CN114872704A - Vehicle coasting control method and device, vehicle and storage medium - Google Patents
Vehicle coasting control method and device, vehicle and storage medium Download PDFInfo
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- CN114872704A CN114872704A CN202210450424.2A CN202210450424A CN114872704A CN 114872704 A CN114872704 A CN 114872704A CN 202210450424 A CN202210450424 A CN 202210450424A CN 114872704 A CN114872704 A CN 114872704A
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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
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18072—Coasting
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W40/02—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 related to ambient conditions
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- B60—VEHICLES IN GENERAL
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- 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
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- 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
- B60W40/10—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 related to vehicle motion
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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
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
Abstract
The application relates to a vehicle coasting control method and device, a vehicle and a storage medium. The method comprises the following steps: under the condition that the vehicle is in a sliding state, if the fact that a front obstacle exists in a lane where the vehicle is located is detected, the speed of the vehicle, the speed of the front obstacle and the distance between the vehicle and the front obstacle are obtained; if the speed of the vehicle is greater than the speed of the front obstacle, determining an energy recovery distance according to the speed of the vehicle and the speed of the front obstacle; the energy recovery distance is the maximum distance between the vehicle and the front obstacle when the vehicle can start the energy recovery function; if the distance between the vehicle and the front obstacle is greater than the energy recovery distance, the energy recovery function is not started, and if the distance between the vehicle and the front obstacle is less than the energy recovery distance, the energy recovery function is started. The method intelligently judges the driving intention of the current driver, intelligently controls the energy recovery function and reduces the operation of the driver.
Description
Technical Field
The present application relates to the field of energy recovery control technologies, and in particular, to a method and an apparatus for controlling vehicle coasting, a vehicle, and a storage medium.
Background
In order to effectively improve the energy utilization rate in the deceleration process, the new energy vehicle type can be provided with an energy recovery function, and the kinetic energy generated in the deceleration process when a driver releases an accelerator pedal is converted into electric energy to be stored and used for driving.
At present, on a new energy vehicle, the sliding working condition after an accelerator is loosened can be set whether to carry out energy recovery or not and the energy recovery grade. However, it cannot be automatically determined whether or not energy recovery is required according to the traffic condition of the vehicle, and if the vehicle turns on the energy recovery, the vehicle starts to decelerate at a constant deceleration by releasing the accelerator pedal and the vehicle starts to decelerate at a constant deceleration.
Therefore, the prior art cannot judge whether to start energy recovery for deceleration according to the running condition of the vehicle.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle coasting control method, device, vehicle, and storage medium capable of intelligently determining whether to turn on energy recovery according to a vehicle driving situation, in order to solve the above-described technical problems.
In a first aspect, the present application provides a vehicle coasting control method. The method comprises the following steps:
under the condition that a vehicle is in a sliding state, if the fact that a front obstacle exists in a lane where the vehicle is located is detected, acquiring the speed of the vehicle, the speed of the front obstacle and the distance between the vehicle and the front obstacle;
if the speed of the vehicle is greater than the speed of the front obstacle, determining an energy recovery distance according to the speed of the vehicle and the speed of the front obstacle; the energy recovery distance is a maximum distance between the vehicle and the front obstacle when the vehicle is capable of activating the energy recovery function;
and if the distance between the vehicle and the front obstacle is greater than the energy recovery distance, not starting the energy recovery function, and if the distance between the vehicle and the front obstacle is less than the energy recovery distance, starting the energy recovery function.
In one embodiment, the determining the energy recovery distance according to the vehicle speed of the vehicle and the speed of the front obstacle comprises:
determining an energy recovery deceleration and a first safety distance;
determining an energy recovery distance according to the vehicle speed of the vehicle, the speed of the front obstacle, the energy recovery deceleration, and the first safety distance.
In one embodiment, the determining an energy recovery distance based on the vehicle speed of the vehicle, the speed of the front obstacle, the energy recovery deceleration, and the first safety distance includes:
determining a predicted travel distance of the vehicle in an energy recovery process according to the speed of the front obstacle, the vehicle speed of the vehicle and the energy recovery deceleration;
determining a predicted movement distance of the front obstacle according to the predicted energy recovery time of the vehicle and the speed of the front obstacle; the predicted energy recovery time is determined based on a vehicle speed of the vehicle, a speed of the front obstacle, and the energy recovery deceleration;
and determining the energy recovery distance according to the predicted driving distance, the predicted moving distance and the first safety distance.
In one embodiment, the method further comprises:
determining a second safety distance;
if the speed of the vehicle is smaller than the speed of the front obstacle and the distance between the vehicle and the front obstacle is larger than the second safety distance, the energy recovery function is not started;
and if the speed of the vehicle is less than the speed of the front obstacle and the distance between the vehicle and the front obstacle is less than the second safety distance, starting an energy recovery function.
In one embodiment, the method further comprises:
and if the fact that the front obstacle does not exist in the lane where the vehicle is located is detected, energy recovery is not started.
In one embodiment, after the energy recovery function is turned on, the method further comprises:
determining a target deceleration of the vehicle according to the distance between the vehicle and the front obstacle, the vehicle speed of the vehicle and the speed of the front obstacle;
and controlling the vehicle to decelerate according to the target deceleration.
In a second aspect, the present application further provides a vehicle coasting control device. The device comprises:
the vehicle driving device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the speed of a vehicle, the speed of a front obstacle and the distance between the vehicle and the front obstacle if the fact that the front obstacle exists in a lane where the vehicle is located is detected under the condition that the vehicle is in a sliding state;
the energy recovery distance determination module is used for determining an energy recovery distance according to the speed of the vehicle and the speed of the front obstacle if the speed of the vehicle is greater than the speed of the front obstacle; the energy recovery distance is a maximum distance between the vehicle and the front obstacle when the vehicle is capable of activating the energy recovery function;
and the energy recovery function control module is used for not starting the energy recovery function if the distance between the vehicle and the front obstacle is greater than the energy recovery distance, and starting the energy recovery function if the distance between the vehicle and the front obstacle is less than the energy recovery distance.
In a third aspect, the present application further provides a vehicle. The vehicle comprises a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program:
under the condition that a vehicle is in a sliding state, if the fact that a front obstacle exists in a lane where the vehicle is located is detected, acquiring the speed of the vehicle, the speed of the front obstacle and the distance between the vehicle and the front obstacle;
if the speed of the vehicle is greater than the speed of the front obstacle, determining an energy recovery distance according to the speed of the vehicle and the speed of the front obstacle; the energy recovery distance is a maximum distance between the vehicle and the front obstacle when the vehicle is capable of activating the energy recovery function;
and if the distance between the vehicle and the front obstacle is greater than the energy recovery distance, not starting the energy recovery function, and if the distance between the vehicle and the front obstacle is less than the energy recovery distance, starting the energy recovery function.
In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
under the condition that a vehicle is in a sliding state, if the fact that a front obstacle exists in a lane where the vehicle is located is detected, acquiring the speed of the vehicle, the speed of the front obstacle and the distance between the vehicle and the front obstacle;
if the speed of the vehicle is greater than the speed of the front obstacle, determining an energy recovery distance according to the speed of the vehicle and the speed of the front obstacle; the energy recovery distance is a maximum distance between the vehicle and the front obstacle when the vehicle is capable of activating the energy recovery function;
and if the distance between the vehicle and the front obstacle is greater than the energy recovery distance, not starting the energy recovery function, and if the distance between the vehicle and the front obstacle is less than the energy recovery distance, starting the energy recovery function.
In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
under the condition that a vehicle is in a sliding state, if the fact that a front obstacle exists in a lane where the vehicle is located is detected, acquiring the speed of the vehicle, the speed of the front obstacle and the distance between the vehicle and the front obstacle;
if the speed of the vehicle is greater than the speed of the front obstacle, determining an energy recovery distance according to the speed of the vehicle and the speed of the front obstacle; the energy recovery distance is a maximum distance between the vehicle and the front obstacle when the vehicle is capable of activating the energy recovery function;
and if the distance between the vehicle and the front obstacle is greater than the energy recovery distance, not starting the energy recovery function, and if the distance between the vehicle and the front obstacle is less than the energy recovery distance, starting the energy recovery function.
When the vehicle is in a sliding state, if the fact that a front obstacle exists in a lane where the vehicle is located is detected, the vehicle speed, the speed of the front obstacle and the distance between the vehicle and the front obstacle are acquired; if the speed of the vehicle is greater than the speed of the front obstacle, determining an energy recovery distance according to the speed of the vehicle and the speed of the front obstacle; the energy recovery distance is the maximum distance between the vehicle and the front obstacle when the vehicle can start the energy recovery function; if the distance between the vehicle and the obstacle in front is greater than the energy recovery distance, the energy recovery function is not started, and if the distance between the vehicle and the obstacle in front is less than the energy recovery distance, the energy recovery function is started. According to the current traffic condition of the vehicle, the driving intention of the current driver is intelligently judged, whether energy recovery is needed or not is automatically controlled, so that the energy recovery function is intelligently controlled, and the operation of the driver is reduced.
Drawings
FIG. 1 is a diagram of an exemplary implementation of a coasting control method for a vehicle;
FIG. 2 is a schematic flow chart of a vehicle coasting control method according to an embodiment;
FIG. 3 is a schematic flow chart of the energy recovery distance determining step in one embodiment;
FIG. 4 is a schematic flow chart of the energy recovery distance determining step in another embodiment;
FIG. 5 is a schematic flow chart diagram of a vehicle coasting control method according to another embodiment;
FIG. 6 is a schematic flow chart diagram of a vehicle coasting control method according to another embodiment;
FIG. 7 is a schematic illustration of a vehicle position for energy recovery initiation in one embodiment;
FIG. 8 is a block diagram showing the construction of a coasting control device for a vehicle according to an embodiment;
fig. 9 is a diagram showing an internal structure of a vehicle in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle coasting control method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. In which the vehicle terminal 102 communicates with the server 104 through a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104, or may be located on the cloud or other network server. The vehicle terminal 102 may be, but is not limited to, various intelligent electric vehicles, such as an intelligent electric vehicle, an intelligent electric bicycle, and the like. The server 104 may be implemented as a stand-alone server or as a server cluster comprised of multiple servers. Of course, the vehicle terminal 102 may implement the vehicle coasting control method according to the embodiment of the present application without communicating with the server 104.
In one embodiment, as shown in fig. 2, there is provided a vehicle coasting control method comprising the steps of:
step 202, when the vehicle is in a sliding state, if the fact that a front obstacle exists in a lane where the vehicle is located is detected, the vehicle speed of the vehicle, the speed of the front obstacle and the distance between the vehicle and the front obstacle are acquired.
The condition that the vehicle is in the coasting state refers to the condition that the driver does not perform the accelerator pedal depression control and the brake pedal depression control on the vehicle, that is, the condition that the accelerator pedal and the brake pedal of the vehicle are not depressed. The front obstacle may be any object, such as a traveling vehicle, or may be a stationary or moving object other than a vehicle.
Specifically, when the vehicle is in a coasting state, it is started to determine whether or not to activate the energy recovery function according to the traveling state of the vehicle and the obstacle ahead. The speed of the vehicle itself, the speed of the obstacle ahead and the distance between the vehicle and the obstacle ahead may be obtained in any detection manner, such as by using radar detection technology or machine vision sensor technology or a combination of both technologies. The speed of the front obstacle may be zero or non-zero.
Step 204, if the speed of the vehicle is greater than the speed of the front obstacle, determining an energy recovery distance according to the speed of the vehicle and the speed of the front obstacle; the energy recovery distance is the maximum distance between the vehicle and the obstacle ahead when the vehicle can turn on the energy recovery function.
Specifically, the energy recovery distance is a predicted distance, and the energy recovery distance is a maximum distance between the vehicle and the preceding vehicle when the vehicle turns on the energy recovery function. Meanwhile, whether the energy recovery function is started or not is determined according to the speed relation between the vehicle and the front obstacle. If the speed of the vehicle is greater than the speed of the front obstacle, the distance between the two vehicles is shortened in the vehicle sliding process, and the risk of too close distance may exist.
In step 206, if the distance between the vehicle and the obstacle in front is greater than the energy recovery distance, the energy recovery function is not started, and if the distance between the vehicle and the obstacle in front is less than the energy recovery distance, the energy recovery function is started.
Specifically, if the energy recovery function is not activated, the vehicle is in a free-wheeling state without applying the motor torque. If the energy recovery function is activated, the vehicle is applied with a certain motor torque, and the deceleration is high compared to the deceleration in the free-wheeling state. And judging whether the energy recovery function is started at present according to the energy recovery distance and the size relation of the distance between the vehicle and the front obstacle. If the distance between the vehicle and the front obstacle is larger than the energy recovery distance, the current vehicle can run in a free-sliding mode without starting the energy recovery function. If the distance between the vehicle and the obstacle in front is less than the energy recovery distance, which indicates that the vehicle has entered the range of the energy recovery distance, it is necessary to activate the energy recovery function to increase the deceleration of the vehicle. It should be noted that the vehicle periodically determines the energy recovery distance during the coasting process, and each determined energy recovery distance is determined according to the current vehicle speed and the speed of the vehicle and the vehicle ahead, so that each determined energy recovery distance may not be the same. If the vehicle is out of the energy recovery distance, the energy recovery function is not started, and then if the vehicle is judged to be within the energy recovery distance, the energy recovery function is started again.
In the vehicle sliding control method, when the vehicle is in a sliding state, if the fact that a front obstacle exists in a lane where the vehicle is located is detected, the speed of the vehicle, the speed of the front obstacle and the distance between the vehicle and the front obstacle are acquired; if the speed of the vehicle is greater than the speed of the front obstacle, determining an energy recovery distance according to the speed of the vehicle and the speed of the front obstacle; the energy recovery distance is the maximum distance between the vehicle and the front obstacle when the vehicle can start the energy recovery function; if the distance between the vehicle and the front obstacle is greater than the energy recovery distance, the energy recovery function is not started, and if the distance between the vehicle and the front obstacle is less than the energy recovery distance, the energy recovery function is started. According to the current traffic condition of the vehicle, the driving intention of the current driver is intelligently judged, whether energy recovery is needed or not is automatically controlled, so that the energy recovery function is intelligently controlled, and the operation of the driver is reduced.
In one embodiment, as shown in fig. 3, determining the energy recovery distance according to the vehicle speed of the vehicle and the speed of the obstacle in front includes:
step 302, determining an energy recovery deceleration and a first safety distance;
and step 304, determining an energy recovery distance according to the vehicle speed of the vehicle, the speed of the front obstacle, the energy recovery deceleration and the first safe distance.
Specifically, the energy recovery deceleration is a deceleration used in a process of predicting the future energy recovery of the vehicle, and the energy recovery deceleration may be calibrated according to the vehicle speed of the vehicle, the speed of the obstacle ahead, and the distance between the vehicle and the obstacle ahead, or may be set in advance after testing the driving comfort. In some embodiments, the energy recovery deceleration is greater than the coasting deceleration of the vehicle while not exceeding 0.25 g. Meanwhile, under the condition that the speed of the front obstacle is not zero, the distance between the vehicle and the front obstacle is kept beyond a safe distance in the sliding process of the vehicle, and the risk of collision caused by too short distance is avoided. A more appropriate energy recovery distance can be determined based on the vehicle speed of the vehicle, the speed of the obstacle ahead, the energy recovery deceleration, and the first safety distance.
In one embodiment, as shown in fig. 4, determining the energy recovery distance based on the vehicle speed of the vehicle, the speed of the front obstacle, the energy recovery deceleration, and the first safety distance includes:
step 402, determining a predicted driving distance of the vehicle in the energy recovery process according to the speed of the front obstacle, the vehicle speed of the vehicle and the energy recovery deceleration;
step 404, determining a predicted movement distance of the front obstacle according to the predicted energy recovery time of the vehicle and the speed of the front obstacle; the predicted energy recovery time is determined according to the vehicle speed of the vehicle, the speed of the front obstacle, and the energy recovery deceleration;
step 404, determining an energy recovery distance according to the predicted driving distance, the predicted moving distance and the first safety distance.
Specifically, the vehicle decelerates at a certain deceleration in the energy recovery process, when the vehicle decelerates to a certain speed, the vehicle is close to or the same as the speed of the front obstacle, and if the vehicle and the front obstacle have a certain safety distance at this moment, the risk of collision can be guaranteed even if the energy recovery function is closed, so that the expected vehicle speed after the vehicle runs the predicted running distance can be determined according to the vehicle speed of the front obstacle. In some embodiments, the expected vehicle speed is no more than 105% -110% of the speed of the obstacle ahead. The determination may specifically be made according to the first safety distance. Meanwhile, the first safe distance can be determined according to the vehicle speed limit of the current driving road and the vehicle speed of the front obstacle. In other embodiments, the first safe distance is a distance of 1-2 s of movement at the speed of the front obstacle, i.e. the first safe distance is a distance of 1-2 s of movement at the speed of the front obstacleS f ＝V f X δ t, wherein S f Is a first safety distance, V f Is the velocity of the obstacle ahead, δ t is a time coefficient, the range of which is [1,2 ]]And seconds. Determining the predicted travel distance of the vehicle, namely the predicted travel distance of the vehicle by using a distance calculation formula according to the determined expected vehicle speed of the vehicle, the vehicle speed of the vehicle and the energy recovery deceleration
Wherein S is the predicted travel distance, V 1 To the desired vehicle speed, V 0 The vehicle speed is a vehicle speed, and a is an energy recovery deceleration. The predicted movement distance of the front obstacle may be a case where the movement pattern of the front obstacle is assumed to be a uniform movement. The predicted energy recovery time is the time taken for the vehicle to travel the predicted travel distance, and therefore the predicted energy recovery time t can be calculated from the vehicle speed of the vehicle and the expected vehicle speed, and the energy recovery deceleration, according to the distance calculation formula, i.e., t ═ V (V ═ V) 1 -V 0 )/a。
In this embodiment, it may be assumed that the vehicle ahead is moving at a constant speed, or the movement intention of the obstacle ahead may be predicted based on the historical acceleration situation of the obstacle ahead, the movement state of the vehicle ahead may be predicted, the acceleration information of the obstacle ahead may be predicted, and the predicted movement distance of the obstacle ahead may be determined based on the speed and acceleration information of the obstacle ahead and the predicted energy recovery time. In this embodiment, for the convenience of calculation, it is assumed that the front obstacle moves at a uniform speed, and therefore, the predicted moving distance S of the front obstacle is a ＝V f ×t。
As shown in FIG. 7, in State 1, S 0 Is the energy recovery distance, which is the distance between the vehicle 1 and the vehicle 2 when the vehicle 1 needs to activate the energy recovery function, S a Is the predicted movement distance of the vehicle 2. In state 2, S f Is a first safe distance. In the state 2, the speed of the vehicle 1 is close to or equal to the speed of the vehicle 2 and a certain safety distance is kept, and the vehicle 1 is not collided when the energy recovery function is continuously turned on or off, so that the vehicle 1 is assumed to be in the position for energy recovery at the timeThe end of the process, and the position of the vehicle 1 in state 1 is the start of the energy recovery process, so S is the predicted distance traveled by the vehicle during the energy recovery process. According to the distance relationship in the figure, the following equation is given: s 0 +S a ＝S+S f I.e. the energy recovery distance S to be determined 0 ＝S+S f -S a 。
In one embodiment, as shown in fig. 5, the vehicle coasting control method further includes:
step 502, determining a second safety distance;
step 504, if the speed of the vehicle is less than the speed of the front obstacle and the distance between the vehicle and the front obstacle is greater than a second safety distance, the energy recovery function is not started;
step 506, if the speed of the vehicle is less than the speed of the front obstacle and the distance between the vehicle and the front obstacle is less than the second safety distance, the energy recovery function is started.
Specifically, in the case where the vehicle speed of the vehicle is less than the speed of the obstacle ahead, it is also necessary to determine whether to activate the energy recovery function according to the distance between the vehicle and the obstacle ahead and a second safety distance in the same manner as the first safety distance. Under the condition that the speed of the vehicle is smaller than the speed of the front obstacle, if the distance between the vehicle and the front obstacle is larger than the second safety distance, the situation shows that the distance between the vehicle and the front obstacle is larger at the moment, the collision risk cannot occur, the energy recovery can be avoided, the energy recovery function is not started, and the vehicle runs in a pure sliding mode. If the distance between the vehicle and the front obstacle is smaller than the second safe distance, the distance between the vehicle and the front obstacle is smaller, the deceleration needs to be increased, energy recovery is performed, and the energy recovery function is started.
In one embodiment, the vehicle coasting control method further comprises: and if the fact that the front obstacle does not exist in the lane where the vehicle is located is detected, the energy recovery is not started.
Specifically, if the front vehicle is not present, it is stated that no collision risk occurs no matter whether the energy recovery function is turned on, the energy recovery is not performed, so that the vehicle slides farther.
In one embodiment, as shown in fig. 6, after the energy recovery function is turned on, the vehicle coasting control method further includes:
step 602, determining a target deceleration of the vehicle according to the distance between the vehicle and the front obstacle, the vehicle speed of the vehicle and the speed of the front obstacle;
and step 604, controlling the vehicle to decelerate according to the target deceleration.
Specifically, after the energy recovery function is activated, it is also necessary to determine an appropriate energy recovery intensity in the current running state, that is, to determine a target deceleration, so that the vehicle can be controlled to decelerate. The specific control mode is that the motor torque of the vehicle is determined according to the determined target deceleration, and then the deceleration of the vehicle is controlled according to the motor torque. The target deceleration is determined based on the distance between the vehicle and the obstacle ahead, the vehicle speed of the vehicle, and the speed of the obstacle ahead. Converting according to the relational expression of the distances, replacing the energy recovery distance with the distance between the vehicle and the front obstacle, replacing the energy recovery deceleration with the target deceleration, namely, taking the distance between the vehicle and the front obstacle as a known quantity, taking the target deceleration as an unknown quantity, and taking the predicted energy recovery time as an independent variable to obtain a function for solving the target deceleration, wherein the functional expression of the target deceleration obtained through conversion is as follows:
wherein, V 1 To the desired vehicle speed, V 0 Speed of the vehicle, V f Speed of the obstacle ahead, S f Is the first safety distance, t is the predicted energy recovery time, and S' is the distance between the vehicle and the obstacle ahead.
In one embodiment, in the energy recovery process, the control of the motor torque adopts PI control, and the expression of the PI controller is as follows:
wherein, K p Is a scaling factor, a (t) is a target acceleration function,
is an integral coefficient, t is a predicted energy recovery time, and t (t) is an output motor torque. And substituting the target deceleration function into the PI controller expression to obtain the motor torque required by starting energy recovery at present, and controlling the energy recovery intensity of the vehicle according to the output motor torque, namely controlling the vehicle to decelerate according to the target deceleration.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a vehicle coasting control device for realizing the vehicle coasting control method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more embodiments of the vehicle coasting control device provided below can be referred to the limitations on the vehicle coasting control method in the foregoing, and details are not repeated here.
In one embodiment, as shown in fig. 8, there is provided a vehicle coasting control device 700 comprising: an obtaining module 701, an energy recovery distance determining module 702, and an energy recovery function control module 703, wherein:
the acquiring module 701 is configured to acquire a vehicle speed of the vehicle, a speed of a front obstacle, and a distance between the vehicle and the front obstacle when it is detected that the front obstacle exists in a lane where the vehicle is located when the vehicle is in a coasting state.
An energy recovery distance determining module 702, configured to determine an energy recovery distance according to a vehicle speed of the vehicle and a speed of a front obstacle if the vehicle speed of the vehicle is greater than the speed of the front obstacle; the energy recovery distance is the maximum distance between the vehicle and the obstacle ahead when the vehicle can turn on the energy recovery function.
The energy recovery function control module 703 is configured to not start the energy recovery function if the distance between the vehicle and the obstacle in front is greater than the energy recovery distance, and start the energy recovery function if the distance between the vehicle and the obstacle in front is less than the energy recovery distance.
In one embodiment, energy recovery distance determination module 702 includes a first determination module and a second determination module, wherein: the first determining module is used for determining energy recovery deceleration and a first safe distance; the second determination module is used for determining the energy recovery distance according to the vehicle speed of the vehicle, the speed of the front obstacle, the energy recovery deceleration and the first safe distance.
In one embodiment, the second determination module is specifically configured to determine a predicted travel distance of the vehicle during energy recovery based on a speed of a front obstacle, a vehicle speed of the vehicle, and an energy recovery deceleration; determining a predicted movement distance of the front obstacle according to the predicted energy recovery time of the vehicle and the speed of the front obstacle; the predicted energy recovery time is determined according to the vehicle speed of the vehicle, the speed of the front obstacle, and the energy recovery deceleration; and determining the energy recovery distance according to the predicted driving distance, the predicted moving distance and the first safety distance.
In one embodiment, the vehicle coasting control device further comprises: the second safe distance determining module is used for determining a second safe distance; the energy recovery function control module is also used for not starting the energy recovery function if the speed of the vehicle is less than the speed of the front obstacle and the distance between the vehicle and the front obstacle is greater than a second safety distance; and if the speed of the vehicle is less than the speed of the front obstacle and the distance between the vehicle and the front obstacle is less than the second safety distance, starting the energy recovery function.
In one embodiment, the third energy recovery function control module is further configured to not initiate energy recovery if it is detected that there is no obstacle ahead in the lane in which the vehicle is located.
In one embodiment, the vehicle coasting control device further comprises: the deceleration control system comprises a target deceleration determining module and a deceleration control module, wherein the target deceleration determining module is used for determining the target deceleration of the vehicle according to the distance between the vehicle and a front obstacle, the vehicle speed of the vehicle and the speed of the front obstacle; the deceleration control module is used for controlling the vehicle to decelerate according to the target deceleration.
The modules in the vehicle coasting control device may be realized in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a vehicle is provided, the interior structure of which may be as shown in fig. 9. The vehicle includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the vehicle is configured to provide computing and control capabilities. The memory of the vehicle includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the vehicle is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a vehicle control method. The display screen of the vehicle can be a liquid crystal display screen or an electronic ink display screen, and the input device of the vehicle can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on a vehicle shell, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a vehicle is provided comprising a memory having a computer program stored therein and a processor that when executed implements the steps of the above-described method embodiments.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In an embodiment, a computer program product is provided, comprising a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A vehicle coasting control method, comprising:
under the condition that a vehicle is in a sliding state, if the fact that a front obstacle exists in a lane where the vehicle is located is detected, acquiring the speed of the vehicle, the speed of the front obstacle and the distance between the vehicle and the front obstacle;
if the speed of the vehicle is greater than the speed of the front obstacle, determining an energy recovery distance according to the speed of the vehicle and the speed of the front obstacle; the energy recovery distance is a maximum distance between the vehicle and the front obstacle when the vehicle is capable of activating the energy recovery function;
and if the distance between the vehicle and the front obstacle is greater than the energy recovery distance, not starting the energy recovery function, and if the distance between the vehicle and the front obstacle is less than the energy recovery distance, starting the energy recovery function.
2. The method of claim 1, wherein determining an energy recovery distance as a function of a speed of the vehicle and a speed of the obstacle ahead comprises:
determining an energy recovery deceleration and a first safety distance;
determining an energy recovery distance according to the vehicle speed of the vehicle, the speed of the front obstacle, the energy recovery deceleration, and the first safety distance.
3. The method of claim 2, wherein determining an energy recovery distance based on the vehicle speed of the vehicle, the speed of the front obstacle, the energy recovery deceleration, and the first safety distance comprises:
determining a predicted travel distance of the vehicle in an energy recovery process according to the speed of the front obstacle, the vehicle speed of the vehicle and the energy recovery deceleration;
determining a predicted movement distance of the front obstacle according to the predicted energy recovery time of the vehicle and the speed of the front obstacle; the predicted energy recovery time is determined based on a vehicle speed of the vehicle, a speed of the front obstacle, and the energy recovery deceleration;
and determining the energy recovery distance according to the predicted driving distance, the predicted moving distance and the first safety distance.
4. The method of claim 1, further comprising:
determining a second safety distance;
if the speed of the vehicle is less than the speed of the front obstacle and the distance between the vehicle and the front obstacle is greater than the second safety distance, the energy recovery function is not started;
and if the speed of the vehicle is less than the speed of the front obstacle and the distance between the vehicle and the front obstacle is less than the second safety distance, starting an energy recovery function.
5. The method according to any one of claims 1 to 4, further comprising:
and if the fact that the front obstacle does not exist in the lane where the vehicle is located is detected, energy recovery is not started.
6. The method of claim 5, wherein after activating the energy recovery function, the method further comprises:
determining a target deceleration of the vehicle according to the distance between the vehicle and the front obstacle, the vehicle speed of the vehicle and the speed of the front obstacle;
and controlling the vehicle to decelerate according to the target deceleration.
7. A vehicle coasting control device, comprising:
the vehicle driving device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the speed of a vehicle, the speed of a front obstacle and the distance between the vehicle and the front obstacle if the fact that the front obstacle exists in a lane where the vehicle is located is detected under the condition that the vehicle is in a sliding state;
the energy recovery distance determining module is used for determining an energy recovery distance according to the speed of the vehicle and the speed of the front obstacle if the speed of the vehicle is greater than the speed of the front obstacle; the energy recovery distance is a maximum distance between the vehicle and the front obstacle when the vehicle is capable of activating the energy recovery function;
and the energy recovery function control module is used for not starting the energy recovery function if the distance between the vehicle and the front obstacle is greater than the energy recovery distance, and starting the energy recovery function if the distance between the vehicle and the front obstacle is less than the energy recovery distance.
8. A vehicle comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 6 when executed by a processor.
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| CN202210450424.2A CN114872704A (en) | 2022-04-27 | 2022-04-27 | Vehicle coasting control method and device, vehicle and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210450424.2A CN114872704A (en) | 2022-04-27 | 2022-04-27 | Vehicle coasting control method and device, vehicle and storage medium |
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| CN202210450424.2A Pending CN114872704A (en) | 2022-04-27 | 2022-04-27 | Vehicle coasting control method and device, vehicle and storage medium |
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