CN117909425A

CN117909425A - Method and device for determining vehicle energy consumption, vehicle and readable storage medium

Info

Publication number: CN117909425A
Application number: CN202211241020.9A
Authority: CN
Inventors: 李旭; 徐伟萍; 于秀林; 周德祥
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2022-10-11
Filing date: 2022-10-11
Publication date: 2024-04-19

Abstract

The application provides a method and a device for determining vehicle energy consumption, a vehicle and a readable storage medium, wherein the method comprises the following steps: acquiring a plurality of map data corresponding to a current navigation path, wherein the navigation path is divided into a plurality of continuous path units; determining path units with the same gradient information and the same vehicle running speed information as the same attribute road sections; and searching and obtaining the energy consumption of the unit vehicle corresponding to each road section with the same attribute according to a preset vehicle energy consumption table, and determining the vehicle energy consumption of each road section with the same attribute according to the energy consumption of the unit vehicle. According to the application, the path units with the same gradient information and the same vehicle running speed in the navigation path map data are determined to be the same-attribute road sections, and then the vehicle energy consumption is determined based on the unit vehicle energy consumption corresponding to the same-attribute road sections, so that the vehicle energy consumption calculation amount is reduced, and the problem of determining the vehicle energy consumption by processing a large amount of map data in a long-distance navigation scene by utilizing the limited calculation capability of the vehicle is solved.

Description

Method and device for determining vehicle energy consumption, vehicle and readable storage medium

Technical Field

The application belongs to the technical field of data processing, and particularly relates to a method and a device for determining vehicle energy consumption, a vehicle and a readable storage medium.

Background

Currently, advanced driving assistance systems (ADVANCE DRIVER ASSISTANCE SYSTEM, abbreviated as ADAS) have been widely used in most vehicle models. The core of the ADAS is to realize the perception and identification of the road environment, for example, the road environment can be perceived and identified by means of sensors such as an infrared camera, a binocular camera, a monocular camera, a millimeter wave radar, a laser radar or an ultrasonic radar and the like which are arranged on the vehicle.

The final modality of ADAS development is autopilot. However, since the application of automatic driving is very wide, the sensing range, distance and accuracy of the sensors in different weather and road environments are limited, so that the automatic driving is far from being realized by the sensors. At this time, map data is needed to be used as a reliable basis for the automatic driving perception of the road environment information.

In the prior art, a vehicle may obtain map data from a third party map merchant through navigation software. In a long-distance driving scene, the energy consumption of the vehicle needs to be calculated according to the navigation path because the duration of the vehicle is limited. Vehicle energy consumption is typically calculated from vehicle historical average vehicle energy consumption and distance travelled. The calculation of the mode is simple, but the average vehicle energy consumption of the vehicle history cannot completely represent the average vehicle energy consumption of the navigation path, and the calculation result is inaccurate. Or the vehicle energy consumption of each path unit in the navigation path is calculated one by one, and the vehicle energy consumption is obtained after the vehicle energy consumption is accumulated. The method has high calculation accuracy, but in a long-distance navigation scene, the data size of map data is large, and the calculated amount of vehicle energy consumption is large. How to process a large amount of map data in a long-distance navigation scene to determine the energy consumption of the vehicle by utilizing the limited computing power of the vehicle is a problem to be solved.

Disclosure of Invention

The application aims to provide a method and a device for determining vehicle energy consumption, a vehicle and a readable storage medium, so as to solve the problem of determining the vehicle energy consumption by processing a large amount of map data in a long-distance navigation scene by utilizing limited computing capacity of the vehicle.

In a first aspect of an embodiment of the present application, a method for determining energy consumption of a vehicle is provided, where the method includes: acquiring a plurality of map data corresponding to a current navigation path, wherein the current navigation path is divided into a plurality of continuous path units, each path unit corresponds to one map data, and each map data comprises gradient information and vehicle running speed information of the corresponding path unit; determining path units with the same gradient information and the same vehicle running speed information as the same attribute road sections; and searching and obtaining the energy consumption of the unit vehicle corresponding to each road section with the same attribute according to a preset vehicle energy consumption table, and determining the vehicle energy consumption of each road section with the same attribute according to the energy consumption of the unit vehicle.

In one possible implementation, the vehicle energy consumption of each of the same attribute segments includes the vehicle energy consumption of each of the standard segments that divide the same attribute segment; the step of searching and obtaining the energy consumption of the unit vehicle corresponding to each road section with the same attribute according to a preset vehicle energy consumption table, and the step of determining the vehicle energy consumption of each road section with the same attribute according to the energy consumption of the unit vehicle comprises the following steps: dividing each road section with the same attribute into a plurality of standard road sections according to a preset dividing standard; and searching and obtaining the energy consumption of the unit vehicle corresponding to each standard road section according to a preset vehicle energy consumption table, and calculating the vehicle energy consumption of each standard road section according to the energy consumption of the unit vehicle corresponding to each standard road section, wherein the energy consumption of the unit vehicles of the standard road sections divided by the same road section with the same attribute is the same.

In one possible implementation manner, if the length of a certain identical-attribute road segment is L and the standard length of the preset standard road segment is M, the dividing each identical-attribute road segment into a plurality of standard road segments according to the preset division criteria includes:

dividing the road sections with the same attribute according to the standard length to obtain P standard road sections; To round the symbol up.

In one possible implementation manner, after the segments with the same attribute are divided according to the standard lengths, P standard segments are obtained, the method further includes: acquiring the real-time SOC of the vehicle; acquiring a cost matrix corresponding to the real-time SOC, wherein the cost matrix comprises cost rows or cost columns corresponding to the real-time SOC, and the cost rows or cost columns comprise N vehicle energy consumption costs respectively corresponding to N different torque conditions; searching the minimum vehicle energy consumption cost from the N vehicle energy consumption costs, and determining the torque corresponding to the minimum vehicle energy consumption cost; and determining the torque corresponding to the minimum vehicle energy consumption cost as the output torque of the current standard road section.

In one possible implementation manner, after the obtaining the plurality of map data corresponding to the current navigation path, the method further includes: updating the plurality of map data into a pre-constructed path unit data matrix; the path unit data matrix comprises at least one data synthesis parallel, and the value of each row element in the data synthesis parallel is obtained by combining map data corresponding to at least two adjacent path units; correspondingly, the determining the path unit with the same gradient information and the same vehicle running speed information as the same attribute road section comprises: and determining the path units with the same gradient information and the same vehicle running speed information as the same attribute road sections based on the path unit data matrix.

In one possible implementation manner, the navigation path is a navigation path from a real-time position of the vehicle to a navigation destination after the vehicle leaves a navigation departure point; correspondingly, updating the plurality of map data into the pre-constructed path unit data matrix comprises the following steps: determining a first data bit updated at this time according to the real-time position of the vehicle and the position relation of a path unit corresponding to the first map data in the plurality of map data; and updating the plurality of map data from the first data bit into a pre-constructed path unit data matrix according to a set relative position corresponding relation, wherein the relative position corresponding relation comprises the position relation of the path unit corresponding to each map data relative to the first data bit in the path unit data matrix.

In one possible implementation manner, the number of data combinations of the row elements with large row numbers in the path unit data matrix is greater than or equal to the number of data combinations of the row elements with small row numbers.

In one possible implementation, in the first row of the path element data matrix, the value of each row element corresponds to the value of one map data; the second row of the path unit data matrix is parallel to one data set, and the value of each row element is the average value of adjacent X map data; the third row of the path unit data matrix is parallel to one data set, and the value of each row element is the average value of adjacent Y map data; wherein Y > X.

In a second aspect of the embodiment of the present application, there is provided a device for determining energy consumption of a vehicle, the device including:

And the map data acquisition module is used for acquiring a plurality of map data corresponding to the current navigation path, wherein the current navigation path is divided into a plurality of continuous path units, each path unit corresponds to one map data, and each map data comprises gradient information and vehicle running speed information of the corresponding path unit.

And the same-attribute road section determining module is used for determining the path units with the same gradient information and the same vehicle running speed information as the same-attribute road sections.

The vehicle energy consumption determining module is used for searching and obtaining the unit vehicle energy consumption corresponding to each road section with the same attribute according to a preset vehicle energy consumption table, and determining the vehicle energy consumption of each road section with the same attribute according to the unit vehicle energy consumption.

In a third aspect of the embodiments of the present application, there is provided a vehicle including a control terminal including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method for determining vehicle energy consumption described above when executing the computer program.

In a fourth aspect of the embodiments of the present application, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above-described method for determining vehicle energy consumption.

The embodiment of the application provides a method and a device for determining vehicle energy consumption, a vehicle and a readable storage medium, wherein the method comprises the following steps: acquiring a plurality of map data corresponding to a current navigation path, wherein the current navigation path is divided into a plurality of continuous path units, each path unit corresponds to one map data, and each map data comprises gradient information and vehicle running speed information of the corresponding path unit; determining path units with the same gradient information and the same vehicle running speed information as the same attribute road sections; and searching and obtaining the energy consumption of the unit vehicle corresponding to each road section with the same attribute according to a preset vehicle energy consumption table, and determining the vehicle energy consumption of each road section with the same attribute according to the energy consumption of the unit vehicle. According to the method, the route units with the same gradient information and the same vehicle running speed in the navigation route map data are determined to be the same-attribute road sections, and then the vehicle energy consumption is determined based on the unit vehicle energy consumption corresponding to the same-attribute road sections, so that the vehicle energy consumption is prevented from being calculated for each route unit one by one, the calculated amount of the vehicle energy consumption is reduced, and the problem that a large amount of map data in a long-distance navigation scene is processed and determined by utilizing the limited calculation capacity of the vehicle is solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a method for determining vehicle energy consumption according to an embodiment of the present application;

fig. 2 is a block diagram of a vehicle energy consumption determining device according to an embodiment of the present application;

fig. 3 is a schematic block diagram of a control terminal of a vehicle according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following description will be made by way of specific embodiments with reference to the accompanying drawings.

In the embodiment of the application, the vehicle can obtain map data from a third party map merchant through navigation software, for example, when the vehicle is in navigation driving, a navigation path can be generated by combining information such as the real-time position, the passing point, the destination and the like of the vehicle, and the map data of the navigation path can be requested to the third party map merchant.

In a long-distance navigation scenario, the amount of data of map data that a vehicle requests from a third party map maker is large, for example, the map maker will generally divide a road on a map into a plurality of small segments according to a set distance, each small segment may be called a path unit, and each path unit may correspond to a piece of map data; then, if the map maker performs road division with a distance accuracy of 128 meters, the vehicle acquires map data corresponding to 3900 route units for navigation routes of 500 km or more; for navigation paths over 1000 km, the vehicle can acquire map data corresponding to a plurality of path units up to 7800; furthermore, these map data also need to be continuously updated during the running of the vehicle, which further increases the throughput of the data.

In a long-distance driving scene, the energy consumption of the vehicle needs to be calculated according to the navigation path because the duration of the vehicle is limited. The vehicle energy consumption is typically calculated from the vehicle historical average energy consumption and the distance travelled. The calculation of the mode is simple, but the average energy consumption of the vehicle history cannot completely represent the average energy consumption of the navigation path, and the calculation result is inaccurate. Or the energy consumption of each path unit in the navigation path is calculated one by one, and the vehicle energy consumption is obtained after accumulation. The method has high calculation accuracy, but in a long-distance navigation scene, the data size of map data is large, and the calculated amount of vehicle energy consumption is large. How to process a large amount of map data in a long-distance navigation scene to determine the energy consumption of the vehicle by utilizing the limited computing power of the vehicle is a problem to be solved.

Referring to fig. 1, fig. 1 is a flowchart of a method for determining vehicle energy consumption according to an embodiment of the present application, where the method includes:

s101: and acquiring a plurality of map data corresponding to the current navigation path, wherein the current navigation path is divided into a plurality of continuous path units, each path unit corresponds to one map data, and each map data comprises gradient information and vehicle running speed information of the corresponding path unit.

Illustratively, the navigation path connects a start point, a route point, and an end point. For example, a start point is determined based on current real-time position information of the vehicle, and a route point and an end point of travel are determined based on user setting information. The navigation software obtains a navigation path based on the starting point, the passing point and the ending point of the running, and provides a running path plan for the user.

The navigation path corresponds to a plurality of map data. When the vehicle cannot be networked, map data corresponding to the navigation path can be read in the local storage according to the navigation path. When the vehicle can be networked, the map data updated in real time can also be obtained in the third party map merchant server according to the navigation path.

Map data is typically provided by third party mappers. Third party mappers typically divide roads on a map into a plurality of small segments according to a set distance, each of the small segments may be referred to as a path unit, and each path unit may correspond to a piece of map data. The set distance may be 128 meters, for example.

The map data includes gradient information and vehicle travel speed information of its corresponding path unit. The gradient information indicates a gradient value of a road to which the path unit corresponds. For example, the gradient value may be an average gradient value of a road to which the path unit corresponds. In the real world, the gradient value of a road section is generally constant, for example, the gradient value of a road section is generally similar and constant within a distance of 128 meters. The map data stored locally may also be corrected by periodic updates when changes occur due to road maintenance gradients. The magnitude of the grade value may affect the torque output of the vehicle and thus the vehicle energy consumption.

The vehicle travel speed information in the map data indicates the estimated travel speed of the corresponding path unit. The third party map maker will generally predict the driving speed of the vehicle when driving to the path unit based on the road condition information of the path unit in combination with the historical actual driving speed. For example, if a certain path unit corresponds to a narrower road and has a large traffic flow, and the average historical driving speed is 20km/h, the maximum driving speed when the vehicle is driven to the path unit is predicted to be 20km/h. When the vehicle cannot be networked, the vehicle running speed information can be determined based on locally stored road condition information and the historical actual running speed, and the vehicle running speed information is the historical running speed information of the vehicle. When the vehicle can be networked, real-time travel speed information of the vehicle can be determined based on the road condition information for which update is implemented and the actual travel speed. The driving speed of the vehicle is related to the torque output by the vehicle, i.e. to the vehicle energy consumption.

S102: the path unit, in which both the gradient information and the vehicle travel speed information are the same, is determined as the same attribute road section.

The gradient information indicates a gradient value of a road in the real world. For example, the grade value of the road may be represented by an angle value or a longitudinal grade. The vertical gradient represents the ratio of the vertical height change to the horizontal travel distance of a certain road section. The longitudinal gradient of a motor vehicle lane is typically greater than 0.3% and less than 8% based on highway design specifications. The running speed of the motor vehicle lane is high, the gradient change range is small, and the gradient values of a plurality of path units are generally the same.

The vehicle travel speed information indicates a predicted travel speed when the vehicle travels to the path unit. In the actual driving process, the safety of stable driving is high, the energy consumption of the vehicle is low, and the predicted running speeds of a plurality of path units are generally the same.

If the gradient information of the two path units is the same and the vehicle running speed information of the two path units is also the same, determining the two path units as the same attribute road sections. Similarly, if the gradient information of the plurality of path units is the same and the vehicle running information of the plurality of path units is the same, the plurality of path units are determined to be the same-attribute road segments. There are two cases, case one: the gradient information and the vehicle running speed information of a plurality of continuous path units are the same, and the plurality of continuous path units form a continuous road section with the same attribute; and a second case: the plurality of discontinuous path units have the same gradient information and the same vehicle running speed information, and form discontinuous same-attribute road segments.

S103: and searching and obtaining the energy consumption of the unit vehicle corresponding to each road section with the same attribute according to a preset vehicle energy consumption table, and determining the vehicle energy consumption of each road section with the same attribute according to the energy consumption of the unit vehicle.

The preset vehicle energy consumption table represents the unit vehicle energy consumption of a certain type of vehicle at each gradient value and each running speed. The unit vehicle energy consumption is the vehicle energy consumption of the vehicle running unit distance. The traction vehicle runs at a certain speed by outputting driving force against the weight of the vehicle and running resistance when the vehicle runs. The energy consumed per unit distance in the process is typically fixed, predictable. For example, the vehicle energy consumption meter described above for a model vehicle may be determined by simulation for that model vehicle. For example, the unit vehicle energy consumption includes unit distance fuel consumption and/or unit distance electricity consumption.

The gradient information of the road sections with the same attribute is the same, the running speed information of the vehicle is the same, the torque of the vehicle running to the road sections with the same attribute is the same, and the energy consumption of the unit vehicle is the same. The vehicle energy consumption of the vehicle traveling through the same attribute road segment can be calculated according to the unit vehicle energy consumption of the same attribute road segment and the length of the same attribute road segment.

When the same-attribute road segments are continuous road segments formed by a plurality of continuous path units, the continuous same-attribute road segments are sequentially connected with the corresponding navigation paths. The attributes of the same-attribute road segments include the corresponding unit vehicle energy consumption and the length of the representation. For example, the energy consumption of all the vehicles on the road section with the same attribute on the navigation path can be accumulated to obtain the total vehicle energy consumption required by the navigation path, so as to judge whether the current total vehicle energy meets the total vehicle energy consumption of the navigation path. For example, the vehicle is 50L of the current remaining gasoline, the total required for the navigation path is 60L, the current remaining gasoline cannot complete the navigation path, and the user needs to be reminded to select a proper place to supplement gasoline during driving, or select the optimal position in all gas stations in the navigation path for recommending to the user.

When the same-attribute road sections are discontinuous road sections with the same attribute formed by a plurality of discontinuous path units, the vehicle energy consumption of each discontinuous road section with the same attribute can be used as the total vehicle energy consumption required by the navigation path after being accumulated. For example, each path unit in the set length in the navigation path can be obtained, the path unit with the same gradient information and the same vehicle running speed information is determined as the same attribute road section, and then the vehicle energy consumption of the same attribute road section is calculated, so that the total vehicle energy consumption of the set length is obtained. The set length may be a fixed value, for example, 50km, and the vehicle energy consumption per 50km in the navigation path is calculated to present the user with changes in vehicle energy consumption in the navigation path. The set length may be a non-fixed value, for example, the set length is the distance between the gas stations in the navigation path, and the user is informed of the refuelling by calculating the vehicle energy consumption of the vehicle between the two gas stations and the remaining oil quantity of the vehicle. For example, when the user reaches the first filling station and judges that the residual oil quantity of the vehicle is insufficient to meet the requirement that the vehicle runs from the current position to the second filling station, the user is reminded to fill the fuel at the first filling station.

According to the method for determining the vehicle energy consumption, route units with the same gradient information and the same vehicle running speed in the navigation route map data are determined to be the same-attribute road sections, and then the vehicle energy consumption is determined based on unit vehicle energy consumption corresponding to the same-attribute road sections, so that the vehicle energy consumption is prevented from being calculated for each route unit one by one, the calculated amount of the vehicle energy consumption is reduced, and the problem of determining the vehicle energy consumption by processing a large amount of map data in a long-distance navigation scene by utilizing the limited calculation capacity of the vehicle is solved.

When the length of the same-attribute road section is longer, the vehicle energy consumption corresponding to the same-attribute road section is larger. For example, if the length of the same-attribute road segment is 100km, the vehicle energy consumption corresponding to the same-attribute road segment may be 20% of the maximum oil amount of the common home automobile oil tank. The same-attribute road section is taken as a calculation unit, so that the calculation efficiency is improved, but the definition of the calculation unit is insufficient in practical application. For example, if a calculated 100km vehicle is consumed to remind a user to refuel in time, the setup distance of the gas station is generally not less than 6 km, the length of the attribute road section is long, and the fineness of the calculated vehicle energy consumption is obviously insufficient.

In one possible implementation, the vehicle energy consumption of each of the same attribute segments includes the vehicle energy consumption of each of the standard segments that divide the same attribute segment;

The searching to obtain the energy consumption of the unit vehicle corresponding to each road segment with the same attribute according to the preset vehicle energy consumption table, and determining the vehicle energy consumption of each road segment with the same attribute according to the energy consumption of the unit vehicle may include: dividing each road section with the same attribute into a plurality of standard road sections according to a preset dividing standard; and searching and obtaining the energy consumption of the unit vehicle corresponding to each standard road section according to a preset vehicle energy consumption table, and calculating the vehicle energy consumption of each standard road section according to the energy consumption of the unit vehicle corresponding to each standard road section, wherein the energy consumption of the unit vehicles of the standard road sections divided by the same road section with the same attribute is the same.

For example, the same-attribute road segments may be divided into a plurality of standard road segments according to a fixed division standard. For example, a certain common-attribute road segment has a length of 100km and a standard road segment has a length of 10km, and the common-attribute road segment can be divided into 10 standard road segments, and the vehicle energy consumption of each standard road segment is calculated. Further, the vehicle energy consumption distribution in the road section with the same attribute can be displayed to the user based on the vehicle energy consumption of each standard road section, or the user can be reminded of timely refueling by combining the residual oil quantity of the vehicle.

For example, the same-attribute road segments may be divided into a plurality of standard road segments according to a non-fixed division standard. For example, the urban road has high energy consumption per unit distance of the vehicle, and the density of the gas station or the charging station is large, and the length of the standard road section may be set to 3 to 5km. As another example, suburban highways, and vehicles with low energy consumption per unit distance, and gas stations or charging stations with low density, the length of a standard road section may be set to 10-20km. For example, the division criteria of the standard road segments may be adjusted according to the specific situation of the navigation path.

The unit vehicle energy consumption corresponding to a plurality of standard road sections in the same attribute road section is the same. And calculating the vehicle energy consumption of the standard road section according to the length of the standard road section and the unit vehicle energy consumption. If the lengths of the plurality of standard road segments in the same-attribute road segments are consistent, the vehicle energy consumption of only one standard road segment is actually calculated, and the vehicle energy consumption of each standard road segment is not required to be calculated once. After the standard road section is added, the fineness of the calculation of the vehicle energy consumption is improved, and the increase of the calculation amount of the vehicle energy consumption is small.

According to the vehicle energy consumption determining method provided by the embodiment of the application, the fineness of vehicle energy consumption calculation is improved by dividing the same-attribute road section with an overlong length into the standard road sections. Meanwhile, the standard road section division standard can be adjusted according to the navigation path so as to adapt to driving scenes of different road conditions, and the excessive calculation and the waste of limited calculation capacity of the vehicle are avoided while the calculation fineness of the energy consumption of the vehicle is improved.

In one possible implementation manner, if the length of a certain identical-attribute road segment is L and the standard length of the preset standard road segment is M, dividing each identical-attribute road segment into a plurality of standard road segments according to the preset division standard includes: dividing road sections with the same attribute according to standard lengths to obtain P standard road sections; To round the symbol up.

In practical applications, the length of the road segments with the same attribute is not necessarily an integral multiple of the length of the standard road segments. The length of the same-attribute road segment is divided by the length of the standard road segment and rounded up to obtain the standard segment number of the same-attribute road segmentRounding up the symbol; dividing the road sections with the same attribute into standard segments minus 1 standard road section, namely P-1 standard road sections; and taking the remainder of dividing the length of the road section with the same attribute with the length of the standard road section as the length of the last segment. The segmentation method ensures that the lengths of most segments are consistent, the segments with consistent lengths can only calculate the energy consumption of the vehicle once, and the calculated amount is reduced. The last segment is of different length and the vehicle energy consumption of that segment can be calculated separately. For example, a certain common-attribute section has a length of 55km and a standard section has a length of 10km, and the common-attribute section may be divided into 5 standard sections of 10km length and 1 section of 5 km. Calculating the vehicle energy consumption only requires calculating the vehicle energy consumption of the 10km standard segment and the vehicle energy consumption of the last 5km segment.

In one possible implementation manner, after the segments with the same attribute are divided according to the standard length, the method further includes: acquiring the real-time SOC of the vehicle; acquiring a cost matrix corresponding to the real-time SOC, wherein the cost matrix comprises cost rows or cost columns corresponding to the real-time SOC, and the cost rows or the cost columns comprise N vehicle energy consumption costs respectively corresponding to N different torque conditions; searching the minimum vehicle energy consumption cost from the N vehicle energy consumption costs, and determining the torque corresponding to the minimum vehicle energy consumption cost; and determining the torque corresponding to the minimum vehicle energy consumption cost as the output torque of the current standard road section.

Illustratively, the vehicle includes a hybrid electric vehicle or a pure electric vehicle. The SOC is the State of Charge of the battery, state of Charge, abbreviated as SOC. The electric automobile uses a power battery as an energy source, and drives the automobile to run through an electric motor. The real-time SOC of the vehicle, i.e., the real-time SOC of the vehicle's power battery. The current SOC of the vehicle is different, different torques are selected and output, and the energy consumption cost of the vehicle is different.

The cost matrix includes N vehicle energy costs for N different torque conditions corresponding to the real-time SOC. The cost matrix includes corresponding vehicle energy costs for different torque conditions in different SOC states. After the implementation SOC of the vehicle is obtained, the vehicle energy consumption cost corresponding to different torque conditions under the corresponding state can be searched in the cost matrix. The state of the SOC in the cost matrix may be set to a preset range, for example, the SOC is divided into 10 levels by 10% one level. If the value of the real-time SOC falls into a certain level, the cost matrix corresponding to the level is used as the cost matrix corresponding to the real-time SOC.

And selecting the torque corresponding to the minimum vehicle energy consumption cost from the N vehicle energy consumption costs, and determining the torque as the output torque of the current standard road section. And selecting the torque with the minimum vehicle energy consumption cost from the cost matrix based on the corresponding cost matrix searched by the real-time SOC, so as to ensure the minimum vehicle energy consumption.

Based on the minimum vehicle energy consumption cost torque determined by the method, the vehicle energy consumption in a certain standard road section can be calculated. For example, the electricity consumption of the vehicle on a certain standard road section is obtained; acquiring the real-time SOC of the vehicle; and calculating the predicted SOC of the vehicle at the end of the standard road section according to the real-time SOC and the power consumption of the vehicle at the standard road section. The predicted SOC at the end of the standard link may be used as the initial SOC at the start of the next standard link.

The plurality of map data corresponding to the current navigation path obtained in step S101 may be stored in a table form. For example, the fields are set in the table: the map data corresponding to each path unit is stored in a preset table according to rows. And reading each row by row to obtain map data corresponding to each path unit.

The plurality of map data corresponding to the current navigation path obtained in step S101 may also be stored in a matrix form. For example, a gradient matrix and a velocity matrix of one row and a plurality of columns are provided, and the column labels indicate the numbers of the path units. And the gradient information and the speed information corresponding to a certain path unit can be obtained through reading the matrix row labels and the matrix column labels.

For example, the values stored in the grade matrix and the speed matrix may be actual grade values and actual speed values. For example, in step S102, by comparing the actual gradient values corresponding to the two adjacent path units with the actual speed values corresponding to the two adjacent path units, it can be determined whether the two adjacent path units belong to the same attribute road segment. In the running process of the vehicle, the calculation of the energy consumption of the vehicle is continuously updated, the calculation amount of the huge-amount path units is huge in pairwise comparison, and the calculation efficiency is low.

In a long-distance navigation scenario, the amount of data that a vehicle requests obtained map data from a third party mappers is large. If the map maker divides the road with the distance precision of 128 meters, the vehicle can acquire map data corresponding to 3900 route units for navigation routes of more than 500 kilometers; the limited memory space of the vehicle is used to efficiently process a large amount of map data in a long-distance navigation scene, which is a problem to be solved.

In one possible implementation manner, after acquiring the plurality of map data corresponding to the current navigation path, the method further includes: updating a plurality of map data into a pre-constructed path unit data matrix; the path unit data matrix comprises at least one data aggregation parallel, wherein the value of each row element in the data aggregation parallel is obtained by combining map data corresponding to at least two adjacent path units; accordingly, determining the path unit, for which both the gradient information and the vehicle travel speed information are the same, as the same-attribute road section includes: and determining the path units with the same gradient information and the same vehicle running speed information as the same attribute road segments based on the path unit data matrix.

In a long-distance navigation scenario, the amount of data that a vehicle requests obtained map data from a third party mappers is large. In order to enable the limited storage space to store map data of a longer navigation path, the embodiment can set one or more rows in the path unit data matrix to store merging data based on practical situations, wherein the merging data is obtained by merging map data of at least two adjacent path units, so that the problem that a large amount of map data cannot be stored in a long-distance navigation scene due to limited memory space is solved.

The path cell data matrix is a multi-row multi-column matrix, and illustratively, map data is stored in the order of the preceding and following columns. The rows of the path cell data matrix include data-set parallelism and non-data-set parallelism. The values of each row of elements in the data combination parallel are obtained by combining map data corresponding to at least two adjacent path units. For example, the map data corresponding to two adjacent route units are averaged and stored in the element of the data set. The elements of the data-set parallelism are the matrix units of the data-set parallelism. The values of each row of elements in the non-data-set parallel correspond to map data of one path unit.

In practical applications, the importance of the portion of the navigation path closer to the current real-time position of the vehicle is higher than that of the portion farther away. The energy consumption calculation accuracy requirement of the part of the vehicle which is closer to the current real-time position of the vehicle is also higher. Correspondingly, the short-distance map data are stored in the non-data combination parallel, and the long-distance map data are stored in the data combination parallel, so that the short-distance vehicle energy consumption calculation precision can be ensured, the route unit data matrix can store the map data of a longer navigation scene through data combination in a limited memory space, and the vehicle energy consumption calculation under the longer navigation scene is ensured.

The method for determining the vehicle energy consumption provided by the embodiment of the application enables the path unit data matrix to store the map data of the longer navigation scene through data combination in the limited memory space, and ensures the vehicle energy consumption calculation under the longer navigation scene.

In one possible implementation, the navigation path is a navigation path from a real-time location of the vehicle to a navigation destination after the vehicle leaves the navigation start point. Correspondingly, updating the plurality of map data into the pre-constructed path unit data matrix comprises: and determining the first data bit updated at the time according to the real-time position of the vehicle and the position relation of the path unit corresponding to the first map data in the plurality of map data.

And updating the plurality of map data from the first data bit into a pre-constructed path unit data matrix according to a set relative position corresponding relation, wherein the relative position corresponding relation comprises the position relation of the path unit corresponding to each map data relative to the first data bit in the path unit data matrix.

In this embodiment, the third party data terminal may sequentially send the map data of each path unit to the host vehicle at preset time intervals, or may send only the map data of the path unit with the data change, where the data change refers to the change of the map data of the current path unit relative to the map data of the previous path unit, and in this case, the path unit without the map data sent by the third party data terminal may refer to the map data of the previous path unit, where the two are equal.

For the map data of each path unit of the whole navigation path, when the map data of each path unit of the whole navigation path is received, the control terminal can store the map data of each path unit into the path unit data matrix according to a preset fixed position relationship. The fixed position relationship indicates that the first row position of the path unit corresponding to the path unit data matrix with the offset of 1 is taken as a starting alignment point, and the path unit is aligned with each position in the path unit data matrix according to the rule that the order of the offset of the path unit is from small to large and the order of the path unit is from left to right and from top to bottom.

And if the control terminal of the vehicle monitors that the offset of the current path unit is smaller than that of the previous path unit, judging that the new round of map data is received, and determining a first data bit updated by the vehicle according to the real-time position of the vehicle and the position relationship of the path unit corresponding to the first map data in the plurality of map data.

Specifically, the first map data refers to map data corresponding to a first route unit among map data of navigation routes from the real-time position of the vehicle to the navigation destination after leaving the navigation departure place. The control terminal may first acquire a path unit to which the real-time position of the vehicle belongs and a path unit to which the first map data belongs, and determine the first data bit updated this time based on an offset relationship of the two path units.

Specifically, starting from the first data bit, according to the rule that the path unit data matrix corresponds to the order from left to right and from top to bottom in the order from small to large of the offset of the path units, the map data originally at the corresponding position in the path unit data matrix is replaced by the latest map data of each path unit, so that the map data is stored and updated.

For example, if the offset of the path unit of the real-time position of the vehicle is 10, the position of the 1 st row and the 2 nd column in the path unit data matrix is the first data bit updated this time, and the offset of a certain path unit is 15, the map data of the path unit is stored in the position of the 1 st row and the 5 th column in the path unit data matrix.

In one possible implementation, the number of data combinations of row elements with a large row number in the path unit data matrix is greater than or equal to the number of data combinations of row elements with a small row number. The data merging number refers to the number of merged map data, for example, K rows of row elements are obtained by merging K map data, I rows of row elements are obtained by merging I map data, and if K > I, K is greater than I.

In one possible implementation, if the path element data matrix includes three rows of elements, in a first row of the path element data matrix, a value of each row element corresponds to a value of map data; the second row of the path unit data matrix is parallel to one data set, and the value of each row element is the average value of adjacent X map data; the third row of the path unit data matrix is parallel to one data set, and the value of each row element is the average value of adjacent Y map data; wherein Y > X. Illustratively, Y may be 4 and X may be 2.

In this embodiment, in order to ensure accuracy of map data of a road section nearest to the vehicle, the path unit data matrix provided in this embodiment may set that data combination is not performed on the first K rows, and starting from k+1 rows, the number of data combinations of each row element in the subsequent row is greater than the number of data combinations of row elements in the previous row. So as to ensure that the map data closer to the vehicle is more accurate, thereby ensuring the accuracy of the map data and storing all map data of a larger navigation path in a limited memory.

Fig. 2 is a block diagram of a vehicle energy consumption determining device according to an embodiment of the present application. For convenience of explanation, only portions relevant to the embodiments of the present application are shown. Referring to fig. 2, the vehicle energy consumption determining apparatus 2 includes: a map data acquisition module 21, a common attribute road section determination module 22, and a vehicle energy consumption determination module 23.

The map data obtaining module 21 is configured to obtain a plurality of map data corresponding to a current navigation path, where the current navigation path is divided into a plurality of continuous path units, each path unit corresponds to one map data, and each map data includes gradient information and vehicle running speed information of its corresponding path unit.

The same-attribute road segment determining module 22 is configured to determine a path unit having the same gradient information and the same vehicle running speed information as the same-attribute road segment.

The vehicle energy consumption determining module 23 is configured to find and obtain a unit vehicle energy consumption corresponding to each of the road segments with the same attribute according to a preset vehicle energy consumption table, and determine the vehicle energy consumption of each of the road segments with the same attribute according to the unit vehicle energy consumption.

According to the embodiment of the application, the route units with the same gradient information and the same vehicle running speed in the navigation route map data are determined to be the same-attribute road sections, and then the vehicle energy consumption is calculated based on the unit vehicle energy consumption corresponding to the same-attribute road sections, so that the vehicle energy consumption is prevented from being calculated for each route unit one by one, the calculated amount of the vehicle energy consumption is reduced, and the problem of determining the vehicle energy consumption by processing a large amount of map data in a long-distance navigation scene by utilizing the limited calculation capability of the vehicle is solved.

In one possible implementation, the vehicle energy consumption of each of the same attribute segments includes the vehicle energy consumption of each of the standard segments that divide the same attribute segment; the unit vehicle energy consumption corresponding to each identical-attribute road section is obtained according to a preset vehicle energy consumption table, and the vehicle energy consumption of each identical-attribute road section is determined according to the unit vehicle energy consumption, which comprises the following steps: dividing each road section with the same attribute into a plurality of standard road sections according to a preset dividing standard; and searching and obtaining the energy consumption of the unit vehicle corresponding to each standard road section according to a preset vehicle energy consumption table, and calculating the vehicle energy consumption of each standard road section according to the energy consumption of the unit vehicle corresponding to each standard road section, wherein the energy consumption of the unit vehicles of the standard road sections divided by the same road section with the same attribute is the same.

In one possible implementation manner, if the length of a certain identical-attribute road segment is L and the standard length of the preset standard road segment is M, dividing each identical-attribute road segment into a plurality of standard road segments according to the preset division standard includes:

dividing road sections with the same attribute according to standard lengths to obtain P standard road sections; To round the symbol up.

In one possible implementation, the navigation path is a navigation path from a real-time position of the vehicle to a navigation destination after the vehicle leaves the navigation departure point; correspondingly, updating the plurality of map data into the pre-constructed path unit data matrix comprises: determining a first data bit updated at this time according to the real-time position of the vehicle and the position relation of a path unit corresponding to first map data in the plurality of map data; and updating the plurality of map data from the first data bit into a pre-constructed path unit data matrix according to a set relative position corresponding relation, wherein the relative position corresponding relation comprises the position relation of the path unit corresponding to each map data relative to the first data bit in the path unit data matrix.

In one possible implementation, the number of data combinations of row elements with a large row number in the path unit data matrix is greater than or equal to the number of data combinations of row elements with a small row number.

In one possible implementation, in a first row of the path element data matrix, the value of each row element corresponds to the value of one map data; the second row of the path unit data matrix is parallel to one data set, and the value of each row element is the average value of adjacent X map data; the third row of the path unit data matrix is parallel to one data set, and the value of each row element is the average value of adjacent Y map data; wherein Y > X.

Fig. 3 is a schematic block diagram of a control terminal of a vehicle provided by an embodiment of the present application. As shown in fig. 3, the control terminal 3 of this embodiment includes: a processor 30, a memory 31 and a computer program 32 stored in the memory 31 and executable on said processor 30. The processor 30, when executing the computer program 32, implements the steps of the above-described embodiments of the method for determining the energy consumption of each vehicle, such as steps S101 to S103 shown in fig. 1. Or the processor 30, when executing the computer program 32, performs the functions of the modules/units of the device embodiments described above, such as the functions of the modules 21 to 23 shown in fig. 2.

Illustratively, the computer program 32 may be partitioned into one or more modules/units that are stored in the memory 31 and executed by the processor 30 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 32 in the control terminal 3. For example, the computer program 32 may be divided into modules 21 to 23 shown in fig. 2.

The control terminal 3 may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The control terminal 3 may include, but is not limited to, a processor 30, a memory 31. It will be appreciated by those skilled in the art that fig. 3 is merely an example of the control terminal 3 and does not constitute a limitation of the control terminal 3, and may include more or less components than illustrated, or may combine certain components, or different components, e.g. the control terminal may further include input and output devices, network access devices, buses, etc.

The processor 30 may be a central processing unit (Central Processing Unit, CPU), other general purpose processor, digital signal processor (DIGITAL SIGNAL processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-programmable gate array (field-programmable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 31 may be an internal storage unit of the control terminal 3, such as a hard disk or a memory of the control terminal 3. The memory 31 may be an external storage device of the control terminal 3, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD) or the like, which are provided on the control terminal 3. Further, the memory 31 may also include both an internal storage unit and an external storage device of the control terminal 3. The memory 31 is used for storing the computer program and other programs and data required by the control terminal. The memory 31 may also be used for temporarily storing data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/control terminal and method may be implemented in other manners. For example, the apparatus/control terminal embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of the method embodiment for determining energy consumption of each vehicle when the computer program is executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A method for determining energy consumption of a vehicle, the method comprising:

Acquiring a plurality of map data corresponding to a current navigation path, wherein the current navigation path is divided into a plurality of continuous path units, each path unit corresponds to one map data, and each map data comprises gradient information and vehicle running speed information of the corresponding path unit;

Determining path units with the same gradient information and the same vehicle running speed information as the same attribute road sections;

and searching and obtaining the energy consumption of the unit vehicle corresponding to each road section with the same attribute according to a preset vehicle energy consumption table, and determining the vehicle energy consumption of each road section with the same attribute according to the energy consumption of the unit vehicle.

2. The method for determining vehicle energy consumption according to claim 1, wherein the vehicle energy consumption of each of the identical attribute sections includes the vehicle energy consumption of each of the standard sections that divide the identical attribute section;

the step of searching and obtaining the energy consumption of the unit vehicle corresponding to each road section with the same attribute according to a preset vehicle energy consumption table, and the step of determining the vehicle energy consumption of each road section with the same attribute according to the energy consumption of the unit vehicle comprises the following steps:

Dividing each road section with the same attribute into a plurality of standard road sections according to a preset dividing standard;

And searching and obtaining the energy consumption of the unit vehicle corresponding to each standard road section according to a preset vehicle energy consumption table, and calculating the vehicle energy consumption of each standard road section according to the energy consumption of the unit vehicle corresponding to each standard road section, wherein the energy consumption of the unit vehicles of the standard road sections divided by the same road section with the same attribute is the same.

3. The method for determining energy consumption of vehicle according to claim 2, wherein if the length of a certain identical-attribute road segment is L and the standard length of a preset standard road segment is M, dividing each identical-attribute road segment into a plurality of standard road segments according to a preset division standard comprises:

4. The method for determining vehicle energy consumption according to claim 3, further comprising, after dividing the same-attribute road segments by the standard length to obtain P standard road segments:

Acquiring the real-time SOC of the vehicle;

Acquiring a cost matrix corresponding to the real-time SOC, wherein the cost matrix comprises cost rows or cost columns corresponding to the real-time SOC, and the cost rows or the cost columns comprise N vehicle energy consumption costs respectively corresponding to N different torque conditions;

Searching the minimum vehicle energy consumption cost from the N vehicle energy consumption costs, and determining the torque corresponding to the minimum vehicle energy consumption cost;

and determining the torque corresponding to the minimum vehicle energy consumption cost as the output torque of the current standard road section.

5. The method for determining vehicle energy consumption according to any one of claims 1 to 4, characterized by further comprising, after the acquiring the plurality of map data corresponding to the current navigation path:

Updating the plurality of map data into a pre-constructed path unit data matrix; the path unit data matrix comprises at least one data synthesis parallel, and the value of each row element in the data synthesis parallel is obtained by combining map data corresponding to at least two adjacent path units;

Correspondingly, the determining the path unit with the same gradient information and the same vehicle running speed information as the same attribute road section comprises:

and determining the path units with the same gradient information and the same vehicle running speed information as the same attribute road sections based on the path unit data matrix.

6. The method for determining vehicle energy consumption according to claim 5, wherein the navigation route is a navigation route from a real-time position of the vehicle to a navigation destination after the vehicle leaves a navigation departure point;

correspondingly, updating the plurality of map data into the pre-constructed path unit data matrix comprises the following steps:

Determining a first data bit updated at this time according to the real-time position of the vehicle and the position relation of a path unit corresponding to the first map data in the plurality of map data;

7. The method for determining vehicle energy consumption according to claim 6, wherein the number of data combinations of row elements with a large row number in the path unit data matrix is equal to or greater than the number of data combinations of row elements with a small row number.

8. A device for determining energy consumption of a vehicle, the device comprising:

The system comprises a map data acquisition module, a navigation module and a navigation module, wherein the map data acquisition module is used for acquiring a plurality of map data corresponding to a current navigation path, the current navigation path is divided into a plurality of continuous path units, each path unit corresponds to one map data, and each map data comprises gradient information and vehicle running speed information of the corresponding path unit;

The same-attribute road section determining module is used for determining a path unit with the same gradient information and the same vehicle running speed information as a same-attribute road section;

9. A vehicle, characterized by comprising: a control terminal; the control terminal comprises a memory, a processor and a computer program stored in the memory and executable on the processor, which processor, when executing the computer program, carries out the steps of the method for determining the energy consumption of a vehicle according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method of determining vehicle energy consumption according to any one of claims 1 to 7.