WO2019153190A1

WO2019153190A1 - Method for controlling driving of electric vehicle, and controller, electric vehicle and storage medium

Info

Publication number: WO2019153190A1
Application number: PCT/CN2018/075835
Authority: WO
Inventors: 阳光; 李玥
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2018-02-08
Filing date: 2018-02-08
Publication date: 2019-08-15
Also published as: CN109311402A; CN109311402B

Abstract

A method for controlling the driving of an electric vehicle. The method comprises: acquiring road condition data of a road section to be driven on, state data of a current electric vehicle, and historical data of the driving of the electric vehicle (S100); planning, according to the road condition data, the state data and the historical data, an optimal driving mode in which the electric vehicle drives on the road section to be driven on (S200); and controlling the electric vehicle so that same drives, according to the optimal driving mode, on the road section to be driven on (S300). The electric vehicle drives according to the optimal driving mode, so that the electric vehicle consumes the least amount of energy when driving on the road section to be driven on, thereby improving the endurance of the electric vehicle. Also disclosed are a controller for implementing the steps of the method, an electric vehicle having the controller, and a storage medium storing a program for executing the steps of the method.

Description

Method, controller, electric vehicle and storage medium for controlling electric vehicle driving

[Technical Field]

The present application relates to the field of electric vehicle technology, and in particular, to a method, a controller, an electric vehicle, and a storage medium for controlling driving of an electric vehicle.

【Background technique】

With the global energy shortage and the growing problem of environmental pollution, electric vehicles have emerged.

At the same time, how to use effective resources reasonably and efficiently to maximize the energy from an effective environment is a priority in any field.

In the long-term research, the inventor of the present application found that for different road conditions, the electric vehicle has different driving conditions, which causes the energy consumed by it to be different. However, in the process of controlling the electric vehicle, there is a lack of driving mode for the electric vehicle. The planning, which leads to the unreasonable use of the battery power of the electric vehicle, makes the electric vehicle's battery life generally low.

[Description]

The technical problem mainly solved by the present application is to provide a method, a controller, an electric vehicle and a storage medium for controlling the driving of an electric vehicle, which can improve the endurance of the electric vehicle.

In order to solve the above technical problem, a technical solution adopted by the present application is to provide a method for controlling driving of an electric vehicle, including:

Obtaining road condition data of the road section to be driven, current state data of the electric vehicle, and historical data of the driving of the electric vehicle;

Determining, according to the road condition data of the to-be-traveled road section, the current state data of the electric vehicle, and the historical data of the electric vehicle traveling, the optimal driving mode of the electric vehicle driving the to-be-traveled road section;

Controlling the electric vehicle to travel on the to-be-traveled section according to the optimal driving mode,

Wherein, the optimal driving mode enables the electric vehicle to consume the least amount of energy when driving the road section to be driven.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide a controller, including: a processor and a memory, where the memory is coupled to the processor, and the processor controls itself and the The memory is implemented to implement the steps in the above method of controlling the travel of the electric vehicle.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide an electric vehicle including the above controller.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide a storage medium storing program data, the program data being executable to implement the steps in the method for controlling driving of an electric vehicle. .

The beneficial effects of the present application are: different from the prior art, the method for controlling the driving of the electric vehicle in the present application includes: obtaining road condition data of the road section to be driven, current state data of the electric vehicle, and historical data of the driving of the electric vehicle; The road condition data of the driving section, the current state data of the electric vehicle and the historical data of the electric vehicle driving, plan the optimal driving mode of the road section to be driven by the electric vehicle; control the electric vehicle to drive on the road section to be driven according to the optimal driving mode, The method can combine the historical data of the electric vehicle driving, the road condition data of the road section to be driven, and the current state data of the electric vehicle to plan the optimal driving mode of the electric vehicle, and control the electric vehicle to perform on the to-be-traveled section according to the optimal driving mode. Driving, so that the electric vehicle can consume the least amount of energy and improve the battery life.

[Description of the Drawings]

1 is a schematic flow chart of an embodiment of a method for controlling driving of an electric vehicle according to the present application;

2 is a schematic flow chart of another embodiment of a method for controlling driving of an electric vehicle according to the present application;

3 is a schematic flow chart of still another embodiment of a method for controlling driving of an electric vehicle according to the present application;

4 is a schematic structural diagram of an embodiment of a controller of the present application;

5 is a schematic structural view of an embodiment of an electric vehicle of the present application;

FIG. 6 is a schematic structural diagram of an embodiment of a storage medium of the present application.

【Detailed ways】

Referring to FIG. 1 , FIG. 1 is a schematic flowchart of an embodiment of a method for controlling driving of an electric vehicle according to the present application. The method includes:

S100: Obtain road condition data of the road section to be driven, status data of the current electric vehicle, and historical data of the electric vehicle travel.

The road section to be driven refers to the road section that the electric vehicle is about to travel. For example, before the user travels, the driving start point and the end point input by the user on the electric vehicle are obtained, and the road section to be traveled is determined according to the starting point and the end point, thereby obtaining the to-be-driving road. The road condition data of the road section, or when the electric vehicle is driving, obtains the current positioning through the GPS, and according to the driving habit of the user history, judges and analyzes the road section that the user is most likely to enter, and uses the road section as the road section to be driven, and then obtains the waiting section. Road condition data of the driving section.

The current state data of the electric vehicle refers to the state data of the electric vehicle before or after the driving of the road section to be traveled, and specifically includes various indicators that can reflect the current electric vehicle capability.

For example, when the electric vehicle needs to travel from point A to point B, the road condition data from point A to point B is acquired, and the state data when the electric vehicle travels to point A is acquired.

Optionally, the historical data of the electric vehicle travel includes: historical road condition data of the electric vehicle before traveling and historical state data of the electric vehicle corresponding to the historical road condition data, the historical data can reflect the electric vehicle in different states, according to different The energy consumed when driving in various sections.

S200: According to the road condition data of the road section to be driven, the current state data of the electric vehicle and the historical data of the electric vehicle driving, the optimal driving mode of the road section to be driven by the electric vehicle is planned, wherein the optimal driving mode enables the electric vehicle to drive The energy consumed is minimal when the road segment is to be driven.

The road condition data of the road section to be driven, the current state data of the electric vehicle and the driving mode of the electric vehicle when driving the road section to be driven determine the energy consumed by the electric vehicle when driving the road section to be traveled, due to the road condition data of the road section to be driven, the current electric power The state data of the automobile is all uncontrollable. Therefore, in the present embodiment, the optimal driving mode of the electric vehicle while driving the road section to be driven is planned to minimize the energy consumed by the electric vehicle.

Optionally, the step specifically includes: searching for the optimal driving mode of the road condition data corresponding to the road section to be traveled and the current state data of the electric vehicle in the historical data of the electric vehicle driving, thereby planning the most traveling road section of the electric vehicle to travel Excellent driving style.

Generally speaking, when an electric vehicle travels the same road section in different driving modes under different states, different energy consumption conditions are generated correspondingly, that is, the electric vehicle can be driven differently under a certain state. The method drives a certain road section, and the different driving modes correspond to different energy consumptions. Therefore, when the road condition data of the road section to be driven and the current state data of the electric vehicle are obtained, the corresponding road condition can be found in the historical data. A variety of driving modes of data and status data, and further finding the driving mode corresponding to the minimum energy consumption, which is the optimal driving mode, thereby planning the optimal driving mode of the road section to be driven by the electric vehicle.

S300: Control the electric vehicle to drive on the road to be driven according to the optimal driving mode.

After the optimal driving mode is planned, the electric vehicle is controlled to travel on the road section to be driven according to the optimal driving mode, so that the electric vehicle consumes the least amount of energy.

In the above embodiment, by acquiring the road condition data of the road section to be driven, combining the road condition data of the road section to be traveled, the current state data of the electric vehicle, and the historical data of the electric vehicle driving, the electric vehicle is planned to be on the road section to be driven. The optimal driving mode and the control of the electric vehicle to drive according to the optimal driving mode enable the electric vehicle to consume the least amount of energy when driving the road section to be driven, thereby improving the endurance capability of the electric vehicle.

Referring to FIG. 2, FIG. 2 is a schematic flow chart of another embodiment of a method for controlling driving of an electric vehicle according to the present application. In addition to the foregoing embodiment, before the step S100, the method further includes:

S400: Record and save the road condition data of the electric vehicle during running and the state data of the electric vehicle corresponding to the road condition data.

Specifically, when the electric vehicle is traveling, the road condition data of the electric vehicle during traveling and the state data of the electric vehicle corresponding to the road condition data are recorded and saved in real time, and the saved road condition data and the state data are performed by the power supply vehicle during the next driving. For reference, the saved road condition data is historical road condition data, and the saved state data is historical state data.

Among them, the road condition data of the electric vehicle can be obtained through maps, such as high-precision maps, electronic maps, or by gyroscopes installed on electric vehicles, gravity acceleration sensors, etc., or by laser ranging techniques. Means obtained. It can be understood that when the road condition data is obtained by the map, only the state data of the electric vehicle during traveling is recorded in step S400, and the road condition data is associated with the state data of the electric vehicle.

Optionally, in this embodiment, the historical data of the electric vehicle traveling acquired in step S100 may be historical data recorded and saved on the currently traveling electric vehicle, or may be called by the network and currently traveling. Historical data for other vehicles of the same or similar type of electric vehicles are not limited herein.

Meanwhile, in the present embodiment, the road condition data includes: slope data such as the position of the flat land, the length of the flat land, the position of the uphill slope, the position of the downhill slope, the height of the uphill slope, the height of the downhill slope, the angle of the uphill slope, and the downhill slope. The angle and so on. The state data of the electric vehicle corresponding to the road condition data includes: the remaining power of the electric vehicle, the output voltage of the electric vehicle, and the traveling speed of the electric vehicle, wherein the remaining power, the output voltage, and the traveling speed of the electric vehicle are in one-to-one correspondence.

Since the driving mode of the electric vehicle is directly reflected as the traveling speed, and the traveling speed is determined by the driving road condition and the output voltage of the electric vehicle, and since the road condition is uncontrollable, in the present embodiment,

Step S200 specifically includes:

S210: In the historical data of the electric vehicle running, searching for an optimal output voltage sequence corresponding to the road condition data of the road segment to be traveled and the current state data of the electric vehicle, thereby planning an optimal output voltage sequence of the road segment to be traveled by the electric vehicle, wherein The optimal output voltage sequence enables the electric vehicle to consume the least amount of energy while driving the road segment to be traveled.

Step S300 specifically includes:

S310: Control the battery of the electric vehicle to output a voltage according to an optimal output voltage sequence, thereby controlling the electric vehicle to travel on the road to be driven according to the optimal driving mode.

The output voltage sequence represents the output voltage of the electric vehicle corresponding to different road segments on the road segment.

Specifically, in order to be able to intuitively plan, the road condition data and the corresponding state data are recorded and saved in the form of a table/curve in step S400. Specifically, when the electric vehicle travels a certain section, the road condition data and the state data of the electric vehicle are recorded in real time, and the recorded road condition data and the state data are formed into a graph about each point on the traveling section, or the recorded road condition data, The state data is discretized to form a table of road condition data and state data regarding the interval points on the travel section.

For example, when an electric car travels from point A to point B, the slope data of each point on the road segment is recorded in real time, and the remaining power, output voltage, and traveling speed of the electric vehicle when driving to each point, and finally the slope data graph is formed. The remaining power curve, the output voltage curve, and the traveling speed curve, wherein the slope data curve, the remaining power curve, the output voltage curve, and the abscissa of the driving speed graph are each point on the driving section, The coordinates are slope data, remaining power, output voltage, travel speed, or a table of slope data corresponding to the interval point, the remaining power of the electric vehicle, the output voltage, and the travel speed.

Optionally, in order to reflect the correspondence between the road condition data and the state data of the electric vehicle and the one-to-one correspondence between the remaining power, the output voltage, and the traveling speed, the slope data, the remaining power, the output voltage, and the traveling speed may also be selected. Expressed in the same graph/table.

Therefore, in the embodiment, step S210 specifically includes:

In the historical data of the electric vehicle travel, the optimal output voltage sequence corresponding to the gradient data of the road section to be traveled and the remaining electric power of the current electric vehicle is searched, thereby planning the optimal output voltage sequence of the road section to be traveled by the electric vehicle.

That is, through the graph/form in the historical data, a plurality of output voltage sequences corresponding to the gradient data of the road segment to be traveled and the remaining electric power of the current electric vehicle are searched, and the optimal output voltage sequence corresponding to the minimum energy consumption is further found. Thereby, an optimal output voltage sequence for the electric vehicle to travel is planned.

Optionally, in this embodiment, in order to improve the speed of planning the optimal output voltage sequence in step S210, before searching for the optimal output voltage sequence corresponding to the gradient data of the road segment to be traveled and the current power consumption of the electric vehicle, :

Analyze historical data of electric vehicle travel, and calculate the energy consumed by the electric vehicle when driving the same slope data segment with different output voltage sequences under the same remaining power consumption;

Analyze the energy consumed by the electric vehicle when driving the same slope data segment with different output voltage sequences under the same remaining power, and calculate the optimal output voltage when the electric vehicle runs the same slope data segment under different remaining power. sequence.

Specifically, each time an electric car travels, one or more sets of graphs/tables are formed. When a certain number of graphs/tables are obtained, the big graph can be used to analyze the graph/form, and the electric car is counted. Under the same remaining power, the energy consumed when driving the segments of the same slope data with different output voltage sequences, and the resulting data is expressed in the form of a graph/table. Optionally, the finally obtained data is presented in the same graph/table, so that an optimal output voltage sequence corresponding to a remaining power of the electric vehicle for the same grade of the road section can be obtained. At the same time, after a large number of the above analysis, it is also possible to calculate the optimal output voltage sequence when the electric vehicle is driving the same slope data under different remaining power. That is, by analyzing the historical data of the electric vehicle travel, it is found that the electric vehicle has the optimal output voltage sequence corresponding to the minimum energy consumption when driving a certain section under different remaining power.

Therefore, when searching for the optimal output voltage sequence corresponding to the gradient data of the road segment to be traveled and the current power consumption of the electric vehicle, the method includes:

The road condition data of the road section to be driven is analyzed, and the road section to be driven is divided into several sub-sections from the start point to the end point;

In the historical data of the electric vehicle driving, the optimal output voltage sub-sequences for driving several sub-sections are sequentially planned;

The optimal output voltage subsequence corresponding to several sub-sections are sequentially combined to plan an optimal output voltage sequence for the electric vehicle to travel.

That is, after the optimal output voltage subsequence of each subsection is planned, the respective output voltage subsequences are combined to obtain the final optimal output voltage sequence of the to-be-traveled section.

Among them, in the historical data of electric vehicle travel, the optimal output voltage subsequences for driving several sub-sections are sequentially planned, including:

In the historical data of the electric vehicle running, searching for the slope data of the corresponding sub-section and the optimal output voltage sub-sequence of the remaining electric quantity of the electric vehicle traveling to the sub-section;

In the historical data of the electric vehicle running, the remaining electric quantity after the electric vehicle travels in the sub-segment according to the optimal output voltage sub-sequence is found, and the remaining electric quantity is used as the remaining electric quantity when the electric vehicle travels to the next sub-section.

Specifically, the road segment to be traveled is divided into several specific sub-sections from the starting point to the end point, for example, divided into a section A, a section B, a section C, a section D, according to the slope data of the section A and the current surplus of the electric vehicle. The electric quantity, find the corresponding section A in the historical data, the most energy-efficient optimal output voltage sub-sequence of the electric vehicle under the remaining electric quantity, and estimate the remaining electric quantity A ₁ of the electric vehicle after the driving of the section A according to the historical data. At this time, the optimal output voltage subsequence corresponding to the remaining energy A ₁ and the section B of the remaining energy is found in the historical data, and the remaining power B ₁ of the electric vehicle after the road section B is estimated is estimated. Similarly, after finding the optimal energy output subsequence corresponding to each section, the optimal output voltage subsequences are combined according to the order of the road segments, thereby obtaining the optimal output voltage corresponding to the entire road segment to be traveled. The sequence enables the electric vehicle to travel on the road to be driven in accordance with the optimal driving mode.

To facilitate understanding of the above embodiments, specific examples are given herein.

After a certain amount of recording, the big data analysis is used to calculate the electric vehicle consumption under the same remaining power, when driving on a specific section with an uphill 30° angle and an uphill height of half a meter with several different output voltage sequences. The energy situation and forms the table in Table 1 below.

Table 1 Energy consumption of an electric vehicle running at a specific output voltage sequence with a different output voltage sequence at an angle of 30° uphill and a specific section with an uphill height of half a meter

As can be seen from the above table, for the specific section of the 30° uphill slope and the uphill slope height of half a meter, when the remaining power of the electric vehicle is 80%, the most energy-saving driving mode is the driving mode 1, Then, the output voltage sequence corresponding to the driving mode 1 is an optimal output voltage sequence corresponding to the electric vehicle when the remaining power is 80%.

After passing through several sets of statistics similar to those in Table 1, it is possible to analyze and calculate the most economical situation when the electric vehicle is driving at an angle of 30° uphill and a specific section with an uphill height of half a meter under different remaining power. The way the energy travels and forms the table in Table 2 below.

Table 2: The electric vehicle runs at an angle of 30° uphill with different remaining power, and the specific section of the uphill slope is half a meter, and the driving mode corresponding to the least energy consumption

It can be understood that, after the similar analysis described above, it is also possible to obtain various driving modes corresponding to the electric vehicle operating under different remaining power levels, driving different specific sections and consuming the least amount of energy. Of course, the above analysis process can also be represented in the form of a graph, and details are not described herein again.

After obtaining the road condition data of the road section to be traveled, it can be analyzed that the road section to be traveled is divided into several specific sub-sections, for example, it can be divided into a specific sub-section 1, a specific sub-section 2, a specific sub-section 3, and the like. The specific sub-segment is a specific section of the slope of 30° uphill and the slope height is half a meter, and the current state data of the electric vehicle is: 75% of the remaining electricity, the output voltage is 230V, and the driving speed is 85km/h. Corresponding to the state data, in Table 2, find the optimal output voltage subsequence of driving a specific sub-segment in this state, and estimate that after running a specific sub-segment, the energy consumed is 8%, that is, driving After the completion of a specific sub-segment, the state data of the electric vehicle is: the remaining power 67%, the output voltage 238V, the driving speed 78km/h, corresponding to the current state data, and then find the corresponding driving specific in the table similar to Table 2 The optimal output voltage subsequence of the sub-segment 2 and the state data after the specific sub-segment 2 is traveled, and continue to find the optimal output voltage of the specific sub-segment 3 in the corresponding table by using the state data. a subsequence, thereby sequentially combining the optimal output voltage subsequences corresponding to the three specific subsections to obtain an optimal output voltage sequence of the entire to-be-traveled section, and controlling the electric vehicle to follow the optimum on the to-be-traveled section The output voltage sequence outputs a voltage to ensure that the electric vehicle consumes the least amount of energy when driving the road segment.

Optionally, in other application scenarios, after obtaining the road condition data of the road section to be traveled, if it is found that the electric vehicle has traveled the to-be-traveled road section multiple times, the state data corresponding to the current electric vehicle is found in the historical data, and the electric vehicle is used. After driving according to different driving modes, the energy consumed is used to find the driving mode of the electric vehicle with the least energy consumption, which is specifically expressed as the optimal output voltage sequence of the electric vehicle, and then the electric vehicle is controlled according to the optimal output voltage. The sequence travels on the road to be driven.

Referring to FIG. 3, FIG. 3 is a schematic flow chart of another embodiment of a method for controlling driving of an electric vehicle according to the present application. Different from the above embodiment, in the embodiment, step S210 is to plan the most traveled section of the electric vehicle to be driven. The excellent output voltage sequence also includes: planning an optimal traveling speed sequence of the electric vehicle when driving the road section to be driven.

And after planning the optimal driving speed sequence when the electric vehicle is driving the to-be-traveled section, the method further includes:

S220: Optimize the optimal output voltage sequence such that the acceleration of the electric vehicle is less than the first threshold.

The traveling speed of the electric vehicle is determined by the road condition data during driving and the output voltage of the electric vehicle. Therefore, in the present embodiment, after obtaining the optimal output voltage sequence, the road condition data of the road segment to be traveled and the optimal output voltage sequence are obtained. The optimal travel speed sequence, which can be obtained by the graph/form in the above embodiment, will not be described here.

At the same time, in order to maintain the smooth change of the speed of the electric vehicle, and to give the user a good sense of comfort, after the optimal driving speed sequence is obtained, when it is judged that the acceleration of the electric vehicle is greater than the first threshold, that is, the speed of the electric vehicle changes drastically, the algorithm optimizes The optimal output voltage sequence is used to indirectly optimize the optimal driving speed sequence to ensure that the speed of the electric vehicle is balanced during driving and improve the user experience.

In the present embodiment, considering various factors encountered when the electric vehicle is running, the road condition data further includes: traffic indicator data encountered by the electric vehicle while driving, and braking frequency of the electric vehicle while driving. a road segment position greater than a second threshold, a current time, and the like, wherein the traffic indicator data includes a red light, a green light, and a duration of the yellow light encountered by the electric vehicle, and the road segment position where the braking frequency is greater than the second threshold indicates that the electric vehicle travels to The position of the road section is often braked, wherein the second threshold can be determined on a case-by-case basis.

Therefore, when planning the driving mode of an electric vehicle, it is also necessary to consider factors such as red light, traffic congestion, and easy braking position that the electric vehicle may encounter, for example, when the electric vehicle is traveling, it is found at a distance from the current position. At the crossroads of 100 meters, the traffic signal is red, and the distance to the green light is 10 seconds. Then the electric car is controlled to do the uniform deceleration immediately to ensure that the electric car arrives at the intersection just 10 seconds. Or, if the braking frequency of the electric vehicle is greater than the second threshold from the current position of 100 meters, it indicates that there may be traffic congestion at this place, and the traffic flow is not very optimistic, then the electric vehicle is controlled to slowly decelerate, thereby ensuring that the electric vehicle is driving. The user has good comfort.

Referring to FIG. 4, FIG. 4 is a schematic structural diagram of an embodiment of a controller according to the present application. In this embodiment, the controller includes: a processor 40 and a memory 41.

The memory 41 is coupled to the processor 40. The processor 40 controls itself and the memory 41 during operation to implement the steps in the method for controlling the running of the electric vehicle in any of the above embodiments. For the detailed control method of driving the electric vehicle, refer to the above. , will not be detailed here.

Referring to FIG. 5, FIG. 5 is a schematic structural diagram of an embodiment of an electric vehicle according to the present application. The electric vehicle 50 includes a controller 501, wherein the controller 501 is a controller in the above embodiment. For details, see the above embodiment. No longer.

Referring to FIG. 6, FIG. 6 is a schematic structural diagram of an embodiment of a storage medium of the present application. The storage medium 60 stores program data 601, which can be executed to implement the steps in the method for controlling driving of an electric vehicle. For the method of controlling the driving of the electric vehicle, refer to the above embodiment, and details are not described herein again.

The storage medium 50 is specifically a computer storage medium, which may be, but not limited to, a terminal, a USB flash drive, an SD card, a PD optical drive, a mobile hard disk, a large-capacity floppy disk drive, a flash memory, a multimedia memory card, or a server. .

The above description is only the embodiment of the present application, and thus does not limit the scope of the patent application, and the equivalent structure or equivalent process transformation of the specification and the drawings of the present application, or directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of this application.

Claims

A method for controlling driving of an electric vehicle, characterized in that the method comprises:

Obtaining road condition data of the road section to be driven, current state data of the electric vehicle, and historical data of the driving of the electric vehicle;

Determining, according to the road condition data of the to-be-traveled road section, the current state data of the electric vehicle, and the historical data of the electric vehicle traveling, the optimal driving mode of the electric vehicle driving the to-be-traveled road section;

Controlling the electric vehicle to travel on the to-be-traveled section according to the optimal driving mode,

Wherein, the optimal driving mode enables the electric vehicle to consume the least amount of energy when driving the road section to be driven.
The method according to claim 1, wherein the electric vehicle is planned to be driven according to the road condition data of the road segment to be traveled, the state data of the current electric vehicle, and the historical data of the electric vehicle traveling. The optimal driving mode of the road section to be driven includes:

In the historical data of the driving of the electric vehicle, searching for an optimal driving manner corresponding to the road condition data of the to-be-traveled road section and the current electric vehicle's state data, thereby planning that the electric vehicle runs the to-be-traveled road section Optimal driving style.
The method according to claim 1, wherein the historical data of the electric vehicle travel includes: historical road condition data of the electric vehicle before traveling and historical state data of the electric vehicle corresponding to the historical road condition data. .
The method according to claim 1, wherein before the obtaining the road condition data of the road section to be traveled, the current state data of the electric vehicle, and the historical data of the electric vehicle driving, the method further comprises:

The road condition data of the electric vehicle during traveling and the state data of the electric vehicle corresponding to the road condition data are recorded and saved.
The method of claim 1 wherein

The road condition data includes: slope data,

The status data includes: a remaining amount of the electric vehicle, an output voltage of the electric vehicle, and a traveling speed of the electric vehicle,

The remaining power of the electric vehicle, the output voltage of the electric vehicle, and the traveling speed of the electric vehicle are in one-to-one correspondence.
The method according to claim 5, wherein the electric vehicle is planned to be driven according to the road condition data of the road segment to be traveled, the state data of the current electric vehicle, and the historical data of the electric vehicle running The optimal driving mode of the road section to be driven includes:

In the historical data of the electric vehicle travel, searching for an optimal output voltage sequence corresponding to the road condition data of the to-be-traveled road section and the current electric vehicle's state data, thereby planning the electric vehicle to drive the to-be-traveled section Optimal output voltage sequence,

Wherein, the optimal output voltage sequence enables the electric vehicle to consume the least amount of energy when driving the road section to be traveled.
The method according to claim 6, wherein the controlling the electric vehicle to travel on the to-be-traveled road section according to the optimal driving mode comprises:

The battery of the electric vehicle is controlled to output a voltage according to the optimal output voltage sequence, thereby controlling the electric vehicle to travel on the to-be-traveled road section according to the optimal driving mode.
The method according to claim 6, wherein in the historical data of the electric vehicle travel, an optimal output voltage corresponding to the road condition data of the road section to be traveled and the state data of the current electric vehicle is searched. a sequence to plan an optimal output voltage sequence of the electric vehicle driving the to-be-traveled road segment, including:

In the historical data of the electric vehicle travel, searching for an optimal output voltage sequence corresponding to the gradient data of the to-be-traveled road segment and the remaining electric power of the current electric vehicle, thereby planning that the electric vehicle travels the to-be-traveled road segment The optimal output voltage sequence.
The method according to claim 8, wherein in the historical data of the electric vehicle travel, searching for an optimum output voltage sequence corresponding to the gradient data of the road segment to be traveled and the remaining power of the current electric vehicle ,Also includes:

Analyzing historical data of the electric vehicle driving, and counting the energy consumed by the electric vehicle when driving the same slope data segment with different output voltage sequences under the same remaining power consumption;

The energy consumed by the electric vehicle running the same slope data segment with different output voltage sequences under the same remaining power amount is analyzed, and the electric vehicle is counted when driving the same slope data under different remaining power levels. Optimal output voltage sequence.
The method according to claim 8, wherein in the historical data of the electric vehicle travel, searching for an optimum output voltage corresponding to the gradient data of the road segment to be traveled and the remaining power of the current electric vehicle a sequence to thereby plan an optimal output voltage sequence of the electric vehicle to travel the to-be-traveled section, including:

The road condition data of the road section to be traveled is analyzed, and the road section to be traveled is divided into several sub-sections from the start point to the end point;

In the historical data of the electric vehicle running, the optimal output voltage sub-sequences for driving the plurality of sub-sections are sequentially planned;

The optimal output voltage subsequence corresponding to the plurality of sub-sections are sequentially combined to plan an optimal output voltage sequence of the electric vehicle to travel the to-be-traveled section.
The method according to claim 10, wherein in the historical data of the electric vehicle traveling, an optimal output voltage subsequence for driving the plurality of sub-sections is sequentially planned, including:

In the historical data of the electric vehicle running, searching for an optimal output voltage subsequence corresponding to the slope data of the sub-section and the remaining electric quantity of the electric vehicle traveling to the sub-section;

In the historical data of the electric vehicle running, searching for the remaining electric quantity after the electric vehicle drives the sub-section according to the optimal output voltage sub-sequence, and using the remaining electric quantity as the electric vehicle to drive the next sub-section remaining battery.
The method according to claim 6, wherein when the electric vehicle is planned to drive the optimal output voltage sequence of the to-be-traveled road segment, the method further includes:

A sequence of optimal travel speeds of the electric vehicle when driving the road section to be traveled is planned.
The method according to claim 12, further comprising: after the planning the optimal driving speed sequence when the electric vehicle is driving the to-be-traveled road segment, further comprising:

The optimal output voltage sequence is optimized such that the acceleration of the electric vehicle is less than a first threshold.
The method of claim 5 wherein:

The road condition data further includes: traffic indicator data, a position of the road segment where the braking frequency of the electric vehicle is greater than a second threshold when driving.
The method according to claim 1, wherein the obtaining the road condition data of the road segment to be driven comprises:

Downloading a map of the road segment to be traveled, thereby acquiring road condition data of the road segment to be traveled.
A controller, comprising: a processor and a memory, the memory coupled to the processor, the processor controlling itself and the memory to implement claims 1 to 15 while in operation The steps of any of the methods described.
An electric vehicle, characterized in that the electric vehicle comprises the controller of claim 16.
A storage medium characterized in that the storage medium stores program data, the program data being executable to implement the steps in the method according to any one of claims 1 to 15.