein the consumption value is estimated from a speed to be expected, in particular averaged, for the street segment, wherein the speed is determined from a driver's, in particular learned, preference, a vehicle's consumption characteristic, a route characteristic, in particular a speed limit, and/or a predicted speed adjustment for unmanned driving.

11. Device (100) for estimating the mileage of a vehicle, characterized in that the device (100) comprises a processor (102) and a memory (104) with instructions, which, when executed by the processor (102), determine the remaining mileage of the vehicle on the basis of an assignment between at least one digital representation of the environment in which the vehicle is operating and information about at least one consumption value in the environment, wherein the assignment of the vehicle is updated on the basis of the result of at least one comparison, in which the assignment is compared with a plurality of assignments of other vehicles.

12. Device according to claim 10, characterized in that a basic assignment is determined as a function of at least one of the assignments, wherein the basic assignment can be predetermined as an assignment of the vehicle when the range estimation is carried out on the vehicle for the first time.

13. Device according to claim 10 or 11, wherein at least one assignment can be determined locally with respect to the vehicle, wherein the device comprises a transmitter (106) which is designed to transmit the assignment for determining the comparison result to a transmitter/receiver (108) remote with respect to the vehicle, wherein the device comprises a receiver (110) which is designed to receive the comparison result, and wherein the assignment is updated locally with respect to the vehicle.

14. An apparatus according to any one of claims 10 to 12, characterized in that the apparatus comprises navigation means (112) for providing a digital representation of the environment using the street segment, wherein the digital representation of the environment comprises an identification of the street segment or an attribute of the street segment.

15. The apparatus according to any one of claims 10 to 14, characterized in that the apparatus is configured for carrying out the method according to any one of claims 5 to 10.