CN113276858A - Fuel-saving driving control method and device, computing equipment and storage medium - Google Patents
Fuel-saving driving control method and device, computing equipment and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 239000000446 fuel Substances 0.000 claims abstract description 19
- 238000011217 control strategy Methods 0.000 claims abstract description 13
- 238000004590 computer program Methods 0.000 claims description 9
- 230000007613 environmental effect Effects 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 5
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- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
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- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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- 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
- B60W2552/00—Input parameters relating to infrastructure
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- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
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- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
Abstract
The invention provides an oil-saving driving control method and device, computing equipment and a storage medium, wherein the method comprises the following steps: acquiring global parameters of a vehicle, wherein the global parameters of the vehicle comprise environment information, pose information and state information; generating a trajectory line and a trajectory domain according to the global parameters; inputting the trajectory line and the trajectory domain into a control unit as a global fuel-saving strategy so that the control unit generates a control strategy according to the global fuel-saving strategy and a pre-stored local fuel-saving strategy and outputs a corresponding driving control signal; and controlling the vehicle to drive according to the driving control signal. The method generates the track line and the track domain according to the global parameters of the vehicle, and then inputs the track line and the track domain into the control unit as a global fuel-saving strategy, so that the control unit can better combine the global fuel-saving strategy and the local fuel-saving strategy to achieve higher fuel use efficiency, thereby saving resources, improving economic benefits and being beneficial to environmental protection.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an oil-saving driving control method and device, computing equipment and a storage medium.
Background
The fuel saving and low consumption are important subjects in the field of heavy-duty automobiles. The fuel-saving driving can be realized by a driving strategy on a global or local level. On the global level, Predictive Cruise Control (PCC) is widely used in the automatic driving system of a highway truck, which plans a fuel-saving speed track line according to the traffic information of a future road section, such as the gradient fluctuation of a road surface; on a local level, the vehicle can adopt control modes such as fixed opening of an accelerator or constant-speed cruising and the like to reduce unnecessary fuel consumption loss caused by sudden acceleration and deceleration as much as possible.
The single use of global or local fuel saving strategies has disadvantages: the global fuel saving strategy of the predictive cruise control is mainly based on static traffic environment to optimize speed track, and the expected saving effect can not be achieved when complex dynamic traffic environment is processed; due to the lack of global information, the local fuel-saving strategy can not ensure the globally optimal fuel consumption fundamentally.
Disclosure of Invention
The invention provides an oil-saving driving control method and device, computing equipment and a storage medium, which are used for solving the technical defects in the prior art.
The invention provides an oil-saving driving control method, which comprises the following steps:
acquiring global parameters of a vehicle, wherein the global parameters of the vehicle comprise environment information, pose information and state information;
generating a trajectory line and a trajectory domain according to the global parameters;
inputting the trajectory line and the trajectory domain into a control unit as a global fuel-saving strategy so that the control unit generates a control strategy according to the global fuel-saving strategy and a pre-stored local fuel-saving strategy and outputs a corresponding driving control signal;
and controlling the vehicle to drive according to the driving control signal.
According to the fuel-saving driving control method provided by the invention, the track line and the track domain are generated according to the global parameters, and the method comprises the following steps:
determining a plurality of track points according to the global parameters, and determining track lines according to the track points;
a trajectory domain is derived based on the trajectory line and the global parameter.
According to the fuel-saving driving control method provided by the invention, a track domain is obtained based on the track line and the global parameter, and the method comprises the following steps:
respectively determining target track points corresponding to a plurality of target time nodes in the track line;
determining the domain parameter of each target track point based on the global parameter of the vehicle;
and arranging the domain parameters corresponding to the target track points according to time to obtain the track domain.
According to the oil-saving driving control method provided by the invention, the domain parameter of each target track point is determined based on the global parameter of the vehicle, and the method comprises the following steps:
determining the spatial domain parameters around each target track point based on the global parameters of the vehicle; and/or
And determining the speed domain parameter of each target track point based on the global parameter of the vehicle.
According to the fuel-saving driving control method provided by the invention, the control unit generates a control strategy according to the global fuel-saving strategy and a prestored local fuel-saving strategy and outputs a corresponding driving control signal, and the method comprises the following steps:
if the global oil-saving strategy and the local oil-saving strategy are not mutually exclusive, the control unit takes the global oil-saving strategy as a strategy with high priority, and generates and outputs a driving control signal;
and if the global oil-saving strategy and the local oil-saving strategy are mutually exclusive, the control unit takes the local oil-saving strategy as a strategy with high priority, and generates and outputs a driving control signal.
The invention also provides an oil-saving driving control device, comprising:
the sensing module is used for acquiring global parameters of the vehicle, wherein the global parameters of the vehicle comprise environment information, pose information and state information;
the planning module is used for generating a trajectory line and a trajectory domain according to the global parameters;
the control module is used for inputting the trajectory line and the trajectory domain into a control unit as a global fuel-saving strategy so that the control unit generates a control strategy according to the global fuel-saving strategy and a pre-stored local fuel-saving strategy and outputs a corresponding driving control signal;
and the execution module is used for controlling the vehicle to execute driving according to the driving control signal.
According to the fuel-saving driving control device provided by the invention, the planning module is specifically used for: determining a plurality of track points according to the global parameters, and determining track lines according to the track points;
a trajectory domain is derived based on the trajectory line and the global parameter.
According to the fuel-saving driving control device provided by the invention, the planning module is specifically used for:
respectively determining target track points corresponding to a plurality of target time nodes in the track line;
determining a domain parameter around each target track point based on the global parameter of the vehicle;
and arranging the domain parameters corresponding to the target track points according to time to obtain the track domain.
The invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the steps of the oil-saving driving control method.
The present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the fuel saving driving control method as described in any one of the above.
According to the fuel-saving driving control method and the fuel-saving driving control device, the track line and the track domain are generated according to the global parameters of the vehicle, and then the track line and the track domain are input to the control unit as the global fuel-saving strategy, so that the control unit can better combine the global fuel-saving strategy and the local fuel-saving strategy to achieve higher fuel use efficiency, resources are saved, economic benefits are improved, and meanwhile, the fuel-saving driving control method and the fuel-saving driving control device are beneficial to environmental protection.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow diagram of a fuel-saving driving control method provided by the present invention;
FIG. 2 is a second flowchart of the fuel-saving driving control method according to the present invention;
FIG. 3 is a schematic structural diagram of the fuel-saving driving control device provided by the invention;
fig. 4 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses an oil-saving driving control method, which is shown in figure 1 and comprises the following steps:
101. global parameters of the vehicle are obtained.
The global parameters of the vehicle comprise environment information, pose information and state information.
Specifically, the environmental information includes the width of the road on which the vehicle travels, the gradient of the road surface, obstacle information, and the like.
The pose information includes position information and attitude information of the vehicle, such as longitude, latitude, speed, acceleration, heading angle, and the like of the vehicle.
The status information includes fuel consumption of the vehicle, engine speed, and the like.
102. And generating a trajectory line and a trajectory domain according to the global parameters.
Specifically, step 102 includes: determining a plurality of track points according to the global parameters, and determining track lines according to the track points; a trajectory domain is derived based on the trajectory line and the global parameter.
According to the method in the embodiment, the trajectory line is used as a global oil saving strategy, and a trajectory domain obtained based on the trajectory line and global parameters is further used as the global oil saving strategy, so that the global condition representing the objective real road situation can be obtained.
More specifically, the trajectory domain includes not only the category of the spatial domain, such as the case of the left, right, front, and rear sides of the vehicle; a category of speed domains may also be included, for example the speed of the vehicle may fluctuate within an upper and lower range of speed values or be offset within an offset angle range in the direction of forward speed.
In actual use, the track domain can reflect the situation around the vehicle more accurately than the track line, for example, in a case that one side of the road has an obstacle which hinders the normal running of the vehicle, if only the track line is taken as a global parameter as a consideration factor, the vehicle only knows the advancing direction, but may press on the obstacle to hinder the normal running; if the trajectory line and the trajectory domain are taken as global parameters as consideration factors, the vehicle can know that an obstacle exists on one side of a road while knowing the advancing direction, and the vehicle can avoid the obstacle when planning a driving path so as to ensure the normal driving of the vehicle.
103. And inputting the trajectory line and the trajectory domain into a control unit as a global fuel-saving strategy, and generating the control strategy by the control unit according to the global fuel-saving strategy and a pre-stored local fuel-saving strategy and outputting a corresponding driving control signal.
Specifically, the Control Unit may be an Electronic Control Unit (ECU) of the vehicle, and is composed of a Microprocessor (MCU), a memory (ROM, RAM), an input/output interface (I/O), an analog-to-digital converter (a/D), and a large scale integrated circuit such as a shaping circuit and a driving circuit. The microprocessor is a core part in the ECU and has the functions of operation and control. When the engine runs, the microprocessor collects signals of the sensors for operation, converts the operation result into a control signal and controls the work of a controlled object.
In addition, the local fuel-saving strategy is executed according to local parameters of the vehicle, and the local parameters represent the specific working conditions of each component of the vehicle more, so that feedback and guarantee are provided for normal driving of the vehicle. For example, in the case where the temperature of the engine is higher than the temperature threshold, the rotation speed of the engine should be kept lower than 2000 r/min; for example, in the case where the tire pressure is less than the set threshold value, the speed should be maintained in the corresponding speed section.
Specifically, for the global fuel-saving strategy and the local fuel-saving strategy, the priority of the strategy is different according to the actual situation so as to adapt to the specific driving condition more flexibly. Step 103 comprises:
if the global oil-saving strategy and the local oil-saving strategy are not mutually exclusive, the global oil-saving strategy is used as a strategy with high priority, and a driving control signal is generated and output;
and if the global oil-saving strategy and the local oil-saving strategy are mutually exclusive, the local oil-saving strategy is taken as a strategy with high priority, and a driving control signal is generated and output.
For example, if the current optimal fuel-saving driving speed interval of the vehicle is 80-90 km/h according to the global fuel-saving strategy, but the optimal fuel-saving driving speed interval of the vehicle is 60-70 km/h under the condition that the temperature of the engine of the vehicle is higher than the temperature threshold according to the local fuel-saving strategy.
If the temperature of the engine of the vehicle is not higher than the threshold value, the global fuel-saving strategy is used as a priority, namely the current optimal fuel-saving running speed interval of the vehicle is 80-90 km/h; if the temperature of the engine of the vehicle is higher than the temperature threshold value, the global oil-saving strategy and the local oil-saving strategy are mutually exclusive, and the local oil-saving strategy is taken as a strategy with high priority, namely the optimal oil-saving running speed interval of the vehicle is 60-70 km/h.
104. And controlling the vehicle to drive according to the driving control signal.
According to the fuel-saving driving control method provided by the invention, the track line and the track domain are generated according to the global parameters of the vehicle, and then the track line and the track domain are input to the control unit as the global fuel-saving strategy, so that the control unit can better combine the global fuel-saving strategy and the local fuel-saving strategy to achieve higher fuel use efficiency, resources are saved, economic benefits are improved, and meanwhile, the fuel-saving driving control method is beneficial to environmental protection.
The invention also discloses an oil-saving driving control method, which is shown in figure 2 and comprises the following steps:
201. global parameters of the vehicle are obtained.
The global parameters of the vehicle comprise environment information, pose information and state information.
Specifically, for specific explanations of the environment information, the pose information, and the state information, refer to the foregoing embodiments, and this embodiment is not described again.
202. And determining a plurality of track points according to the global parameters, and determining a track line according to the track points.
Specifically, a plurality of track points arranged in time sequence can be determined according to the global parameters, and then the track line is determined. Wherein, the density of track point, the number of track point in the unit interval can be set for according to actual demand promptly, and the density of track point is big more, then the track line is more accurate.
203. And respectively determining target track points corresponding to the target time nodes in the track line.
The track line is composed of a plurality of track points, but in the process of generating the track domain, the domain parameter of each track point is not required to be obtained, the target track point corresponding to the target time node is determined, and the track domain is finally formed by obtaining the domain corresponding to each target track point.
The target time node may be a trace point with a set time interval, for example, 1 second, 2 seconds, etc.
204. Based on the global parameters of the vehicle, domain parameters around each target trajectory point are determined.
The domain parameters include, for example, spatial domain parameters and velocity domain parameters. The spatial domain parameters may include the conditions of the spatial regions on the left, right, front, and rear sides of the target trajectory point, including obstacles, other vehicles, road slopes, and the like in various directions. The speed domain parameters include: the speed of the vehicle may fluctuate within an upper and lower range of speed values or may be offset within an offset angle range in the forward speed direction.
Taking an uphill area where a vehicle runs as an example, the parameter information of a track line and a track area, such as the gradient of a road, the running direction of the vehicle, an obstacle in front of the running of the vehicle and the like, needs to be acquired to flexibly control the speed of the vehicle, the accelerator opening angle needs to be increased at a position with a larger gradient, and the accelerator opening angle needs to be properly reduced at a position with a smaller gradient to ensure the optimal fuel-saving vehicle speed.
Taking a vehicle running in a bumpy and fluctuant area as an example, the vehicle is required to acquire parameter information of a track line and a track area so as to increase the accelerator opening angle to increase the speed in an area with a large bumping amplitude and decrease the accelerator opening angle to decrease the speed in an area with a small bumping amplitude, thereby ensuring the optimal oil-saving vehicle speed.
205. And arranging the domain parameters corresponding to the target track points according to time to obtain the track domain.
206. And inputting the trajectory line and the trajectory domain into a control unit as a global fuel-saving strategy, and generating the control strategy by the control unit according to the global fuel-saving strategy and a pre-stored local fuel-saving strategy and outputting a corresponding driving control signal.
Specifically, for the global fuel-saving strategy and the local fuel-saving strategy, the priority of the strategy is different according to the actual situation so as to adapt to the specific driving condition more flexibly. Step 206 comprises:
if the global oil-saving strategy and the local oil-saving strategy are not mutually exclusive, the global oil-saving strategy is used as a strategy with high priority, and a driving control signal is generated and output;
and if the global oil-saving strategy and the local oil-saving strategy are mutually exclusive, the local oil-saving strategy is taken as a strategy with high priority, and a driving control signal is generated and output.
For example, if the current optimal fuel-saving running speed range of the vehicle is 80-90 km/h according to the global fuel-saving strategy, the vehicle is easy to slip in rainy days, and the running speed is reduced. According to the local fuel-saving strategy, under the condition that the friction coefficient between the tire of the vehicle and the ground is reduced and the braking distance is obviously increased, the optimal fuel-saving running speed interval of the vehicle is controlled to be 60-70 km/h. In this case, since the global fuel saving strategy and the local fuel saving strategy are mutually exclusive, the local fuel saving strategy is used as a strategy with a high priority, and a driving control signal is generated and output.
207. And controlling the vehicle to drive according to the driving control signal.
According to the fuel-saving driving control method provided by the invention, the track line and the track domain are generated according to the global parameters of the vehicle, and then the track line and the track domain are input to the control unit as the global fuel-saving strategy, so that the control unit can better combine the global fuel-saving strategy and the local fuel-saving strategy to achieve higher fuel use efficiency, resources are saved, economic benefits are improved, and meanwhile, the fuel-saving driving control method is beneficial to environmental protection.
The fuel-saving driving control device provided by the invention is described below, and the fuel-saving driving control device described below and the fuel-saving driving control method described above can be referred to correspondingly.
The embodiment of the invention discloses an oil-saving driving control device, which is shown in figure 3 and comprises the following components:
the sensing module 301 is configured to acquire global parameters of a vehicle, where the global parameters of the vehicle include environment information, pose information, and state information;
a planning module 302 for generating trajectory lines and trajectory fields according to the global parameters;
the control module 303 is configured to input the trajectory line and the trajectory domain into a control unit as a global fuel saving strategy, so that the control unit generates a control strategy according to the global fuel saving strategy and a pre-stored local fuel saving strategy, and outputs a corresponding driving control signal;
and the execution module 304 is used for controlling the vehicle to execute driving according to the driving control signal.
Optionally, the planning module 302 is specifically configured to:
determining a plurality of track points according to the global parameters, and determining track lines according to the track points;
a trajectory domain is derived based on the trajectory line and the global parameter.
Optionally, the planning module 302 is specifically configured to:
respectively determining target track points corresponding to a plurality of target time nodes in the track line;
determining a domain parameter around each target track point based on the global parameter of the vehicle;
and arranging the domain parameters corresponding to the target track points according to time to obtain the track domain.
Optionally, the planning module 302 is specifically configured to:
determining the spatial domain parameters around each target track point based on the global parameters of the vehicle; and/or
And determining the speed domain parameter of each target track point based on the global parameter of the vehicle.
Optionally, the control module 303 is specifically configured to:
if the global oil-saving strategy and the local oil-saving strategy are not mutually exclusive, the control unit takes the global oil-saving strategy as a strategy with high priority to generate and output a driving control signal;
and if the global oil-saving strategy and the local oil-saving strategy are mutually exclusive, the control unit takes the local oil-saving strategy as a strategy with high priority, and generates and outputs a driving control signal.
According to the fuel-saving driving control device provided by the invention, the track line and the track domain are generated according to the global parameters of the vehicle, and then the track line and the track domain are input to the control unit as the global fuel-saving strategy, so that the control unit can better combine the global fuel-saving strategy and the local fuel-saving strategy to achieve higher fuel use efficiency, resources are saved, economic benefits are improved, and meanwhile, the fuel-saving driving control device is beneficial to environmental protection.
Fig. 4 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 4: a processor (processor)410, a communication Interface 420, a memory (memory)430 and a communication bus 440, wherein the processor 410, the communication Interface 420 and the memory 430 are communicated with each other via the communication bus 440. Processor 410 may invoke logic instructions in memory 430 to perform a fuel-efficient driving control method, comprising:
acquiring global parameters of a vehicle, wherein the global parameters of the vehicle comprise environment information, pose information and state information;
generating a trajectory line and a trajectory domain according to the global parameters;
inputting the trajectory line and the trajectory domain into a control unit as a global fuel-saving strategy so that the control unit generates a control strategy according to the global fuel-saving strategy and a pre-stored local fuel-saving strategy and outputs a corresponding driving control signal;
and controlling the vehicle to drive according to the driving control signal.
In addition, the logic instructions in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to execute the fuel-efficient driving control method provided by the above methods, including:
acquiring global parameters of a vehicle, wherein the global parameters of the vehicle comprise environment information, pose information and state information;
generating a trajectory line and a trajectory domain according to the global parameters;
inputting the trajectory line and the trajectory domain into a control unit as a global fuel-saving strategy so that the control unit generates a control strategy according to the global fuel-saving strategy and a pre-stored local fuel-saving strategy and outputs a corresponding driving control signal;
and controlling the vehicle to drive according to the driving control signal.
In still another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above-provided fuel-saving driving control method, including:
acquiring global parameters of a vehicle, wherein the global parameters of the vehicle comprise environment information, pose information and state information;
generating a trajectory line and a trajectory domain according to the global parameters;
inputting the trajectory line and the trajectory domain into a control unit as a global fuel-saving strategy so that the control unit generates a control strategy according to the global fuel-saving strategy and a pre-stored local fuel-saving strategy and outputs a corresponding driving control signal;
and controlling the vehicle to drive according to the driving control signal.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A fuel-saving driving control method is characterized by comprising the following steps:
acquiring global parameters of a vehicle, wherein the global parameters of the vehicle comprise environment information, pose information and state information;
generating a trajectory line and a trajectory domain according to the global parameters;
inputting the trajectory line and the trajectory domain into a control unit as a global fuel-saving strategy so that the control unit generates a control strategy according to the global fuel-saving strategy and a pre-stored local fuel-saving strategy and outputs a corresponding driving control signal;
and controlling the vehicle to drive according to the driving control signal.
2. The fuel-saving driving control method according to claim 1, wherein generating a trajectory line and a trajectory field from the global parameter includes:
determining a plurality of track points according to the global parameters, and determining track lines according to the track points;
a trajectory domain is derived based on the trajectory line and the global parameter.
3. The fuel-saving driving control method according to claim 2, wherein obtaining a trajectory field based on a trajectory line and the global parameter includes:
respectively determining target track points corresponding to a plurality of target time nodes in the track line;
determining the domain parameter of each target track point based on the global parameter of the vehicle;
and arranging the domain parameters corresponding to the target track points according to time to obtain the track domain.
4. The fuel-saving driving control method according to claim 3, wherein determining the domain parameter of each target locus point based on the global parameter of the vehicle includes:
determining the spatial domain parameters around each target track point based on the global parameters of the vehicle; and/or
And determining the speed domain parameter of each target track point based on the global parameter of the vehicle.
5. The fuel-saving driving control method according to claim 1, wherein the control unit generates a control strategy according to the global fuel-saving strategy and a pre-stored local fuel-saving strategy, and outputs a corresponding driving control signal, including:
if the global oil-saving strategy and the local oil-saving strategy are not mutually exclusive, the control unit takes the global oil-saving strategy as a strategy with high priority, and generates and outputs a driving control signal;
and if the global oil-saving strategy and the local oil-saving strategy are mutually exclusive, the control unit takes the local oil-saving strategy as a strategy with high priority, and generates and outputs a driving control signal.
6. An oil-saving driving control device, characterized by comprising:
the sensing module is used for acquiring global parameters of the vehicle, wherein the global parameters of the vehicle comprise environment information, pose information and state information;
the planning module is used for generating a trajectory line and a trajectory domain according to the global parameters;
the control module is used for inputting the trajectory line and the trajectory domain into a control unit as a global fuel-saving strategy so that the control unit generates a control strategy according to the global fuel-saving strategy and a pre-stored local fuel-saving strategy and outputs a corresponding driving control signal;
and the execution module is used for controlling the vehicle to execute driving according to the driving control signal.
7. The fuel-saving driving control device according to claim 6, wherein the planning module is specifically configured to:
determining a plurality of track points according to the global parameters, and determining track lines according to the track points;
a trajectory domain is derived based on the trajectory line and the global parameter.
8. The fuel-saving driving control device according to claim 7, wherein the planning module is specifically configured to:
respectively determining target track points corresponding to a plurality of target time nodes in the track line;
determining a domain parameter around each target track point based on the global parameter of the vehicle;
and arranging the domain parameters corresponding to the target track points according to time to obtain the track domain.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the fuel-saving driving control method according to any one of claims 1 to 5 are implemented when the processor executes the program.
10. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the fuel saving driving control method according to any one of claims 1 to 5.
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