WO2020020621A1

WO2020020621A1 - Method and apparatus for range estimation for a vehicle

Info

Publication number: WO2020020621A1
Application number: PCT/EP2019/068250
Authority: WO
Inventors: David Vollmer; Stephan Gase
Original assignee: Robert Bosch Gmbh
Priority date: 2018-07-24
Filing date: 2019-07-08
Publication date: 2020-01-30
Also published as: DE102018212256A1; CN112714715A; KR20210035845A

Abstract

The invention relates to a method and apparatus for range estimation for a vehicle, wherein a remaining range for the vehicle is determined depending on a correlation between at least one digital representation of an environment, in which the vehicle is operated, and information on at least one consumption value in said environment (210), wherein the correlations are updated (224) depending on a result of a comparison in which the correlation for the vehicle is compared to a plurality of correlations of other vehicles (220).

Description

description

title

Method and device for range estimation for a vehicle

State of the art

The invention relates to a method and an apparatus for

Range estimation for a vehicle.

Range estimates for vehicles are used to predict a remaining range. On the one hand, there will be a remaining one

Amount of fuel remaining or, in the case of electric or hybrid vehicles, a state of charge of a battery. Based on information about a position of the vehicle and, if applicable, about a by

The route calculated by the navigation system, which the vehicle should cover, the remaining range is determined. Deviations of the prediction for the remaining range from an actually reachable range occur, for example, due to ignorance of certain route characteristics or due to differences between an assumed driving style and an actual driving style or due to other environmental influences. An improvement in the range estimate is therefore desirable.

Disclosure of the invention

This is achieved by a device and a method according to the independent claims.

With regard to the method for range estimation for a vehicle, it is provided that a remaining range for the vehicle depends on an association between at least one digital representation of an environment in which the vehicle is operated and information about at least one a consumption value is determined in this environment, the

Assignments are updated depending on a result of a comparison in which the assignment for the vehicle is compared with a large number of assignments for other vehicles. These are e.g. depending on different map attributes.

A measured consumption is determined to estimate the range

Assigned route attributes such as Incline, speed,

Road class, number of lanes. A dependency through

Outside temperatures, secondary consumers, component data such as State of Charge (SOC) or State of Health (SOH), time and time after the start of the journey can also be assigned to the digital representation of the environment. The assignment is a table or a map in which a specific consumption value for each of the recorded environments

Range estimation can be used. In addition to an empirical range estimate, methods from machine learning (e.g. artificial neural networks) can be used.

Each of the assignments arises locally in the operation of the respective vehicles and is compared by comparison with other assignments of other vehicles. This enables local consumption statistics to be learned first. This information is compared and optimized, for example, in a distributed computing system among different vehicles. For example, identical vehicles of one vehicle type are compared. The

Range estimation is improved for all vehicles because of the

Range estimate is based on a consumption value of other vehicles in the same environment, without the vehicle itself having to have already carried out a measurement in this environment.

It is preferably provided that depending on at least one of the

A basic assignment is determined, the basic assignment being specified as an assignment for the vehicle when the method is first carried out on a vehicle. A basic data record is created from the collection of information. The basic data set is used as a starting value for new vehicles. It is preferably provided that at least one assignment is determined locally with respect to the vehicle, the assignment for determining the result of the comparison being sent to a transmitter / receiver remote with respect to the vehicle, the result of the comparison being received, and the assignment being local is updated regarding the vehicle. This distributed solution enables a large amount of data to be processed without the individual vehicles requiring control units with high computing power.

It is preferably provided that the digital representation of the environment is an identification of a street segment or an attribute of a

Road segment includes. In this way, consumption statistics are saved for each street segment. Vehicles that drive on a road segment for the first time can use the consumption data of vehicles that drive on the same road segment to estimate the range

with similar conditions with regard to, for example, an outside temperature, time, or with regard to similar traffic conditions. This significantly improves the accuracy of the range estimate.

It is preferably provided that the digital representation of the surroundings comprises, as an attribute, information that includes a number of the lanes of the vehicle

Characterized road segment, an upward or downward gradient of the road segment, or a type of the road segment. The type of road segment defines, for example, whether the vehicle is in a city, on a road

Country road or on a highway. This information further improves the range estimate, since different driving styles can be expected depending on the environment.

It is preferably provided that the digital representation of the environment comprises the identification of the road segment, a deviation of the consumption values of different vehicles from one another being determined as a function of the information about the at least one consumption value of two or more vehicles, and information about the deviation at least one of the vehicles is sent. The deviation of the consumption values on the same route is a measure of different driving behavior of the individual vehicles or the driver. Passing on this information as feedback to the vehicle offers potential for changing or adapting the driving behavior. Likewise, an individual vehicle and a driver can be compared to one

Set subset of a total fleet of vehicles of the same type.

It is preferably provided that the deviation from consumption values of vehicles of different vehicle types is determined. Various

This makes vehicle types comparable. For example, the consumption between vehicle type A is always 20% higher than vehicle type B at a speed of 30km / h.

It is preferably provided that the deviation from consumption values of vehicles of the same vehicle type or of the same vehicle is determined. Different drivers or driving styles can thus be compared.

Sample routes in a plurality of directions starting from a current location of the vehicle are preferred for the

Range estimation determines and depending on the range estimate a range display of the vehicle possible and / or achievable

Destinations and / or routes visualized there.

At least one is preferred for range estimation

Determines the road segment and a consumption value assigned to the road segment, the consumption value being estimated as a function of an expected, in particular, average speed for the road segment, the speed as a function of, in particular, learned preferences of a driver, consumption characteristics of the vehicle, route characteristics, in particular speed limits, and / or one predictive cruise control is determined for piloted driving. This represents a particularly suitable application of the range estimation.

Regarding the device, it is provided that the device comprises a processor and a memory with instructions, when executed by the processor a remaining range for the vehicle depending on an assignment between at least one digital representation of an environment, in which the vehicle is operated, and information about at least one consumption value is determined in this environment, the association for the vehicle being updated depending on a result of at least one comparison in which the association with a plurality of associations of others

Vehicles is compared. Such a device offers an improved range estimation.

It is preferably provided that depending on at least one of the

Assignments, a basic assignment is determined, the basic assignment being predeterminable as an assignment for the vehicle when the range estimation is first carried out on a vehicle. With a new vehicle, a particularly good starting value can be used for the range estimation.

It is preferably provided that at least one assignment can be determined locally with respect to the vehicle, the device comprising a transmitter which is designed to send the assignment for determining the result of the comparison to a transmitter / receiver remote with respect to the vehicle, the device comprises a receiver which is designed to receive the result of the comparison, and wherein the assignment is local with respect to the

Vehicle is updated. This distributed computing structure offers the possibility of using large amounts of data, which further improve the range estimate.

Provision is preferably made for the device to comprise a navigation device which uses the digital representation of the environment

Provides street segments, the digital representation of the environment identifying a street segment or an attribute of one

Road segment includes. This is an improved prediction of a

Range also possible in a vehicle that has never been on the

Road segment with this identification or attribute drove.

Characterized road segment, an upward or downward gradient of the road segment, or a type of the road segment. It is preferably provided that the digital representation of the environment comprises the identification of the road segment, a deviation of the consumption values of different vehicles from one another being determined as a function of the information about the at least one consumption value of two or more vehicles, and information about the deviation at least one of the vehicles is sent. This means that different consumption values can be compared on the same street segment.

It is preferably provided that the deviation from consumption values of vehicles of different vehicle types is determined.

It is preferably provided that the deviation from consumption values of vehicles of the same vehicle type or of the same vehicle is determined. Different driving styles are comparable.

Determines the range estimate, the device comprising a range indicator which is designed to visualize possible and / or reachable travel destinations and / or routes to it depending on the range estimate of the vehicle.

Further advantageous embodiments result from the following

Description and the drawing. The drawing shows:

1 schematically shows a device for range estimation,

Fig. 2 schematically steps in a method for range estimation.

FIG. 1 schematically shows device 100 for range estimation for a vehicle, characterized in that device 100 comprises a processor 102 and a memory 104 with instructions, when executed by processor 102 a remaining range for the vehicle depending on an assignment between at least one digital

Representation of an environment in which the vehicle is operated, and Information about at least one consumption value is determined in this environment.

The assignment for the vehicle is updated as a function of a result of at least one comparison in which the assignment is compared with a large number of assignments for other vehicles.

In one aspect, a base assignment for the device is determined depending on at least one of the assignments. In this case, the basic assignment can be specified as an assignment for the vehicle when the range estimation is first carried out on a vehicle.

In one aspect, at least one assignment can be determined and / or updated locally with respect to the vehicle. The device includes, for example, a transmitter 106 which is designed to send the assignment for determining the result of the comparison to a transmitter / receiver 108 which is remote from the vehicle. The device 100 comprises, for example, a receiver 110 which is designed to receive the result of the comparison.

In one aspect, the device comprises a navigation device 112, which provides the digital representation of the surroundings with road segments. The digital representation of the environment includes an identification of a street segment or an attribute of a street segment.

The navigation device 1 12 comprises, for example, a global one

Navigation satellite systems, GNSS, or other facility for

Determination of a position of the vehicle and associated geographic information. The navigation device 112 comprises, for example, a map of a

Surroundings, especially a topographical map, as information about the surroundings. The information about the environment includes, for example, a division into road segments. Each road segment is assigned, for example, its incline or descent, a number of lanes in the road segment, or a type of road segment such as country road, motorway, city, direction of travel, average speed per segment. The digital representation of the environment can include this information as an attribute.

Alternatively or additionally, the digital representation of the environment can identify the street segment, for example a unique one

Identification number, include.

In the example, the device 100 comprises an interface 114 for a

Connection to a vehicle communication network via the information about a current operating state, in particular via a state of charge, state of health of a battery of the vehicle, a current one

Vehicle speed and / or the consumption of secondary consumers can be received. Data lines 116 connect these elements. The

Communication takes place, for example, using the controller area network protocol. A wireless connection 118 connects the transmitter 106 and the receiver 110 to the remote transmitter / receiver 108. Communication takes place, for example, using the Long Term Evolution network protocol.

A tabular digital representation is given below in two examples as an example for an electric vehicle. A variety of tables can be provided for different types of vehicles or vehicles. Depending on the outside temperature or other factors influencing consumption, such as secondary consumers, state of health or state of charge of a battery in the vehicle, different tables can be used. One or more maps can be used to hold this information. As an alternative to the tabular digital representation, a model of the vehicle or an artificial neural network can be used. These can be evaluated using a machine learning process or model formation with parameter estimation using the measurement data that the vehicles collect. In a learning phase, measurement data from

Vehicles are used to train the artificial neural network or to parameterize the model. In this case, the range estimation is carried out in an application phase using the artificial neural network or the model.

Example 1 : For the electric vehicle, consumption values for street clusters are given in the first example. A street cluster is a category into which a large number of streets with the same attributes fall. As attributes

a number of lanes, e.g. 1 lane, 2 lane, 3 lane, ..., a gradient in% or a gradient in -% and a type of segment, i.e. Overland, highway, city, specified.

In this example, different consumption values are assigned to different vehicle speeds. This results in an initial assignment:

Road cluster 30km / h 40km / h 50km / h

1 lane, 0.5% gradient, city 18Wh 20Wh 35Wh

2 lanes, 1% incline, Autobahn 23Wh 24Wh 25Wh

1 lane, 3% gradient, overland 26 Wh 27 Wh 28 Wh

In the example, the first assignment is stored in the memory 104 and is updated as described in the method below.

To estimate the range, it is first determined in which street cluster the vehicle is currently located. Then the consumption value is determined from the first assignment that is closest to the current vehicle speed. This is used to make a prediction of the battery charge remaining after driving through the route section, i.e. to determine a remaining state of charge. If a destination is known, or which route segments the vehicle is to travel through, the prediction can include these route segments. For this purpose, the device can be designed to use a destination from the navigation system 112. Many future inevitable route segments, for example on a motorway to be driven through to the next exit

Track segments can also be used. To at

sections ahead the expected speed

to estimate, the learned speed preferences of the driver and / or the vehicle can be used. In order to create or update the first assignment locally, the device is designed to measure a consumption value while the vehicle is moving in a route segment. The consumption value is then assigned to a route cluster, the attributes of which best match the attributes of the route segment just passed. The

Consumption value is e.g. assigned an average speed that is closest to the average vehicle speed driven for this road segment. In the example, this is done in addition to the update by the result of the comparison with other assignments.

Example 2:

In the second example, the electric vehicle uses consumption values for certain road segments. A street segment is uniquely identified by an identification, for example an identification number. This

Information originates, for example, from the navigation system 1 12, in which road segments are assigned to geographic positions. A current vehicle position can thus be clearly assigned to a road segment. No other attributes are therefore necessary. Knowledge of the number of lanes, the slope or the slope or the type of the route segment are implicitly included.

Road segment 30km / h 40km / h 50km / h

ID23525 18Wh 20Wh 35Wh

ID23526 23Wh 24Wh 25Wh

ID23527 26Wh 27Wh 28Wh

In the example, the second assignment is stored in the memory 104 and is updated as described in the method below.

To estimate the range, it is determined in which road segment the vehicle is located and the consumption value from the second assignment used that is closest to the average vehicle speed. If the destination is known, the consumption values of the road segments are summed up to the destination. The consumption values are, for example, as average consumption values, consumption values dependent on the time of day or driver or vehicle-specific consumption values for each of the road segments in

Contain map data that form the basis for the range estimate.

Provision can be made to estimate the average speed to be expected per road segment. This can e.g. based on learned preferences of the driver and / or consumption characteristics of the vehicle. Route properties such as speed limits from the map data can also be used. For example, at 80km / h

Speed limit and 76 km / h average speed of all vehicles are based, for example, on an anticipated vehicle speed of 78 km / h or a predictive speed control for piloted driving. If a driver does not enter a destination,

Example routes used in a variety of directions from a current location of the vehicle for range estimation. Depending on the range estimate, it is provided in one aspect that a range display of a vehicle visualizes possible and / or reachable destinations and routes to it.

To create or update the second assignment, the device is designed to recognize a road segment currently being driven through, to determine the consumption value, and the second assignment in the

Street segment assigned identification to supplement the speed with the consumption value, that of the average driven

Vehicle speed of the segment is closest.

The device 100 is designed to carry out the method described below with reference to FIG. 2. The method starts, for example, after device 100 is switched on.

In a step 200, it is checked whether the method on the device 100 is being carried out for the first time. If it's a first

Step 201 executes the method on the device 100. Otherwise a step 202 is carried out. In step 201, the device 100 requests a basic arrangement from the remote transceiver 108. For this purpose, the vehicle type or the vehicle identification is preferably transmitted.

A step 203 is then carried out.

In step 203, a basic assignment is determined for at least one of the assignments for other vehicles. Preferably one

Transfer basic assignment for the same vehicle type. This will

possibly determined depending on the vehicle identification.

A step 205 is then carried out.

In step 205, the base map from device 100 is received by the remote transceiver.

A step 207 is then carried out.

In step 207, the basic assignment is specified as an assignment for the vehicle.

Step 202 is then carried out.

In step 202, the range estimate is initialized locally on device 100. For this purpose, a current position of the vehicle and a current vehicle speed are determined.

A step 204 is then carried out.

In step 204, an identification of a road segment is determined locally on the device 100.

A step 206 is then carried out. In step 206, an identification of a road segment is determined locally on the device 100.

Then a step 208 is carried out.

In step 208, a consumption value for the street segment determined by the identification of the street segment and the determined middle segment

Vehicle speed determined locally on device 100. The

Consumption value is determined from the assignment for the road segment with the corresponding identification for the speed that is closest to the current vehicle speed.

Then a step 210 is carried out.

In step 210, a remaining range for the vehicle is determined locally on the device 100 depending on the consumption value. In addition, consumption values of secondary consumers, the state of chart or other quantities that are significant for the range can be taken into account. The prediction of the remaining range can be several consecutive

Include route sections. The range is determined, for example, for a destination known by entering the destination or for the road segments that are expected with the highest probability.

Step 212 is then carried out.

The remaining range is output in step 212. The output can be sent to a display in the vehicle or via the interface 114

Display device of the vehicle are output. If no destination has been entered, the range can be built up from a momentary location of the vehicle using a range polyon via various points in all directions. Example routes are, for example, in a variety of directions based on a current location of the

Vehicle intended for range estimation. In this case, a range indicator is designed to visualize possible and / or achievable travel destinations and / or routes there, in particular with the range polyon, depending on the range estimate of the vehicle. Then a step 214 is carried out.

In step 214, an assignment between at least one digital

Representation of an environment in which the vehicle is operated and information about at least one consumption value in this environment.

For example, an average vehicle speed is used when driving through the road segment and an actual consumption value for driving through the road segment is determined. The identification represents the digital representation of the environment. The actual consumption value is determined, for example, by the difference in the state of charge immediately before and immediately after driving through the road segment. A current state of charge of the battery before and after driving through the road segment is determined locally on the device 100 or received via the interface 114.

Then a step 216 is carried out.

In step 216, the consumption value is stored locally on the device 100 in the assignment in the element which is identified by the identification of the road segment and the average vehicle speed. The assignment is determined locally with respect to the vehicle.

Then a step 218 is carried out.

In step 218, the assignment from the device 100 for determining the result of the comparison is sent to the transmitter / receiver 108 which is remote from the vehicle.

Then a step 220 is carried out.

In step 220, the remote transmitter / receiver 108 performs a comparison in which the assignment for the vehicle is compared with a plurality of assignments for other vehicles. Depending on at least one of the assignments, a new version of the basic assignment is determined in the example, which is specified as an assignment for the vehicle when the method is first carried out on a vehicle.

A step 222 is then carried out.

In step 222, the result of the comparison is sent by the remote transceiver 108 and received locally by the device 100.

For example, a new assignment for comparison is received.

Then a step 224 is carried out.

In step 224, the assignment is updated locally with respect to the vehicle depending on the result of the comparison.

If the new assignment deviates from the assignment of the vehicle, the new assignment is stored locally as the assignment of the vehicle, for example. Step 200 is then carried out.

In one aspect, depending on the information about the at least one consumption value of two or more vehicles for the same road segment, a deviation of the consumption values of different vehicles from one another is determined, and information about the deviation is sent to at least one of the vehicles.

The deviation from consumption values of vehicles can be determined for different vehicle types, for vehicles of the same vehicle type or for driving through the same road segment through the same vehicle at different times.

In this case, the deviation is sent to one or all participating vehicles as feedback.

Claims

Expectations

1. Method for range estimation for a vehicle, thereby

characterized in that a remaining range for the vehicle depends on an assignment between at least one digital

Representation of an environment in which the vehicle is operated and information about at least one consumption value in this environment is determined (210), the associations being updated depending on a result of a comparison (224) in which the association for the vehicle with a A large number of assignments of other vehicles is compared (220).

2. The method according to claim 1, characterized in that a basic assignment is determined as a function of at least one of the assignments (203, 220), the basic assignment being specified as an assignment for the vehicle when the method is first carried out on a vehicle (205).

3. The method according to claim 1 or 2, characterized in that

at least one association is determined locally (214) with respect to the vehicle, the association for determining the result of the comparison being sent (218) to a transmitter / receiver remote from the vehicle, the result of the comparison being received (222), and wherein the mapping is updated locally (224) with respect to the vehicle.

4. The method according to any one of the preceding claims, characterized in that the digital representation of the environment comprises an identification of a street segment or an attribute of a street segment.

5. The method according to claim 4, characterized in that the digital

Representation of the environment as an attribute information that includes a number of lanes of the road segment, an incline or a Characterized slope of the road segment, or a type of the road segment.

6. The method according to any one of claims 4 or 5, characterized in that the digital representation of the environment comprises the identification of the road segment, wherein depending on the information about the at least one consumption value of two or more vehicles for the same road segment, a deviation of the consumption values of different vehicles from each other is determined, and wherein information about the deviation is sent to at least one of the vehicles.

7. The method according to claim 6, characterized in that the deviation of consumption values of vehicles of different types of vehicles is determined.

8. The method according to claim 6, characterized in that the deviation of consumption values of vehicles of the same vehicle type or the same vehicle is determined.

9. The method according to any one of the preceding claims, characterized in that example routes are determined in a plurality of directions based on a current location of the vehicle for the range estimation and depending on the range estimation

Range display of the vehicle visualizes possible and / or achievable destinations and / or routes to them.

10. The method according to any one of the preceding claims, characterized in that at least one road segment and a consumption value assigned to the road segment are determined for range estimation, the consumption value being estimated as a function of an expected, in particular average, speed for the road segment, the speed depending on, in particular learned preferences of a driver, consumption characteristics of the vehicle, route characteristics, in particular speed limits, and / or predictive speed control for piloted driving.

1 1. Device (100) for range estimation for a vehicle, characterized in that the device (100) comprises a processor (102) and a memory (104) with instructions, when executed by the processor (102) a remaining range for the vehicle is determined as a function of an association between at least one digital representation of an environment in which the vehicle is operated and information about at least one consumption value in this environment, the association for the vehicle being updated as a function of a result of at least one comparison, in which the assignment is compared with a large number of assignments of other vehicles.

12. The apparatus according to claim 10, characterized in that a basic assignment is determined as a function of at least one of the assignments, the basic assignment being carried out the first time the

Range estimation on a vehicle can be specified as an assignment for the vehicle.

13. The apparatus of claim 10 or 1 1, characterized in that

at least one assignment can be determined locally with respect to the vehicle, the device comprising a transmitter (106) which is designed to send the assignment for determining the result of the comparison to a transmitter / receiver (108) remote with respect to the vehicle, the Device comprises a receiver (1 10), which is designed

Receive result of the comparison, and wherein the assignment is updated locally with respect to the vehicle.

14. The device according to one of claims 10 to 12, characterized in that the device comprises a navigation device (112) which provides the digital representation of the surroundings with street segments, the digital representation of the surroundings comprising an identification of a street segment or an attribute of a street segment ,

15. Device according to one of claims 10 to 14, characterized in that the device is designed, the method according to one of the

Execute claims 5 to 10.