CN117584754A - Energy recovery intensity control method, device, equipment and storage medium - Google Patents
Energy recovery intensity control method, device, equipment and storage medium Download PDFInfo
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- CN117584754A CN117584754A CN202311639962.7A CN202311639962A CN117584754A CN 117584754 A CN117584754 A CN 117584754A CN 202311639962 A CN202311639962 A CN 202311639962A CN 117584754 A CN117584754 A CN 117584754A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to the technical field of vehicle energy recovery, and discloses an energy recovery intensity control method, device and equipment and a storage medium, wherein the method comprises the following steps: acquiring a planned path from a current position of a vehicle to a destination, and determining a plurality of target positions on the planned path; determining corresponding energy recovery intensity thresholds according to the current speed of the vehicle and the target positions; and controlling braking force according to the energy recovery intensity threshold value so as to realize vehicle energy recovery. According to the invention, the corresponding energy recovery intensity threshold value is determined according to the current speed of the vehicle and a plurality of target positions determined on the planned path, so that the braking force is controlled, the energy recovery of the vehicle is realized, the problem that the energy recovery intensity cannot be automatically regulated according to the actual road condition is solved, the energy recovery intensity is regulated in real time, the control accuracy of the energy recovery intensity is improved, and the running energy consumption of the vehicle is optimized.
Description
Technical Field
The present invention relates to the field of vehicle energy recovery technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling energy recovery intensity.
Background
In the braking process of the electric automobile, the VCU controls the motor to provide reverse torque, a part of braking force is provided for the automobile, and the magnitude of the reverse torque provided by the motor with the magnitude of energy recovery strength is used for determining the braking force of the automobile. When the driver releases the accelerator, the energy recovery technology recovers the kinetic energy of the vehicle while providing braking force, so that the energy consumption of the whole vehicle can be reduced. The current vehicle energy recovery intensity is mainly divided into three levels, namely: weak, standard, strong. After selecting a certain fixed energy recovery intensity, the motor provides a directional braking force when the driver releases the throttle. When the selected energy recovery intensity is too high, the driver needs to supplement power additionally before the vehicle stops at the target position, so that the vehicle can travel a certain distance to reach the target position, and energy is consumed additionally. When the selected energy recovery intensity is weaker, the vehicle cannot be stopped at the target position, and additional braking force is needed to stop the vehicle, so that part of energy which can be recovered is wasted. The method for automatically adjusting the energy recovery intensity according to the actual road conditions cannot be adopted, and a user can additionally supplement braking force or power to enable the vehicle to reach a target position.
Disclosure of Invention
The invention mainly aims to provide an energy recovery intensity control method, device, equipment and storage medium, and aims to solve the technical problem that the energy recovery intensity cannot be automatically adjusted according to actual road conditions in the prior art.
To achieve the above object, the present invention provides an energy recovery intensity control method comprising the steps of:
acquiring a planned path from a current position of a vehicle to a destination, and determining a plurality of target positions on the planned path;
determining corresponding energy recovery intensity thresholds according to the current speed of the vehicle and the target positions;
and controlling braking force according to the energy recovery intensity threshold value so as to realize vehicle energy recovery.
Optionally, the obtaining a planned path from the current position of the vehicle to the destination, and determining a plurality of target positions on the planned path includes:
acquiring a planned path from the current position of the vehicle to a destination;
obtaining barrier information, traffic signal lamp states and the current speed of a vehicle;
and determining a plurality of target positions on the planned path according to the obstacle information, the traffic light state and the current speed of the vehicle.
Optionally, the target positions include at least a first target position and a second target position, and the determining a plurality of target positions on the planned path according to the obstacle information, the traffic light state and the current speed of the vehicle includes:
determining a first target position on the planned path according to the obstacle information and the current speed of the vehicle;
and determining a second target position on the planned path according to the traffic light state and the current speed of the vehicle.
Optionally, the determining the second target position on the planned path according to the traffic light state and the current speed of the vehicle includes:
determining a first traffic state according to the traffic signal lamp state;
when the first traffic state is not allowed to pass, determining countdown information according to the traffic signal lamp;
and determining a second target position on the planned path according to the countdown information and the current speed of the vehicle.
Optionally, after the first traffic state is determined according to the traffic signal lamp, the method further includes:
when the first traffic state is allowed to pass, determining adjacent traffic signals of the traffic signals according to the planned path;
determining a second traffic state according to the states of the adjacent traffic signal lamps;
and determining a second target position on the planned path according to the second passing state.
Optionally, the determining the corresponding energy recovery intensity threshold according to the current speed of the vehicle and the target positions includes:
obtaining the distance from the current position of the vehicle to each target position;
and determining a corresponding energy recovery intensity threshold according to the current speed of the vehicle and the distance from the current position of the vehicle to each target position.
Optionally, the controlling braking force according to the energy recovery intensity threshold value to achieve vehicle energy recovery includes:
determining a corresponding motor braking torque according to the energy recovery intensity threshold;
and controlling braking force according to the motor braking torque so as to realize vehicle energy recovery.
In addition, in order to achieve the above object, the present invention also proposes an energy recovery intensity control device including:
the system comprises an acquisition module, a calculation module and a calculation module, wherein the acquisition module is used for acquiring a planning path from the current position of the vehicle to a destination and determining a plurality of target positions on the planning path;
the determining module is used for determining a corresponding energy recovery intensity threshold according to the current speed of the vehicle and the distance from the current position of the vehicle to each target position;
and the control module is used for controlling the motor braking torque according to the energy recovery intensity threshold value so as to realize vehicle energy recovery.
In addition, to achieve the above object, the present invention also proposes an energy recovery intensity control apparatus including: a memory, a processor, and an energy recovery intensity control program stored on the memory and executable on the processor, the energy recovery intensity control program configured to implement the steps of the energy recovery intensity control method as described above.
In addition, to achieve the above object, the present invention also proposes a storage medium having stored thereon an energy recovery intensity control program which, when executed by a processor, implements the steps of the energy recovery intensity control method as described above.
The method comprises the steps of obtaining a planned path from a current position of a vehicle to a destination, and determining a plurality of target positions on the planned path; determining corresponding energy recovery intensity thresholds according to the current speed of the vehicle and the target positions; and controlling braking force according to the energy recovery intensity threshold value so as to realize vehicle energy recovery. By the method, the corresponding energy recovery intensity threshold value is determined according to the current speed of the vehicle and the multiple target positions determined on the planned path, so that braking force is controlled, vehicle energy recovery is realized, the problem that the energy recovery intensity cannot be automatically regulated according to actual road conditions is solved, the energy recovery intensity is regulated in real time, the control accuracy of the energy recovery intensity is improved, and the running energy consumption of the vehicle is optimized.
Drawings
FIG. 1 is a schematic diagram of an energy recovery intensity control device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the energy recovery intensity control method of the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of the energy recovery intensity control method of the present invention;
FIG. 4 is a schematic diagram of a planned path of an embodiment of an energy recovery intensity control method according to the present invention;
fig. 5 is a block diagram of a first embodiment of an energy recovery intensity control device according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an energy recovery intensity control device of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the energy recovery intensity control device may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Those skilled in the art will appreciate that the structure shown in fig. 1 is not limiting of the energy recovery intensity control device and may include more or fewer components than shown, or certain components in combination, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and an energy recovery intensity control program may be included in the memory 1005 as one type of storage medium.
In the energy recovery intensity control device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the energy recovery intensity control device of the present invention may be provided in the energy recovery intensity control device, and the energy recovery intensity control device calls the energy recovery intensity control program stored in the memory 1005 through the processor 1001 and executes the energy recovery intensity control method provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for controlling energy recovery intensity, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the method for controlling energy recovery intensity according to the present invention.
In this embodiment, the energy recovery intensity control method includes the following steps:
step S10: and acquiring a planned path from the current position of the vehicle to the destination, and determining a plurality of target positions on the planned path.
The execution body of the present embodiment is an energy recovery intensity control device, and may be other devices that achieve the same or similar functions, and the present embodiment is not limited thereto, and the present embodiment is described by taking the energy recovery intensity control device as an example.
It will be appreciated that the current position information of the vehicle is obtained using an on-board sensor, where the on-board sensor may be a GPS, IMU, encoder, etc., and the embodiment is not limited in particular.
In the specific implementation, destination coordinates are obtained, a planning path from the current position of the vehicle to the destination is generated according to the current position information of the vehicle and the destination coordinates, a plurality of target positions are determined on the planning path, the energy recovery intensity of the vehicle is controlled in a segmented mode, and the control accuracy is improved.
Step S20: and determining corresponding energy recovery intensity thresholds according to the current speed of the vehicle and the target positions.
The energy recovery intensity threshold value refers to the maximum value of the theoretical recoverable energy.
It can be understood that the energy recovery intensity threshold value of the corresponding road section is determined through the current speed of the vehicle and a plurality of target positions, and the energy recovery intensity of each road section is controlled according to the energy recovery intensity threshold value, so that the energy recovery intensity is automatically regulated according to the actual road conditions, and the control accuracy of the energy recovery intensity is improved.
Further, the determining the corresponding energy recovery intensity threshold according to the current speed of the vehicle and the target positions includes: obtaining the distance from the current position of the vehicle to each target position; and determining a corresponding energy recovery intensity threshold according to the current speed of the vehicle and the distance from the current position of the vehicle to each target position.
The distance between the current position and each target position is calculated by the vehicle, and the maximum value of the theoretical recoverable energy, namely the energy recovery intensity threshold, is calculated by the VCU according to the current vehicle speed.
It will be appreciated that the VCU, i.e., the vehicle controller, is a critical component in the vehicle's electronic system responsible for managing and coordinating the various control functions of the vehicle, typically as a central controller of the vehicle, in communication with a plurality of subsystems and sensors to ensure the safety, performance and efficiency of the vehicle.
Step S30: and controlling braking force according to the energy recovery intensity threshold value so as to realize vehicle energy recovery.
In the present embodiment, the braking force refers to a braking force provided by the motor.
In the specific implementation, in the process of the vehicle from the current position to the target position, the VCU automatically adjusts the energy recovery intensity and the speed according to the requirement of deceleration, and controls the braking force provided by the motor according to the energy recovery intensity, so that the vehicle reaches the target position without additional power and braking force, thereby realizing the minimum and maximum energy recovery of the whole vehicle from the current position to the target position and optimizing the running energy consumption of the vehicle.
Further, the controlling the braking force according to the energy recovery intensity threshold value to achieve vehicle energy recovery includes: determining a corresponding motor braking torque according to the energy recovery intensity threshold; and controlling braking force according to the motor braking torque so as to realize vehicle energy recovery.
In an electric vehicle, motor braking torque refers to torque generated by reverse running of an electric motor, and is used to slow or stop movement of the vehicle. This is known as electric braking or electric braking. In an electric vehicle, the motor may convert kinetic energy of wheels into electric energy by reverse operation, while producing a braking effect. This is achieved by changing the operating mode of the motor, converting it into a generator. The motor generates a torque in the power generation mode that is opposite to the direction of rotation of the motor, thereby counteracting the movement of the wheels, resulting in a deceleration of the vehicle.
It will be appreciated that the magnitude of the motor braking torque is also related to the mode of operation of the motor, the rotational speed of the motor, the vehicle speed, the battery status and the setting of the braking system.
In specific implementation, a corresponding relation exists between the energy recovery intensity and the motor braking torque, and the motor braking torque corresponding to each energy recovery intensity threshold is determined according to the corresponding relation between the energy recovery intensity and the motor braking torque, so that braking force provided by the motor is controlled to realize vehicle energy recovery.
The method comprises the steps of obtaining a planned path from a current position of a vehicle to a destination, and determining a plurality of target positions on the planned path; determining corresponding energy recovery intensity thresholds according to the current speed of the vehicle and the target positions; and controlling braking force according to the energy recovery intensity threshold value so as to realize vehicle energy recovery. By the method, the corresponding energy recovery intensity threshold value is determined according to the current speed of the vehicle and the multiple target positions determined on the planned path, so that braking force is controlled, vehicle energy recovery is realized, the problem that the energy recovery intensity cannot be automatically regulated according to actual road conditions is solved, the energy recovery intensity is regulated in real time, the control accuracy of the energy recovery intensity is improved, and the running energy consumption of the vehicle is optimized.
Referring to fig. 3, fig. 3 is a schematic flow chart of a second embodiment of the energy recovery intensity control method according to the present invention.
Based on the first embodiment, the step S10 in the energy recovery intensity control method of the present embodiment includes:
step S101: a planned path from the current location of the vehicle to the destination is obtained.
It should be noted that, a path planning algorithm (such as a, dijkstra, RRT, etc.) is used to generate an initial path from the current location to the destination; optimizing the generated initial path to ensure the smoothness, safety and efficiency of the path, wherein the optimization may include path smoothing, speed planning and the like, and the embodiment is not particularly limited; a final planned path is generated.
In a specific implementation, a vehicle central processing unit obtains a path plan from a current position of a vehicle to a destination from a high-precision map.
It will be appreciated that the vehicle central processor receives data from various sensors, such as cameras, radar, lidar, inertial Measurement Units (IMUs), GPS, etc., and processes, parses and fuses the sensor data to obtain detailed information about the vehicle surroundings. The vehicle central processor may communicate with other control units, cloud services, vehicle-to-vehicle communications, etc. through the on-board network. This enables the vehicle to communicate information with other vehicles and traffic infrastructure to enable intelligent traffic systems and vehicle interconnections.
Step S102: obstacle information, traffic light status, and current speed of the vehicle are obtained.
It should be noted that, the obstacle generally refers to an obstructing object that may be encountered by the vehicle during running, and these obstacles may affect the running path, speed, or cause a collision of the vehicle. The obstacles may be static, such as buildings, trees, rocks, etc., or dynamic, such as vehicles.
It will be appreciated that the vehicle needs to sense the surrounding environment through a sensor to detect and identify a possible obstacle, and the sensor transmits the acquired information to a central control unit of the vehicle, so that the vehicle can make an intelligent decision, avoid the obstacle and keep safe running, wherein the sensor can be a radar, a laser radar, a camera and the like, and the embodiment is not particularly limited in this regard, and the vehicle-mounted radar is taken as an example for illustration.
Note that, when the obstacle is a preceding vehicle, the obstacle information may be information such as a position and a moving speed of the preceding vehicle, and the present embodiment is not particularly limited.
It should be noted that, the traffic signal lamp is also called a traffic light, and is a device in a traffic management system, and is generally used for directing traffic flow at an intersection, so as to ensure that vehicles and pedestrians in different directions can orderly pass through the intersection, and improve the efficiency and safety of traffic flow. Traffic lights generally comprise three colors, red, yellow, and green, each color corresponding to a different meaning of indication: red indicates stopping, i.e. vehicles and pedestrians need to stop traveling when the red light is on, waiting for the green light to be on; green represents travel, vehicles and pedestrians can travel when a green light is on, and the green light time is usually the time of vehicles and pedestrians passing at an intersection; yellow indicates ready to stop and yellow lights are lit before the green light changes to red indicating that the driver and pedestrian should be ready to stop. The traffic light status includes a color status and a countdown time for the corresponding status.
Step S103: and determining a plurality of target positions on the planned path according to the obstacle information, the traffic light state and the current speed of the vehicle.
It should be noted that, the planned path is divided into a plurality of road segments according to the obstacle information and the traffic light status, so as to determine a plurality of target positions, where the target positions at least include a first target position and a second target position.
Further, the determining a plurality of target positions on the planned path according to the obstacle information, the traffic light state and the current speed of the vehicle includes: determining a first target position on the planned path according to the obstacle information and the current speed of the vehicle; and determining a second target position on the planned path according to the traffic light state and the current speed of the vehicle.
It should be noted that, according to the planned path, if there are other vehicles or obstacles in front of the vehicle during the driving process, the target position-1, i.e. the first target position, of the expected safety is determined and calculated according to the obstacle information and the current speed of the vehicle.
In a specific implementation, in the process of the vehicle from the current position-A to the target position-1, the VCU automatically adjusts the energy recovery intensity and the energy recovery rate according to the requirement of deceleration, the energy recovery intensity corresponds to the related motor braking torque, the braking force provided by the motor is automatically controlled, and the vehicle reaches the target position-1 without additional power and braking force, so that the minimum energy consumption and the maximum energy recovery of the whole vehicle from the current position-A to the target position-1 are realized.
It will be appreciated that if a traffic light is present in front of the vehicle during travel, a second target position is determined based on the traffic light status and the current speed of the vehicle.
Further, the determining the second target position on the planned path according to the traffic light state and the current speed of the vehicle includes: determining a first traffic state according to the traffic signal lamp state; when the first traffic state is not allowed to pass, determining countdown information according to the traffic signal lamp; and determining a second target position on the planned path according to the countdown information and the current speed of the vehicle.
It should be noted that, the traffic signal lamp state includes a color state and a countdown time of the corresponding state, and the color state includes three colors of red, yellow and green. If the traffic signal lamp is in a red lamp or yellow lamp state, the traffic signal lamp is in a state of not allowing traffic; and if the traffic signal lamp is in a green light state, the traffic signal lamp is in a traffic permission state.
In a specific implementation, when the vehicle is at a position-B, the vehicle acquires state information of traffic lights-i and j from navigation information, if i is a red light or yellow light state, the vehicle acquires a countdown time t of the red light, and calculates a target position-2, namely a second target position, according to a current vehicle speed v and the countdown time t of the red light and an energy consumption minimum as a target function. The energy recovery intensity and rate are automatically adjusted according to the current vehicle speed, the position-B and the target position-2, and the target position-2 is reached without additional supplementary power and braking force.
Further, after the first traffic state is determined according to the traffic signal lamp, the method further comprises: when the first traffic state is allowed to pass, determining adjacent traffic signals of the traffic signals according to the planned path; determining a second traffic state according to the states of the adjacent traffic signal lamps; and determining a second target position on the planned path according to the second passing state.
It should be noted that, when the traffic light-i is green, the speed passing through the traffic light-i is recalculated according to the state of the traffic light-j, so as to determine the target position-2, i.e. the second target position on the planned path.
It can be understood that the VCU confirms the locally optimal energy recovery intensity of each road section according to the calculated target position, and performs a multivariate optimization decision on the sliding energy recovery intervention intensity/rate, so as to finally realize optimal efficiency and reduce energy consumption.
As shown in fig. 4, fig. 4 is a schematic diagram of a planned path, in which, in a planned path from a current position-a to a destination-D of a vehicle, the vehicle obtains information such as a position, a moving speed, etc. of a vehicle-m ahead according to an on-board radar, and calculates a target position-1 expected to be safe based on the current vehicle speed, and controls the magnitude of braking force provided by a motor during the process from the current position-a to the target position-1, so that the target position-1 is reached without additional power and braking force, thereby realizing minimum energy consumption and maximum energy recovery of the whole vehicle when the vehicle is from the current position-a to the target position-1. When the vehicle is at the position-B, the vehicle acquires state information of traffic lights-i and j from navigation information, if i is red light or yellow light, the vehicle acquires countdown time t of the red light, calculates a target position-2 according to the current vehicle speed v and the countdown time t of the red light and the minimum energy consumption as a target function, automatically adjusts energy recovery intensity and speed according to the current vehicle speed, the position-B and the target position-2, reaches the target position-2 under the condition of no need of additional power and braking force, and performs sectional control on a planned path until finally reaching a destination.
The method comprises the steps of obtaining a planned path from the current position of the vehicle to a destination; obtaining barrier information, traffic signal lamp states and the current speed of a vehicle; and determining a plurality of target positions on the planned path according to the obstacle information, the traffic light state and the current speed of the vehicle. By the method, the planned path is divided into a plurality of sections according to the obstacle information, the traffic light state and the current speed of the vehicle, so that a plurality of target positions are determined, the energy recovery intensity is carried out in sections, and the energy recovery intensity control efficiency and accuracy are improved.
Referring to fig. 5, fig. 5 is a block diagram showing the construction of a first embodiment of the energy recovery intensity control device of the present invention.
As shown in fig. 5, the energy recovery intensity control device according to the embodiment of the present invention includes:
the acquiring module 10 is configured to acquire a planned path from a current position of the vehicle to a destination, and determine a plurality of target positions on the planned path.
The determining module 20 is configured to determine a corresponding energy recovery intensity threshold according to a current vehicle speed of the vehicle and a distance from the current vehicle position to each target position.
The control module 30 is configured to control the motor braking torque according to the energy recovery intensity threshold value, so as to achieve vehicle energy recovery.
The method comprises the steps of obtaining a planned path from a current position of a vehicle to a destination, and determining a plurality of target positions on the planned path; determining corresponding energy recovery intensity thresholds according to the current speed of the vehicle and the target positions; and controlling braking force according to the energy recovery intensity threshold value so as to realize vehicle energy recovery. By the method, the corresponding energy recovery intensity threshold value is determined according to the current speed of the vehicle and the multiple target positions determined on the planned path, so that braking force is controlled, vehicle energy recovery is realized, the problem that the energy recovery intensity cannot be automatically regulated according to actual road conditions is solved, the energy recovery intensity is regulated in real time, the control accuracy of the energy recovery intensity is improved, and the running energy consumption of the vehicle is optimized.
In an embodiment, the obtaining module 10 is further configured to obtain a planned path from the current location of the vehicle to the destination; obtaining barrier information, traffic signal lamp states and the current speed of a vehicle; and determining a plurality of target positions on the planned path according to the obstacle information, the traffic light state and the current speed of the vehicle.
In an embodiment, the obtaining module 10 is further configured to determine a first target position on the planned path according to the obstacle information and the current speed of the vehicle; and determining a second target position on the planned path according to the traffic light state and the current speed of the vehicle.
In an embodiment, the obtaining module 10 is further configured to determine a first traffic state according to the traffic signal status; when the first traffic state is not allowed to pass, determining countdown information according to the traffic signal lamp; and determining a second target position on the planned path according to the countdown information and the current speed of the vehicle.
In an embodiment, the obtaining module 10 is further configured to determine, when the first traffic state is allowed to pass, an adjacent traffic signal of the traffic signal according to the planned path; determining a second traffic state according to the states of the adjacent traffic signal lamps; and determining a second target position on the planned path according to the second passing state.
In one embodiment, the distance from the current position of the vehicle to each target position is obtained; and determining a corresponding energy recovery intensity threshold according to the current speed of the vehicle and the distance from the current position of the vehicle to each target position.
In an embodiment, determining a corresponding motor braking torque from the energy recovery intensity threshold; and controlling braking force according to the motor braking torque so as to realize vehicle energy recovery.
In addition, to achieve the above object, the present invention also proposes an energy recovery intensity control apparatus including: a memory, a processor, and an energy recovery intensity control program stored on the memory and executable on the processor, the energy recovery intensity control program configured to implement the steps of the energy recovery intensity control method as described above.
The energy recovery intensity control device adopts all the technical schemes of all the embodiments, so that the energy recovery intensity control device has at least all the beneficial effects brought by the technical schemes of the embodiments, and is not described in detail herein.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with an energy recovery intensity control program, and the energy recovery intensity control program realizes the steps of the energy recovery intensity control method when being executed by a processor.
Because the storage medium adopts all the technical schemes of all the embodiments, the storage medium has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted here.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details not described in detail in this embodiment may refer to the energy recovery intensity control method provided in any embodiment of the present invention, which is not described herein.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A method of energy recovery intensity control, the method comprising:
acquiring a planned path from a current position of a vehicle to a destination, and determining a plurality of target positions on the planned path;
determining corresponding energy recovery intensity thresholds according to the current speed of the vehicle and the target positions;
and controlling braking force according to the energy recovery intensity threshold value so as to realize vehicle energy recovery.
2. The method of claim 1, wherein the obtaining a planned path of a current location of the vehicle to a destination and determining a plurality of target locations on the planned path comprises:
acquiring a planned path from the current position of the vehicle to a destination;
obtaining barrier information, traffic signal lamp states and the current speed of a vehicle;
and determining a plurality of target positions on the planned path according to the obstacle information, the traffic light state and the current speed of the vehicle.
3. The method of claim 2, wherein the target locations include at least a first target location and a second target location, the determining a plurality of target locations on the planned path based on the obstacle information, traffic light status, and current speed of the vehicle comprising:
determining a first target position on the planned path according to the obstacle information and the current speed of the vehicle;
and determining a second target position on the planned path according to the traffic light state and the current speed of the vehicle.
4. The method of claim 3, wherein said determining a second target location on said planned path based on said traffic light status and a current speed of the vehicle comprises:
determining a first traffic state according to the traffic signal lamp state;
when the first traffic state is not allowed to pass, determining countdown information according to the traffic signal lamp;
and determining a second target position on the planned path according to the countdown information and the current speed of the vehicle.
5. The method of claim 4, wherein after determining the first traffic state from the traffic signal, further comprising:
when the first traffic state is allowed to pass, determining adjacent traffic signals of the traffic signals according to the planned path;
determining a second traffic state according to the states of the adjacent traffic signal lamps;
and determining a second target position on the planned path according to the second passing state.
6. The method of claim 1, wherein the determining the corresponding energy recovery intensity threshold based on the current vehicle speed and the plurality of target locations comprises:
obtaining the distance from the current position of the vehicle to each target position;
and determining a corresponding energy recovery intensity threshold according to the current speed of the vehicle and the distance from the current position of the vehicle to each target position.
7. The method of claim 1, wherein said controlling braking force in accordance with said energy recovery intensity threshold to effect vehicle energy recovery comprises:
determining a corresponding motor braking torque according to the energy recovery intensity threshold;
and controlling braking force according to the motor braking torque so as to realize vehicle energy recovery.
8. An energy recovery intensity control device, characterized in that the energy recovery intensity control device comprises:
the system comprises an acquisition module, a calculation module and a calculation module, wherein the acquisition module is used for acquiring a planning path from the current position of the vehicle to a destination and determining a plurality of target positions on the planning path;
the determining module is used for determining a corresponding energy recovery intensity threshold according to the current speed of the vehicle and the distance from the current position of the vehicle to each target position;
and the control module is used for controlling the motor braking torque according to the energy recovery intensity threshold value so as to realize vehicle energy recovery.
9. An energy recovery intensity control apparatus, characterized in that the energy recovery intensity control apparatus comprises: a memory, a processor, and an energy recovery intensity control program stored on the memory and executable on the processor, the energy recovery intensity control program configured to implement the energy recovery intensity control method of any one of claims 1 to 7.
10. A storage medium having stored thereon an energy recovery intensity control program which when executed by a processor implements the energy recovery intensity control method of any one of claims 1 to 7.
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| CN202311639962.7A CN117584754A (en) | 2023-11-30 | 2023-11-30 | Energy recovery intensity control method, device, equipment and storage medium |
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