CN115923529A

CN115923529A - Method for operating a motor vehicle, control unit for a motor vehicle and motor vehicle

Info

Publication number: CN115923529A
Application number: CN202211207763.4A
Authority: CN
Inventors: S·卡吉恩; J·奥森雷特; J·卡斯滕斯; F·艾森霍弗; 申像晖; M·贝达尔; D·贝格; A·普勒布斯特尔; B·乌默; N·布鲁姆
Original assignee: ZF Friedrichshafen AG
Current assignee: ZF Friedrichshafen AG
Priority date: 2021-10-01
Filing date: 2022-09-30
Publication date: 2023-04-07
Also published as: DE102021211084A1

Abstract

The invention relates to a method for operating a motor vehicle, a control unit for a motor vehicle and a motor vehicle. Receiving at least one parameter value of a parameter when the motor vehicle starts to drive, said parameter value representing a route that is expected to be covered during driving; determining a path according to the parameter value; determining an energy demand value from the path, the energy demand value characterizing the energy required to traverse the path; receiving an energy state value which characterizes the energy which can be provided by means of an energy source of the motor vehicle during driving; determining, based on the energy demand value and the energy state value, whether an emergency operation of the motor vehicle is to be activated in order to traverse the route; if it is determined that an emergency operation of the motor vehicle is expected to be activated for the purpose of traversing the path without limiting the control values of the control parameters of the motor vehicle, at least one control value of the control parameters of the motor vehicle is limited such that the energy consumption of the motor vehicle is reduced before the emergency operation is activated.

Description

Method for operating a motor vehicle, control unit for a motor vehicle and motor vehicle

Technical Field

The present invention relates to a method for operating a motor vehicle and to a computer program for operating a motor vehicle. The invention further relates to a control unit for a motor vehicle, in particular a control unit for carrying out the method, and to a computer-readable storage medium, in particular a computer-readable storage medium, in which the computer program is stored, and to a motor vehicle.

Background

In a motor vehicle, the torque requested by the driver (the driver-expected torque) is provided by the drive unit. The drive unit may be an electric motor, for example in the case of an electric car, or an internal combustion engine in the case of a fuel-fired burner, or a combination of an electric motor and an internal combustion engine in the case of a hybrid vehicle. In particular, in hybrid vehicles, the two drive units can be operated in combination with one another in order to provide the required torque. Motor vehicles basically have an energy source which can supply energy to a respective drive unit. For example, in the case of an internal combustion engine, a motor vehicle has a fuel tank with fuel and in the case of an electric motor a (high-voltage) battery with a charge as energy source, and accordingly a hybrid vehicle has both energy sources.

If, in the case of an internal combustion engine, the fuel in the fuel tank is scarce, the driver knows by means of the fuel tank indicator that he needs to be refueled in good time. If the state of charge of the battery falls below a predetermined threshold in the case of an electric motor, the driver knows by means of a state of charge indicator that he needs to charge the battery in good time. In the case of hybrid vehicles, the respective internal combustion engine can be switched on in order to charge the battery in the event of a low state of charge of the battery. A critical state of charge of the battery, in particular an excessively low charge level, can thus be avoided and the driver-expected torque can be met. In a purely internal combustion engine vehicle or in a purely electric vehicle, there are no options: additional consumers are switched on in order to increase the filling level of the fuel tank or the state of charge of the battery.

The energy state value characterizes the energy which can be provided during driving by means of a corresponding energy source of the motor vehicle, i.e. without charging and/or refueling during this time. The state of energy value is, for example, a predetermined fill level of a fuel tank or a predetermined state of charge of a battery of the motor vehicle. If the predetermined energy state value is undershot, the motor vehicle can be switched into emergency operation in order to: the drive by the drive can be continued until the filling level of the fuel tank and/or the state of charge of the battery no longer permits the drive by the drive. In emergency operation, the power of the motor vehicle, in particular the torque available and called for by the driver, and optionally various energy-consuming functions of the motor vehicle, is reduced very strongly, for example to a minimum, or if possible deactivated, in order to consume as little energy as possible. For example, in emergency operation, the air conditioning can be deactivated, while normal ventilation or heating of the motor vehicle can be maintained.

In emergency operation, the driver-expected torque is therefore no longer met. Comfortable driving is no longer guaranteed and rapid acceleration and driving is no longer possible.

Disclosure of Invention

The object of the invention is to provide a method for operating a motor vehicle and a computer program for operating a motor vehicle, which facilitate: comfortable and/or rapid driving and rapid acceleration of the motor vehicle are possible as long as possible and/or emergency operation of the motor vehicle is prevented as long as possible, in particular in a manner which is hardly or not at all noticeable to the driver of the motor vehicle. The invention also relates to a control device for a motor vehicle, in particular a control device for carrying out the method, a motor vehicle, and a computer-readable storage medium, in particular a computer-readable storage medium, in which case the control device and the computer-readable storage medium contribute to: comfortable and/or rapid driving and rapid acceleration of the motor vehicle are possible as long as possible and/or emergency operation of the motor vehicle is prevented as long as possible, in particular in a manner which is hardly or not at all noticeable to the driver of the motor vehicle.

One aspect of the invention relates to a method for operating a motor vehicle, wherein at least one parameter value of a parameter is received when a motor vehicle is used to start driving, said parameter value representing a route that is expected to be covered during driving; determining a path according to the parameter value; determining an energy demand value from the path, the energy demand value characterizing the energy required to traverse the path; receiving an energy state value which characterizes the energy which can be provided by means of an energy source of the motor vehicle during driving; determining, based on the energy demand value and the energy state value, whether an emergency operation of the motor vehicle is to be activated in order to traverse the route; and if it is determined that an emergency operation of the motor vehicle is expected to be activated for the purpose of traversing the path without limiting the control values of the control parameters of the motor vehicle, limiting at least one control value of the control parameters of the motor vehicle such that the energy consumption of the motor vehicle is reduced before the emergency operation is activated.

One aspect of the invention relates to a controller for a motor vehicle, having a processor and a memory, which are configured to carry out the method.

One aspect of the invention relates to a computer program for operating a motor vehicle, which, when executed by a controller of the motor vehicle, causes the controller to carry out the method.

One aspect of the invention relates to a computer-readable medium on which the computer program is stored.

If the aforementioned path, in other words the aforementioned route situation or route prediction, is known to and/or determined or identified by the controller of the motor vehicle or a device communicating with the controller, for example a navigation device of the motor vehicle, and determines, in other words identifies: the arrival of the destination, i.e. the end of the route, is not possible in normal operation without emergency operation, so that the control unit of the motor vehicle can perform one or more small reductions during the entire route, i.e. before the threshold value triggering emergency operation has not been exceeded, by limiting the control values in order to prevent a strong deviation from normal operation and clearly perceptible emergency operation at the end of the route. Thus, by means of one or more small limits of one or more control values, which are completely or hardly perceptible by the driver, extreme limits caused by emergency operation can be prevented or at least largely postponed. The limitation of the control values according to the invention is therefore distinguished from emergency operation by the strength, extent and thus perceptibility of the respective limitation; and on the other hand to determine a path and predict emergency operation before the limit.

The parameter values may be received by a controller. For example, the parameter values may be detected by a sensor and sent to or recalled by the controller. The energy state value may be received by the controller. For example, the energy state value may be detected by a sensor and sent to or recalled by the controller.

The path may be predetermined, for example by the driver, in the manner of: the driver enters his destination into the navigation device of the motor vehicle and the navigation device determines a route and thus a route according to the destination. The path is then predetermined by means of one or more parameters and their parameter values, for example the origin, one or more waypoints and the destination. The parameter value(s) can then be transmitted to and received by the controller of the motor vehicle. Alternatively, the path may be determined automatically and/or without a navigation device. The path may be determined, for example, by means of a path or route determination device, which is in communication with the controller. The path may be determined, for example, by means of earlier driving behaviour with the same or similar parameter values. For this purpose, the driving behavior of the driver can be recorded and analyzed, for example, with the aid of GPS data. Here, the habits of the driver and the daily and/or weekly route, in particular the standard route of the driver, can be determined. Such a standard route can be, for example, a road to a workplace, to a sport area or to a shopping mall or a road from the workplace, the sport area or the shopping mall, which is always traveled on the same working day at the same or a similar clock time. In many cases, it is therefore possible to predict which route the driver wants to follow, early, for example directly when starting the motor vehicle or after a brief travel of the motor vehicle, without entering a destination into the navigation device.

According to one specific embodiment, one or more segments of the route are determined, which segments are particularly suitable for limiting the control value, and the control value is limited only during the travel through the one or more segments which are particularly suitable for limiting the control value. One or more segments of the route may be determined to be particularly suitable for limiting the control value, for example because the driver of the motor vehicle does not or hardly perceive a small limitation within the respective segment or segments. For example, if the route has a level and/or downhill slope in a section of road and accordingly extends flat or downward, this section of road can be determined as being particularly suitable for the limitation. Alternatively, a route section can also be determined to be particularly suitable for the limitation if the route section has a slight upward slope in the route section and accordingly extends slightly upward. For example, road sections with an uphill slope between 0% and 5%, for example between 0% and 4%, for example between 0% and 3%, may be judged as appropriate for limiting the control value.

The controller can thus, for example, reduce the power of the respective drive unit in some cases, in particular in sections of the path, in other words "attenuate" the power, in which case a full operating capacity is usually not called for. On the one hand, the motor vehicle can be operated more efficiently with less efficiency loss, and on the other hand, the known rate capability effect of the battery can be utilized to a full extent in the case of an electric drive.

According to one embodiment, it is determined that: the control value is limited if the motor vehicle follows a preceding vehicle for a predetermined duration or longer, and only if the motor vehicle follows a preceding vehicle for a predetermined duration or longer. "follow the preceding vehicle longer" implies that the driver is satisfied with the driving situation and has no intention to override the preceding vehicle and invoke high torque. Accordingly, the driver notices only a negligible limitation of the control value.

According to one embodiment, the control parameter is a control parameter selected from the group consisting of: maximum available power of the drive unit of the motor vehicle; the maximum achievable speed of the motor vehicle; maximum power of an air conditioner of a motor vehicle; and maximum dynamics of the drive unit of the motor vehicle. The dynamics can be predetermined and/or limited, for example, by an accelerator pedal characteristic. The dynamics can, for example, characterize how strongly the torque required changes during a predefined pedal actuation of an accelerator pedal (e.g., an accelerator pedal). High dynamics exist if the torque required varies strongly with small pedal actuations. If the torque required changes only slightly with a small pedal actuation, then there is low dynamics.

According to one embodiment, the control parameters are limited during driving only when the distance-control speed control of the motor vehicle is active. When the headway control speed controller is activated, the controller assumes braking and acceleration of the vehicle. If the control parameters are limited during activation of the pitch regulation speed controller, the driver is not aware of this limitation because the driver does not predetermine the desired torque and is not surprised by the desired torque not providing the demand. Thus, limiting the control parameters only when the headway regulation speed controller is activated, it can be achieved that the driver is not limited all together.

According to one specific embodiment, the route represents a route, one or more uphill slopes, level roads and/or downhill slopes and/or routes traveled during driving.

According to one embodiment, the parameter is a parameter selected from the group consisting of: the current working day; a current clock time; a starting place to start driving; a destination to which the vehicle is traveling; the driver's earlier driving behavior and the driver's identity. The identity of the driver may be relevant to the predicted path, for example when the vehicle is used by two or more drivers who take different routes to reach the destination and/or travel to different destinations at the same time of day or time of week.

According to one specific embodiment, the motor vehicle is an electric vehicle or a hybrid vehicle. The energy source is a battery, the state of energy value is a state of charge of the battery, and the motor vehicle has an electric motor for driving the motor vehicle and a battery for supplying the electric motor with energy.

According to one specific embodiment, the limitation of the control value is temporarily cancelled when a torque exceeding a predetermined torque threshold is requested. For example, the desired power of the drive unit is released without limitation when the driver actuates the accelerator pedal beyond a predetermined torque threshold, for example during a passing maneuver and/or in an emergency. This can contribute to safe driving of the motor vehicle, since the driving behavior of the motor vehicle is not impaired in emergency driving situations. The limitation of the control value can be cancelled, for example, for a predetermined duration, after which the control value is limited again. Alternatively, the control value may be limited again as soon as the requested torque falls below the torque threshold again.

One aspect of the invention relates to a motor vehicle having a control unit, an energy source, a first sensor, a second sensor, and a drive unit, which can be supplied with energy by the energy source, wherein the first sensor is electrically coupled to the control unit and the energy source, and the first sensor is used to detect an energy state value, which characterizes the energy that can currently be provided by the energy source; the second sensor is electrically coupled to the controller, and the second sensor is used for detecting a parameter value of the parameter, wherein the parameter value is used for representing a path which is expected to be passed during the following driving; the controller has a processor and a memory configured to perform the method according to the invention.

It is understood that features of the method as described above and features of the method explained below may also be features of the controller, the computer program and/or the computer readable medium and/or the motor vehicle and vice versa. The computer readable medium may be a hard disk, a USB memory device, RAM, ROM, EPROM, or FLASH memory. The computer readable medium may also be a data communication network, such as the internet, allowing downloading of the program code.

Drawings

Embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Fig. 1 shows an embodiment of a motor vehicle.

Fig. 2 shows a flow chart of an exemplary embodiment of a method for operating a motor vehicle.

The reference symbols used in the drawings and their meanings are listed in the list of reference symbols in a summarized form. In principle, identical or similar components are provided with the same reference numerals.

Detailed Description

Fig. 1 shows an embodiment of a motor vehicle 20. The motor vehicle 20 has a controller 22, an energy source 24, a first sensor 26, a second sensor 28, and a drive unit (not shown). The automobile 20 is an electric vehicle, and the drive unit thereof is an electric motor. The motor is operated by means of an energy source 24 and controlled by means of a controller 22. The energy source 24 may in this connection be a battery, in particular a high voltage battery.

Alternatively, the vehicle 20 may be a fuel-fired burner and have an internal combustion engine as the drive unit. In this case, the energy source 24 is a fuel tank of the motor vehicle. In addition, the motor vehicle may be a hybrid vehicle, which has an electric motor and an internal combustion engine as drive units, which are operated in combination with one another. The energy source 24 may then have a fuel tank for supplying the internal combustion engine with energy and a battery for supplying the electric motor with energy.

The first sensor 26 is electrically coupled to the controller 22 and the energy source 24. The first sensor 26 is used to detect an energy state value which characterizes the energy which can currently be provided by the energy source 24, in particular the total amount of energy. In the case of a battery as energy source 24, the state of energy value may be, for example, the state of charge of the battery. In the case of an internal combustion engine as energy source 24, the energy state value may be, for example, the filling level of the fuel tank. In the case of a hybrid vehicle, correspondingly in the case of a battery and a fuel tank as energy source 24, the energy state value may be, for example, a value that is a combination of the state of charge of the battery and the fill level of the fuel tank. The measurement signal generated by the first sensor 26 therefore characterizes the energy that can be provided by means of the energy source 24 during driving, wherein the energy source 24 is not charged or filled during this time. The measurement signal of the first sensor 26 may be sent to or recalled by the controller 22, the controller 22 receiving the measurement signal and thus the energy state value.

The second sensor 28 is electrically coupled to the controller 22. The second sensor 28 is used to detect a parameter value of a parameter which characterizes the path which is expected to be covered during the subsequent driving. The parameter values may for example characterize the current working day and/or the current clock time. Correspondingly, the second sensor 28 may be a clock with calendar function. The parameter value may, for example, characterize the origin of the start of the travel. The second sensor 28 may accordingly be a position sensor, such as a GPS receiver. The parameter values may, for example, characterize the destination to which the vehicle is driven. The second sensor 28 can be an input device of a navigation device of the motor vehicle 20, which detects the destination entered by the driver. The parameter values may, for example, characterize the driver's earlier driving behavior. The parameter values may be associated with, for example, a driver that normally exhibits sporty, regular or economical driving behavior. The parameter value may for example characterize the identity of the driver. In both cases, the second sensor 28 may be a finger pressure sensor which is actuated by the driver when opening the door of the motor vehicle 20 or when starting the motor vehicle and by means of which the identity of the driver, and optionally the driving behavior of the driver, can be detected. The driving behavior can be adapted to the respective driver via a look-up table, which is stored, for example, on a storage medium of the control unit.

Fig. 2 shows a flow chart of a method for operating a motor vehicle, for example the motor vehicle 20 explained above. The method is used to recognize the necessity of emergency operation in advance and to take at least one measure before the conditions requiring emergency operation are met, which measure cannot or hardly cannot be perceived by the driver of the motor vehicle and which measure facilitates the activation of emergency operation as late as possible, ideally not at all.

In step S2, at the beginning of the travel of the motor vehicle, a parameter value of at least one parameter is received, which parameter value characterizes a route which is expected to be covered during the travel. The parameter values may be received by the controller 22. For example, the parameter value may be detected by the second sensor 28 and sent to the controller 22 or recalled by the controller. The parameter value is a value of a parameter. The parameter is a parameter selected from the group consisting of: the current working day; a current clock time; a starting place to start driving; a destination to which the vehicle is traveling; earlier driving behavior of the driver; and the identity of the driver. Optionally, parameter values for two or more of the aforementioned parameters may be determined and received to infer therefrom a random path. For example, the time of day and the origin, the current day of the work and the destination, etc. can be determined, received and checked in order to deduce therefrom a random path.

In step S4, a path is determined according to the parameter values. The path may be determined, for example, by means of the controller 22 or by means of a navigation device in communication with the controller 22. The path characterizes, for example, a route traveled during driving, one or more uphill slopes, level roads and/or downhill slopes and/or travels.

In step S6, an energy demand value is determined from the path, which characterizes the energy required to traverse the path. The energy demand value may be relatively high if the path passes through an urban area or has relatively many uphill slopes. The energy demand may be relatively low if the path is substantially rural or has relatively many downhill slopes. In addition, the driver's identity and the driver's driving behavior may also be taken into account in the energy demand value. The energy demand value may be relatively high if the driver has demonstrated sporty driving behavior in the past. The energy demand value may be relatively small if the driver has demonstrated economical driving behavior in the past.

In step S8, an energy state value is received, which characterizes the energy that can be provided by means of the energy source 24 of the motor vehicle 20 during driving. The energy state value may be, for example, the state of charge of the battery 24 or the level of the fuel tank. The energy state value may be detected and transmitted to the controller 22, for example, by means of the first sensor 26 or recalled from the first sensor 26 by the controller 22 and thus received by the controller 22.

In step S10, it is determined whether an emergency operation is expected during travel to reach the destination of the route, in particular to reach the destination of the route. For example, it can be determined in this step, based on the energy demand value and the energy state value, whether an emergency operation of the motor vehicle is to be activated in order to traverse the determined route. If, for example, the energy requirement value is greater than the energy state value and/or the difference between the energy state value and the energy requirement value is greater than a predetermined threshold value, this can indicate that the emergency operation needs to be activated during driving or early or late. If the condition of step S10 is fulfilled, the execution of the method may be continued in step S12. If the condition of step S10 is not met, execution of the method may continue in step S18.

In step S12, at least one control value of a control parameter of the motor vehicle 20 can be limited such that the energy consumption of the motor vehicle is reduced before emergency operation is activated. The control parameters may be, for example, the maximum power or the maximum torque that can be used for the drive unit of the motor vehicle 20, the maximum achievable speed of the motor vehicle 20, the maximum power of the air conditioning of the motor vehicle 20 and/or the maximum dynamics of the drive unit of the motor vehicle 20. The dynamics can be predetermined and/or limited, for example, by an accelerator pedal characteristic. The dynamics can, for example, characterize how strongly the torque required changes during a predefined pedal actuation of an accelerator pedal (e.g., an accelerator pedal). High dynamics exist if the torque required varies strongly with small pedal actuations. If the torque required changes only slightly with a small pedal actuation, then there is low dynamics. Alternatively, the parameter values of two or more of the control parameters may be limited in order to delay or prohibit the occurrence of emergency operation.

Alternatively, one, two or more segments of the route can be determined, which is particularly suitable for the limitation of the control values. The control value can then be limited, for example, only during travel through the one or more road sections for which a limitation of the control value is particularly suitable. For example, when a driver of the motor vehicle does not or hardly perceive a small restriction within one or more road segments of the route, the respective one or more road segments may be determined as being particularly suitable for restricting the control value. For example, when a route has a level and/or downhill slope in a section and accordingly extends flat or downward, that section of the route may be judged as particularly suitable for the limitation. Alternatively, a route section can also be determined to be particularly suitable for the limitation if the route has a slight upward slope in the section and accordingly extends slightly upward. For example, a section of road with an uphill slope between 0% and 5%, for example between 0% and 4%, for example between 0% and 3%, may be judged as suitable for the limitation of the control value. Alternatively or additionally, it may be determined whether the motor vehicle 20 is following a preceding vehicle for a predetermined duration or longer. Thus, the control value can be limited only when the motor vehicle 20 follows a preceding vehicle for a predetermined duration or longer. Alternatively or additionally, the limitation of the control value may be temporarily cancelled when the driver requests a torque exceeding a predetermined torque threshold. This cancellation of the limitation of the control value can take place, for example, over a predetermined time duration, after which the control value is limited again. Alternatively, the control value may be limited again as soon as the requested torque falls below the torque threshold again.

Additionally, it is pointed out that the term "comprising" does not exclude other elements or steps, and that the term "a" or "an" does not exclude a plurality. It is further noted that features or steps which have been described with reference to one of the above embodiments may also be applied in combination with other features or steps of other above embodiments.

List of reference numerals

20 motor vehicle

22 controller

24 energy source

26 first sensor

28 second sensor

S2 to S18

Claims

1. A method for operating a motor vehicle (20), wherein,

receiving at least one parameter value of a parameter at the beginning of a travel of the motor vehicle (20), said parameter value characterizing a route which is expected to be covered during the travel;

determining a path according to the parameter value;

determining from the path an energy demand value characterizing the energy required to traverse the path;

receiving an energy state value which characterizes the energy which can be provided by means of an energy source (24) of the motor vehicle (20) during driving;

determining, on the basis of the energy demand value and the energy state value, whether an emergency operation of the motor vehicle (20) is to be activated in order to traverse the route; and is

If it is determined that an emergency operation of the motor vehicle (20) is expected to be activated for the purpose of traversing the path without limiting the control values of the control parameters of the motor vehicle, at least one control value of the control parameters of the motor vehicle (20) is limited such that the energy consumption of the motor vehicle (20) is reduced before the emergency operation is activated.

2. The method according to claim 1, wherein one or more segments of the path are determined, which segments are particularly suitable for limiting the control value, and the control value is limited only during driving through the one or more segments which are particularly suitable for limiting the control value.

3. The method of any of the preceding claims, wherein it is determined that: the control value is limited if the motor vehicle (20) follows a preceding vehicle for a predetermined duration or longer, and only if the motor vehicle (20) follows a preceding vehicle for a predetermined duration or longer.

4. The method according to any of the preceding claims, wherein the control parameter is a control parameter selected from the group consisting of: a maximum available power or a maximum available torque of a drive unit of the motor vehicle (20); the maximum achievable speed of the motor vehicle (20); maximum power of an air conditioner of the motor vehicle (20); and a maximum dynamic behavior of the drive unit of the motor vehicle (20) (the dynamic behavior can be predefined and/or limited, for example, by an accelerator pedal characteristic curve).

5. Method according to any of the preceding claims, wherein the control parameter is limited during driving only when a vehicle distance adjusting speed controller of the motor vehicle (20) is active.

6. A method according to any preceding claim, wherein the path characterises a route, one or more uphill, level and/or downhill grades and/or courses traversed during travel.

7. The method according to any of the preceding claims, wherein the parameter is a parameter selected from the group consisting of: the current working day; a current clock time; a starting place to start driving; a destination to which the vehicle is traveling; earlier driving behavior of the driver; and the identity of the driver.

8. The method according to any one of the preceding claims, wherein the motor vehicle (20) is an electric vehicle or a hybrid vehicle, the energy source (24) is a battery, the state of energy value is a state of charge of the battery, and the motor vehicle (20) has an electric motor for driving the motor vehicle (20), which electric motor is electrically coupled to the battery for supplying energy to the electric motor.

9. A method according to any one of the foregoing claims, in which the limitation of the control value is temporarily cancelled when a torque exceeding a predetermined torque threshold is requested.

10. A controller (22) for a motor vehicle (20), the controller having a processor and a memory configured to perform the method of any of the preceding claims.

11. A computer-readable medium, on which a computer program for operating a motor vehicle (20) is stored, which, when executed by a controller (22) of the motor vehicle (20), causes the controller to carry out the method according to any one of claims 1 to 9.

12. Motor vehicle having a controller (22), an energy source (24), a first sensor (26), a second sensor (28) and a drive unit, which can be supplied with energy by the energy source, wherein,

the first sensor is electrically coupled to the controller and the energy source, the first sensor for detecting an energy state value indicative of energy currently available from the energy source;

the second sensor is electrically coupled to the controller, and the second sensor is used for detecting a parameter value of the parameter, wherein the parameter value is used for representing a path which is expected to be passed during the following driving;

the controller has a processor and a memory configured to perform the method of any one of claims 1 to 9.